+ python -m lidar_slam --no-model /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 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 0.00463044 Adjusted end_distance from 9.223372036854776e+18 to 505.36463044 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00463044 meters Centerline goodness : 0.450628 Centerline is valid? [0, False] SLAMing on 0.03463044 meters Centerline goodness : 0.092570 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999787e-01 -8.13086202e-05 -6.47792331e-04 4.83753511e-03] [ 8.10642415e-05 9.99999926e-01 -3.77265814e-04 3.22686017e-03] [ 6.47822958e-04 3.77213221e-04 9.99999719e-01 -2.65544167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06463044 meters Centerline goodness : 0.474944 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999019e-01 9.04260255e-04 -1.06939177e-03 1.24282710e-02] [-9.03882878e-04 9.99999529e-01 3.53320403e-04 3.99662898e-03] [ 1.06971076e-03 -3.52353451e-04 9.99999366e-01 -8.43925599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09463044 meters Centerline goodness : 0.153665 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.02 [[ 9.99997610e-01 1.31071444e-03 -1.74977391e-03 2.33453284e-02] [-1.31042322e-03 9.99999127e-01 1.67569770e-04 9.53074964e-03] [ 1.74999202e-03 -1.65276425e-04 9.99998455e-01 -1.50362341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12463044 meters Centerline goodness : 0.481245 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99997433e-01 1.17583191e-03 -1.93686805e-03 2.60754027e-02] [-1.17612257e-03 9.99999297e-01 -1.48936440e-04 1.16808089e-02] [ 1.93669156e-03 1.51214052e-04 9.99998113e-01 -1.60642717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15463044 meters Centerline goodness : 0.500000 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99997275e-01 1.01497545e-03 -2.10222916e-03 2.85685466e-02] [-1.01595770e-03 9.99999375e-01 -4.66227687e-04 1.38364873e-02] [ 2.10175464e-03 4.68362192e-04 9.99997682e-01 -1.70783398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18463044 meters Centerline goodness : 0.473736 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99997094e-01 8.25586453e-04 -2.26483955e-03 3.13882166e-02] [-8.27392541e-04 9.99999340e-01 -7.96625330e-04 1.66614209e-02] [ 2.26418037e-03 7.98496926e-04 9.99997118e-01 -1.84318868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21463044 meters Centerline goodness : 0.472872 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99996738e-01 6.44691419e-04 -2.47156748e-03 3.42197268e-02] [-6.47257283e-04 9.99999252e-01 -1.03749310e-03 1.91951560e-02] [ 2.47089677e-03 1.03908945e-03 9.99996407e-01 -1.95666121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24463044 meters Centerline goodness : 0.463077 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.03 [[ 9.99995760e-01 -4.47144704e-05 -2.91163123e-03 4.46810974e-02] [ 3.98535534e-05 9.99998606e-01 -1.66951900e-03 2.29157455e-02] [ 2.91170182e-03 1.66939588e-03 9.99994368e-01 -2.58263621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27463044000000003 meters Centerline goodness : 0.460360 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99994435e-01 -1.10157734e-04 -3.33428643e-03 4.82898198e-02] [ 1.04864081e-04 9.99998734e-01 -1.58777512e-03 2.26704059e-02] [ 3.33445711e-03 1.58741664e-03 9.99993181e-01 -2.72617317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30463044 meters Centerline goodness : 0.461054 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99992683e-01 -2.02531450e-04 -3.81994913e-03 5.23605880e-02] [ 1.96897947e-04 9.99998893e-01 -1.47507718e-03 2.22530200e-02] [ 3.82024365e-03 1.47431425e-03 9.99991616e-01 -2.88150474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33463044 meters Centerline goodness : 0.483918 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 9.99990534e-01 -3.20220442e-04 -4.33916704e-03 5.62884314e-02] [ 3.13959346e-04 9.99998909e-01 -1.44352998e-03 2.23262384e-02] [ 4.33962455e-03 1.44215399e-03 9.99989544e-01 -3.02013424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36463044 meters Centerline goodness : 0.062921 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 9.99988693e-01 -3.53649104e-04 -4.74222731e-03 6.02687303e-02] [ 3.47260798e-04 9.99999031e-01 -1.34786660e-03 2.24903757e-02] [ 4.74269939e-03 1.34620457e-03 9.99987847e-01 -3.18800526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39463044 meters Centerline goodness : 0.063331 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99984912e-01 -5.60939005e-04 -5.46456124e-03 7.20538285e-02] [ 5.52918033e-04 9.99998768e-01 -1.46921641e-03 2.34984417e-02] [ 5.46537865e-03 1.46617279e-03 9.99983990e-01 -3.83774023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42463044 meters Centerline goodness : 0.387444 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99981729e-01 -4.98347718e-04 -6.02434145e-03 7.67159448e-02] [ 4.89680877e-04 9.99998843e-01 -1.44002645e-03 2.35982850e-02] [ 6.02505212e-03 1.43705013e-03 9.99980817e-01 -4.04776078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45463043999999997 meters Centerline goodness : 0.460528 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99978119e-01 -4.25259854e-04 -6.60152981e-03 8.13267860e-02] [ 4.15837596e-04 9.99998893e-01 -1.42859091e-03 2.41455981e-02] [ 6.60213002e-03 1.42581449e-03 9.99977189e-01 -4.24986932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48463044 meters Centerline goodness : 0.226354 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 9.99973495e-01 3.84852087e-04 -7.27055723e-03 8.85235392e-02] [-3.90032115e-04 9.99999671e-01 -7.11061966e-04 2.29977805e-02] [ 7.27028118e-03 7.13878870e-04 9.99973316e-01 -4.68828151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51463044 meters Centerline goodness : 0.392555 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 9.99966376e-01 1.36110205e-03 -8.08665259e-03 1.00582944e-01] [-1.36114126e-03 9.99999074e-01 6.54612784e-07 2.20402488e-02] [ 8.08664599e-03 1.03524857e-05 9.99967302e-01 -5.27377518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54463044 meters Centerline goodness : 0.335324 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 9.99962994e-01 1.51425947e-03 -8.46862129e-03 1.04548429e-01] [-1.51371129e-03 9.99998852e-01 7.11396664e-05 2.17929788e-02] [ 8.46871929e-03 -5.83179862e-05 9.99964138e-01 -5.41544988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57463044 meters Centerline goodness : 0.301103 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.06 [[ 9.99956342e-01 2.14042348e-03 -9.09570729e-03 1.11021074e-01] [-2.13571818e-03 9.99997580e-01 5.26992422e-04 2.10888294e-02] [ 9.09681327e-03 -5.07543548e-04 9.99958494e-01 -5.76034924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60463044 meters Centerline goodness : 0.061776 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.07 [[ 9.99940396e-01 3.19826168e-03 -1.04391546e-02 1.26967292e-01] [-3.19366059e-03 9.99994796e-01 4.57393571e-04 2.65036362e-02] [ 1.04405631e-02 -4.24027192e-04 9.99945406e-01 -6.58585332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63463044 meters Centerline goodness : 0.035564 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.07 [[ 9.99930438e-01 3.42102880e-03 -1.12878615e-02 1.33442349e-01] [-3.41861454e-03 9.99994129e-01 2.33168664e-04 2.95106925e-02] [ 1.12885929e-02 -1.94563597e-04 9.99936263e-01 -6.83835728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6646304399999999 meters Centerline goodness : 0.037018 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.07 [[ 9.99922972e-01 3.51148337e-03 -1.19046295e-02 1.38482994e-01] [-3.51204254e-03 9.99993832e-01 -2.60652344e-05 3.21074508e-02] [ 1.19044646e-02 6.78727920e-05 9.99929137e-01 -7.00329116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69463044 meters Centerline goodness : 0.129216 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.07 [[ 9.99912092e-01 4.19678244e-03 -1.25776071e-02 1.45523736e-01] [-4.19338651e-03 9.99991164e-01 2.96358220e-04 3.27763114e-02] [ 1.25787397e-02 -2.43589400e-04 9.99920855e-01 -7.34909628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72463044 meters Centerline goodness : 0.099770 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:-0.08 [[ 9.99906047e-01 4.16777138e-03 -1.30585731e-02 1.49683299e-01] [-4.16763374e-03 9.99991315e-01 3.77530237e-05 3.51532799e-02] [ 1.30586171e-02 1.66738733e-05 9.99914732e-01 -7.50087002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.75463044 meters Centerline goodness : 0.086184 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.08 [[ 9.99892757e-01 4.37332034e-03 -1.39766902e-02 1.62180292e-01] [-4.37572787e-03 9.99990416e-01 -1.41677351e-04 3.85768428e-02] [ 1.39759367e-02 2.02820350e-04 9.99902311e-01 -8.09972546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78463044 meters Centerline goodness : 0.096502 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99887384e-01 4.27712166e-03 -1.43848979e-02 1.65743957e-01] [-4.28201977e-03 9.99990784e-01 -3.09721047e-04 4.00743771e-02] [ 1.43834406e-02 3.71282585e-04 9.99896484e-01 -8.22298723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81463044 meters Centerline goodness : 0.099644 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99882215e-01 4.23763359e-03 -1.47512180e-02 1.69262575e-01] [-4.24367430e-03 9.99990924e-01 -3.78227991e-04 4.10677986e-02] [ 1.47494813e-02 4.40782806e-04 9.99891123e-01 -8.32923323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84463044 meters Centerline goodness : 0.098760 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99876586e-01 4.15148537e-03 -1.51518321e-02 1.72663743e-01] [-4.15884640e-03 9.99991249e-01 -4.54341043e-04 4.22076724e-02] [ 1.51498134e-02 5.17299114e-04 9.99885101e-01 -8.40726214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.87463044 meters Centerline goodness : 0.043850 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.08 [[ 9.99870269e-01 4.09187250e-03 -1.55788588e-02 1.76119983e-01] [-4.10012474e-03 9.99991471e-01 -4.97804197e-04 4.29122625e-02] [ 1.55766890e-02 5.61614881e-04 9.99878518e-01 -8.49473492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9046304399999999 meters Centerline goodness : 0.115825 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.11 [[ 9.99969438e-01 3.10704667e-03 -7.17425225e-03 1.87644260e-01] [-3.11245682e-03 9.99994880e-01 -7.43064081e-04 4.59033926e-02] [ 7.17190679e-03 7.65370922e-04 9.99973989e-01 -1.08275254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.93463044 meters Centerline goodness : 0.141420 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.11 [[ 9.99965634e-01 3.10957739e-03 -7.68519972e-03 1.92012073e-01] [-3.11437428e-03 9.99994963e-01 -6.12283501e-04 4.52168303e-02] [ 7.68325706e-03 6.36197047e-04 9.99970281e-01 -1.09633813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96463044 meters Centerline goodness : 0.141420 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.11 [[ 9.99965634e-01 3.10957739e-03 -7.68519972e-03 1.92012073e-01] [-3.11437428e-03 9.99994963e-01 -6.12283501e-04 4.52168303e-02] [ 7.68325706e-03 6.36197047e-04 9.99970281e-01 -1.09633813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99463044 meters Centerline goodness : 0.145365 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.11 [[ 9.99961968e-01 3.08432149e-03 -8.15776001e-03 1.95823740e-01] [-3.08804137e-03 9.99995134e-01 -4.43436167e-04 4.40813382e-02] [ 8.15635261e-03 4.68610803e-04 9.99966627e-01 -1.10434264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02463044 meters Centerline goodness : 0.068190 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.11 [[ 9.99957217e-01 1.98856983e-03 -9.03384759e-03 2.06032546e-01] [-1.99740597e-03 9.99997536e-01 -9.69197314e-04 4.48462153e-02] [ 9.03189801e-03 9.87200110e-04 9.99958724e-01 -1.13029401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05463044 meters Centerline goodness : 0.127104 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.11 [[ 9.99952098e-01 2.04115531e-03 -9.57263465e-03 2.10440529e-01] [-2.04860760e-03 9.99997606e-01 -7.68757739e-04 4.38229395e-02] [ 9.57104258e-03 7.88331486e-04 9.99953886e-01 -1.14039625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08463044 meters Centerline goodness : 0.068215 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.12 [[ 9.99946396e-01 2.04964218e-03 -1.01491307e-02 2.15120050e-01] [-2.05631869e-03 9.99997676e-01 -6.47448687e-04 4.29246183e-02] [ 1.01477801e-02 6.68283828e-04 9.99948287e-01 -1.15488433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1146304399999998 meters Centerline goodness : 0.064399 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.12 [[ 9.99940371e-01 2.09356081e-03 -1.07178046e-02 2.19505590e-01] [-2.09925462e-03 9.99997661e-01 -5.20025662e-04 4.20279175e-02] [ 1.07166909e-02 5.42494055e-04 9.99942427e-01 -1.16719215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1446304399999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.1746304399999998 meters Centerline goodness : 0.516356 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.12 [[ 9.99929667e-01 2.01113972e-03 -1.16882899e-02 2.31997533e-01] [-2.01701828e-03 9.99997845e-01 -4.91177969e-04 4.20977502e-02] [ 1.16872769e-02 5.14718918e-04 9.99931569e-01 -1.22110027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2046304399999999 meters Centerline goodness : 0.109327 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:-0.13 [[ 9.99914133e-01 1.93518197e-03 -1.29607521e-02 2.46761224e-01] [-1.94241781e-03 9.99997965e-01 -5.45724229e-04 4.40265666e-02] [ 1.29596697e-02 5.70852565e-04 9.99915857e-01 -1.28862810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2346304399999999 meters Centerline goodness : 0.101457 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:-0.13 [[ 9.99905712e-01 2.11289012e-03 -1.35684323e-02 2.51721597e-01] [-2.11679416e-03 9.99997722e-01 -2.73374368e-04 4.25024047e-02] [ 1.35678238e-02 3.02070170e-04 9.99907907e-01 -1.30592061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26463044 meters Centerline goodness : 0.210946 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:-0.13 [[ 9.99897533e-01 2.23619162e-03 -1.41394248e-02 2.56277364e-01] [-2.23605566e-03 9.99997500e-01 2.54252713e-05 4.01569892e-02] [ 1.41394463e-02 6.19387483e-06 9.99900033e-01 -1.32079142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29463044 meters Centerline goodness : 0.108825 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:-0.13 [[ 9.99888112e-01 2.34087403e-03 -1.47744205e-02 2.63919105e-01] [-2.33524145e-03 9.99997194e-01 3.98478988e-04 3.70050376e-02] [ 1.47753119e-02 -3.63932564e-04 9.99890773e-01 -1.33489285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3246304399999997 meters Centerline goodness : 0.056236 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.13 [[ 9.99881880e-01 2.48750999e-03 -1.51670465e-02 2.67474558e-01] [-2.47942461e-03 9.99996774e-01 5.51869515e-04 3.62908985e-02] [ 1.51683704e-02 -5.14198779e-04 9.99884821e-01 -1.34324214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3546304399999998 meters Centerline goodness : 0.110682 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.14 [[ 9.99875413e-01 2.62773731e-03 -1.55644685e-02 2.70777427e-01] [-2.61638787e-03 9.99996296e-01 7.49506761e-04 3.51761857e-02] [ 1.55663803e-02 -7.08690696e-04 9.99878585e-01 -1.35072223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3846304399999998 meters Centerline goodness : 0.122954 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:-0.16 [[ 9.99968034e-01 2.72921104e-03 -7.51551125e-03 2.76748359e-01] [-2.72472098e-03 9.99996103e-01 6.07612509e-04 3.44929431e-02] [ 7.51714027e-03 -5.87115415e-04 9.99971574e-01 -1.55695851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4146304399999998 meters Centerline goodness : 0.073495 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:-0.16 [[ 9.99964334e-01 2.90766490e-03 -7.92939475e-03 2.80209044e-01] [-2.90029581e-03 9.99995352e-01 9.40679130e-04 3.22531519e-02] [ 7.93209307e-03 -9.17647990e-04 9.99968119e-01 -1.56639848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4446304399999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.4746304399999999 meters Centerline goodness : 0.080165 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.16 [[ 0.99994781 0.00267175 -0.00986049 0.30035367] [-0.00265968 0.9999957 0.0012369 0.02755307] [ 0.00986375 -0.00121061 0.99995062 -0.16321393] [ 0. 0. 0. 1. ]] SLAMing on 1.50463044 meters Centerline goodness : 0.353405 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.16 [[ 0.99994271 0.00289259 -0.01030568 0.3038902 ] [-0.00287623 0.99999458 0.00160216 0.02502019] [ 0.01031026 -0.00157243 0.99994561 -0.16401727] [ 0. 0. 0. 1. ]] SLAMing on 1.53463044 meters Centerline goodness : 0.111005 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.16 [[ 0.99993762 0.00306659 -0.01074024 0.30750078] [-0.0030464 0.99999356 0.00189547 0.02269347] [ 0.01074599 -0.00186263 0.99994053 -0.16477812] [ 0. 0. 0. 1. ]] SLAMing on 1.56463044 meters Centerline goodness : 0.109330 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.17 [[ 0.99993255 0.00322777 -0.01115709 0.31081145] [-0.0032039 0.99999254 0.00215747 0.02086151] [ 0.01116397 -0.00212158 0.99993543 -0.1653194 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5946304399999998 meters Centerline goodness : 0.112604 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.17 [[ 0.99992568 0.00379467 -0.01158628 0.31846991] [-0.00376244 0.999989 0.00280182 0.01813365] [ 0.01159678 -0.00275802 0.99992895 -0.16636221] [ 0. 0. 0. 1. ]] SLAMing on 1.6246304399999998 meters Centerline goodness : 0.279374 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.17 [[ 0.99992001 0.00387566 -0.01203991 0.32199614] [-0.0038404 0.99998827 0.00295014 0.01737463] [ 0.0120512 -0.00290366 0.99992317 -0.16696619] [ 0. 0. 0. 1. ]] SLAMing on 1.6546304399999998 meters Centerline goodness : 0.104407 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.17 [[ 0.99991367 0.0039635 -0.01252801 0.32587479] [-0.00392426 0.99998732 0.00315587 0.01578229] [ 0.01254036 -0.00310644 0.99991654 -0.16768266] [ 0. 0. 0. 1. ]] SLAMing on 1.6846304399999998 meters Centerline goodness : 0.302568 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:-0.17 [[ 0.99990716 0.00410576 -0.01299289 0.32931105] [-0.00406115 0.99998577 0.00345811 0.01357001] [ 0.0130069 -0.00340502 0.99990961 -0.16796125] [ 0. 0. 0. 1. ]] SLAMing on 1.7146304399999999 meters Centerline goodness : 0.492084 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.17 [[ 0.99989776 0.00451791 -0.01356716 0.33735505] [-0.00446232 0.99998153 0.00412542 0.00917075] [ 0.01358554 -0.00406445 0.99989945 -0.16896792] [ 0. 0. 0. 1. ]] SLAMing on 1.74463044 meters Centerline goodness : 0.261214 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.19 [[ 0.99997444 0.00460761 -0.00546776 0.34436665] [-0.0045861 0.99998172 0.00394159 0.00888568] [ 0.00548582 -0.00391641 0.99997728 -0.18848981] [ 0. 0. 0. 1. ]] SLAMing on 1.77463044 meters Centerline goodness : 0.503219 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.19 [[ 0.99997138 0.00472719 -0.00590662 0.34763675] [-0.00470286 0.99998043 0.00412588 0.00774791] [ 0.00592601 -0.00409798 0.99997404 -0.18877433] [ 0. 0. 0. 1. ]] SLAMing on 1.8046304399999997 meters Centerline goodness : 0.097262 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.19 [[ 0.99996825 0.00481041 -0.00635328 0.35110374] [-0.00478363 0.99997963 0.00422467 0.00722061] [ 0.00637348 -0.00419415 0.99997089 -0.18939861] [ 0. 0. 0. 1. ]] SLAMing on 1.8346304399999998 meters Centerline goodness : 0.097123 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:-0.19 [[ 0.99996456 0.00488359 -0.00685789 0.35507643] [-0.00485432 0.99997906 0.00427854 0.00716074] [ 0.00687864 -0.0042451 0.99996733 -0.19044704] [ 0. 0. 0. 1. ]] SLAMing on 1.8646304399999998 meters Centerline goodness : 0.098974 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.20 [[ 0.99995285 0.00491738 -0.00837408 0.36996796] [-0.00488066 0.99997841 0.00439949 0.0059706 ] [ 0.00839554 -0.00435841 0.99995526 -0.196029 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8946304399999998 meters Centerline goodness : 0.097366 Centerline is valid? [False, False] Translation: X:0.37, Y:0.00, Z:-0.20 [[ 0.99994877 0.00504366 -0.008776 0.37339238] [-0.00500302 0.99997669 0.00464603 0.00417001] [ 0.00879923 -0.00460189 0.9999507 -0.1968211 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9246304399999998 meters Centerline goodness : 0.096252 Centerline is valid? [False, False] Translation: X:0.38, Y:0.00, Z:-0.20 [[ 0.99994341 0.00516844 -0.009299 0.37725829] [-0.00512252 0.9999746 0.00495491 0.00176869] [ 0.00932437 -0.004907 0.99994449 -0.19737733] [ 0. 0. 0. 1. ]] SLAMing on 1.9546304399999999 meters Centerline goodness : 0.095489 Centerline is valid? [False, False] Translation: X:0.39, Y:0.00, Z:-0.20 [[ 9.99937460e-01 2.52406533e-03 -1.08952230e-02 3.90728042e-01] [-2.50295106e-03 9.99994964e-01 1.95113880e-03 6.25856857e-04] [ 1.09000929e-02 -1.92374657e-03 9.99938742e-01 -2.00924044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9846304399999999 meters Centerline goodness : 0.095731 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.00, Z:-0.20 [[ 0.9999302 0.00256717 -0.01153265 0.39532652] [-0.00253987 0.99999394 0.00238128 -0.00297108] [ 0.0115387 -0.00235182 0.99993066 -0.20184641] [ 0. 0. 0. 1. ]] SLAMing on 2.01463044 meters Centerline goodness : 0.094422 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:-0.20 [[ 0.99992447 0.00266419 -0.01199826 0.39886829] [-0.00263125 0.99999273 0.00276062 -0.00619028] [ 0.01200552 -0.00272884 0.99992421 -0.2023669 ] [ 0. 0. 0. 1. ]] SLAMing on 2.04463044 meters Centerline goodness : 0.146073 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:-0.20 [[ 0.99991823 0.00280735 -0.01247643 0.40250054] [-0.00276815 0.99999118 0.00315745 -0.00931483] [ 0.01248518 -0.00312266 0.99991718 -0.20298792] [ 0. 0. 0. 1. ]] SLAMing on 2.07463044 meters Centerline goodness : 0.093081 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.20 [[ 0.99991143 0.0029487 -0.01297837 0.40632097] [-0.00290341 0.99998963 0.00350769 -0.01189558] [ 0.01298858 -0.0034697 0.99990962 -0.20382606] [ 0. 0. 0. 1. ]] SLAMing on 2.10463044 meters Centerline goodness : 0.092308 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:-0.21 [[ 0.99988435 0.00274328 -0.01495859 0.42344247] [-0.00269029 0.99999004 0.00356155 -0.01345798] [ 0.01496822 -0.0035209 0.99988177 -0.21002203] [ 0. 0. 0. 1. ]] SLAMing on 2.13463044 meters Centerline goodness : 0.092111 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:-0.21 [[ 0.99987483 0.00291543 -0.01555071 0.42785368] [-0.00285846 0.99998913 0.00368448 -0.01394444] [ 0.01556128 -0.00363957 0.99987229 -0.21121032] [ 0. 0. 0. 1. ]] SLAMing on 2.1646304400000003 meters Centerline goodness : 0.091710 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:-0.21 [[ 0.99986564 0.00303021 -0.01610991 0.43212917] [-0.00297045 0.99998862 0.00373269 -0.01371587] [ 0.01612104 -0.00368433 0.99986326 -0.21243866] [ 0. 0. 0. 1. ]] SLAMing on 2.19463044 meters Centerline goodness : 0.091023 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.21 [[ 0.99985646 0.00318085 -0.01664135 0.43615198] [-0.00311819 0.99998796 0.00379015 -0.01376434] [ 0.01665321 -0.00373772 0.99985434 -0.21320823] [ 0. 0. 0. 1. ]] SLAMing on 2.22463044 meters Centerline goodness : 0.143417 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.21 [[ 0.99984874 0.00328873 -0.01707842 0.43939711] [-0.00322216 0.99998711 0.00392371 -0.01471937] [ 0.01709111 -0.00386808 0.99984645 -0.21313156] [ 0. 0. 0. 1. ]] SLAMing on 2.25463044 meters Centerline goodness : 0.088593 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.21 [[ 0.99994631 0.00217741 -0.01013131 0.47913406] [-0.0021428 0.99999184 0.00342571 -0.01530867] [ 0.01013869 -0.00340382 0.99994281 -0.21183914] [ 0. 0. 0. 1. ]] SLAMing on 2.28463044 meters Centerline goodness : 0.142019 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.21 [[ 0.99994123 0.00230546 -0.01059306 0.48224248] [-0.00226454 0.99998993 0.00387399 -0.01865192] [ 0.01060188 -0.00384978 0.99993639 -0.21126146] [ 0. 0. 0. 1. ]] SLAMing on 2.31463044 meters Centerline goodness : 0.134651 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:-0.21 [[ 0.99993596 0.0024413 -0.01105069 0.48553873] [-0.0023936 0.99998777 0.0043273 -0.02213085] [ 0.01106112 -0.00430057 0.99992958 -0.21124328] [ 0. 0. 0. 1. ]] SLAMing on 2.34463044 meters Centerline goodness : 0.187001 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.21 [[ 0.99992997 0.00253951 -0.01155881 0.48934986] [-0.00248465 0.99998559 0.00475822 -0.02559041] [ 0.01157073 -0.00472917 0.99992187 -0.21182501] [ 0. 0. 0. 1. ]] SLAMing on 2.3746304400000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.40463044 meters Centerline goodness : 0.133878 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.22 [[ 0.99990938 0.00198602 -0.01331466 0.50849266] [-0.00191669 0.99998455 0.00521758 -0.03085167] [ 0.01332482 -0.00519159 0.99989774 -0.21513299] [ 0. 0. 0. 1. ]] SLAMing on 2.43463044 meters Centerline goodness : 0.182712 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.21 [[ 0.99990286 0.00208763 -0.01378121 0.51160517] [-0.00201494 0.999984 0.00528618 -0.03110079] [ 0.01379202 -0.00525789 0.99989106 -0.21474084] [ 0. 0. 0. 1. ]] SLAMing on 2.46463044 meters Centerline goodness : 0.087586 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:-0.21 [[ 0.99983292 0.00642697 -0.01711199 0.53244424] [-0.00634415 0.99996792 0.00488985 -0.03537621] [ 0.01714287 -0.00478047 0.99984162 -0.21143306] [ 0. 0. 0. 1. ]] SLAMing on 2.49463044 meters Centerline goodness : 0.155157 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.04, Z:-0.21 [[ 0.999729 0.0110185 -0.02050662 0.55380481] [-0.01092944 0.99993037 0.00445015 -0.03900332] [ 0.02055422 -0.00422482 0.99977981 -0.20825339] [ 0. 0. 0. 1. ]] SLAMing on 2.52463044 meters Centerline goodness : 0.143196 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:-0.22 [[ 0.99978485 0.01640458 -0.01269395 0.58201076] [-0.01636656 0.99986127 0.0030934 -0.03215576] [ 0.01274294 -0.00288498 0.99991464 -0.21520442] [ 0. 0. 0. 1. ]] SLAMing on 2.55463044 meters Centerline goodness : 0.173160 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.22 [[ 0.99972543 0.01897275 -0.01375103 0.59061955] [-0.01888931 0.99980253 0.00617228 -0.03115805] [ 0.01386542 -0.00591083 0.9998864 -0.21767377] [ 0. 0. 0. 1. ]] SLAMing on 2.58463044 meters Centerline goodness : 0.181465 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.22 [[ 0.99971947 0.018944 -0.01421645 0.59360349] [-0.0188641 0.99980562 0.00573343 -0.02753669] [ 0.0143223 -0.00546364 0.9998825 -0.21716668] [ 0. 0. 0. 1. ]] SLAMing on 2.61463044 meters Centerline goodness : 0.088085 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.22 [[ 0.99971465 0.01885808 -0.01466247 0.59626587] [-0.01878128 0.99980926 0.00535837 -0.02474522] [ 0.01476072 -0.00508147 0.99987814 -0.21661996] [ 0. 0. 0. 1. ]] SLAMing on 2.64463044 meters Centerline goodness : 0.088895 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.22 [[ 0.99969344 0.0189995 -0.01587599 0.60456865] [-0.01892391 0.99980893 0.00489759 -0.02008195] [ 0.01596601 -0.00459566 0.99986197 -0.21638172] [ 0. 0. 0. 1. ]] SLAMing on 2.67463044 meters Centerline goodness : 0.088371 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99968925 0.01884918 -0.01631271 0.60738687] [-0.0187751 0.99981277 0.00468284 -0.01807141] [ 0.01639792 -0.00437512 0.99985597 -0.21605628] [ 0. 0. 0. 1. ]] SLAMing on 2.70463044 meters Centerline goodness : 0.092432 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99968428 0.01872304 -0.01675685 0.6101607 ] [-0.01864826 0.99981549 0.00460797 -0.01731243] [ 0.01684003 -0.00429403 0.99984898 -0.2155889 ] [ 0. 0. 0. 1. ]] SLAMing on 2.73463044 meters Centerline goodness : 0.086725 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.21 [[ 0.99969153 0.01371211 -0.02070823 0.63477453] [-0.01360722 0.99989391 0.00519786 -0.01246693] [ 0.02077731 -0.00491448 0.99977205 -0.21071546] [ 0. 0. 0. 1. ]] SLAMing on 2.76463044 meters Centerline goodness : 0.088464 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.21 [[ 0.99966862 0.00919859 -0.0240423 0.65447168] [-0.00907582 0.99994524 0.00521046 -0.00576997] [ 0.02408891 -0.00499053 0.99969736 -0.20836387] [ 0. 0. 0. 1. ]] SLAMing on 2.79463044 meters Centerline goodness : 0.089371 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:-0.21 [[ 0.99987441 0.00960266 -0.01260754 0.66680695] [-0.0095579 0.99994782 0.00360608 -0.00292283] [ 0.01264151 -0.00348513 0.99991402 -0.21332171] [ 0. 0. 0. 1. ]] SLAMing on 2.82463044 meters Centerline goodness : 0.090339 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:-0.21 [[ 0.99986994 0.00951574 -0.01302106 0.66914885] [-0.0094696 0.99994868 0.00360101 -0.0028873 ] [ 0.01305466 -0.00347724 0.99990874 -0.21312161] [ 0. 0. 0. 1. ]] SLAMing on 2.85463044 meters Centerline goodness : 0.090431 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:-0.21 [[ 0.99986566 0.00947833 -0.01337273 0.67125279] [-0.00943044 0.99994891 0.00363971 -0.00308264] [ 0.01340654 -0.00351311 0.99990396 -0.21292601] [ 0. 0. 0. 1. ]] SLAMing on 2.88463044 meters Centerline goodness : 0.090431 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:-0.21 [[ 0.99986566 0.00947833 -0.01337273 0.67125279] [-0.00943044 0.99994891 0.00363971 -0.00308264] [ 0.01340654 -0.00351311 0.99990396 -0.21292601] [ 0. 0. 0. 1. ]] SLAMing on 2.91463044 meters Centerline goodness : 0.091076 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:-0.21 [[ 0.99986078 0.00944519 -0.01375533 0.67320772] [-0.00939508 0.99994901 0.00370289 -0.00347939] [ 0.01378961 -0.00357314 0.99989853 -0.21217048] [ 0. 0. 0. 1. ]] SLAMing on 2.94463044 meters Centerline goodness : 0.092822 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.21 [[ 0.99994376 0.00864997 -0.00613624 0.70854128] [-0.00862864 0.99995666 0.00349519 -0.00304826] [ 0.0061662 -0.00344204 0.99997506 -0.21167559] [ 0. 0. 0. 1. ]] SLAMing on 2.97463044 meters Centerline goodness : 0.093168 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.21 [[ 0.99994081 0.00872569 -0.00649984 0.71050473] [-0.00870123 0.99995499 0.00378217 -0.00506601] [ 0.00653255 -0.00372539 0.99997172 -0.21116023] [ 0. 0. 0. 1. ]] SLAMing on 3.00463044 meters Centerline goodness : 0.094522 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.21 [[ 0.999938 0.00877438 -0.00685581 0.71251229] [-0.00874739 0.99995391 0.00395681 -0.00638212] [ 0.00689021 -0.00389659 0.99996867 -0.21078425] [ 0. 0. 0. 1. ]] SLAMing on 3.03463044 meters Centerline goodness : 0.095952 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.21 [[ 0.99993528 0.00881526 -0.00719186 0.71442718] [-0.00878669 0.99995341 0.00399525 -0.00654596] [ 0.00722675 -0.0039318 0.99996616 -0.21053316] [ 0. 0. 0. 1. ]] SLAMing on 3.06463044 meters Centerline goodness : 0.096809 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:-0.21 [[ 0.9999326 0.00884187 -0.00752475 0.71638276] [-0.00881282 0.99995362 0.00388533 -0.00525739] [ 0.00755876 -0.00381876 0.99996414 -0.21050208] [ 0. 0. 0. 1. ]] SLAMing on 3.09463044 meters Centerline goodness : 0.096456 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.00, Z:-0.21 [[ 0.99990525 0.010865 -0.00845181 0.72490006] [-0.01082467 0.99992988 0.00480322 -0.00216407] [ 0.0085034 -0.00471127 0.99995275 -0.21227277] [ 0. 0. 0. 1. ]] SLAMing on 3.1246304400000002 meters Centerline goodness : 0.097796 Centerline is valid? [False, False] Translation: X:0.73, Y:0.00, Z:-0.21 [[ 0.99989948 0.01115674 -0.00874962 0.72671711] [-0.01111758 0.99992802 0.0045116 0.00170993] [ 0.00879932 -0.00441387 0.99995154 -0.21180791] [ 0. 0. 0. 1. ]] SLAMing on 3.15463044 meters Centerline goodness : 0.099264 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:-0.21 [[ 0.99984227 0.01520156 -0.00918408 0.73096602] [-0.01512753 0.99985294 0.00807766 0.00501579] [ 0.00930553 -0.00793745 0.9999252 -0.21036628] [ 0. 0. 0. 1. ]] SLAMing on 3.18463044 meters Centerline goodness : 0.104040 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:-0.21 [[ 0.99983981 0.01518774 -0.00947005 0.7324452 ] [-0.01511538 0.99985637 0.00766638 0.00891046] [ 0.00958512 -0.00752201 0.99992577 -0.20962247] [ 0. 0. 0. 1. ]] SLAMing on 3.21463044 meters Centerline goodness : 0.132395 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:-0.21 [[ 0.99983952 0.01509529 -0.00964673 0.73358168] [-0.01502376 0.99985942 0.00744487 0.01079659] [ 0.00975776 -0.00729874 0.99992575 -0.20894892] [ 0. 0. 0. 1. ]] SLAMing on 3.24463044 meters Centerline goodness : 0.110409 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:-0.21 [[ 0.9998398 0.01495915 -0.00982846 0.73485174] [-0.01488653 0.99986166 0.00741987 0.01084624] [ 0.00993809 -0.00727237 0.99992417 -0.20831249] [ 0. 0. 0. 1. ]] SLAMing on 3.27463044 meters Centerline goodness : 0.113401 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.21 [[ 0.99987635 0.00898954 -0.01290247 0.75714404] [-0.00888564 0.99992781 0.00808771 0.01661362] [ 0.01297424 -0.00797206 0.99988405 -0.2061612 ] [ 0. 0. 0. 1. ]] SLAMing on 3.30463044 meters Centerline goodness : 0.117192 Centerline is valid? [False, False] Translation: X:0.76, Y:0.01, Z:-0.21 [[ 0.99987515 0.00873454 -0.01316801 0.75876784] [-0.00862601 0.99992854 0.00827706 0.01481944] [ 0.01323937 -0.00816244 0.99987904 -0.20526661] [ 0. 0. 0. 1. ]] SLAMing on 3.33463044 meters Centerline goodness : 0.439130 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.21 [[ 9.99982492e-01 7.31969042e-04 -5.87194121e-03 7.74139208e-01] [-6.73343439e-04 9.99949974e-01 9.97979584e-03 1.48629944e-02] [ 5.87895236e-03 -9.97566728e-03 9.99932960e-01 -2.06249747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36463044 meters Centerline goodness : 0.439035 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.20 [[ 0.99998394 -0.00162373 -0.00542958 0.77085783] [ 0.00166559 0.99996886 0.00771442 0.01426606] [ 0.00541689 -0.00772333 0.9999555 -0.20328188] [ 0. 0. 0. 1. ]] SLAMing on 3.39463044 meters Centerline goodness : 0.352441 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.20 [[ 0.99998192 -0.00183902 -0.00572508 0.77236782] [ 0.00188443 0.99996672 0.00793712 0.0114212 ] [ 0.00571029 -0.00794776 0.99995211 -0.20307065] [ 0. 0. 0. 1. ]] SLAMing on 3.42463044 meters Centerline goodness : 0.185192 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.20 [[ 0.99998079 -0.00191804 -0.00589376 0.77342542] [ 0.00196635 0.99996443 0.00820223 0.00918281] [ 0.00587782 -0.00821366 0.99994899 -0.20267181] [ 0. 0. 0. 1. ]] SLAMing on 3.45463044 meters Centerline goodness : 0.259861 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.20 [[ 0.99998041 -0.00187117 -0.00597346 0.77420423] [ 0.00192188 0.99996207 0.00849526 0.0075252 ] [ 0.00595734 -0.00850657 0.99994607 -0.20216798] [ 0. 0. 0. 1. ]] SLAMing on 3.48463044 meters Centerline goodness : 0.127329 Centerline is valid? [False, False] Translation: X:0.73, Y:0.00, Z:-0.20 [[ 0.99999542 -0.00175239 0.00246922 0.73233383] [ 0.0017297 0.99995653 0.00916174 0.00276715] [-0.00248517 -0.00915743 0.99995498 -0.20118244] [ 0. 0. 0. 1. ]] SLAMing on 3.51463044 meters Centerline goodness : 0.123693 Centerline is valid? [False, False] Translation: X:0.73, Y:0.00, Z:-0.20 [[ 0.99999547 -0.00170986 0.00247541 0.73249777] [ 0.00168705 0.99995637 0.00918795 0.0023655 ] [-0.00249101 -0.00918373 0.99995473 -0.20082725] [ 0. 0. 0. 1. ]] SLAMing on 3.54463044 meters Centerline goodness : 0.140751 Centerline is valid? [False, False] Translation: X:0.73, Y:0.00, Z:-0.20 [[ 0.99999497 -0.00160402 0.0027358 0.73213354] [ 0.00157846 0.99995532 0.00931984 0.00225889] [-0.00275063 -0.00931547 0.99995283 -0.20061721] [ 0. 0. 0. 1. ]] SLAMing on 3.57463044 meters Centerline goodness : 0.132482 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.20 [[ 0.99997118 0.00471794 0.00594886 0.71174235] [-0.0047736 0.99994464 0.00937685 -0.00424048] [-0.00590429 -0.00940498 0.99993834 -0.20117753] [ 0. 0. 0. 1. ]] SLAMing on 3.6046304399999998 meters Centerline goodness : 0.153642 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.20 [[ 0.99996645 0.00492518 0.0065456 0.71086356] [-0.00498766 0.99994183 0.00956351 -0.00383795] [-0.00649812 -0.00959583 0.99993284 -0.20101519] [ 0. 0. 0. 1. ]] SLAMing on 3.63463044 meters Centerline goodness : 0.312325 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.20 [[ 0.99995646 0.0051895 0.00775492 0.71034584] [-0.00526351 0.99994051 0.0095534 -0.00287486] [-0.00770488 -0.0095938 0.99992429 -0.20110673] [ 0. 0. 0. 1. ]] SLAMing on 3.66463044 meters Centerline goodness : 0.305850 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.20 [[ 0.99995324 0.00521328 0.00814524 0.71025304] [-0.00529032 0.9999412 0.00946579 -0.00242646] [-0.00809542 -0.00950844 0.99992202 -0.20108844] [ 0. 0. 0. 1. ]] SLAMing on 3.69463044 meters Centerline goodness : 0.301310 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.20 [[ 0.99995062 0.00528059 0.0084192 0.71027081] [-0.00536 0.9999411 0.00943746 -0.0017295 ] [-0.00836886 -0.00948212 0.99992002 -0.20094559] [ 0. 0. 0. 1. ]] SLAMing on 3.72463044 meters Centerline goodness : 0.210521 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.20 [[ 0.99986295 0.01216047 0.011234 0.68899815] [-0.01226922 0.99987804 0.00966252 -0.00830391] [-0.01111513 -0.00979903 0.99989021 -0.20089657] [ 0. 0. 0. 1. ]] SLAMing on 3.75463044 meters Centerline goodness : 0.209353 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.20 [[ 0.99984519 0.01267553 0.01220383 0.6883166 ] [-0.01279694 0.99986888 0.0099228 -0.00685531] [-0.01207645 -0.01007743 0.99987629 -0.20020733] [ 0. 0. 0. 1. ]] SLAMing on 3.78463044 meters Centerline goodness : 0.212395 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.20 [[ 0.99984148 0.01271711 0.01246132 0.68808774] [-0.01283959 0.99986956 0.00979843 -0.00609722] [-0.01233509 -0.00995687 0.99987435 -0.19987218] [ 0. 0. 0. 1. ]] SLAMing on 3.81463044 meters Centerline goodness : 0.206302 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.20 [[ 0.99983661 0.01276403 0.0127996 0.68785327] [-0.01288805 0.99987034 0.00965386 -0.00509561] [-0.01267472 -0.00981725 0.99987148 -0.19954858] [ 0. 0. 0. 1. ]] SLAMing on 3.84463044 meters Centerline goodness : 0.221693 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.00, Z:-0.20 [[ 0.999831 0.01286299 0.01313469 0.68752623] [-0.01298798 0.99987076 0.00947521 -0.00329017] [-0.01301111 -0.0096442 0.99986884 -0.19916712] [ 0. 0. 0. 1. ]] SLAMing on 3.87463044 meters Centerline goodness : 0.208492 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.00, Z:-0.20 [[ 9.99825289e-01 1.30607142e-02 1.33719545e-02 6.87344154e-01] [-1.31858110e-02 9.99869719e-01 9.31012571e-03 -8.90641742e-04] [-1.32486155e-02 -9.48481919e-03 9.99867247e-01 -1.99151855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90463044 meters Centerline goodness : 0.210765 Centerline is valid? [False, False] Translation: X:0.69, Y:0.00, Z:-0.20 [[ 0.99980348 0.01375306 0.01427745 0.68670173] [-0.01388717 0.99985997 0.00933719 0.00342752] [-0.01414704 -0.00953363 0.99985448 -0.19941179] [ 0. 0. 0. 1. ]] SLAMing on 3.93463044 meters Centerline goodness : 0.212632 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.20 [[ 0.99980013 0.01368866 0.01457139 0.68642873] [-0.01382174 0.99986333 0.0090713 0.00508545] [-0.01444522 -0.00927089 0.99985268 -0.19932968] [ 0. 0. 0. 1. ]] SLAMing on 3.96463044 meters Centerline goodness : 0.211903 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.20 [[ 0.99983951 0.00664759 0.01663599 0.70342476] [-0.00682792 0.9999183 0.01080632 0.01126394] [-0.0165628 -0.01091817 0.99980321 -0.19836432] [ 0. 0. 0. 1. ]] SLAMing on 3.99463044 meters Centerline goodness : 0.213475 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.20 [[ 0.99983785 0.00656501 0.01676839 0.70334581] [-0.00674518 0.99991989 0.01071067 0.0117662 ] [-0.01669673 -0.01082204 0.99980203 -0.19832051] [ 0. 0. 0. 1. ]] SLAMing on 4.024630439999999 meters Centerline goodness : 0.215219 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.20 [[ 0.99984323 0.00621355 0.01658031 0.70434636] [-0.00638855 0.99992423 0.0105225 0.01208235] [-0.01651368 -0.01062678 0.99980717 -0.19815817] [ 0. 0. 0. 1. ]] SLAMing on 4.0546304399999995 meters Centerline goodness : 0.214382 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.20 [[ 0.99984572 0.00608607 0.01647696 0.70466773] [-0.00625857 0.99992593 0.01043832 0.01223157] [-0.01641221 -0.01053983 0.99980976 -0.19799854] [ 0. 0. 0. 1. ]] SLAMing on 4.08463044 meters Centerline goodness : 0.217425 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.20 [[ 0.99984648 0.00600562 0.01646068 0.7048256 ] [-0.00617776 0.99992655 0.01042731 0.01224775] [-0.01639685 -0.0105274 0.99981014 -0.19768195] [ 0. 0. 0. 1. ]] SLAMing on 4.114630439999999 meters Centerline goodness : 0.217408 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.20 [[ 0.9998453 0.00588667 0.01657452 0.70462767] [-0.00605914 0.99992783 0.01037436 0.01230749] [-0.01651225 -0.01047319 0.99980881 -0.19706927] [ 0. 0. 0. 1. ]] SLAMing on 4.144630439999999 meters Centerline goodness : 0.218701 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.20 [[ 0.99983472 0.005558 0.01731027 0.70361878] [-0.00573318 0.99993269 0.01008676 0.01262463] [-0.01725304 -0.01018434 0.99979929 -0.19637702] [ 0. 0. 0. 1. ]] SLAMing on 4.17463044 meters Centerline goodness : 0.220702 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.20 [[ 0.99988584 -0.00172212 0.01501106 0.68595544] [ 0.00155055 0.99993343 0.01143365 0.01616368] [-0.01502975 -0.01140907 0.99982195 -0.1972419 ] [ 0. 0. 0. 1. ]] SLAMing on 4.20463044 meters Centerline goodness : 0.220086 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.20 [[ 0.99988465 -0.00172493 0.0150901 0.68597971] [ 0.00155657 0.9999365 0.01116116 0.01823031] [-0.01510839 -0.01113638 0.99982384 -0.19750467] [ 0. 0. 0. 1. ]] SLAMing on 4.234630439999999 meters Centerline goodness : 0.220146 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.20 [[ 0.99988309 0.00615035 0.0139993 0.66718823] [-0.0062871 0.99993275 0.00974551 0.01572769] [-0.01393842 -0.00983239 0.99985451 -0.19851112] [ 0. 0. 0. 1. ]] SLAMing on 4.2646304399999995 meters Centerline goodness : 0.238210 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.20 [[ 0.99988492 0.00617178 0.01385811 0.66798501] [-0.00630195 0.99993625 0.00936892 0.01862606] [-0.01379941 -0.00945518 0.99986008 -0.19925597] [ 0. 0. 0. 1. ]] SLAMing on 4.29463044 meters Centerline goodness : 0.296603 Centerline is valid? [False, False] Translation: X:0.65, Y:0.02, Z:-0.20 [[ 0.9999372 -0.00128135 0.01113379 0.6503634 ] [ 0.00116154 0.99994142 0.01076131 0.02117193] [-0.01114692 -0.01074771 0.99988011 -0.20004946] [ 0. 0. 0. 1. ]] SLAMing on 4.32463044 meters Centerline goodness : 0.286547 Centerline is valid? [False, False] Translation: X:0.65, Y:0.02, Z:-0.20 [[ 0.99993781 -0.00128862 0.01107751 0.65033138] [ 0.00116973 0.99994173 0.01073187 0.02148872] [-0.01109069 -0.01071824 0.99988105 -0.19960337] [ 0. 0. 0. 1. ]] SLAMing on 4.354630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.38463044 meters Centerline goodness : 0.135807 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991554 0.00437002 0.01224008 0.6262761 ] [-0.00446481 0.99996017 0.00772842 0.01781767] [-0.01220582 -0.00778242 0.99989522 -0.19762651] [ 0. 0. 0. 1. ]] SLAMing on 4.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.444630439999999 meters Centerline goodness : 0.232206 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991547 0.00431869 0.01226409 0.62660767] [-0.00441247 0.99996116 0.00762995 0.01835508] [-0.01223066 -0.00768342 0.99989568 -0.19799264] [ 0. 0. 0. 1. ]] SLAMing on 4.474630439999999 meters Centerline goodness : 0.155476 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991671 0.00434108 0.01215403 0.62698934] [-0.00443366 0.99996128 0.00760141 0.01874279] [-0.01212057 -0.00765467 0.99989724 -0.1983678 ] [ 0. 0. 0. 1. ]] SLAMing on 4.50463044 meters Centerline goodness : 0.224294 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991821 0.0043042 0.01204353 0.62737456] [-0.00439412 0.9999626 0.00744917 0.01959897] [-0.01201102 -0.00750148 0.99989973 -0.1987227 ] [ 0. 0. 0. 1. ]] SLAMing on 4.53463044 meters Centerline goodness : 0.226640 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99992002 0.00429427 0.01189595 0.62767997] [-0.004382 0.99996333 0.00735824 0.02020842] [-0.01186391 -0.00740978 0.99990217 -0.19875857] [ 0. 0. 0. 1. ]] SLAMing on 4.564630439999999 meters Centerline goodness : 0.272330 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991916 0.00419471 0.01200343 0.62668309] [-0.00427968 0.99996591 0.0070614 0.02168142] [-0.0119734 -0.0071122 0.99990302 -0.19713201] [ 0. 0. 0. 1. ]] SLAMing on 4.5946304399999995 meters Centerline goodness : 0.260795 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991638 0.00410208 0.01226399 0.62579527] [-0.00418787 0.99996688 0.00697804 0.02171095] [-0.01223496 -0.00702881 0.99990045 -0.19631383] [ 0. 0. 0. 1. ]] SLAMing on 4.62463044 meters Centerline goodness : 0.256714 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991426 0.00402189 0.01246203 0.62517874] [-0.00410782 0.99996791 0.00687773 0.02192431] [-0.01243397 -0.00692833 0.99989869 -0.19586664] [ 0. 0. 0. 1. ]] SLAMing on 4.654630439999999 meters Centerline goodness : 0.255862 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.9999137 0.00396645 0.01252463 0.62517834] [-0.00405168 0.99996876 0.00678681 0.02224099] [-0.01249732 -0.00683697 0.99989853 -0.19607643] [ 0. 0. 0. 1. ]] SLAMing on 4.684630439999999 meters Centerline goodness : 0.185650 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991592 0.00396395 0.01234694 0.62588169] [-0.00404818 0.99996865 0.00680478 0.02219132] [-0.01231958 -0.00685419 0.99990062 -0.196703 ] [ 0. 0. 0. 1. ]] SLAMing on 4.71463044 meters Centerline goodness : 0.098128 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99991924 0.00401946 0.01205658 0.62654437] [-0.00410442 0.99996686 0.00703023 0.02102593] [-0.01202792 -0.00707914 0.9999026 -0.19676249] [ 0. 0. 0. 1. ]] SLAMing on 4.74463044 meters Centerline goodness : 0.186493 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99992266 0.00403797 0.01176288 0.62735117] [-0.00412391 0.99996492 0.00729109 0.01933212] [-0.01173303 -0.00733903 0.99990423 -0.19704405] [ 0. 0. 0. 1. ]] SLAMing on 4.774630439999999 meters Centerline goodness : 0.186493 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 0.99992266 0.00403797 0.01176288 0.62735117] [-0.00412391 0.99996492 0.00729109 0.01933212] [-0.01173303 -0.00733903 0.99990423 -0.19704405] [ 0. 0. 0. 1. ]] SLAMing on 4.8046304399999995 meters Centerline goodness : 0.098201 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.20 [[ 9.99932474e-01 9.49949344e-04 1.15821038e-02 6.27687862e-01] [-9.98961301e-04 9.99990569e-01 4.22664669e-03 1.87793417e-02] [-1.15779795e-02 -4.23793135e-03 9.99923992e-01 -1.97104007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83463044 meters Centerline goodness : 0.063127 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.20 [[ 9.99941306e-01 8.54326771e-05 1.08341190e-02 6.29773415e-01] [-1.29965510e-04 9.99991546e-01 4.10978753e-03 1.24025771e-02] [-1.08336764e-02 -4.11095437e-03 9.99932864e-01 -1.97585449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.894630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.92463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.95463044 meters Centerline goodness : 0.378939 Centerline is valid? [False, False] Translation: X:0.63, Y:0.00, Z:-0.20 [[ 0.99992675 -0.00356948 0.01156508 0.62951701] [ 0.00354778 0.99999191 0.00189568 0.00141797] [-0.01157175 -0.00185451 0.99993133 -0.19844639] [ 0. 0. 0. 1. ]] SLAMing on 4.984630439999999 meters Centerline goodness : 0.267696 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:-0.20 [[ 0.99992836 -0.00336644 0.01148674 0.62980405] [ 0.00333628 0.99999094 0.00264372 -0.00254177] [-0.01149553 -0.00260521 0.99993053 -0.19843031] [ 0. 0. 0. 1. ]] SLAMing on 5.0146304399999995 meters Centerline goodness : 0.424805 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:-0.20 [[ 0.99993001 -0.00330194 0.01136066 0.63018032] [ 0.00326933 0.99999049 0.00288792 -0.00407411] [-0.01137009 -0.00285058 0.9999313 -0.19859108] [ 0. 0. 0. 1. ]] SLAMing on 5.04463044 meters Centerline goodness : 0.257746 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.20 [[ 0.99993213 -0.00328688 0.01117751 0.63081493] [ 0.00325334 0.99999015 0.00301799 -0.00506077] [-0.01118732 -0.00298143 0.99993298 -0.19901338] [ 0. 0. 0. 1. ]] SLAMing on 5.074630439999999 meters Centerline goodness : 0.438641 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 0.99994244 0.00444749 0.00976404 0.61269239] [-0.00446273 0.99998886 0.00154005 -0.01104076] [-0.00975708 -0.00158353 0.99995114 -0.20030773] [ 0. 0. 0. 1. ]] SLAMing on 5.104630439999999 meters Centerline goodness : 0.265482 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 0.9999433 0.0045089 0.00964728 0.61320068] [-0.00452516 0.99998838 0.00166403 -0.01181315] [-0.00963967 -0.00170759 0.99995208 -0.20081314] [ 0. 0. 0. 1. ]] SLAMing on 5.13463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 5.16463044 meters Centerline goodness : 0.438011 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 0.99993891 0.00473843 0.00998624 0.61218187] [-0.00476012 0.99998636 0.00214892 -0.01428382] [-0.00997593 -0.00219632 0.99994783 -0.20016452] [ 0. 0. 0. 1. ]] SLAMing on 5.194630439999999 meters Centerline goodness : 0.435899 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.9999368 0.00478028 0.01017556 0.61154132] [-0.00480398 0.9999858 0.00230526 -0.01522988] [-0.01016439 -0.00235399 0.99994557 -0.1997268 ] [ 0. 0. 0. 1. ]] SLAMing on 5.224630439999999 meters Centerline goodness : 0.439042 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.99993582 0.00480325 0.01026121 0.61130464] [-0.00482837 0.9999854 0.00242547 -0.01605099] [-0.01024941 -0.00247486 0.99994441 -0.19960897] [ 0. 0. 0. 1. ]] SLAMing on 5.25463044 meters Centerline goodness : 0.251577 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.99993556 0.00471687 0.01032638 0.61135233] [-0.00474256 0.99998572 0.00246477 -0.01742827] [-0.01031461 -0.00251358 0.99994364 -0.19989485] [ 0. 0. 0. 1. ]] SLAMing on 5.284630439999999 meters Centerline goodness : 0.311803 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.9999359 0.00473872 0.01028287 0.61153033] [-0.00476506 0.99998542 0.00253885 -0.01800134] [-0.01027069 -0.00258769 0.99994391 -0.20007705] [ 0. 0. 0. 1. ]] SLAMing on 5.314630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 5.3446304399999995 meters Centerline goodness : 0.186220 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.99993376 0.00496922 0.01038159 0.61114025] [-0.00499929 0.99998338 0.0028725 -0.01899987] [-0.01036714 -0.00292421 0.99994198 -0.19973634] [ 0. 0. 0. 1. ]] SLAMing on 5.37463044 meters Centerline goodness : 0.321540 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.99993381 0.00506159 0.01033265 0.61083194] [-0.00509548 0.99998172 0.00325664 -0.02124582] [-0.01031598 -0.00330908 0.99994131 -0.1989756 ] [ 0. 0. 0. 1. ]] SLAMing on 5.404630439999999 meters Centerline goodness : 0.441118 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.99993634 0.00502777 0.0101017 0.61128606] [-0.00506272 0.99998128 0.00343652 -0.02272516] [-0.01008424 -0.00348744 0.99994307 -0.19886979] [ 0. 0. 0. 1. ]] SLAMing on 5.434630439999999 meters Centerline goodness : 0.448153 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 0.99993728 0.00507116 0.00998596 0.61157861] [-0.00510822 0.99998015 0.00368921 -0.02422233] [-0.00996706 -0.00373999 0.99994333 -0.1988683 ] [ 0. 0. 0. 1. ]] SLAMing on 5.46463044 meters Centerline goodness : 0.449444 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.20 [[ 0.99993644 0.00516705 0.01002128 0.61135553] [-0.005208 0.99997818 0.00406483 -0.0260669 ] [-0.01000006 -0.00411676 0.99994152 -0.19852352] [ 0. 0. 0. 1. ]] SLAMing on 5.49463044 meters Centerline goodness : 0.454231 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.20 [[ 0.99992692 0.00497463 0.01101868 0.60879662] [-0.00502446 0.99997725 0.00449997 -0.0295454 ] [-0.01099604 -0.00455501 0.99992917 -0.19743262] [ 0. 0. 0. 1. ]] SLAMing on 5.524630439999999 meters Centerline goodness : 0.448847 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.20 [[ 0.9999261 0.0050337 0.01106593 0.60859242] [-0.00508716 0.9999755 0.00480797 -0.03131714] [-0.01104146 -0.0048639 0.99992721 -0.19718368] [ 0. 0. 0. 1. ]] SLAMing on 5.5546304399999995 meters Centerline goodness : 0.365855 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.20 [[ 0.99992517 0.00508239 0.0111274 0.60849171] [-0.00513829 0.9999743 0.00500038 -0.03244844] [-0.0111017 -0.00505718 0.99992559 -0.19717625] [ 0. 0. 0. 1. ]] SLAMing on 5.58463044 meters Centerline goodness : 0.393187 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.20 [[ 0.99992417 0.00513931 0.01119071 0.60846715] [-0.00519629 0.99997365 0.00506877 -0.03270225] [-0.01116437 -0.00512653 0.99992453 -0.19739515] [ 0. 0. 0. 1. ]] SLAMing on 5.614630439999999 meters Centerline goodness : 0.271348 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.20 [[ 0.999926 0.00514914 0.0110222 0.60913369] [-0.00520352 0.9999744 0.00491071 -0.03173764] [-0.01099663 -0.0049677 0.9999272 -0.1979747 ] [ 0. 0. 0. 1. ]] SLAMing on 5.644630439999999 meters Centerline goodness : 0.453029 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:-0.20 [[ 0.99992863 0.00735952 0.00941114 0.61537677] [-0.0074188 0.99995276 0.00627988 -0.0266205 ] [-0.00936448 -0.00634925 0.99993599 -0.20183462] [ 0. 0. 0. 1. ]] SLAMing on 5.67463044 meters Centerline goodness : 0.341780 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:-0.20 [[ 0.99993514 0.0076298 0.00845592 0.6177411 ] [-0.00768015 0.99995287 0.0059385 -0.02349226] [-0.00841022 -0.00600306 0.99994661 -0.20257739] [ 0. 0. 0. 1. ]] SLAMing on 5.70463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 5.734630439999999 meters Centerline goodness : 0.166278 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:-0.20 [[ 0.99990257 0.01125155 0.00826154 0.61825 ] [-0.01132337 0.99989805 0.00869895 -0.0177546 ] [-0.00816282 -0.00879165 0.99992804 -0.20296971] [ 0. 0. 0. 1. ]] SLAMing on 5.7646304399999995 meters Centerline goodness : 0.342220 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.20 [[ 0.99989778 0.01112136 0.00898631 0.61605453] [-0.01119145 0.99990705 0.00778794 -0.01258312] [-0.00889886 -0.00788771 0.99992929 -0.20225001] [ 0. 0. 0. 1. ]] SLAMing on 5.79463044 meters Centerline goodness : 0.097552 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.20 [[ 0.99989828 0.01096091 0.00912646 0.61549965] [-0.01102825 0.9999121 0.00736041 -0.01059313] [-0.00904498 -0.00746031 0.99993126 -0.20194638] [ 0. 0. 0. 1. ]] SLAMing on 5.824630439999999 meters Centerline goodness : 0.454561 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.20 [[ 0.99989966 0.01085249 0.00910444 0.61540114] [-0.01091757 0.99991499 0.00712889 -0.00955331] [-0.0090263 -0.00722757 0.99993314 -0.2017233 ] [ 0. 0. 0. 1. ]] SLAMing on 5.854630439999999 meters Centerline goodness : 0.192378 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.20 [[ 0.99990203 0.01077076 0.0089402 0.61565666] [-0.01083392 0.99991648 0.00704691 -0.0092618 ] [-0.00886356 -0.00714308 0.9999352 -0.20152567] [ 0. 0. 0. 1. ]] SLAMing on 5.88463044 meters Centerline goodness : 0.198802 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.20 [[ 0.99993571 0.00721946 0.00874421 0.61595296] [-0.00725005 0.99996769 0.00347213 -0.0081376 ] [-0.00871886 -0.00353531 0.99995574 -0.20138759] [ 0. 0. 0. 1. ]] SLAMing on 5.91463044 meters Centerline goodness : 0.111716 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99949257e-01 4.10093358e-03 9.20144248e-03 6.14444769e-01] [-4.10412011e-03 9.99991524e-01 3.27452440e-04 -7.65309438e-03] [-9.20002163e-03 -3.65199649e-04 9.99957612e-01 -2.00803175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944630439999999 meters Centerline goodness : 0.098192 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99949114e-01 4.08849695e-03 9.22249634e-03 6.14358134e-01] [-4.09301594e-03 9.99991513e-01 4.71175138e-04 -8.63068021e-03] [-9.22049167e-03 -5.08898986e-04 9.99957361e-01 -2.00639760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974630439999999 meters Centerline goodness : 0.107763 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 0.9999564 -0.00421697 0.00833176 0.59395855] [ 0.0042039 0.99998991 0.00158616 -0.00715994] [-0.00833837 -0.00155107 0.99996403 -0.20140114] [ 0. 0. 0. 1. ]] SLAMing on 6.00463044 meters Centerline goodness : 0.453101 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.20 [[ 9.99961396e-01 3.68463552e-03 7.97677758e-03 5.75664947e-01] [-3.68806684e-03 9.99993113e-01 4.15496452e-04 -1.29803643e-02] [-7.97519169e-03 -4.44899302e-04 9.99968099e-01 -2.02609990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034630439999999 meters Centerline goodness : 0.377226 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 0.99996696 -0.00401785 0.00706666 0.59478854] [ 0.00400817 0.99999101 0.00138257 -0.00750393] [-0.00707215 -0.0013542 0.99997408 -0.20178474] [ 0. 0. 0. 1. ]] SLAMing on 6.064630439999999 meters Centerline goodness : 0.098364 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.20 [[ 0.99997031 -0.00398404 0.00659573 0.59626259] [ 0.00397654 0.99999143 0.0011493 -0.00589936] [-0.00660025 -0.00112304 0.99997759 -0.20263511] [ 0. 0. 0. 1. ]] SLAMing on 6.0946304399999995 meters Centerline goodness : 0.459068 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.00, Z:-0.20 [[ 0.99996934 -0.0039144 0.00678203 0.59565897] [ 0.00390731 0.99999181 0.00105859 -0.00483801] [-0.00678612 -0.00103206 0.99997644 -0.20242402] [ 0. 0. 0. 1. ]] SLAMing on 6.12463044 meters Centerline goodness : 0.459372 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.00, Z:-0.20 [[ 0.99996481 -0.00350097 0.00762418 0.59310511] [ 0.00349173 0.99999315 0.00122443 -0.00322244] [-0.00762842 -0.00119777 0.99997019 -0.20136643] [ 0. 0. 0. 1. ]] SLAMing on 6.154630439999999 meters Centerline goodness : 0.145357 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.20 [[ 9.99958609e-01 4.21963993e-03 8.06076434e-03 6.11914636e-01] [-4.21799655e-03 9.99991080e-01 -2.20863784e-04 -4.59844610e-03] [-8.06162441e-03 1.86854366e-04 9.99967487e-01 -1.99980471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184630439999999 meters Centerline goodness : 0.218802 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.20 [[ 9.99958761e-01 4.10829973e-03 8.09932253e-03 6.12042451e-01] [-4.10525628e-03 9.99991496e-01 -3.92354442e-04 -4.25923013e-03] [-8.10086557e-03 3.59088467e-04 9.99967123e-01 -2.00354208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21463044 meters Centerline goodness : 0.205324 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.20 [[ 9.99958718e-01 4.01343147e-03 8.15199632e-03 6.12123157e-01] [-4.01007951e-03 9.99991868e-01 -4.27485570e-04 -4.63525738e-03] [-8.15364572e-03 3.94777769e-04 9.99966681e-01 -2.00653711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24463044 meters Centerline goodness : 0.451502 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99960262e-01 4.00167695e-03 7.96625771e-03 6.12574528e-01] [-3.99920183e-03 9.99991950e-01 -3.26606124e-04 -5.37384359e-03] [-7.96750056e-03 2.94734473e-04 9.99968216e-01 -2.00681921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274630439999999 meters Centerline goodness : 0.450039 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99962988e-01 4.01312548e-03 7.61029700e-03 6.13309967e-01] [-4.01404861e-03 9.99991938e-01 1.06030010e-04 -7.73257085e-03] [-7.60981013e-03 -1.36574187e-04 9.99971036e-01 -2.00443072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3046304399999995 meters Centerline goodness : 0.092802 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99965188e-01 4.08295567e-03 7.27686698e-03 6.14110882e-01] [-4.08595027e-03 9.99991574e-01 3.96703999e-04 -9.29681537e-03] [-7.27518594e-03 -4.26423105e-04 9.99973445e-01 -2.00413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33463044 meters Centerline goodness : 0.099106 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 0.99997521 -0.00417323 0.00567115 0.59453452] [ 0.00416404 0.99999 0.00163079 -0.00950987] [-0.0056779 -0.00160713 0.99998259 -0.20141911] [ 0. 0. 0. 1. ]] SLAMing on 6.364630439999999 meters Centerline goodness : 0.395643 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.20 [[ 0.99997706 -0.00411827 0.00537748 0.5956563 ] [ 0.00410817 0.99998978 0.00188846 -0.01101235] [-0.0053852 -0.00186633 0.99998376 -0.20218152] [ 0. 0. 0. 1. ]] SLAMing on 6.394630439999999 meters Centerline goodness : 0.130460 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:-0.20 [[ 0.99999173 0.00276034 0.00298542 0.61511454] [-0.00276334 0.99999568 0.00100364 -0.01586577] [-0.00298264 -0.00101188 0.99999504 -0.20089919] [ 0. 0. 0. 1. ]] SLAMing on 6.42463044 meters Centerline goodness : 0.198738 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.20 [[ 9.99984134e-01 -5.55682686e-03 9.23959535e-04 5.95563994e-01] [ 5.55547682e-03 9.99983506e-01 1.45734761e-03 -1.41528478e-02] [-9.32042524e-04 -1.45219145e-03 9.99998511e-01 -2.01247950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45463044 meters Centerline goodness : 0.100035 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.20 [[ 9.99984061e-01 -5.59527046e-03 7.55051559e-04 5.95772039e-01] [ 5.59434154e-03 9.99983599e-01 1.22682068e-03 -1.29484050e-02] [-7.61903568e-04 -1.22257711e-03 9.99998962e-01 -2.01050646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484630439999999 meters Centerline goodness : 0.099341 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.20 [[ 9.99984295e-01 -5.52908477e-03 9.15988861e-04 5.95162025e-01] [ 5.52812607e-03 9.99984173e-01 1.04586969e-03 -1.13446135e-02] [-9.21757066e-04 -1.04078957e-03 9.99999034e-01 -2.00786272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5146304399999995 meters Centerline goodness : 0.104062 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 9.99984799e-01 -5.36790193e-03 1.25987443e-03 5.94141959e-01] [ 5.36673804e-03 9.99985171e-01 9.25383752e-04 -9.61966426e-03] [-1.26482312e-03 -9.18608269e-04 9.99998778e-01 -2.00542992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54463044 meters Centerline goodness : 0.101630 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 9.99984576e-01 -5.09655807e-03 2.20767856e-03 5.91927431e-01] [ 5.09492405e-03 9.99986743e-01 7.45145834e-04 -7.11784730e-03] [-2.21144697e-03 -7.33886386e-04 9.99997285e-01 -2.00590982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574630439999999 meters Centerline goodness : 0.092092 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99995237e-01 2.50176643e-03 1.80761437e-03 6.11491446e-01] [-2.50013756e-03 9.99996467e-01 -9.02816874e-04 -8.20123648e-03] [-1.80986662e-03 8.98293290e-04 9.99997959e-01 -1.99178825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604630439999999 meters Centerline goodness : 0.455298 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 0.99999606 0.00232851 0.00156828 0.61227774] [-0.00232665 0.99999659 -0.00118736 -0.00746751] [-0.00157104 0.00118371 0.99999807 -0.19957991] [ 0. 0. 0. 1. ]] SLAMing on 6.63463044 meters Centerline goodness : 0.098296 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 0.99999715 0.00212516 0.00108829 0.61332352] [-0.00212377 0.99999693 -0.00127891 -0.00782736] [-0.001091 0.0012766 0.99999859 -0.199509 ] [ 0. 0. 0. 1. ]] SLAMing on 6.66463044 meters Centerline goodness : 0.098296 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 0.99999715 0.00212516 0.00108829 0.61332352] [-0.00212377 0.99999693 -0.00127891 -0.00782736] [-0.001091 0.0012766 0.99999859 -0.199509 ] [ 0. 0. 0. 1. ]] SLAMing on 6.694630439999999 meters Centerline goodness : 0.095392 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:-0.20 [[ 9.99982554e-01 -5.64775481e-03 1.73070230e-03 6.31871539e-01] [ 5.64746301e-03 9.99984038e-01 1.73441424e-04 -2.95386773e-03] [-1.73165423e-03 -1.63664321e-04 9.99998487e-01 -1.97800125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724630439999999 meters Centerline goodness : 0.098543 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99994504e-01 1.99364492e-03 2.64909111e-03 6.12459286e-01] [-1.99221085e-03 9.99997868e-01 -5.43872133e-04 -1.02649637e-02] [-2.65016975e-03 5.38591596e-04 9.99996343e-01 -1.98222535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75463044 meters Centerline goodness : 0.210076 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99994632e-01 1.96238200e-03 2.62399548e-03 6.12421272e-01] [-1.96131714e-03 9.99997993e-01 -4.08330403e-04 -1.12654732e-02] [-2.62479152e-03 4.03181724e-04 9.99996474e-01 -1.97974436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784630439999999 meters Centerline goodness : 0.201441 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 9.99976757e-01 -6.51842286e-03 1.99903448e-03 5.91981130e-01] [ 6.51750726e-03 9.99978653e-01 4.64191986e-04 -1.03955728e-02] [-2.00201761e-03 -4.51152474e-04 9.99997894e-01 -1.99060778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814630439999999 meters Centerline goodness : 0.100413 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 9.99977641e-01 -6.45102361e-03 1.76116174e-03 5.92959521e-01] [ 6.44986487e-03 9.99978980e-01 6.62830350e-04 -1.13058377e-02] [-1.76540066e-03 -6.51456275e-04 9.99998229e-01 -1.99737152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8446304399999995 meters Centerline goodness : 0.098880 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.20 [[ 9.99998869e-01 1.27048796e-03 8.05508644e-04 6.11947580e-01] [-1.27038345e-03 9.99999185e-01 -1.30247340e-04 -1.43276505e-02] [-8.05673464e-04 1.29223888e-04 9.99999667e-01 -1.98078980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87463044 meters Centerline goodness : 0.447459 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 9.99998712e-01 1.34612508e-03 8.73923130e-04 6.11536522e-01] [-1.34617008e-03 9.99999093e-01 5.09080891e-05 -1.50401074e-02] [-8.73853808e-04 -5.20844727e-05 9.99999617e-01 -1.97675081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904630439999999 meters Centerline goodness : 0.455590 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 9.99998581e-01 1.38885633e-03 9.53656897e-04 6.11032551e-01] [-1.38908851e-03 9.99999006e-01 2.42848417e-04 -1.61380304e-02] [-9.53318667e-04 -2.44172787e-04 9.99999516e-01 -1.97140753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934630439999999 meters Centerline goodness : 0.245532 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 9.99998565e-01 1.38264326e-03 9.78492802e-04 6.10818963e-01] [-1.38309310e-03 9.99998938e-01 4.59197915e-04 -1.76925259e-02] [-9.77856856e-04 -4.60550603e-04 9.99999416e-01 -1.96798632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96463044 meters Centerline goodness : 0.450091 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.20 [[ 9.99998545e-01 1.40296769e-03 9.70662619e-04 6.10805321e-01] [-1.40368324e-03 9.99998743e-01 7.36894572e-04 -1.95006925e-02] [-9.69627560e-04 -7.38256002e-04 9.99999257e-01 -1.96653316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994630439999999 meters Centerline goodness : 0.218558 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.19 [[ 9.99997374e-01 -8.84906335e-04 2.11379237e-03 6.06768756e-01] [ 8.86772771e-04 9.99999218e-01 -8.82205832e-04 -2.46595477e-02] [-2.11301004e-03 8.84077969e-04 9.99997377e-01 -1.94888887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024630439999999 meters Centerline goodness : 0.454373 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.19 [[ 9.99997443e-01 -7.94236193e-04 2.11719547e-03 6.06634308e-01] [ 7.95243934e-04 9.99999571e-01 -4.75179700e-04 -2.69011387e-02] [-2.11681716e-03 4.76862172e-04 9.99997646e-01 -1.94591048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0546304399999995 meters Centerline goodness : 0.453457 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.20 [[ 9.99998712e-01 -7.14582720e-04 1.43697365e-03 6.08634967e-01] [ 7.14591144e-04 9.99999745e-01 -5.34903134e-06 -2.96688422e-02] [-1.43696946e-03 6.37587310e-06 9.99998968e-01 -1.95208219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08463044 meters Centerline goodness : 0.446534 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.20 [[ 9.99973996e-01 7.20158043e-03 3.81108672e-04 5.90354508e-01] [-7.20109257e-03 9.99973270e-01 -1.26634023e-03 -3.54048914e-02] [-3.90218136e-04 1.26356290e-03 9.99999126e-01 -1.96635379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114630439999999 meters Centerline goodness : 0.446420 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.20 [[ 9.99973971e-01 7.20822610e-03 3.14293526e-04 5.90655510e-01] [-7.20781113e-03 9.99973176e-01 -1.30204564e-03 -3.52307799e-02] [-3.23670534e-04 1.29974638e-03 9.99999103e-01 -1.96902063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144630439999999 meters Centerline goodness : 0.266983 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.20 [[ 9.99999171e-01 -3.89186833e-04 1.22773663e-03 5.71647154e-01] [ 3.89197739e-04 9.99999924e-01 -8.64426083e-06 -3.15407996e-02] [-1.22773317e-03 9.12208598e-06 9.99999246e-01 -1.99135701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17463044 meters Centerline goodness : 0.455634 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.20 [[ 9.99998595e-01 -3.59191588e-04 1.63753048e-03 5.71005492e-01] [ 3.59679881e-04 9.99999891e-01 -2.97904036e-04 -2.99036975e-02] [-1.63742330e-03 2.98492604e-04 9.99998615e-01 -1.99758981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 7.234630439999999 meters Centerline goodness : 0.457661 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.20 [[ 9.99998464e-01 -4.88988397e-04 1.68328383e-03 5.71275379e-01] [ 4.90125847e-04 9.99999652e-01 -6.75386348e-04 -2.84071734e-02] [-1.68295299e-03 6.76210331e-04 9.99998355e-01 -2.00533091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2646304399999995 meters Centerline goodness : 0.445137 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.20 [[ 9.99998941e-01 -5.00044734e-04 1.36643381e-03 5.72201746e-01] [ 5.00996926e-04 9.99999632e-01 -6.96590854e-04 -2.83009968e-02] [-1.36608498e-03 6.97274695e-04 9.99998824e-01 -2.00945926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29463044 meters Centerline goodness : 0.438705 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:-0.20 [[ 9.99998145e-01 -9.75837253e-04 -1.66085253e-03 5.29697621e-01] [ 9.74375058e-04 9.99999137e-01 -8.80970133e-04 -3.22280819e-02] [ 1.66171078e-03 8.79350205e-04 9.99998233e-01 -2.01009244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324630439999999 meters Centerline goodness : 0.196681 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:-0.20 [[ 9.99997175e-01 -1.00693240e-03 -2.15334807e-03 5.31135299e-01] [ 1.00545374e-03 9.99999258e-01 -6.87652436e-04 -3.37102754e-02] [ 2.15403889e-03 6.85485402e-04 9.99997445e-01 -2.01441819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354630439999999 meters Centerline goodness : 0.220765 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:-0.20 [[ 9.99994857e-01 -1.41160908e-03 -2.87994463e-03 5.33262229e-01] [ 1.41012504e-03 9.99998872e-01 -5.17266588e-04 -3.79121998e-02] [ 2.88067156e-03 5.13202845e-04 9.99995719e-01 -2.02030660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38463044 meters Centerline goodness : 0.435733 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.04, Z:-0.20 [[ 0.99997828 0.00595724 -0.00282144 0.5517311 ] [-0.00596179 0.99998094 -0.00160704 -0.04351629] [ 0.00281182 0.00162382 0.99999473 -0.20014374] [ 0. 0. 0. 1. ]] SLAMing on 7.41463044 meters Centerline goodness : 0.450786 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.20 [[ 9.99996346e-01 -1.61618734e-03 -2.16717202e-03 5.69719464e-01] [ 1.61671659e-03 9.99998664e-01 2.42479032e-04 -4.09859625e-02] [ 2.16677723e-03 -2.45981848e-04 9.99997622e-01 -1.98261156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444630439999999 meters Centerline goodness : 0.206535 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.20 [[ 9.99981647e-01 6.00594710e-03 -7.95913039e-04 5.50422665e-01] [-6.00620236e-03 9.99981912e-01 -3.18712402e-04 -4.91860358e-02] [ 7.93984473e-04 3.23486968e-04 9.99999632e-01 -1.99640518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474630439999999 meters Centerline goodness : 0.451931 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:-0.20 [[ 9.99995973e-01 -2.79369262e-03 4.98962723e-04 5.27598632e-01] [ 2.79360599e-03 9.99996083e-01 1.74228265e-04 -5.08060467e-02] [-4.99447509e-04 -1.72833658e-04 9.99999860e-01 -1.99771476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50463044 meters Centerline goodness : 0.290132 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.20 [[ 9.99988935e-01 4.68893434e-03 3.79250942e-04 5.46006576e-01] [-4.68845048e-03 9.99988207e-01 -1.26680629e-03 -5.58676120e-02] [-3.85186441e-04 1.26501418e-03 9.99999126e-01 -1.97640716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534630439999999 meters Centerline goodness : 0.264783 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.20 [[ 9.99988429e-01 4.79944929e-03 3.27431774e-04 5.46234492e-01] [-4.79911222e-03 9.99987961e-01 -1.02256383e-03 -5.70680711e-02] [-3.32335576e-04 1.02098062e-03 9.99999424e-01 -1.97851852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564630439999999 meters Centerline goodness : 0.173119 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.20 [[ 9.99986539e-01 5.16441149e-03 5.00049904e-04 5.46073737e-01] [-5.16422572e-03 9.99986596e-01 -3.72074581e-04 -5.93732296e-02] [-5.01964748e-04 3.69487202e-04 9.99999806e-01 -1.98215643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5946304399999995 meters Centerline goodness : 0.089080 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.20 [[ 9.99985931e-01 5.26768372e-03 6.23356583e-04 5.45598589e-01] [-5.26765183e-03 9.99986124e-01 -5.28008537e-05 -6.11477078e-02] [-6.23626071e-04 4.95164854e-05 9.99999804e-01 -1.97878727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62463044 meters Centerline goodness : 0.449247 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.20 [[ 9.99985321e-01 5.36462584e-03 7.60398857e-04 5.44925835e-01] [-5.36490430e-03 9.99985542e-01 3.64633141e-04 -6.37404646e-02] [-7.58431743e-04 -3.68707256e-04 9.99999644e-01 -1.97300008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654630439999999 meters Centerline goodness : 0.096190 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.20 [[ 0.99999257 0.00348035 0.00165809 0.54090887] [-0.00347838 0.99999325 -0.00118512 -0.06710451] [-0.00166221 0.00117934 0.99999792 -0.195183 ] [ 0. 0. 0. 1. ]] SLAMing on 7.684630439999999 meters Centerline goodness : 0.092767 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.20 [[ 9.99992044e-01 3.64441593e-03 1.62162730e-03 5.40943759e-01] [-3.64336403e-03 9.99993151e-01 -6.51149518e-04 -6.99756058e-02] [-1.62398926e-03 6.45236159e-04 9.99998473e-01 -1.95068184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71463044 meters Centerline goodness : 0.452212 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.20 [[ 9.99991094e-01 3.90183792e-03 1.60851712e-03 5.41474693e-01] [-3.90214263e-03 9.99992369e-01 1.86339552e-04 -7.46856387e-02] [-1.60777778e-03 -1.92614555e-04 9.99998689e-01 -1.95734566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744630439999999 meters Centerline goodness : 0.451855 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.20 [[ 9.99990492e-01 4.02243278e-03 1.68429760e-03 5.41225365e-01] [-4.02329204e-03 9.99991778e-01 5.07084360e-04 -7.63090541e-02] [-1.68224404e-03 -5.13855959e-04 9.99998453e-01 -1.95642874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774630439999999 meters Centerline goodness : 0.450778 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.20 [[ 9.99989926e-01 4.13179958e-03 1.75396183e-03 5.40982694e-01] [-4.13315685e-03 9.99991161e-01 7.70912839e-04 -7.76212872e-02] [-1.75076107e-03 -7.78154472e-04 9.99998165e-01 -1.95503896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8046304399999995 meters Centerline goodness : 0.449974 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.20 [[ 9.99989504e-01 4.23361601e-03 1.75195468e-03 5.41021389e-01] [-4.23533525e-03 9.99990552e-01 9.78780148e-04 -7.86339386e-02] [-1.74779435e-03 -9.86189990e-04 9.99997986e-01 -1.95569054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83463044 meters Centerline goodness : 0.444673 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.20 [[ 0.99998933 0.00438699 0.00144953 0.54210763] [-0.00438889 0.99998951 0.0013087 -0.08050524] [-0.00144377 -0.00131505 0.99999809 -0.19623039] [ 0. 0. 0. 1. ]] SLAMing on 7.864630439999999 meters Centerline goodness : 0.450546 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.20 [[ 9.99992278e-01 -3.89612770e-03 5.14845852e-04 5.23022753e-01] [ 3.89484834e-03 9.99989382e-01 2.46301233e-03 -7.97247170e-02] [-5.24436596e-04 -2.46098806e-03 9.99996834e-01 -1.97441872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894630439999999 meters Centerline goodness : 0.244544 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:-0.20 [[ 9.99996847e-01 2.43575934e-03 6.10185749e-04 5.45028279e-01] [-2.43571032e-03 9.99997030e-01 -8.10691487e-05 -8.21463144e-02] [-6.10381402e-04 7.95826574e-05 9.99999811e-01 -1.97609813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92463044 meters Centerline goodness : 0.452592 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.20 [[ 9.99997056e-01 1.61039960e-03 -1.81494956e-03 5.00251844e-01] [-1.61095690e-03 9.99998656e-01 -3.05641073e-04 -8.73058503e-02] [ 1.81445491e-03 3.08563979e-04 9.99998306e-01 -1.96969719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954630439999999 meters Centerline goodness : 0.448120 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.20 [[ 9.99996385e-01 1.87885383e-03 -1.92351158e-03 5.00651495e-01] [-1.87823375e-03 9.99998184e-01 3.24123694e-04 -9.00047588e-02] [ 1.92411707e-03 -3.20509718e-04 9.99998098e-01 -1.97168867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984630439999999 meters Centerline goodness : 0.087476 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.20 [[ 9.99996471e-01 1.99867679e-03 -1.75008646e-03 5.00242309e-01] [-1.99773536e-03 9.99997859e-01 5.39518903e-04 -9.07211000e-02] [ 1.75116103e-03 -5.36020790e-04 9.99998323e-01 -1.97159776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01463044 meters Centerline goodness : 0.199068 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.20 [[ 9.99982859e-01 -5.84541876e-03 -3.35949862e-04 4.79830821e-01] [ 5.84596432e-03 9.99981557e-01 1.64656761e-03 -8.72082387e-02] [ 3.26318788e-04 -1.64850333e-03 9.99998588e-01 -1.98679531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044630439999999 meters Centerline goodness : 0.180807 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.20 [[ 9.99982423e-01 -5.92675623e-03 -1.65619127e-04 4.79223902e-01] [ 5.92696845e-03 9.99981575e-01 1.31174005e-03 -8.56948338e-02] [ 1.57841712e-04 -1.31269862e-03 9.99999126e-01 -1.98450407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07463044 meters Centerline goodness : 0.094872 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.20 [[ 9.99985461e-01 -5.33413786e-03 -7.90458115e-04 4.80988169e-01] [ 5.33494675e-03 9.99985244e-01 1.02476502e-03 -8.08822117e-02] [ 7.84980213e-04 -1.02896717e-03 9.99999163e-01 -1.99353581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10463044 meters Centerline goodness : 0.437485 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.20 [[ 9.99986166e-01 -5.14748653e-03 -1.08243557e-03 4.81836431e-01] [ 5.14824777e-03 9.99986502e-01 7.01655606e-04 -7.78690513e-02] [ 1.07880919e-03 -7.07218545e-04 9.99999168e-01 -1.99843381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 8.16463044 meters Centerline goodness : 0.377480 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99998605e-01 -1.44909272e-03 -8.31313897e-04 4.80949801e-01] [ 1.45222865e-03 9.99991786e-01 3.78414060e-03 -7.33495189e-02] [ 8.25823498e-04 -3.78534258e-03 9.99992495e-01 -1.99633422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19463044 meters Centerline goodness : 0.392542 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99998526e-01 -1.61696055e-03 -5.77153438e-04 4.80138214e-01] [ 1.61885821e-03 9.99993235e-01 3.30277136e-03 -7.08405142e-02] [ 5.71809083e-04 -3.30370083e-03 9.99994379e-01 -1.99435818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224630439999999 meters Centerline goodness : 0.308975 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99997871e-01 -1.93322123e-03 -7.21617849e-04 4.80453720e-01] [ 1.93507305e-03 9.99994814e-01 2.57439695e-03 -6.73341215e-02] [ 7.16637227e-04 -2.57578785e-03 9.99996426e-01 -1.99535180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25463044 meters Centerline goodness : 0.092329 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 0.99999723 -0.00210002 -0.00106236 0.48159814] [ 0.00210236 0.99999535 0.00220928 -0.0657398 ] [ 0.00105771 -0.0022115 0.999997 -0.20016692] [ 0. 0. 0. 1. ]] SLAMing on 8.284630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 8.31463044 meters Centerline goodness : 0.091098 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.20 [[ 0.99999603 -0.0024162 -0.00144674 0.48279602] [ 0.00241836 0.99999596 0.00149354 -0.06237133] [ 0.00144312 -0.00149703 0.99999784 -0.20077766] [ 0. 0. 0. 1. ]] SLAMing on 8.34463044 meters Centerline goodness : 0.168693 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.20 [[ 0.99999539 -0.0025879 -0.00158925 0.48293936] [ 0.00258968 0.99999602 0.00111821 -0.06068285] [ 0.00158635 -0.00112232 0.99999811 -0.20051526] [ 0. 0. 0. 1. ]] SLAMing on 8.374630439999999 meters Centerline goodness : 0.444953 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.20 [[ 9.99986839e-01 5.01427611e-03 -1.08541430e-03 5.02122816e-01] [-5.01457857e-03 9.99987389e-01 -2.76114203e-04 -6.08601858e-02] [ 1.08401610e-03 2.81553465e-04 9.99999373e-01 -1.99077830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40463044 meters Centerline goodness : 0.090631 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.20 [[ 9.99995229e-01 -3.02177354e-03 -6.40362567e-04 4.81920639e-01] [ 3.02238057e-03 9.99994982e-01 9.49110656e-04 -5.61426744e-02] [ 6.37491356e-04 -9.51041548e-04 9.99999345e-01 -2.00654771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43463044 meters Centerline goodness : 0.230188 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.20 [[ 9.99995216e-01 -3.03726940e-03 -5.85061300e-04 4.81887551e-01] [ 3.03781114e-03 9.99994956e-01 9.27307414e-04 -5.59309029e-02] [ 5.82241867e-04 -9.29080284e-04 9.99999399e-01 -2.00777597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464630439999999 meters Centerline goodness : 0.140944 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.20 [[ 9.99995116e-01 -3.07743999e-03 -5.44447367e-04 4.81896914e-01] [ 3.07793271e-03 9.99994852e-01 9.06479059e-04 -5.59750591e-02] [ 5.41654929e-04 -9.08150405e-04 9.99999441e-01 -2.00911474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49463044 meters Centerline goodness : 0.198403 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.20 [[ 9.99995005e-01 -3.13348001e-03 -4.12796732e-04 4.81599528e-01] [ 3.13385023e-03 9.99994685e-01 8.99285908e-04 -5.61906116e-02] [ 4.09976643e-04 -9.00575060e-04 9.99999510e-01 -2.00883536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52463044 meters Centerline goodness : 0.103988 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.20 [[ 9.99988549e-01 4.77496157e-03 -3.18910235e-04 4.62060322e-01] [-4.77498665e-03 9.99988597e-01 -7.79377986e-05 -6.08462265e-02] [ 3.18534448e-04 7.94596983e-05 9.99999946e-01 -2.01447194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554630439999999 meters Centerline goodness : 0.209721 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.20 [[ 9.99988755e-01 4.72776024e-03 -3.73036066e-04 4.62202657e-01] [-4.72783815e-03 9.99988802e-01 -2.08243956e-04 -6.01626361e-02] [ 3.72047361e-04 2.10005269e-04 9.99999909e-01 -2.01492419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58463044 meters Centerline goodness : 0.209721 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.20 [[ 9.99988755e-01 4.72776024e-03 -3.73036066e-04 4.62202657e-01] [-4.72783815e-03 9.99988802e-01 -2.08243956e-04 -6.01626361e-02] [ 3.72047361e-04 2.10005269e-04 9.99999909e-01 -2.01492419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61463044 meters Centerline goodness : 0.454324 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.20 [[ 9.99988946e-01 4.67344611e-03 -5.15638964e-04 4.62608876e-01] [-4.67361479e-03 9.99989025e-01 -3.26406692e-04 -5.97424840e-02] [ 5.14107861e-04 3.28812982e-04 9.99999814e-01 -2.01650229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64463044 meters Centerline goodness : 0.092830 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:-0.20 [[ 9.99994697e-01 -3.00285882e-03 -1.26041615e-03 4.81534469e-01] [ 3.00337086e-03 9.99995408e-01 4.04555307e-04 -5.44523731e-02] [ 1.25919554e-03 -4.08338659e-04 9.99999124e-01 -2.00617194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67463044 meters Centerline goodness : 0.452606 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:-0.20 [[ 9.99994654e-01 -3.02974119e-03 -1.22968421e-03 4.81706171e-01] [ 3.03023596e-03 9.99995329e-01 4.00692558e-04 -5.48097488e-02] [ 1.22846447e-03 -4.04416649e-04 9.99999164e-01 -2.00998036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704630439999999 meters Centerline goodness : 0.098042 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.20 [[ 9.99989068e-01 4.55683605e-03 -1.04814567e-03 4.63106525e-01] [-4.55771842e-03 9.99989260e-01 -8.40997431e-04 -6.15977777e-02] [ 1.04430212e-03 8.45765391e-04 9.99999097e-01 -2.02656965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73463044 meters Centerline goodness : 0.452966 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.20 [[ 9.99993900e-01 -3.31178916e-03 -1.11012874e-03 4.82379605e-01] [ 3.31220059e-03 9.99994447e-01 3.68977476e-04 -5.75262782e-02] [ 1.10890060e-03 -3.72652194e-04 9.99999316e-01 -2.01803374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76463044 meters Centerline goodness : 0.311052 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.20 [[ 9.99990745e-01 4.07055006e-03 -1.39326433e-03 5.01611777e-01] [-4.07172502e-03 9.99991356e-01 -8.41523805e-04 -6.14113833e-02] [ 1.38982682e-03 8.47189005e-04 9.99998675e-01 -2.00290106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794630439999999 meters Centerline goodness : 0.223070 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.20 [[ 0.99998773 0.00303672 -0.003914 0.45671513] [-0.00304269 0.99999422 -0.00152016 -0.06487701] [ 0.00390936 0.00153206 0.99999118 -0.19936435] [ 0. 0. 0. 1. ]] SLAMing on 8.82463044 meters Centerline goodness : 0.100182 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.20 [[ 0.99998799 0.00304757 -0.00383837 0.45650968] [-0.00305294 0.99999437 -0.00139335 -0.06560181] [ 0.0038341 0.00140505 0.99999166 -0.19925088] [ 0. 0. 0. 1. ]] SLAMing on 8.85463044 meters Centerline goodness : 0.099384 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.20 [[ 0.99998898 0.00305891 -0.00356089 0.45560098] [-0.00306339 0.99999452 -0.00125457 -0.06660245] [ 0.00355703 0.00126547 0.99999287 -0.19883457] [ 0. 0. 0. 1. ]] SLAMing on 8.884630439999999 meters Centerline goodness : 0.453362 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.20 [[ 9.99986066e-01 -5.11378286e-03 -1.31028977e-03 4.73925102e-01] [ 5.11346672e-03 9.99986896e-01 -2.44512142e-04 -6.42144022e-02] [ 1.31152298e-03 2.37808612e-04 9.99999112e-01 -1.97855625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91463044 meters Centerline goodness : 0.208758 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.20 [[ 0.99999521 0.00270248 -0.00150556 0.45496337] [-0.00270432 0.9999956 -0.00122106 -0.0710392 ] [ 0.00150225 0.00122513 0.99999812 -0.19910101] [ 0. 0. 0. 1. ]] SLAMing on 8.94463044 meters Centerline goodness : 0.205230 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.20 [[ 9.99986517e-01 -4.58337709e-03 -2.44110024e-03 4.74566898e-01] [ 4.58375675e-03 9.99989483e-01 1.49957365e-04 -6.62487082e-02] [ 2.44038726e-03 -1.61144753e-04 9.99997009e-01 -1.98052175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974630439999999 meters Centerline goodness : 0.101341 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99985955e-01 -4.45439098e-03 -2.87188112e-03 4.76224640e-01] [ 4.45551827e-03 9.99990000e-01 3.86249300e-04 -6.70882572e-02] [ 2.87013190e-03 -3.99039594e-04 9.99995802e-01 -1.99076300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00463044 meters Centerline goodness : 0.098502 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99984008e-01 -4.36890315e-03 -3.59129015e-03 4.78531211e-01] [ 4.37124195e-03 9.99990239e-01 6.43651616e-04 -6.85886559e-02] [ 3.58844305e-03 -6.59339720e-04 9.99993344e-01 -2.00053829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034630439999999 meters Centerline goodness : 0.098502 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99984008e-01 -4.36890315e-03 -3.59129015e-03 4.78531211e-01] [ 4.37124195e-03 9.99990239e-01 6.43651616e-04 -6.85886559e-02] [ 3.58844305e-03 -6.59339720e-04 9.99993344e-01 -2.00053829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06463044 meters Centerline goodness : 0.096534 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99983479e-01 -4.50156598e-03 -3.57458404e-03 4.77779369e-01] [ 4.50335973e-03 9.99989738e-01 4.93917083e-04 -6.88149497e-02] [ 3.57232396e-03 -5.10006561e-04 9.99993489e-01 -1.98979470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09463044 meters Centerline goodness : 0.092265 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99984590e-01 -4.52269067e-03 -3.21935312e-03 4.76507570e-01] [ 4.52386887e-03 9.99989703e-01 3.58785216e-04 -6.80104393e-02] [ 3.21769729e-03 -3.73343618e-04 9.99994754e-01 -1.98344310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124630439999999 meters Centerline goodness : 0.206948 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.20 [[ 9.99986162e-01 -4.49305583e-03 -2.73642235e-03 4.75205477e-01] [ 4.49374530e-03 9.99989873e-01 2.45863850e-04 -6.68911408e-02] [ 2.73528995e-03 -2.58157233e-04 9.99996226e-01 -1.98096050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15463044 meters Centerline goodness : 0.089790 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.20 [[ 9.99991638e-01 3.69567506e-03 -1.75112409e-03 4.55103078e-01] [-3.69666192e-03 9.99993010e-01 -5.60659561e-04 -7.05997873e-02] [ 1.74903984e-03 5.67128187e-04 9.99998310e-01 -1.99658617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18463044 meters Centerline goodness : 0.455936 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.20 [[ 9.99990090e-01 -4.02952678e-03 -1.89300349e-03 4.35822341e-01] [ 4.03096554e-03 9.99991589e-01 7.56838135e-04 -6.62077540e-02] [ 1.88993787e-03 -7.64461267e-04 9.99997922e-01 -2.01583257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214630439999999 meters Centerline goodness : 0.095848 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.20 [[ 9.99989456e-01 -4.09919596e-03 -2.06976310e-03 4.36582747e-01] [ 4.10015595e-03 9.99991489e-01 4.59787758e-04 -6.46186807e-02] [ 2.06786073e-03 -4.68269261e-04 9.99997752e-01 -2.02254250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24463044 meters Centerline goodness : 0.451637 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.20 [[ 9.99987066e-01 -4.28166858e-03 -2.74495770e-03 4.38299319e-01] [ 4.28164056e-03 9.99990834e-01 -1.60836386e-05 -6.25469179e-02] [ 2.74500140e-03 4.33050832e-06 9.99996232e-01 -2.02665881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27463044 meters Centerline goodness : 0.089776 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.20 [[ 9.99986817e-01 -4.29859573e-03 -2.80857751e-03 4.38292129e-01] [ 4.29850928e-03 9.99990761e-01 -3.68146763e-05 -6.24539502e-02] [ 2.80870981e-03 2.47414945e-05 9.99996055e-01 -2.02415496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304630439999999 meters Centerline goodness : 0.452937 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.20 [[ 0.99999142 0.0034659 -0.0022667 0.41967788] [-0.0034682 0.99999347 -0.00101328 -0.06815564] [ 0.00226317 0.00102114 0.99999692 -0.20382228] [ 0. 0. 0. 1. ]] SLAMing on 9.33463044 meters Centerline goodness : 0.100499 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.20 [[ 9.99991850e-01 3.50083676e-03 -2.01103405e-03 4.19025566e-01] [-3.50261735e-03 9.99993476e-01 -8.82573305e-04 -6.86635711e-02] [ 2.00793119e-03 8.89609994e-04 9.99997588e-01 -2.03636029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36463044 meters Centerline goodness : 0.125399 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.20 [[ 9.99992171e-01 3.43635720e-03 -1.96202478e-03 4.18839478e-01] [-3.43815223e-03 9.99993673e-01 -9.12251967e-04 -6.89614596e-02] [ 1.95887755e-03 9.18990565e-04 9.99997659e-01 -2.03526699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394630439999998 meters Centerline goodness : 0.134030 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.20 [[ 9.99992190e-01 3.39439203e-03 -2.02436374e-03 4.19004181e-01] [-3.39636162e-03 9.99993762e-01 -9.70301011e-04 -6.89552467e-02] [ 2.02105753e-03 9.77168905e-04 9.99997480e-01 -2.03530417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42463044 meters Centerline goodness : 0.098542 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.20 [[ 0.99999234 0.00335652 -0.00201248 0.41905437] [-0.00335873 0.99999376 -0.00109226 -0.06835683] [ 0.0020088 0.00109901 0.99999738 -0.20369202] [ 0. 0. 0. 1. ]] SLAMing on 9.454630439999999 meters Centerline goodness : 0.090082 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.20 [[ 9.99991359e-01 -3.75560610e-03 -1.78237048e-03 4.36710093e-01] [ 3.75629010e-03 9.99992873e-01 3.80566767e-04 -6.20573899e-02] [ 1.78092851e-03 -3.87258579e-04 9.99998339e-01 -2.02092797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48463044 meters Centerline goodness : 0.090864 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.20 [[ 9.99991846e-01 -3.72937460e-03 -1.54938041e-03 4.36156985e-01] [ 3.72975312e-03 9.99993015e-01 2.41483910e-04 -6.09366682e-02] [ 1.54846900e-03 -2.47260748e-04 9.99998771e-01 -2.02153689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51463044 meters Centerline goodness : 0.091358 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.20 [[ 9.99992472e-01 -3.62648036e-03 -1.37997594e-03 4.35582294e-01] [ 3.62658595e-03 9.99993421e-01 7.40197442e-05 -5.93041675e-02] [ 1.37969843e-03 -7.90237884e-05 9.99999045e-01 -2.02013028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544630439999999 meters Centerline goodness : 0.111304 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.06, Z:-0.20 [[ 0.9999877 0.00431296 -0.00244962 0.41698499] [-0.00431613 0.99998986 -0.0012885 -0.0642554 ] [ 0.00244404 0.00129905 0.99999617 -0.20351595] [ 0. 0. 0. 1. ]] SLAMing on 9.57463044 meters Centerline goodness : 0.455322 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.20 [[ 9.99987291e-01 -3.24615407e-03 -3.85747662e-03 4.36732347e-01] [ 3.24274551e-03 9.99994347e-01 -8.89552425e-04 -5.83865558e-02] [ 3.86034244e-03 8.77032305e-04 9.99992164e-01 -2.02896208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60463044 meters Centerline goodness : 0.105518 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.20 [[ 0.99996833 -0.00389657 -0.00693986 0.39383747] [ 0.0038864 0.99999136 -0.00147802 -0.06181209] [ 0.00694556 0.001451 0.99997483 -0.20302187] [ 0. 0. 0. 1. ]] SLAMing on 9.634630439999999 meters Centerline goodness : 0.099807 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.20 [[ 0.99996739 -0.00389564 -0.00707432 0.39429752] [ 0.0038856 0.99999143 -0.00143162 -0.06219761] [ 0.00707984 0.00140409 0.99997395 -0.2032653 ] [ 0. 0. 0. 1. ]] SLAMing on 9.66463044 meters Centerline goodness : 0.102743 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.20 [[ 0.99996756 -0.00385372 -0.0070731 0.39430676] [ 0.00384451 0.99999175 -0.00131508 -0.06267014] [ 0.00707811 0.00128784 0.99997412 -0.2032813 ] [ 0. 0. 0. 1. ]] SLAMing on 9.69463044 meters Centerline goodness : 0.092812 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.20 [[ 9.99971021e-01 -3.80995690e-03 -6.59095591e-03 3.92642797e-01] [ 3.80339257e-03 9.99992259e-01 -1.00820717e-03 -6.41286909e-02] [ 6.59474612e-03 9.83109957e-04 9.99977771e-01 -2.02342258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724630439999999 meters Centerline goodness : 0.101437 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.20 [[ 9.99971152e-01 -3.72659958e-03 -6.61866347e-03 3.92566681e-01] [ 3.72153318e-03 9.99992773e-01 -7.77623053e-04 -6.51824435e-02] [ 6.62151353e-03 7.52969045e-04 9.99977794e-01 -2.02074880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75463044 meters Centerline goodness : 0.123775 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.20 [[ 0.99996628 0.00401645 -0.00716225 0.37456079] [-0.00403065 0.99998994 -0.00196811 -0.07178757] [ 0.00715428 0.00199691 0.99997241 -0.20366746] [ 0. 0. 0. 1. ]] SLAMing on 9.784630439999999 meters Centerline goodness : 0.095661 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.20 [[ 0.99996358 0.00396549 -0.00755784 0.37588041] [-0.0039807 0.99999008 -0.00199823 -0.07198999] [ 0.00754984 0.00202824 0.99996944 -0.20429512] [ 0. 0. 0. 1. ]] SLAMing on 9.81463044 meters Centerline goodness : 0.449545 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.20 [[ 0.9999609 0.00389303 -0.00794002 0.37723048] [-0.00390975 0.99999017 -0.00209111 -0.07187218] [ 0.00793181 0.00212207 0.99996629 -0.20499664] [ 0. 0. 0. 1. ]] SLAMing on 9.84463044 meters Centerline goodness : 0.279622 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 9.99954407e-01 -4.24007684e-03 -8.55603169e-03 3.58634564e-01] [ 4.23172858e-03 9.99990553e-01 -9.93584818e-04 -6.83132544e-02] [ 8.56016373e-03 9.57332713e-04 9.99962903e-01 -2.06908872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874630439999999 meters Centerline goodness : 0.458563 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 0.99995691 -0.00425897 -0.00824817 0.35769053] [ 0.00425051 0.99999042 -0.00104254 -0.06783895] [ 0.00825253 0.00100744 0.99996544 -0.20656795] [ 0. 0. 0. 1. ]] SLAMing on 9.90463044 meters Centerline goodness : 0.345247 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 9.99959083e-01 -4.22159775e-03 -8.00062620e-03 3.56699936e-01] [ 4.21402772e-03 9.99990657e-01 -9.62802130e-04 -6.80026838e-02] [ 8.00461602e-03 9.29047875e-04 9.99967531e-01 -2.05917444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93463044 meters Centerline goodness : 0.200494 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 9.99960658e-01 -4.19044787e-03 -7.81810051e-03 3.55905889e-01] [ 4.18366300e-03 9.99990858e-01 -8.83994634e-04 -6.82969599e-02] [ 7.82173337e-03 8.51251558e-04 9.99969047e-01 -2.05347147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964630439999999 meters Centerline goodness : 0.454794 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 9.99961138e-01 -4.18908219e-03 -7.75718301e-03 3.55627723e-01] [ 4.18287426e-03 9.99990919e-01 -8.16332657e-04 -6.87496666e-02] [ 7.76053225e-03 7.83853611e-04 9.99969579e-01 -2.05094249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99463044 meters Centerline goodness : 0.329876 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 9.99959555e-01 -4.24612023e-03 -7.92832795e-03 3.56125693e-01] [ 4.23953331e-03 9.99990654e-01 -8.47429768e-04 -6.88418135e-02] [ 7.93185214e-03 8.13783083e-04 9.99968211e-01 -2.05223422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02463044 meters Centerline goodness : 0.098244 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 9.99959960e-01 -4.27207771e-03 -7.86302554e-03 3.55910243e-01] [ 4.26453394e-03 9.99990431e-01 -9.75913723e-04 -6.80414851e-02] [ 7.86711948e-03 9.42342508e-04 9.99968610e-01 -2.05132538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054630439999999 meters Centerline goodness : 0.453018 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.21 [[ 0.99996021 -0.00431467 -0.00780822 0.35581502] [ 0.00430543 0.99999001 -0.00120032 -0.06669042] [ 0.00781332 0.00116665 0.99996879 -0.20524031] [ 0. 0. 0. 1. ]] SLAMing on 10.08463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 10.11463044 meters Centerline goodness : 0.087522 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.07, Z:-0.21 [[ 0.99994511 0.00496253 -0.00922796 0.33667861] [-0.00498018 0.99998581 -0.0018903 -0.06680225] [ 0.00921845 0.00193616 0.99995563 -0.20609009] [ 0. 0. 0. 1. ]] SLAMing on 10.144630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 10.17463044 meters Centerline goodness : 0.445643 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.06, Z:-0.21 [[ 9.99920788e-01 8.29502238e-03 -9.46626101e-03 3.36894132e-01] [-8.29145922e-03 9.99965539e-01 4.15589938e-04 -5.98403612e-02] [ 9.46938212e-03 -3.37067901e-04 9.99955108e-01 -2.05845648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204630439999999 meters Centerline goodness : 0.100316 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.21 [[ 9.99965535e-01 3.86352967e-04 -8.29334008e-03 3.16322572e-01] [-3.79417474e-04 9.99999577e-01 8.37829596e-04 -5.35846867e-02] [ 8.29366027e-03 -8.34654082e-04 9.99965259e-01 -2.06947462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23463044 meters Centerline goodness : 0.301335 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.21 [[ 9.99967202e-01 2.58530427e-04 -8.09499739e-03 3.15660523e-01] [-2.55368615e-04 9.99999891e-01 3.91619501e-04 -5.12537094e-02] [ 8.09509775e-03 -3.89539448e-04 9.99967158e-01 -2.06741582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26463044 meters Centerline goodness : 0.130155 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.21 [[ 9.99968521e-01 9.37713513e-05 -7.93398801e-03 3.15085640e-01] [-9.44600306e-05 9.99999992e-01 -8.64264674e-05 -4.89580502e-02] [ 7.93397984e-03 8.71731915e-05 9.99968522e-01 -2.06537594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294630439999999 meters Centerline goodness : 0.433098 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.05, Z:-0.21 [[ 9.99970139e-01 -3.65780322e-05 -7.72790484e-03 3.14387243e-01] [ 3.24488105e-05 9.99999857e-01 -5.34450865e-04 -4.66625294e-02] [ 7.72792328e-03 5.34184144e-04 9.99969996e-01 -2.06326297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32463044 meters Centerline goodness : 0.450552 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.04, Z:-0.21 [[ 9.99971904e-01 -1.44040948e-04 -7.49473498e-03 3.13411279e-01] [ 1.35269848e-04 9.99999305e-01 -1.17079535e-03 -4.26149089e-02] [ 7.49489842e-03 1.16974864e-03 9.99971229e-01 -2.05817458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35463044 meters Centerline goodness : 0.353902 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.04, Z:-0.21 [[ 9.99970506e-01 -2.16394057e-04 -7.67726644e-03 3.13828676e-01] [ 2.05064576e-04 9.99998889e-01 -1.47647448e-03 -4.08382347e-02] [ 7.67757741e-03 1.47485660e-03 9.99969439e-01 -2.05925835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384630439999999 meters Centerline goodness : 0.293893 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.04, Z:-0.21 [[ 9.99968513e-01 -3.28328400e-04 -7.92869766e-03 3.14659125e-01] [ 3.14312160e-04 9.99998386e-01 -1.76896719e-03 -3.94211752e-02] [ 7.92926566e-03 1.76641940e-03 9.99967003e-01 -2.06342930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41463044 meters Centerline goodness : 0.097234 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.21 [[ 9.99965827e-01 -4.49524626e-04 -8.25491076e-03 3.15642805e-01] [ 4.33015208e-04 9.99997903e-01 -2.00162959e-03 -3.84722781e-02] [ 8.25579324e-03 1.99798668e-03 9.99963924e-01 -2.06699608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44463044 meters Centerline goodness : 0.288099 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.21 [[ 9.99962031e-01 -5.36205895e-04 -8.69768283e-03 3.16991944e-01] [ 5.17698975e-04 9.99997598e-01 -2.12991090e-03 -3.80090413e-02] [ 8.69880401e-03 2.12532725e-03 9.99959906e-01 -2.07171317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474630439999999 meters Centerline goodness : 0.288099 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.21 [[ 9.99962031e-01 -5.36205895e-04 -8.69768283e-03 3.16991944e-01] [ 5.17698975e-04 9.99997598e-01 -2.12991090e-03 -3.80090413e-02] [ 8.69880401e-03 2.12532725e-03 9.99959906e-01 -2.07171317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50463044 meters Centerline goodness : 0.087822 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.21 [[ 9.99959678e-01 -5.92715288e-04 -8.96050085e-03 3.17754846e-01] [ 5.73145853e-04 9.99997446e-01 -2.18637674e-03 -3.77794173e-02] [ 8.96177386e-03 2.18115291e-03 9.99957464e-01 -2.07390653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534630439999999 meters Centerline goodness : 0.441902 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.21 [[ 9.99962423e-01 -7.37416065e-04 -8.63766857e-03 3.16448390e-01] [ 7.18103496e-04 9.99997236e-01 -2.23874245e-03 -3.75737285e-02] [ 8.63929558e-03 2.23245558e-03 9.99960189e-01 -2.06437468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564630439999998 meters Centerline goodness : 0.104356 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.21 [[ 0.99994884 0.00675388 -0.00752989 0.29679204] [-0.00678008 0.99997103 -0.00345927 -0.04323707] [ 0.0075063 0.00351015 0.99996567 -0.20754478] [ 0. 0. 0. 1. ]] SLAMing on 10.59463044 meters Centerline goodness : 0.092645 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.21 [[ 0.99995084 0.00666518 -0.0073411 0.29622826] [-0.00669195 0.99997103 -0.00362823 -0.04248595] [ 0.00731671 0.00367718 0.99996647 -0.20736033] [ 0. 0. 0. 1. ]] SLAMing on 10.624630439999999 meters Centerline goodness : 0.094642 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.21 [[ 0.99995092 0.0065972 -0.00739105 0.29634267] [-0.00662548 0.9999708 -0.00380832 -0.04159121] [ 0.00736571 0.0038571 0.99996543 -0.20736876] [ 0. 0. 0. 1. ]] SLAMing on 10.65463044 meters Centerline goodness : 0.198141 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.21 [[ 0.99995051 0.00654033 -0.00749617 0.29665975] [-0.00657091 0.99997016 -0.00406287 -0.04009351] [ 0.00746937 0.00411192 0.99996365 -0.20753587] [ 0. 0. 0. 1. ]] SLAMing on 10.68463044 meters Centerline goodness : 0.094078 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.21 [[ 9.99971745e-01 -9.85495024e-04 -7.45235857e-03 2.78507690e-01] [ 9.64975575e-04 9.99995735e-01 -2.75651143e-03 -3.48056459e-02] [ 7.45504332e-03 2.74924220e-03 9.99968431e-01 -2.09980298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714630439999999 meters Centerline goodness : 0.107516 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.21 [[ 0.99996967 -0.00110699 -0.00770934 0.27919794] [ 0.00108213 0.9999942 -0.00322881 -0.03236721] [ 0.00771287 0.00322037 0.99996507 -0.21025465] [ 0. 0. 0. 1. ]] SLAMing on 10.74463044 meters Centerline goodness : 0.327857 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.21 [[ 0.99996955 -0.00118107 -0.00771433 0.27922097] [ 0.00115517 0.99999369 -0.00336034 -0.0319079 ] [ 0.00771825 0.00335132 0.9999646 -0.21030508] [ 0. 0. 0. 1. ]] SLAMing on 10.77463044 meters Centerline goodness : 0.102073 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.21 [[ 0.99996977 -0.00122394 -0.00767902 0.27903676] [ 0.00119808 0.9999936 -0.00337078 -0.03203914] [ 0.0076831 0.00336148 0.99996483 -0.21012288] [ 0. 0. 0. 1. ]] SLAMing on 10.804630439999999 meters Centerline goodness : 0.113480 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.21 [[ 0.99997031 -0.00121742 -0.00760895 0.27872143] [ 0.00119267 0.99999398 -0.00325752 -0.03269762] [ 0.00761287 0.00324835 0.99996575 -0.20983747] [ 0. 0. 0. 1. ]] SLAMing on 10.83463044 meters Centerline goodness : 0.101344 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.21 [[ 0.99997083 -0.00117673 -0.00754659 0.27840565] [ 0.00115348 0.99999458 -0.00308448 -0.03357637] [ 0.00755017 0.00307568 0.99996677 -0.20952001] [ 0. 0. 0. 1. ]] SLAMing on 10.86463044 meters Centerline goodness : 0.443240 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.21 [[ 0.9999716 -0.00116712 -0.00744498 0.27816248] [ 0.00114548 0.99999511 -0.00290939 -0.03461559] [ 0.00744834 0.00290078 0.99996805 -0.20943426] [ 0. 0. 0. 1. ]] SLAMing on 10.894630439999998 meters Centerline goodness : 0.251283 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:-0.21 [[ 0.9999758 -0.00142884 -0.00680831 0.27655351] [ 0.00141003 0.99999518 -0.00276735 -0.0367552 ] [ 0.00681223 0.00275768 0.99997299 -0.20904652] [ 0. 0. 0. 1. ]] SLAMing on 10.92463044 meters Centerline goodness : 0.188645 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:-0.21 [[ 0.99996899 0.0047022 -0.00631721 0.25452582] [-0.00473636 0.99997418 -0.00540379 -0.04220515] [ 0.00629164 0.00543354 0.99996545 -0.20917819] [ 0. 0. 0. 1. ]] SLAMing on 10.954630439999999 meters Centerline goodness : 0.454354 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.21 [[ 0.99997467 -0.00322359 -0.00634521 0.2733234 ] [ 0.00319831 0.99998693 -0.00398931 -0.03924543] [ 0.00635799 0.00396891 0.99997191 -0.20766324] [ 0. 0. 0. 1. ]] SLAMing on 10.98463044 meters Centerline goodness : 0.256034 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.21 [[ 0.99997336 -0.00308949 -0.00661346 0.27412601] [ 0.0030659 0.99998891 -0.00357365 -0.04138428] [ 0.00662443 0.00355328 0.99997175 -0.20785592] [ 0. 0. 0. 1. ]] SLAMing on 11.01463044 meters Centerline goodness : 0.088600 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.21 [[ 0.99996043 0.00460508 -0.00761156 0.25672723] [-0.00464209 0.99997746 -0.00485119 -0.04970408] [ 0.00758905 0.00488633 0.99995926 -0.2097412 ] [ 0. 0. 0. 1. ]] SLAMing on 11.044630439999999 meters Centerline goodness : 0.448075 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.21 [[ 0.99995763 0.00464102 -0.00794935 0.25785208] [-0.0046774 0.99997865 -0.0045636 -0.05183489] [ 0.007928 0.00460059 0.99995799 -0.21025969] [ 0. 0. 0. 1. ]] SLAMing on 11.07463044 meters Centerline goodness : 0.120588 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.21 [[ 0.9999567 0.00478652 -0.00798056 0.25820099] [-0.00481915 0.99998009 -0.00407463 -0.05476936] [ 0.0079609 0.00411292 0.99995985 -0.21067543] [ 0. 0. 0. 1. ]] SLAMing on 11.10463044 meters Centerline goodness : 0.108649 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.21 [[ 0.9999578 0.00488772 -0.00777924 0.25775458] [-0.00491822 0.99998028 -0.00390584 -0.05541392] [ 0.00775999 0.00394393 0.99996211 -0.21072356] [ 0. 0. 0. 1. ]] SLAMing on 11.134630439999999 meters Centerline goodness : 0.442774 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.21 [[ 0.9999577 0.00495018 -0.00775162 0.25768551] [-0.00498055 0.99997998 -0.00390385 -0.05520539] [ 0.00773214 0.0039423 0.99996234 -0.21077911] [ 0. 0. 0. 1. ]] SLAMing on 11.16463044 meters Centerline goodness : 0.452069 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.21 [[ 0.99995636 0.00489241 -0.00795827 0.25842733] [-0.00492552 0.99997927 -0.00414697 -0.05419223] [ 0.00793781 0.00418599 0.99995973 -0.21129558] [ 0. 0. 0. 1. ]] SLAMing on 11.19463044 meters Centerline goodness : 0.312481 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.21 [[ 0.9999526 0.00487166 -0.00842998 0.25987105] [-0.00490947 0.99997796 -0.0044694 -0.05257606] [ 0.00840802 0.00451058 0.99995448 -0.21201668] [ 0. 0. 0. 1. ]] SLAMing on 11.224630439999999 meters Centerline goodness : 0.282246 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.21 [[ 9.99939697e-01 5.21653020e-04 -1.09695101e-02 2.41255891e-01] [-5.29788409e-04 9.99999587e-01 -7.38743722e-04 -4.65648178e-02] [ 1.09691202e-02 7.44510693e-04 9.99939560e-01 -2.13148424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25463044 meters Centerline goodness : 0.098488 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.21 [[ 0.99993042 0.00437685 -0.01095393 0.24132946] [-0.00434548 0.99998639 0.00288583 -0.04517773] [ 0.01096641 -0.00283803 0.99993584 -0.21328375] [ 0. 0. 0. 1. ]] SLAMing on 11.284630439999999 meters Centerline goodness : 0.450355 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.21 [[ 0.99995437 -0.00289631 -0.00910301 0.21995196] [ 0.00293035 0.99998876 0.00372846 -0.03835331] [ 0.00909211 -0.00375497 0.99995162 -0.21494706] [ 0. 0. 0. 1. ]] SLAMing on 11.314630439999998 meters Centerline goodness : 0.325927 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.21 [[ 0.999956 -0.00323129 -0.00880701 0.21860265] [ 0.00325606 0.99999078 0.00279949 -0.03381471] [ 0.00879788 -0.00282804 0.9999573 -0.21414408] [ 0. 0. 0. 1. ]] SLAMing on 11.34463044 meters Centerline goodness : 0.449013 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.21 [[ 0.99995573 -0.00337058 -0.00878543 0.21840705] [ 0.00339259 0.99999114 0.00249164 -0.03241399] [ 0.00877695 -0.00252134 0.9999583 -0.21399319] [ 0. 0. 0. 1. ]] SLAMing on 11.374630439999999 meters Centerline goodness : 0.457566 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.21 [[ 0.99995539 -0.00344742 -0.00879427 0.21823133] [ 0.00346802 0.99999128 0.00232832 -0.03145859] [ 0.00878616 -0.00235871 0.99995862 -0.21368811] [ 0. 0. 0. 1. ]] SLAMing on 11.40463044 meters Centerline goodness : 0.430511 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:-0.21 [[ 0.99996287 0.00405085 -0.00760607 0.23586296] [-0.0040419 0.99999112 0.00119137 -0.03282549] [ 0.00761082 -0.00116058 0.99997036 -0.21205276] [ 0. 0. 0. 1. ]] SLAMing on 11.43463044 meters Centerline goodness : 0.455418 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.21 [[ 0.99997417 -0.00393115 -0.00601714 0.21469129] [ 0.00394299 0.99999031 0.00195815 -0.02932154] [ 0.00600938 -0.00198182 0.99997998 -0.21349111] [ 0. 0. 0. 1. ]] SLAMing on 11.464630439999999 meters Centerline goodness : 0.247648 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.21 [[ 0.99997449 -0.00401333 -0.00590922 0.21412806] [ 0.00402482 0.99999003 0.00193238 -0.02945014] [ 0.0059014 -0.00195612 0.99998067 -0.21289221] [ 0. 0. 0. 1. ]] SLAMing on 11.49463044 meters Centerline goodness : 0.453921 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.21 [[ 0.99997249 -0.00415396 -0.00614542 0.2143738 ] [ 0.00416491 0.99998976 0.00177015 -0.02919588] [ 0.006138 -0.0017957 0.99997955 -0.21237938] [ 0. 0. 0. 1. ]] SLAMing on 11.52463044 meters Centerline goodness : 0.451319 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.21 [[ 9.99969935e-01 3.84515628e-03 -6.73377055e-03 1.95792645e-01] [-3.84221312e-03 9.99992517e-01 4.49957078e-04 -3.44047592e-02] [ 6.73545032e-03 -4.24070968e-04 9.99977227e-01 -2.13595443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554630439999999 meters Centerline goodness : 0.400651 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.21 [[ 9.99968895e-01 3.83953758e-03 -6.88960791e-03 1.96129590e-01] [-3.83720743e-03 9.99992576e-01 3.51399054e-04 -3.37814397e-02] [ 6.89090597e-03 -3.24951269e-04 9.99976205e-01 -2.13581744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58463044 meters Centerline goodness : 0.450359 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.21 [[ 9.99969335e-01 3.81835916e-03 -6.83734719e-03 1.95795511e-01] [-3.81687995e-03 9.99992689e-01 2.29378539e-04 -3.31201560e-02] [ 6.83817306e-03 -2.03274171e-04 9.99976599e-01 -2.13302760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61463044 meters Centerline goodness : 0.154834 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.21 [[ 9.99970791e-01 3.77626315e-03 -6.64501003e-03 1.94979598e-01] [-3.77621358e-03 9.99992870e-01 2.00064608e-05 -3.20225138e-02] [ 6.64503820e-03 5.08710065e-06 9.99977921e-01 -2.12758267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644630439999998 meters Centerline goodness : 0.092581 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.21 [[ 9.99973198e-01 3.71958694e-03 -6.30611320e-03 1.93927451e-01] [-3.72162567e-03 9.99993026e-01 -3.11591508e-04 -3.02747479e-02] [ 6.30491023e-03 3.35052150e-04 9.99980068e-01 -2.12442590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67463044 meters Centerline goodness : 0.390548 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.21 [[ 0.99995691 0.00682899 -0.00628786 0.19382717] [-0.00681786 0.99997516 0.00178906 -0.02395203] [ 0.00629992 -0.00174611 0.99997863 -0.21261184] [ 0. 0. 0. 1. ]] SLAMing on 11.704630439999999 meters Centerline goodness : 0.454637 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.21 [[ 0.99995345 0.00702633 -0.00661347 0.19470567] [-0.00701828 0.9999746 0.00124008 -0.01968628] [ 0.00662202 -0.0011936 0.99997736 -0.21308122] [ 0. 0. 0. 1. ]] SLAMing on 11.73463044 meters Centerline goodness : 0.207275 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.21 [[ 9.99947481e-01 7.42612087e-03 -7.06309566e-03 1.95919490e-01] [-7.42032392e-03 9.99972111e-01 8.46589355e-04 -1.50277898e-02] [ 7.06918555e-03 -7.94134435e-04 9.99974698e-01 -2.13638062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76463044 meters Centerline goodness : 0.184565 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:-0.21 [[ 9.99942089e-01 7.90990820e-03 -7.29741184e-03 1.96548187e-01] [-7.90593011e-03 9.99968583e-01 5.73823288e-04 -1.00858659e-02] [ 7.30172147e-03 -5.16097229e-04 9.99973209e-01 -2.14039126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794630439999999 meters Centerline goodness : 0.447966 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.00, Z:-0.21 [[ 9.99940978e-01 8.00531041e-03 -7.34540366e-03 1.96551253e-01] [-8.00629812e-03 9.99967944e-01 -1.05070463e-04 -4.88404704e-03] [ 7.34432707e-03 1.63873753e-04 9.99973017e-01 -2.14161549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82463044 meters Centerline goodness : 0.470419 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:-0.21 [[ 9.99923108e-01 8.28098581e-03 -9.23051432e-03 1.49648335e-01] [-8.28974609e-03 9.99965224e-01 -9.11199212e-04 -2.53863243e-03] [ 9.22264770e-03 9.87647769e-04 9.99956983e-01 -2.12859790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85463044 meters Centerline goodness : 0.096180 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.21 [[ 9.99946602e-01 5.95305644e-04 -1.03169083e-02 1.67462639e-01] [-6.05377363e-04 9.99999343e-01 -9.73138897e-04 1.13942238e-02] [ 1.03163222e-02 9.79332556e-04 9.99946306e-01 -2.10643862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884630439999999 meters Centerline goodness : 0.105654 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.21 [[ 9.99943576e-01 4.05151546e-04 -1.06151053e-02 1.68133491e-01] [-4.18733236e-04 9.99999097e-01 -1.27727697e-03 1.27257383e-02] [ 1.06145782e-02 1.28164980e-03 9.99942842e-01 -2.10610975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91463044 meters Centerline goodness : 0.446422 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.21 [[ 9.99939967e-01 1.88005423e-04 -1.09556502e-02 1.68746691e-01] [-2.04008178e-04 9.99998914e-01 -1.45958582e-03 1.32970338e-02] [ 1.09553639e-02 1.46173324e-03 9.99938920e-01 -2.10231848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94463044 meters Centerline goodness : 0.114724 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.21 [[ 9.99940852e-01 -1.40289905e-04 -1.08753748e-02 1.68396279e-01] [ 1.22910173e-04 9.99998714e-01 -1.59873304e-03 1.32232607e-02] [ 1.08755851e-02 1.59730179e-03 9.99939583e-01 -2.09779112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974630439999999 meters Centerline goodness : 0.104628 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.21 [[ 9.99943466e-01 -4.41383796e-04 -1.06240633e-02 1.67627246e-01] [ 4.24255390e-04 9.99998607e-01 -1.61442708e-03 1.24900764e-02] [ 1.06247611e-02 1.60982849e-03 9.99942260e-01 -2.09303851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00463044 meters Centerline goodness : 0.093581 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.21 [[ 0.99992699 -0.00145244 -0.01199577 0.12112528] [ 0.00142048 0.99999542 -0.00267233 0.00928654] [ 0.01199959 0.00265509 0.99992448 -0.20852657] [ 0. 0. 0. 1. ]] SLAMing on 12.034630439999999 meters Centerline goodness : 0.104676 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.21 [[ 0.99992425 -0.00185701 -0.01216764 0.12179563] [ 0.00181954 0.99999357 -0.00308979 0.01037666] [ 0.0121733 0.00306742 0.9999212 -0.20879748] [ 0. 0. 0. 1. ]] SLAMing on 12.064630439999998 meters Centerline goodness : 0.103484 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.21 [[ 0.9999207 -0.00196119 -0.01243938 0.12246325] [ 0.00191924 0.99999243 -0.00338348 0.01184227] [ 0.01244593 0.00335934 0.9999169 -0.20889388] [ 0. 0. 0. 1. ]] SLAMing on 12.09463044 meters Centerline goodness : 0.096035 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.21 [[ 0.99988723 0.00671804 -0.01343119 0.10286214] [-0.00677673 0.99996767 -0.00432912 0.00880446] [ 0.01340167 0.00441965 0.99990043 -0.20974416] [ 0. 0. 0. 1. ]] SLAMing on 12.124630439999999 meters Centerline goodness : 0.101109 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.21 [[ 0.99988977 0.00121326 -0.01479756 0.1243897 ] [-0.00123894 0.99999774 -0.00172649 0.01733161] [ 0.01479543 0.00174463 0.99988902 -0.20945053] [ 0. 0. 0. 1. ]] SLAMing on 12.15463044 meters Centerline goodness : 0.180947 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.21 [[ 0.99989109 0.00108167 -0.01471839 0.12416667] [-0.00111106 0.99999741 -0.00198828 0.01839804] [ 0.0147162 0.00200442 0.9998897 -0.2094392 ] [ 0. 0. 0. 1. ]] SLAMing on 12.18463044 meters Centerline goodness : 0.103923 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.21 [[ 9.99892385e-01 9.86313887e-04 -1.46371368e-02 1.23857159e-01] [-1.01722743e-03 9.99997268e-01 -2.10469916e-03 1.86004068e-02] [ 1.46350209e-02 2.11936196e-03 9.99890656e-01 -2.09251502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214630439999999 meters Centerline goodness : 0.104905 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.21 [[ 9.99892811e-01 9.32138043e-04 -1.46115660e-02 1.23690672e-01] [-9.62619449e-04 9.99997375e-01 -2.07922069e-03 1.81693942e-02] [ 1.46095895e-02 2.09306319e-03 9.99891084e-01 -2.09033428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24463044 meters Centerline goodness : 0.102653 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.21 [[ 0.99987233 -0.00762352 -0.01404329 0.14308916] [ 0.00760844 0.99997042 -0.00112669 0.0221278 ] [ 0.01405146 0.0010197 0.99990075 -0.20777884] [ 0. 0. 0. 1. ]] SLAMing on 12.27463044 meters Centerline goodness : 0.104684 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.21 [[ 0.99991795 -0.00152787 -0.0127185 0.12064831] [ 0.00148377 0.99999286 -0.00347564 0.01533933] [ 0.01272372 0.00345648 0.99991308 -0.20783881] [ 0. 0. 0. 1. ]] SLAMing on 12.304630439999999 meters Centerline goodness : 0.141897 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.21 [[ 0.99992206 -0.0022779 -0.01227545 0.1195233 ] [ 0.00223595 0.99999162 -0.00342995 0.010651 ] [ 0.01228316 0.00340223 0.99991877 -0.20737752] [ 0. 0. 0. 1. ]] SLAMing on 12.33463044 meters Centerline goodness : 0.180956 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.21 [[ 0.99991897 -0.00227407 -0.01252511 0.12021759] [ 0.00223655 0.99999297 -0.00300907 0.00793064] [ 0.01253186 0.00298081 0.99991703 -0.20747056] [ 0. 0. 0. 1. ]] SLAMing on 12.36463044 meters Centerline goodness : 0.095050 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.21 [[ 0.99991943 -0.00211573 -0.01251633 0.1201417 ] [ 0.00208507 0.9999948 -0.00246176 0.00510905] [ 0.01252147 0.00243547 0.99991864 -0.2072606 ] [ 0. 0. 0. 1. ]] SLAMing on 12.394630439999998 meters Centerline goodness : 0.095050 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.21 [[ 0.99991943 -0.00211573 -0.01251633 0.1201417 ] [ 0.00208507 0.9999948 -0.00246176 0.00510905] [ 0.01252147 0.00243547 0.99991864 -0.2072606 ] [ 0. 0. 0. 1. ]] SLAMing on 12.42463044 meters Centerline goodness : 0.185068 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.21 [[ 9.99963065e-01 9.96014901e-04 -8.53675346e-03 8.48168287e-02] [-1.01526636e-03 9.99996951e-01 -2.25108952e-03 -2.71912814e-03] [ 8.53448531e-03 2.25967345e-03 9.99961027e-01 -2.10209349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454630439999999 meters Centerline goodness : 0.117019 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:-0.21 [[ 9.99940554e-01 -7.37479513e-03 -8.03129585e-03 1.05259963e-01] [ 7.36835108e-03 9.99972507e-01 -8.31660503e-04 -4.57538039e-03] [ 8.03720838e-03 7.72433657e-04 9.99967403e-01 -2.09586994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48463044 meters Centerline goodness : 0.201296 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:-0.21 [[ 9.99940671e-01 -7.19700224e-03 -8.17662281e-03 1.06059394e-01] [ 7.19447615e-03 9.99974062e-01 -3.38313342e-04 -7.30857323e-03] [ 8.17884556e-03 2.79466753e-04 9.99966514e-01 -2.10233690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51463044 meters Centerline goodness : 0.093070 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.21 [[ 9.99965243e-01 6.13667706e-04 -8.31482719e-03 8.90230599e-02] [-6.27639170e-04 9.99998396e-01 -1.67780198e-03 -1.60961304e-02] [ 8.31378424e-03 1.68296238e-03 9.99964024e-01 -2.12945464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544630439999999 meters Centerline goodness : 0.180693 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.21 [[ 9.99964821e-01 8.02175493e-04 -8.34940538e-03 8.93666475e-02] [-8.12636660e-04 9.99998889e-01 -1.24960643e-03 -1.82704220e-02] [ 8.34839370e-03 1.25634750e-03 9.99964362e-01 -2.13362346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57463044 meters Centerline goodness : 0.097155 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.21 [[ 9.99964701e-01 1.00934211e-03 -8.34132878e-03 8.94462539e-02] [-1.01601922e-03 9.99999167e-01 -7.96286197e-04 -2.04212497e-02] [ 8.34051810e-03 8.04733039e-04 9.99964893e-01 -2.13505750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60463044 meters Centerline goodness : 0.097674 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.21 [[ 9.99965066e-01 1.20246842e-03 -8.27164853e-03 8.90364719e-02] [-1.20544642e-03 9.99999210e-01 -3.55049599e-04 -2.25702711e-02] [ 8.27121506e-03 3.65008225e-04 9.99965726e-01 -2.13120855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634630439999999 meters Centerline goodness : 0.095780 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 9.99964953e-01 1.52335526e-03 -8.23236633e-03 8.86816946e-02] [-1.51990275e-03 9.99998754e-01 4.25622061e-04 -2.69478576e-02] [ 8.23300445e-03 -4.13094748e-04 9.99966023e-01 -2.12763758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66463044 meters Centerline goodness : 0.456818 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 9.99964597e-01 1.64493817e-03 -8.25215376e-03 8.88595632e-02] [-1.63886978e-03 9.99998382e-01 7.42079090e-04 -2.86830511e-02] [ 8.25336108e-03 -7.28528613e-04 9.99965675e-01 -2.12976975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69463044 meters Centerline goodness : 0.440443 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 0.99996528 0.001797 -0.00813725 0.08877062] [-0.00178818 0.99999781 0.00109096 -0.03048956] [ 0.00813919 -0.00107637 0.9999663 -0.21326215] [ 0. 0. 0. 1. ]] SLAMing on 12.724630439999999 meters Centerline goodness : 0.102091 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 0.99996737 0.00193307 -0.00784368 0.08810582] [-0.0019219 0.99999713 0.00143115 -0.03221196] [ 0.00784642 -0.00141603 0.99996821 -0.21328343] [ 0. 0. 0. 1. ]] SLAMing on 12.75463044 meters Centerline goodness : 0.318328 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 0.99997002 0.00205057 -0.00746718 0.0871918 ] [-0.00203772 0.99999643 0.00172718 -0.03376814] [ 0.00747069 -0.00171192 0.99997063 -0.21323096] [ 0. 0. 0. 1. ]] SLAMing on 12.784630439999999 meters Centerline goodness : 0.454636 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 0.99997203 0.00208432 -0.00718317 0.08643852] [-0.00207119 0.99999617 0.00183524 -0.03449964] [ 0.00718697 -0.00182031 0.99997252 -0.21310116] [ 0. 0. 0. 1. ]] SLAMing on 12.814630439999998 meters Centerline goodness : 0.156013 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 0.99997228 0.00221091 -0.00711042 0.08615427] [-0.00219813 0.99999596 0.00180401 -0.03398549] [ 0.00711438 -0.00178833 0.99997309 -0.21306408] [ 0. 0. 0. 1. ]] SLAMing on 12.84463044 meters Centerline goodness : 0.457868 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 0.99996844 0.00227658 -0.00761213 0.08758438] [-0.00226461 0.99999619 0.00157984 -0.03219219] [ 0.0076157 -0.00156255 0.99996978 -0.21362007] [ 0. 0. 0. 1. ]] SLAMing on 12.874630439999999 meters Centerline goodness : 0.286010 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 0.99996225 0.00242854 -0.00834215 0.08956471] [-0.00241726 0.99999615 0.00136259 -0.03002797] [ 0.00834543 -0.00134237 0.99996428 -0.21423329] [ 0. 0. 0. 1. ]] SLAMing on 12.90463044 meters Centerline goodness : 0.451134 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.21 [[ 9.99959125e-01 2.43754399e-03 -8.70674745e-03 9.06155091e-02] [-2.42919085e-03 9.99996579e-01 9.69834053e-04 -2.73578310e-02] [ 8.70908168e-03 -9.48644060e-04 9.99961625e-01 -2.14719995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93463044 meters Centerline goodness : 0.089222 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.21 [[ 9.99960283e-01 2.29668486e-03 -8.61149586e-03 9.02313203e-02] [-2.29293764e-03 9.99997272e-01 4.44988879e-04 -2.45215270e-02] [ 8.61249437e-03 -4.25225582e-04 9.99962821e-01 -2.14582811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964630439999999 meters Centerline goodness : 0.092319 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.21 [[ 9.99963397e-01 2.10977492e-03 -8.29174137e-03 8.90784980e-02] [-2.11057394e-03 9.99997769e-01 -8.76140330e-05 -2.18515725e-02] [ 8.29153803e-03 1.05111159e-04 9.99965619e-01 -2.14081427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99463044 meters Centerline goodness : 0.096431 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.21 [[ 0.99996731 0.00179158 -0.00788467 0.08733241] [-0.00179968 0.99999786 -0.00102141 -0.01699325] [ 0.00788282 0.00103556 0.99996839 -0.21304954] [ 0. 0. 0. 1. ]] SLAMing on 13.02463044 meters Centerline goodness : 0.455662 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.21 [[ 9.99948881e-01 -6.23767371e-03 -7.95779506e-03 6.72299854e-02] [ 6.23427447e-03 9.99980465e-01 -4.51893578e-04 -1.13972885e-02] [ 7.96045837e-03 4.02259399e-04 9.99968234e-01 -2.14452288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054630439999999 meters Centerline goodness : 0.307467 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.21 [[ 9.99946510e-01 -6.42318378e-03 -8.10672284e-03 6.74579531e-02] [ 6.41621068e-03 9.99979024e-01 -8.85878018e-04 -9.35287397e-03] [ 8.11224295e-03 8.33816191e-04 9.99966748e-01 -2.14327713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 13.11463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 13.144630439999998 meters Centerline goodness : 0.094206 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.21 [[ 0.99994023 -0.00690826 -0.00847448 0.06739776] [ 0.00689623 0.99997517 -0.00144734 -0.00588746] [ 0.00848427 0.00138881 0.99996304 -0.21305804] [ 0. 0. 0. 1. ]] SLAMing on 13.17463044 meters Centerline goodness : 0.190305 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.21 [[ 0.99994175 -0.0071743 -0.00806426 0.06612684] [ 0.00716235 0.99997321 -0.00150915 -0.00669573] [ 0.00807487 0.00145131 0.99996634 -0.21239329] [ 0. 0. 0. 1. ]] SLAMing on 13.204630439999999 meters Centerline goodness : 0.091718 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.21 [[ 0.99995818 -0.00174201 -0.00897833 0.0806749 ] [ 0.00171021 0.99999224 -0.00354796 -0.01180068] [ 0.00898444 0.00353246 0.9999534 -0.20854978] [ 0. 0. 0. 1. ]] SLAMing on 13.234630439999998 meters Centerline goodness : 0.111711 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.21 [[ 0.99996345 -0.00190561 -0.00833488 0.07896448] [ 0.00188029 0.9999936 -0.00304406 -0.014959 ] [ 0.00834063 0.00302828 0.99996063 -0.20791571] [ 0. 0. 0. 1. ]] SLAMing on 13.26463044 meters Centerline goodness : 0.095533 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.21 [[ 0.99996374 -0.00176377 -0.00833144 0.07909105] [ 0.00174168 0.99999495 -0.00265764 -0.01661085] [ 0.00833609 0.00264304 0.99996176 -0.20801734] [ 0. 0. 0. 1. ]] SLAMing on 13.294630439999999 meters Centerline goodness : 0.091730 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.21 [[ 0.99996337 -0.0017118 -0.00838584 0.07943072] [ 0.00169195 0.99999575 -0.00237294 -0.01828022] [ 0.00838986 0.00235867 0.99996202 -0.20824227] [ 0. 0. 0. 1. ]] SLAMing on 13.32463044 meters Centerline goodness : 0.095566 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.21 [[ 0.99996265 -0.00171976 -0.00847001 0.0798944 ] [ 0.00170163 0.99999625 -0.00214706 -0.02010429] [ 0.00847367 0.00213256 0.99996182 -0.20859336] [ 0. 0. 0. 1. ]] SLAMing on 13.35463044 meters Centerline goodness : 0.098228 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.21 [[ 0.99996116 -0.00165104 -0.00865762 0.08048922] [ 0.00163532 0.999997 -0.00182275 -0.02211564] [ 0.00866061 0.00180852 0.99996086 -0.20880279] [ 0. 0. 0. 1. ]] SLAMing on 13.384630439999999 meters Centerline goodness : 0.146210 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.21 [[ 0.99996056 -0.00149517 -0.00875439 0.0808403 ] [ 0.00148281 0.9999979 -0.00141799 -0.02414025] [ 0.00875649 0.00140495 0.99996067 -0.20896073] [ 0. 0. 0. 1. ]] SLAMing on 13.41463044 meters Centerline goodness : 0.098758 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.21 [[ 9.99961184e-01 -1.20089700e-03 -8.72856026e-03 8.10108796e-02] [ 1.19533886e-03 9.99999080e-01 -6.41964826e-04 -2.79614364e-02] [ 8.72932316e-03 6.31506320e-04 9.99961699e-01 -2.09213430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44463044 meters Centerline goodness : 0.094367 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.21 [[ 0.99993631 -0.00145392 -0.01119211 0.03628079] [ 0.00144014 0.99999819 -0.00123947 -0.03299665] [ 0.01119389 0.00122328 0.9999366 -0.20872336] [ 0. 0. 0. 1. ]] SLAMing on 13.474630439999999 meters Centerline goodness : 0.094262 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.21 [[ 9.99935802e-01 -1.34952304e-03 -1.12503359e-02 3.64117942e-02] [ 1.33959574e-03 9.99998707e-01 -8.89889809e-04 -3.50528220e-02] [ 1.12515222e-02 8.74761778e-04 9.99936317e-01 -2.08693583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50463044 meters Centerline goodness : 0.095415 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.21 [[ 9.99936843e-01 -1.17512503e-03 -1.11771335e-02 3.61420170e-02] [ 1.16991661e-03 9.99999204e-01 -4.72515907e-04 -3.69766376e-02] [ 1.11776799e-02 4.59409751e-04 9.99937422e-01 -2.08514031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534630439999999 meters Centerline goodness : 0.093447 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.21 [[ 9.99942729e-01 -8.29905808e-04 -1.06700370e-02 3.48322344e-02] [ 8.35043108e-04 9.99999538e-01 4.77023634e-04 -4.14668521e-02] [ 1.06696362e-02 -4.85906255e-04 9.99942960e-01 -2.08173070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564630439999998 meters Centerline goodness : 0.174942 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.21 [[ 9.99944162e-01 -7.37202805e-04 -1.05418047e-02 3.46130132e-02] [ 7.46381697e-04 9.99999346e-01 8.66805825e-04 -4.38087013e-02] [ 1.05411588e-02 -8.74625635e-04 9.99944058e-01 -2.08224229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59463044 meters Centerline goodness : 0.104954 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.21 [[ 9.99943471e-01 -7.30184149e-04 -1.06076261e-02 3.49092152e-02] [ 7.42275164e-04 9.99999079e-01 1.13594942e-03 -4.58248352e-02] [ 1.06067869e-02 -1.14375898e-03 9.99943092e-01 -2.08375257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624630439999999 meters Centerline goodness : 0.093332 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.21 [[ 9.99941794e-01 -6.84744182e-04 -1.07675311e-02 3.54812262e-02] [ 6.99486837e-04 9.99998823e-01 1.36547057e-03 -4.73302056e-02] [ 1.07665834e-02 -1.37292283e-03 9.99941096e-01 -2.08665395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65463044 meters Centerline goodness : 0.094954 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.21 [[ 9.99938619e-01 -5.94100190e-04 -1.10636532e-02 3.62858079e-02] [ 6.11508932e-04 9.99998580e-01 1.57019118e-03 -4.82088141e-02] [ 1.10627046e-02 -1.57686032e-03 9.99937563e-01 -2.08819510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68463044 meters Centerline goodness : 0.098954 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.21 [[ 9.99938100e-01 -5.06590279e-04 -1.11148031e-02 3.66367625e-02] [ 5.26271586e-04 9.99998299e-01 1.76787597e-03 -4.90042644e-02] [ 1.11138886e-02 -1.77361594e-03 9.99936666e-01 -2.09186685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714630439999999 meters Centerline goodness : 0.142640 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.21 [[ 9.99935784e-01 -6.48628998e-04 -1.13140189e-02 3.71233438e-02] [ 6.71857916e-04 9.99997674e-01 2.04942939e-03 -5.12910916e-02] [ 1.13126633e-02 -2.05689920e-03 9.99933894e-01 -2.09092354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74463044 meters Centerline goodness : 0.097715 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.21 [[ 0.99992311 0.00466938 -0.01148772 0.01590517] [-0.00468558 0.99998807 -0.00138324 -0.05679292] [ 0.01148112 0.00143696 0.99993306 -0.20956025] [ 0. 0. 0. 1. ]] SLAMing on 13.77463044 meters Centerline goodness : 0.097495 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.21 [[ 0.9999194 0.00460196 -0.01183316 0.01675974] [-0.00461535 0.99998874 -0.0011049 -0.05897753] [ 0.01182794 0.00115942 0.99992938 -0.20962912] [ 0. 0. 0. 1. ]] SLAMing on 13.804630439999999 meters Centerline goodness : 0.096668 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.21 [[ 9.99918858e-01 4.56463555e-03 -1.18928954e-02 1.69919612e-02] [-4.57446791e-03 9.99989217e-01 -7.99670843e-04 -6.10449664e-02] [ 1.18891170e-02 8.54009625e-04 9.99928957e-01 -2.09685048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83463044 meters Centerline goodness : 0.121099 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.21 [[ 9.99921510e-01 4.57165330e-03 -1.16650582e-02 1.65443725e-02] [-4.57740997e-03 9.99989415e-01 -4.66846323e-04 -6.30689484e-02] [ 1.16628005e-02 5.20205434e-04 9.99931852e-01 -2.09756091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86463044 meters Centerline goodness : 0.100448 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.21 [[ 9.99925856e-01 4.35718824e-03 -1.13709102e-02 1.61230532e-02] [-4.36051492e-03 9.99990457e-01 -2.67784033e-04 -6.53360064e-02] [ 1.13696349e-02 3.17347202e-04 9.99935313e-01 -2.10004431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894630439999998 meters Centerline goodness : 0.103903 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.21 [[ 9.99922346e-01 4.32282936e-03 -1.16882647e-02 1.71555501e-02] [-4.32572549e-03 9.99990619e-01 -2.22511061e-04 -6.59510220e-02] [ 1.16871932e-02 2.73054006e-04 9.99931665e-01 -2.10499840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92463044 meters Centerline goodness : 0.106488 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.21 [[ 9.99917594e-01 4.35447815e-03 -1.20765516e-02 1.84599451e-02] [-4.35670397e-03 9.99990497e-01 -1.58007297e-04 -6.61860521e-02] [ 1.20757488e-02 2.10608237e-04 9.99927063e-01 -2.11098095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954630439999999 meters Centerline goodness : 0.098114 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.21 [[ 9.99913289e-01 4.41458889e-03 -1.24066953e-02 1.93852982e-02] [-4.41601719e-03 9.99990246e-01 -8.77307069e-05 -6.62307331e-02] [ 1.24061870e-02 1.42511280e-04 9.99923030e-01 -2.11360664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984630439999998 meters Centerline goodness : 0.093357 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.21 [[ 9.99912782e-01 4.46993292e-03 -1.24277039e-02 1.94682316e-02] [-4.47008395e-03 9.99990009e-01 1.56249384e-05 -6.65785509e-02] [ 1.24276496e-02 3.99293043e-05 9.99922773e-01 -2.11417918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01463044 meters Centerline goodness : 0.092692 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.06, Z:-0.21 [[ 9.99920621e-01 -3.78855629e-03 -1.20166301e-02 -2.20578586e-03] [ 3.79560935e-03 9.99992637e-01 5.64190117e-04 -6.29026166e-02] [ 1.20144041e-02 -6.09755766e-04 9.99927639e-01 -2.11930116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044630439999999 meters Centerline goodness : 0.124786 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.21 [[ 9.99958270e-01 9.81041586e-04 -9.08269197e-03 1.84564974e-02] [-1.00645109e-03 9.99995592e-01 -2.79342621e-03 -6.42597287e-02] [ 9.07991147e-03 2.80245092e-03 9.99954850e-01 -2.11254680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07463044 meters Centerline goodness : 0.092051 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.21 [[ 0.99995931 0.00100555 -0.00896518 0.01802735] [-0.00102877 0.99999613 -0.00258522 -0.06547078] [ 0.00896254 0.00259434 0.99995647 -0.21102141] [ 0. 0. 0. 1. ]] SLAMing on 14.10463044 meters Centerline goodness : 0.097011 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.21 [[ 9.99941310e-01 5.55503634e-04 -1.08198152e-02 -2.70266677e-02] [-5.86374714e-04 9.99995766e-01 -2.85023512e-03 -6.77293378e-02] [ 1.08181860e-02 2.85641230e-03 9.99937402e-01 -2.10888894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134630439999999 meters Centerline goodness : 0.093209 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.21 [[ 9.99940767e-01 5.59472382e-04 -1.08696703e-02 -2.67998230e-02] [-5.87681123e-04 9.99996468e-01 -2.59215840e-03 -6.92812217e-02] [ 1.08681817e-02 2.59839276e-03 9.99937564e-01 -2.11047136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16463044 meters Centerline goodness : 0.098047 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.21 [[ 0.9999509 -0.00170775 -0.00976135 -0.03103843] [ 0.00166448 0.99998876 -0.00443907 -0.07268678] [ 0.00976882 0.00442261 0.9999425 -0.20905591] [ 0. 0. 0. 1. ]] SLAMing on 14.19463044 meters Centerline goodness : 0.098227 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.21 [[ 0.99992971 -0.00201646 -0.01168344 -0.07645187] [ 0.00196033 0.99998649 -0.00481396 -0.07471785] [ 0.01169299 0.00479071 0.99992016 -0.20849334] [ 0. 0. 0. 1. ]] SLAMing on 14.224630439999999 meters Centerline goodness : 0.099385 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-0.21 [[ 0.99992695 -0.00200995 -0.01191831 -0.07581762] [ 0.00195391 0.99998699 -0.00471184 -0.07520669] [ 0.01192763 0.00468821 0.99991787 -0.20865214] [ 0. 0. 0. 1. ]] SLAMing on 14.25463044 meters Centerline goodness : 0.098772 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-0.21 [[ 0.99992425 -0.00202109 -0.01214151 -0.07511474] [ 0.00196417 0.99998703 -0.00469855 -0.07561658] [ 0.01215085 0.00467435 0.99991525 -0.20891655] [ 0. 0. 0. 1. ]] SLAMing on 14.284630439999999 meters Centerline goodness : 0.098772 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-0.21 [[ 0.99992415 -0.00202594 -0.01214886 -0.07511531] [ 0.0019689 0.99998699 -0.00470539 -0.07561085] [ 0.01215823 0.00468111 0.99991513 -0.20890294] [ 0. 0. 0. 1. ]] SLAMing on 14.314630439999998 meters Centerline goodness : 0.099686 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-0.21 [[ 0.99992472 -0.00207343 -0.01209361 -0.07516859] [ 0.00201648 0.99998683 -0.00471926 -0.075821 ] [ 0.01210323 0.00469451 0.99991573 -0.20899765] [ 0. 0. 0. 1. ]] SLAMing on 14.34463044 meters Centerline goodness : 0.099336 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-0.21 [[ 0.99992543 -0.00218604 -0.01201469 -0.07544436] [ 0.0021278 0.99998594 -0.00485779 -0.07575228] [ 0.01202514 0.00483187 0.99991602 -0.2088881 ] [ 0. 0. 0. 1. ]] SLAMing on 14.374630439999999 meters Centerline goodness : 0.095198 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-0.21 [[ 0.99992974 -0.00233588 -0.01162132 -0.07639332] [ 0.00227722 0.99998462 -0.00505763 -0.0750992 ] [ 0.01163296 0.00503081 0.99991968 -0.20884562] [ 0. 0. 0. 1. ]] SLAMing on 14.404630439999998 meters Centerline goodness : 0.103176 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.21 [[ 0.99993059 -0.00239942 -0.0115349 -0.07649311] [ 0.00234001 0.99998394 -0.00516186 -0.07475684] [ 0.0115471 0.00513451 0.99992015 -0.20904674] [ 0. 0. 0. 1. ]] SLAMing on 14.43463044 meters Centerline goodness : 0.132493 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.21 [[ 0.99993051 -0.00249275 -0.0115218 -0.07642508] [ 0.0024316 0.9999829 -0.00531878 -0.07430384] [ 0.01153486 0.0052904 0.99991948 -0.20920519] [ 0. 0. 0. 1. ]] SLAMing on 14.464630439999999 meters Centerline goodness : 0.106802 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.21 [[ 0.99992791 -0.00259636 -0.0117231 -0.07579444] [ 0.00253154 0.99998145 -0.00554037 -0.07362958] [ 0.01173727 0.00551029 0.99991593 -0.20943685] [ 0. 0. 0. 1. ]] SLAMing on 14.49463044 meters Centerline goodness : 0.099101 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.21 [[ 0.99992557 -0.0026978 -0.01189872 -0.07537958] [ 0.0026295 0.99998 -0.00575199 -0.07267901] [ 0.011914 0.00572027 0.99991266 -0.20944927] [ 0. 0. 0. 1. ]] SLAMing on 14.52463044 meters Centerline goodness : 0.103198 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.21 [[ 0.99992477 -0.00278786 -0.01194531 -0.07517207] [ 0.00271715 0.99997872 -0.0059316 -0.07184478] [ 0.01196159 0.0058987 0.99991106 -0.2096525 ] [ 0. 0. 0. 1. ]] SLAMing on 14.554630439999999 meters Centerline goodness : 0.095826 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:-0.21 [[ 0.99992235 -0.00301839 -0.01209078 -0.07444418] [ 0.00294356 0.99997643 -0.00620225 -0.07100447] [ 0.01210922 0.00616618 0.99990767 -0.2102101 ] [ 0. 0. 0. 1. ]] SLAMing on 14.58463044 meters Centerline goodness : 0.101729 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:-0.21 [[ 0.99991852 -0.00319399 -0.01235935 -0.07357423] [ 0.00311526 0.99997477 -0.00638382 -0.07079888] [ 0.01237943 0.0063448 0.99990324 -0.21057974] [ 0. 0. 0. 1. ]] SLAMing on 14.61463044 meters Centerline goodness : 0.107723 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:-0.21 [[ 0.99991462 -0.00336537 -0.01262614 -0.07267663] [ 0.00328279 0.99997313 -0.00655533 -0.0705419 ] [ 0.01264787 0.00651332 0.9998988 -0.21101698] [ 0. 0. 0. 1. ]] SLAMing on 14.644630439999998 meters Centerline goodness : 0.097571 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:-0.21 [[ 0.99990929 -0.00343045 -0.01302501 -0.07134203] [ 0.00334466 0.99997261 -0.00660257 -0.07011904] [ 0.0130473 0.0065584 0.99989337 -0.21164022] [ 0. 0. 0. 1. ]] SLAMing on 14.67463044 meters Centerline goodness : 0.253428 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.21 [[ 0.99992776 -0.00339723 -0.01152936 -0.02733383] [ 0.00333411 0.99997937 -0.00548965 -0.07057242] [ 0.01154777 0.00545081 0.99991847 -0.21172633] [ 0. 0. 0. 1. ]] SLAMing on 14.704630439999999 meters Centerline goodness : 0.090484 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.21 [[ 0.9999292 -0.00342567 -0.01139581 -0.02759462] [ 0.00336308 0.99997918 -0.00550708 -0.07052783] [ 0.01141443 0.00546837 0.9999199 -0.21179397] [ 0. 0. 0. 1. ]] SLAMing on 14.734630439999998 meters Centerline goodness : 0.109416 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.21 [[ 0.99993052 -0.00349293 -0.01125858 -0.02789439] [ 0.00343111 0.99997896 -0.00550496 -0.07081823] [ 0.01127757 0.00546595 0.99992147 -0.21176672] [ 0. 0. 0. 1. ]] SLAMing on 14.76463044 meters Centerline goodness : 0.091594 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.21 [[ 0.99993423 -0.00360066 -0.01088902 -0.02889333] [ 0.00354128 0.99997878 -0.005468 -0.07172442] [ 0.01090847 0.00542908 0.99992576 -0.21154468] [ 0. 0. 0. 1. ]] SLAMing on 14.794630439999999 meters Centerline goodness : 0.102803 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-0.21 [[ 0.99987558 -0.01235883 -0.00980257 -0.00970925] [ 0.01231251 0.99991281 -0.00477205 -0.06954877] [ 0.00986069 0.00465076 0.99994057 -0.21030803] [ 0. 0. 0. 1. ]] SLAMing on 14.82463044 meters Centerline goodness : 0.126261 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-0.21 [[ 0.99987396 -0.01294801 -0.00918786 -0.01082556] [ 0.01290451 0.99990532 -0.00477807 -0.07229485] [ 0.00924886 0.00465891 0.99994638 -0.21062324] [ 0. 0. 0. 1. ]] SLAMing on 14.85463044 meters Centerline goodness : 0.104930 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-0.21 [[ 0.999874 -0.01296372 -0.00916078 -0.01051941] [ 0.01292238 0.99990612 -0.00455732 -0.07381155] [ 0.009219 0.00443836 0.99994765 -0.21119288] [ 0. 0. 0. 1. ]] SLAMing on 14.884630439999999 meters Centerline goodness : 0.053621 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.21 [[ 0.99992387 -0.00644808 -0.01052048 0.00630255] [ 0.00638934 0.99996387 -0.00560688 -0.08152383] [ 0.01055625 0.00553924 0.99992894 -0.20943277] [ 0. 0. 0. 1. ]] SLAMing on 14.91463044 meters Centerline goodness : 0.152800 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.21 [[ 0.9999255 -0.00637424 -0.01040961 0.0059808 ] [ 0.00631752 0.99996507 -0.00547255 -0.08200935] [ 0.01044413 0.00540638 0.99993084 -0.2093664 ] [ 0. 0. 0. 1. ]] SLAMing on 14.94463044 meters Centerline goodness : 0.126199 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:-0.21 [[ 0.99991097 -0.0047234 -0.01247987 -0.04125858] [ 0.00466647 0.99997859 -0.00458728 -0.07975992] [ 0.01250127 0.00452864 0.9999116 -0.20808587] [ 0. 0. 0. 1. ]] SLAMing on 14.974630439999999 meters Centerline goodness : 0.102658 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:-0.21 [[ 0.99992046 0.00316708 -0.01220822 -0.02154862] [-0.00323623 0.99997881 -0.00564921 -0.08350048] [ 0.01219007 0.00568827 0.99990952 -0.20714115] [ 0. 0. 0. 1. ]] SLAMing on 15.00463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 15.034630439999999 meters Centerline goodness : 0.106063 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:-0.21 [[ 0.99992133 0.00307231 -0.012161 -0.02132121] [-0.00314456 0.9999775 -0.00592591 -0.08224898] [ 0.01214252 0.00596369 0.99990849 -0.20770453] [ 0. 0. 0. 1. ]] SLAMing on 15.064630439999998 meters Centerline goodness : 0.139280 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:-0.21 [[ 0.99992399 0.00307207 -0.0119403 -0.02190174] [-0.00314395 0.99997702 -0.0060065 -0.08169878] [ 0.01192158 0.00604358 0.99991067 -0.20760816] [ 0. 0. 0. 1. ]] SLAMing on 15.09463044 meters Centerline goodness : 0.104359 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:-0.21 [[ 0.9999271 0.0030412 -0.01168504 -0.0225977 ] [-0.00311252 0.99997661 -0.00608984 -0.08113299] [ 0.01166624 0.00612576 0.99991318 -0.20750059] [ 0. 0. 0. 1. ]] SLAMing on 15.124630439999999 meters Centerline goodness : 0.098678 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.21 [[ 0.99989151 0.00250471 -0.01451507 -0.06588387] [-0.00260712 0.99997182 -0.00704067 -0.07844019] [ 0.01449703 0.00707775 0.99986986 -0.20824555] [ 0. 0. 0. 1. ]] SLAMing on 15.154630439999998 meters Centerline goodness : 0.114677 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:-0.21 [[ 0.99988465 0.00239573 -0.01499831 -0.06429724] [-0.0025011 0.9999723 -0.00701071 -0.07899353] [ 0.0149811 0.00704741 0.99986294 -0.20905794] [ 0. 0. 0. 1. ]] SLAMing on 15.18463044 meters Centerline goodness : 0.085284 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:-0.21 [[ 0.99987757 0.00237103 -0.01546669 -0.06264845] [-0.00247741 0.99997338 -0.00686259 -0.07985664] [ 0.01545001 0.00690007 0.99985683 -0.21000791] [ 0. 0. 0. 1. ]] SLAMing on 15.214630439999999 meters Centerline goodness : 0.145341 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:-0.21 [[ 0.99987209 0.0023596 -0.01581905 -0.06143045] [-0.0024644 0.99997513 -0.00660815 -0.08130669] [ 0.01580306 0.00664629 0.99985303 -0.21075262] [ 0. 0. 0. 1. ]] SLAMing on 15.24463044 meters Centerline goodness : 0.128045 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:-0.21 [[ 0.99987191 0.00241797 -0.01582155 -0.06123329] [-0.00251707 0.99997732 -0.00624674 -0.0831256 ] [ 0.01580608 0.00628576 0.99985532 -0.21113255] [ 0. 0. 0. 1. ]] SLAMing on 15.27463044 meters Centerline goodness : 0.133933 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.9998842 0.00210099 -0.01507204 -0.06334903] [-0.00218882 0.99998071 -0.00581351 -0.0869926 ] [ 0.01505954 0.00584583 0.99986951 -0.21068095] [ 0. 0. 0. 1. ]] SLAMing on 15.304630439999999 meters Centerline goodness : 0.127582 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.99988415 0.00216021 -0.01506688 -0.06343495] [-0.0022424 0.99998269 -0.00544019 -0.08911943] [ 0.01505487 0.00547335 0.99987169 -0.21060868] [ 0. 0. 0. 1. ]] SLAMing on 15.33463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 15.36463044 meters Centerline goodness : 0.115058 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.99988519 0.00219672 -0.01499245 -0.06338 ] [-0.00227332 0.99998444 -0.00509397 -0.09164075] [ 0.01498103 0.00512746 0.99987463 -0.21102763] [ 0. 0. 0. 1. ]] SLAMing on 15.394630439999998 meters Centerline goodness : 0.077176 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:-0.21 [[ 0.99986449 -0.00555546 -0.01549661 -0.08195445] [ 0.0054944 0.99997698 -0.00398013 -0.087362 ] [ 0.01551837 0.00389444 0.999872 -0.21274905] [ 0. 0. 0. 1. ]] SLAMing on 15.42463044 meters Centerline goodness : 0.137178 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.99986502 0.00225645 -0.01627399 -0.06177134] [-0.00232845 0.99998758 -0.00440662 -0.09311312] [ 0.01626385 0.00444392 0.99985786 -0.2116821 ] [ 0. 0. 0. 1. ]] SLAMing on 15.454630439999999 meters Centerline goodness : 0.046463 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.99984578 0.00278377 -0.01733988 -0.05888766] [-0.00285214 0.99998825 -0.0039193 -0.09374082] [ 0.01732877 0.00396815 0.99984197 -0.21231093] [ 0. 0. 0. 1. ]] SLAMing on 15.484630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 15.51463044 meters Centerline goodness : 0.123839 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.99985625 0.00318188 -0.01665376 -0.06062482] [-0.00324664 0.99998727 -0.00386288 -0.09297845] [ 0.01664125 0.00391639 0.99985385 -0.21202008] [ 0. 0. 0. 1. ]] SLAMing on 15.544630439999999 meters Centerline goodness : 0.455546 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.9998672 0.00323711 -0.01597199 -0.06255958] [-0.00330169 0.99998647 -0.00401857 -0.0919439 ] [ 0.01595876 0.00407078 0.99986436 -0.21143828] [ 0. 0. 0. 1. ]] SLAMing on 15.57463044 meters Centerline goodness : 0.121011 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-0.21 [[ 0.99987485 0.00323482 -0.01548598 -0.06404761] [-0.00330058 0.99998564 -0.00422244 -0.09071645] [ 0.0154721 0.00427303 0.99987117 -0.21086962] [ 0. 0. 0. 1. ]] SLAMing on 15.60463044 meters Centerline goodness : 0.104736 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.09, Z:-0.21 [[ 0.99987121 -0.00346389 -0.01567065 -0.04825266] [ 0.00342903 0.99999159 -0.00225127 -0.08513733] [ 0.01567831 0.00219724 0.99987467 -0.20775438] [ 0. 0. 0. 1. ]] SLAMing on 15.634630439999999 meters Centerline goodness : 0.136750 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.21 [[ 0.99982821 0.00564711 -0.01765416 -0.06876247] [-0.00569998 0.99997942 -0.00294562 -0.08342209] [ 0.01763716 0.00304574 0.99983981 -0.20831895] [ 0. 0. 0. 1. ]] SLAMing on 15.66463044 meters Centerline goodness : 0.122345 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.21 [[ 0.9998256 0.00554611 -0.01783294 -0.06820934] [-0.00560579 0.99997885 -0.00329839 -0.08144997] [ 0.01781427 0.00339778 0.99983554 -0.2085121 ] [ 0. 0. 0. 1. ]] SLAMing on 15.69463044 meters Centerline goodness : 0.071143 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.21 [[ 0.99982614 0.00542697 -0.01783895 -0.06815996] [-0.00549264 0.99997831 -0.00363438 -0.07974244] [ 0.01781884 0.00373173 0.99983427 -0.20855164] [ 0. 0. 0. 1. ]] SLAMing on 15.724630439999999 meters Centerline goodness : 0.131364 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.21 [[ 0.99984093 0.00500698 -0.01711834 -0.07039648] [-0.00508337 0.9999773 -0.00442221 -0.0767164 ] [ 0.01709581 0.00450853 0.99984369 -0.20763621] [ 0. 0. 0. 1. ]] SLAMing on 15.75463044 meters Centerline goodness : 0.126703 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.21 [[ 0.99984424 0.00484857 -0.01696998 -0.07101915] [-0.00493018 0.99997647 -0.00477033 -0.07523237] [ 0.01694645 0.00485325 0.99984462 -0.20715844] [ 0. 0. 0. 1. ]] SLAMing on 15.784630439999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 15.814630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 15.84463044 meters Centerline goodness : 0.118942 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:-0.21 [[ 9.99811937e-01 -4.27606283e-04 -1.93883240e-02 -4.86419350e-02] [ 3.97080676e-04 9.99998676e-01 -1.57825487e-03 -6.66804084e-02] [ 1.93889732e-02 1.57025933e-03 9.99810783e-01 -2.05959518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874630439999999 meters Centerline goodness : 0.113706 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:-0.21 [[ 9.99810948e-01 -5.36173375e-04 -1.94365592e-02 -4.84709621e-02] [ 4.99779424e-04 9.99998113e-01 -1.87725731e-03 -6.49701919e-02] [ 1.94375291e-02 1.86718842e-03 9.99809330e-01 -2.06011866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904630439999998 meters Centerline goodness : 0.123469 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:-0.21 [[ 9.99817167e-01 -9.97196196e-04 -1.90954855e-02 -4.94420151e-02] [ 9.42079827e-04 9.99995365e-01 -2.89513408e-03 -6.05107062e-02] [ 1.90982840e-02 2.87661529e-03 9.99813473e-01 -2.05640664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93463044 meters Centerline goodness : 0.087629 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:-0.21 [[ 0.99981748 -0.00122951 -0.01906573 -0.04966293] [ 0.0011634 0.99999327 -0.00347836 -0.05767084] [ 0.01906988 0.00345555 0.99981218 -0.20540062] [ 0. 0. 0. 1. ]] SLAMing on 15.964630439999999 meters Centerline goodness : 0.141797 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:-0.21 [[ 0.99981388 -0.0014193 -0.01924039 -0.0492171 ] [ 0.00134202 0.99999098 -0.00402902 -0.05467128] [ 0.01924594 0.00400245 0.99980677 -0.20543918] [ 0. 0. 0. 1. ]] SLAMing on 15.99463044 meters Centerline goodness : 0.133456 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:-0.21 [[ 0.99980652 -0.00158618 -0.01960612 -0.04804099] [ 0.00149671 0.99998841 -0.004577 -0.05156845] [ 0.01961315 0.00454677 0.99979731 -0.20588859] [ 0. 0. 0. 1. ]] SLAMing on 16.02463044 meters Centerline goodness : 0.143318 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:-0.21 [[ 0.99979517 -0.00178583 -0.02015997 -0.04620485] [ 0.00168209 0.99998526 -0.0051615 -0.04832458] [ 0.0201689 0.00512654 0.99978344 -0.20667023] [ 0. 0. 0. 1. ]] SLAMing on 16.05463044 meters Centerline goodness : 0.114091 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.21 [[ 9.99773901e-01 -5.27288032e-04 -2.12571882e-02 -4.12969420e-02] [ 4.33380245e-04 9.99990129e-01 -4.42206038e-03 -4.21149800e-02] [ 2.12593100e-02 4.41184811e-03 9.99764261e-01 -2.09297405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084630439999998 meters Centerline goodness : 0.136297 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.21 [[ 9.99775881e-01 -7.49496889e-04 -2.11571675e-02 -4.14336684e-02] [ 6.45256778e-04 9.99987623e-01 -4.93333753e-03 -3.96047588e-02] [ 2.11606031e-02 4.91858007e-03 9.99763990e-01 -2.09412189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11463044 meters Centerline goodness : 0.138832 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.21 [[ 9.99777548e-01 -9.48472238e-04 -2.10702165e-02 -4.15936937e-02] [ 8.34298258e-04 9.99984926e-01 -5.42686753e-03 -3.71928597e-02] [ 2.10750461e-02 5.40808147e-03 9.99763270e-01 -2.09422019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14463044 meters Centerline goodness : 0.145078 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.21 [[ 0.99977723 -0.00114861 -0.02107538 -0.0415485 ] [ 0.0010239 0.99998191 -0.0059272 -0.0345988 ] [ 0.0210818 0.0059043 0.99976032 -0.20944278] [ 0. 0. 0. 1. ]] SLAMing on 16.174630439999998 meters Centerline goodness : 0.161673 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.21 [[ 0.99977356 -0.00131374 -0.02123923 -0.04105693] [ 0.00117833 0.99997891 -0.00638633 -0.03214204] [ 0.02124718 0.00635986 0.99975402 -0.20955594] [ 0. 0. 0. 1. ]] SLAMing on 16.20463044 meters Centerline goodness : 0.161673 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.21 [[ 0.99977356 -0.00131374 -0.02123923 -0.04105693] [ 0.00117833 0.99997891 -0.00638633 -0.03214204] [ 0.02124718 0.00635986 0.99975402 -0.20955594] [ 0. 0. 0. 1. ]] SLAMing on 16.23463044 meters Centerline goodness : 0.162630 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.21 [[ 0.99977247 -0.00158661 -0.02127196 -0.04131013] [ 0.00143664 0.99997402 -0.00706391 -0.02851354] [ 0.02128261 0.00703174 0.99974877 -0.20900442] [ 0. 0. 0. 1. ]] SLAMing on 16.264630439999998 meters Centerline goodness : 0.175676 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.21 [[ 0.99977552 -0.00165733 -0.02112271 -0.041809 ] [ 0.00150539 0.99997289 -0.00720722 -0.0277976 ] [ 0.02113408 0.00717381 0.99975091 -0.20876501] [ 0. 0. 0. 1. ]] SLAMing on 16.29463044 meters Centerline goodness : 0.140226 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.21 [[ 0.99977846 -0.00171981 -0.02097789 -0.04220936] [ 0.00156757 0.99997234 -0.00727125 -0.02758467] [ 0.02098981 0.00723676 0.9997535 -0.2086924 ] [ 0. 0. 0. 1. ]] SLAMing on 16.32463044 meters Centerline goodness : 0.175843 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.21 [[ 0.99978181 -0.00170267 -0.02081885 -0.0424884 ] [ 0.00155456 0.99997339 -0.00712807 -0.02830251] [ 0.02083043 0.00709415 0.99975785 -0.2088762 ] [ 0. 0. 0. 1. ]] SLAMing on 16.354630439999998 meters Centerline goodness : 0.178664 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 0.99973333 -0.00143608 -0.02304794 -0.08757204] [ 0.00125702 0.99996893 -0.00778159 -0.02677168] [ 0.0230584 0.00775054 0.99970408 -0.20883342] [ 0. 0. 0. 1. ]] SLAMing on 16.38463044 meters Centerline goodness : 0.179146 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 0.99973395 -0.00147623 -0.02301837 -0.08770071] [ 0.00130125 0.99997016 -0.00761491 -0.02806827] [ 0.02302893 0.00758293 0.99970604 -0.20876167] [ 0. 0. 0. 1. ]] SLAMing on 16.41463044 meters Centerline goodness : 0.178299 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 0.99972119 -0.00149911 -0.02356476 -0.08632759] [ 0.00132911 0.99997299 -0.00722793 -0.03070508] [ 0.02357495 0.0071946 0.99969618 -0.20899328] [ 0. 0. 0. 1. ]] SLAMing on 16.444630439999997 meters Centerline goodness : 0.176785 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 0.99971548 -0.00139292 -0.02381229 -0.08556966] [ 0.00122616 0.99997463 -0.00701612 -0.031501 ] [ 0.02382146 0.00698493 0.99969183 -0.20927995] [ 0. 0. 0. 1. ]] SLAMing on 16.47463044 meters Centerline goodness : 0.146199 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 0.9997129 -0.00127382 -0.02392704 -0.08525188] [ 0.00111015 0.9999759 -0.00685253 -0.03196112] [ 0.02393519 0.006824 0.99969022 -0.20934065] [ 0. 0. 0. 1. ]] SLAMing on 16.50463044 meters Centerline goodness : 0.119851 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 0.99972271 -0.00124113 -0.02351523 -0.08653273] [ 0.00108203 0.99997645 -0.00677734 -0.03267123] [ 0.02352309 0.00675001 0.99970051 -0.20886806] [ 0. 0. 0. 1. ]] SLAMing on 16.53463044 meters Centerline goodness : 0.113649 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 0.99972841 -0.00121306 -0.02327309 -0.08759189] [ 0.00105856 0.99997733 -0.00664968 -0.03358363] [ 0.02328063 0.00662324 0.99970703 -0.20817393] [ 0. 0. 0. 1. ]] SLAMing on 16.56463044 meters Centerline goodness : 0.165825 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.21 [[ 9.99733416e-01 -1.13798880e-03 -2.30608099e-02 -8.84746397e-02] [ 9.90246508e-04 9.99978920e-01 -6.41704638e-03 -3.48533634e-02] [ 2.30676263e-02 6.39249981e-03 9.99713469e-01 -2.07606686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59463044 meters Centerline goodness : 0.112522 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:-0.21 [[ 9.99738773e-01 -1.02562680e-03 -2.28327558e-02 -8.92535658e-02] [ 8.87343011e-04 9.99981210e-01 -6.06568538e-03 -3.66719203e-02] [ 2.28385479e-02 6.04384037e-03 9.99720897e-01 -2.07270857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62463044 meters Centerline goodness : 0.172736 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:-0.21 [[ 9.99743464e-01 -1.01421046e-03 -2.26269025e-02 -8.96144123e-02] [ 8.85307038e-04 9.99983328e-01 -5.70619978e-03 -3.91135942e-02] [ 2.26323126e-02 5.68470418e-03 9.99727694e-01 -2.07551414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65463044 meters Centerline goodness : 0.128421 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:-0.21 [[ 9.99748770e-01 -1.02668415e-03 -2.23906752e-02 -9.00616087e-02] [ 9.06379905e-04 9.99985104e-01 -5.38244868e-03 -4.14785139e-02] [ 2.23958678e-02 5.36080199e-03 9.99734808e-01 -2.07771770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68463044 meters Centerline goodness : 0.123399 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.21 [[ 9.99752193e-01 -8.67739880e-04 -2.22440734e-02 -9.02319162e-02] [ 7.64886123e-04 9.99988980e-01 -4.63196361e-03 -4.55863022e-02] [ 2.22478476e-02 4.61380160e-03 9.99741840e-01 -2.08168534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71463044 meters Centerline goodness : 0.089820 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.21 [[ 9.99749554e-01 -6.79513598e-04 -2.23688936e-02 -8.98138680e-02] [ 5.85245824e-04 9.99990922e-01 -4.22051173e-03 -4.72154618e-02] [ 2.23715584e-02 4.20636342e-03 9.99740876e-01 -2.08369998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744630439999998 meters Centerline goodness : 0.120576 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.21 [[ 9.99744142e-01 -4.86849235e-04 -2.26144382e-02 -8.90742928e-02] [ 3.99279885e-04 9.99992406e-01 -3.87663008e-03 -4.85362252e-02] [ 2.26161538e-02 3.86660872e-03 9.99736745e-01 -2.08619287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77463044 meters Centerline goodness : 0.119130 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.21 [[ 9.99666831e-01 3.22833848e-04 -2.58093460e-02 -1.31412440e-01] [-4.31828545e-04 9.99991013e-01 -4.21760887e-03 -4.67214416e-02] [ 2.58077524e-02 4.22734890e-03 9.99657986e-01 -2.09594936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 16.834630439999998 meters Centerline goodness : 0.112908 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.21 [[ 9.99643949e-01 5.11036851e-04 -2.66779777e-02 -1.28380529e-01] [-6.14779642e-04 9.99992281e-01 -3.88064804e-03 -4.84713996e-02] [ 2.66757886e-02 3.89566741e-03 9.99636547e-01 -2.11182935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86463044 meters Centerline goodness : 0.117002 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.21 [[ 9.99627734e-01 7.86074411e-04 -2.72722617e-02 -1.26725384e-01] [-8.89753261e-04 9.99992423e-01 -3.78969599e-03 -4.75644717e-02] [ 2.72690761e-02 3.81255079e-03 9.99620859e-01 -2.11594232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89463044 meters Centerline goodness : 0.133256 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.21 [[ 9.99621657e-01 -4.97385053e-03 -2.70518763e-02 -1.05310280e-01] [ 4.96197669e-03 9.99987561e-01 -5.06039133e-04 -4.51013363e-02] [ 2.70540568e-02 3.71616897e-04 9.99633903e-01 -2.11075050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924630439999998 meters Centerline goodness : 0.175298 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99619527e-01 -5.01531189e-03 -2.71228295e-02 -1.05130512e-01] [ 4.99529009e-03 9.99987199e-01 -8.05895784e-04 -4.32351842e-02] [ 2.71265241e-02 6.70102761e-04 9.99631784e-01 -2.11050279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95463044 meters Centerline goodness : 0.114509 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99653565e-01 -3.16987114e-03 -2.61285611e-02 -1.08266167e-01] [ 3.17816388e-03 9.99994912e-01 2.75860570e-04 -3.71014438e-02] [ 2.61275537e-02 -3.58805852e-04 9.99658553e-01 -2.10009869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98463044 meters Centerline goodness : 0.113995 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:-0.21 [[ 9.99658254e-01 -3.29735114e-03 -2.59326527e-02 -1.09022647e-01] [ 3.29364968e-03 9.99994559e-01 -1.85446065e-04 -3.45886827e-02] [ 2.59331230e-02 9.99696159e-05 9.99663675e-01 -2.09516836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 17.04463044 meters Centerline goodness : 0.153942 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:-0.21 [[ 9.99661410e-01 -3.51158906e-03 -2.57824548e-02 -1.10008445e-01] [ 3.49105570e-03 9.99993552e-01 -8.41376569e-04 -3.09281890e-02] [ 2.57852431e-02 7.51083701e-04 9.99667223e-01 -2.08558020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07463044 meters Centerline goodness : 0.160645 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:-0.21 [[ 9.99663484e-01 -3.60385605e-03 -2.56891375e-02 -1.10306314e-01] [ 3.58041677e-03 9.99993131e-01 -9.58358060e-04 -3.05616616e-02] [ 2.56924149e-02 8.66057738e-04 9.99669520e-01 -2.08462937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104630439999998 meters Centerline goodness : 0.160530 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:-0.21 [[ 0.99966417 -0.00422872 -0.02556671 -0.11063525] [ 0.00419778 0.99999039 -0.0012637 -0.0311997 ] [ 0.02557181 0.00115596 0.99967232 -0.20851144] [ 0. 0. 0. 1. ]] SLAMing on 17.13463044 meters Centerline goodness : 0.111411 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:-0.21 [[ 0.99965873 -0.00436159 -0.02575644 -0.11003214] [ 0.00433233 0.99998991 -0.00119198 -0.03217172] [ 0.02576138 0.00107999 0.99966754 -0.20873494] [ 0. 0. 0. 1. ]] SLAMing on 17.16463044 meters Centerline goodness : 0.122518 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:-0.21 [[ 9.99653770e-01 -4.36639529e-03 -2.59475527e-02 -1.09321969e-01] [ 4.34236230e-03 9.99990089e-01 -9.82488496e-04 -3.34288256e-02] [ 2.59515855e-02 8.69474654e-04 9.99662823e-01 -2.09137895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194630439999997 meters Centerline goodness : 0.122601 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:-0.21 [[ 9.99649391e-01 -4.33960096e-03 -2.61201790e-02 -1.08750996e-01] [ 4.32227427e-03 9.99990400e-01 -7.19767640e-04 -3.48573914e-02] [ 2.61230517e-02 6.06616705e-04 9.99658551e-01 -2.09445025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22463044 meters Centerline goodness : 0.135363 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99650054e-01 -4.28256655e-03 -2.61041926e-02 -1.08708390e-01] [ 4.27137631e-03 9.99990760e-01 -4.84421056e-04 -3.60220067e-02] [ 2.61060259e-02 3.72750705e-04 9.99659110e-01 -2.09609553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25463044 meters Centerline goodness : 0.142004 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99667443e-01 -4.30075858e-03 -2.54265042e-02 -1.10828004e-01] [ 4.29602742e-03 9.99990743e-01 -2.40694408e-04 -3.76777672e-02] [ 2.54273040e-02 1.31381404e-04 9.99676665e-01 -2.08741003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28463044 meters Centerline goodness : 0.120615 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99671527e-01 -4.29529631e-03 -2.52663694e-02 -1.11452970e-01] [ 4.29285531e-03 9.99990774e-01 -1.50851290e-04 -3.84334081e-02] [ 2.52667842e-02 4.23368719e-05 9.99680743e-01 -2.08366037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31463044 meters Centerline goodness : 0.132377 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:-0.21 [[ 0.99966153 0.00427931 -0.02566162 -0.13146235] [-0.0043154 0.99998978 -0.00135144 -0.0419214 ] [ 0.02565558 0.00146172 0.99966977 -0.21010345] [ 0. 0. 0. 1. ]] SLAMing on 17.34463044 meters Centerline goodness : 0.146328 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:-0.21 [[ 0.99965771 0.00431715 -0.02580368 -0.1310795 ] [-0.00435152 0.99998972 -0.00127615 -0.04230805] [ 0.02579791 0.00138799 0.99966621 -0.21021592] [ 0. 0. 0. 1. ]] SLAMing on 17.37463044 meters Centerline goodness : 0.146253 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99658349e-01 -3.66719356e-03 -2.58792834e-02 -1.11810418e-01] [ 3.67435378e-03 9.99993223e-01 2.29130223e-04 -3.98108966e-02] [ 2.58782678e-02 -3.24141584e-04 9.99665049e-01 -2.08383607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40463044 meters Centerline goodness : 0.152476 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99657283e-01 -3.55329805e-03 -2.59362800e-02 -1.11826916e-01] [ 3.56345629e-03 9.99993591e-01 3.45452481e-04 -3.98645559e-02] [ 2.59348863e-02 -4.37756889e-04 9.99663538e-01 -2.08138409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43463044 meters Centerline goodness : 0.152764 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99659751e-01 -3.40108147e-03 -2.58614463e-02 -1.12365996e-01] [ 3.41323961e-03 9.99994084e-01 4.25997207e-04 -3.96603177e-02] [ 2.58598444e-02 -5.14123575e-04 9.99665446e-01 -2.07526836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46463044 meters Centerline goodness : 0.144908 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99659948e-01 -3.44966860e-03 -2.58473929e-02 -1.12404903e-01] [ 3.45970405e-03 9.99993956e-01 3.43548159e-04 -3.95137637e-02] [ 2.58460515e-02 -4.32855665e-04 9.99665841e-01 -2.07510564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 17.52463044 meters Centerline goodness : 0.193859 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.21 [[ 9.99644408e-01 3.43659909e-03 -2.64432732e-02 -9.32877650e-02] [-3.45992693e-03 9.99993665e-01 -8.36480807e-04 -4.62749982e-02] [ 2.64402311e-02 9.27675154e-04 9.99649966e-01 -2.06212629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 17.584630439999998 meters Centerline goodness : 0.157182 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.21 [[ 9.99579785e-01 -3.79787125e-03 -2.87372590e-02 -1.11069501e-01] [ 3.82308512e-03 9.99992354e-01 8.22500030e-04 -4.29008737e-02] [ 2.87339156e-02 -9.32019390e-04 9.99586661e-01 -2.08153150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61463044 meters Centerline goodness : 0.144461 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.21 [[ 0.99956304 -0.00357849 -0.02934152 -0.10931706] [ 0.00362211 0.99999241 0.00143354 -0.0458369 ] [ 0.02933617 -0.00153919 0.99956842 -0.2087019 ] [ 0. 0. 0. 1. ]] SLAMing on 17.64463044 meters Centerline goodness : 0.194072 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.21 [[ 0.99956096 -0.00345294 -0.02942718 -0.10907486] [ 0.00350809 0.99999219 0.00182261 -0.04786698] [ 0.02942066 -0.00192504 0.99956527 -0.20881407] [ 0. 0. 0. 1. ]] SLAMing on 17.674630439999998 meters Centerline goodness : 0.163948 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.21 [[ 0.9995692 -0.00346552 -0.02914451 -0.10983663] [ 0.0035366 0.9999909 0.00238771 -0.05204632] [ 0.02913597 -0.00248975 0.99957236 -0.20878116] [ 0. 0. 0. 1. ]] SLAMing on 17.70463044 meters Centerline goodness : 0.184915 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.21 [[ 0.99957401 -0.00333382 -0.02899469 -0.11031469] [ 0.00341718 0.99999017 0.00282594 -0.05443756] [ 0.02898499 -0.00292382 0.99957557 -0.20865317] [ 0. 0. 0. 1. ]] SLAMing on 17.73463044 meters Centerline goodness : 0.183247 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.21 [[ 0.99958061 -0.00316721 -0.02878487 -0.11077616] [ 0.00326409 0.99998916 0.0033195 -0.05700374] [ 0.02877405 -0.00341206 0.99958012 -0.20873335] [ 0. 0. 0. 1. ]] SLAMing on 17.764630439999998 meters Centerline goodness : 0.156168 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.21 [[ 0.99957607 0.00345365 -0.02890944 -0.09355365] [-0.00339149 0.99999183 0.00219862 -0.06591642] [ 0.0289168 -0.00209964 0.99957962 -0.2066104 ] [ 0. 0. 0. 1. ]] SLAMing on 17.79463044 meters Centerline goodness : 0.168253 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:-0.21 [[ 0.99951221 0.00389518 -0.03098648 -0.13974915] [-0.00384337 0.99999112 0.00173155 -0.06463843] [ 0.03099295 -0.00161162 0.9995183 -0.20655548] [ 0. 0. 0. 1. ]] SLAMing on 17.82463044 meters Centerline goodness : 0.191683 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.21 [[ 0.99951286 0.00398697 -0.03095384 -0.14003793] [-0.00392926 0.99999043 0.00192503 -0.06565405] [ 0.03096121 -0.00180247 0.99951896 -0.20627443] [ 0. 0. 0. 1. ]] SLAMing on 17.854630439999998 meters Centerline goodness : 0.171774 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:-0.20 [[ 0.999534 -0.00216873 -0.03044806 -0.12432946] [ 0.00230985 0.99998675 0.00460045 -0.06245718] [ 0.03043768 -0.00466863 0.99952576 -0.2026783 ] [ 0. 0. 0. 1. ]] SLAMing on 17.88463044 meters Centerline goodness : 0.110075 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:-0.20 [[ 9.99469124e-01 -3.07531252e-04 -3.25787664e-02 -1.69646450e-01] [ 4.70503050e-04 9.99987415e-01 4.99484504e-03 -5.84075835e-02] [ 3.25768203e-02 -5.00752180e-03 9.99456690e-01 -2.02659521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91463044 meters Centerline goodness : 0.149024 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.20 [[ 0.99943924 0.00735519 -0.03266675 -0.1498853 ] [-0.0072321 0.9999663 0.00388453 -0.06183354] [ 0.03269422 -0.0036461 0.99945875 -0.2010943 ] [ 0. 0. 0. 1. ]] SLAMing on 17.944630439999997 meters Centerline goodness : 0.136075 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.20 [[ 0.9994378 0.00727132 -0.03272952 -0.14948456] [-0.00715717 0.99996789 0.00360351 -0.06033962] [ 0.03275468 -0.00336723 0.99945775 -0.20146891] [ 0. 0. 0. 1. ]] SLAMing on 17.97463044 meters Centerline goodness : 0.142079 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.20 [[ 0.99944599 0.00714674 -0.03250605 -0.15015675] [-0.00704543 0.99996996 0.00323021 -0.05821128] [ 0.03252816 -0.0029994 0.99946632 -0.2012388 ] [ 0. 0. 0. 1. ]] SLAMing on 18.00463044 meters Centerline goodness : 0.132366 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.20 [[ 0.99944327 0.00709551 -0.03260067 -0.14996634] [-0.00699761 0.99997066 0.00311604 -0.05762484] [ 0.03262182 -0.00288618 0.9994636 -0.20116687] [ 0. 0. 0. 1. ]] SLAMing on 18.034630439999997 meters Centerline goodness : 0.159594 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:-0.20 [[ 9.99444109e-01 -7.66683211e-04 -3.33299449e-02 -1.69353799e-01] [ 8.96533114e-04 9.99992067e-01 3.88112285e-03 -5.10830500e-02] [ 3.33267049e-02 -3.90884677e-03 9.99436867e-01 -2.02403466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06463044 meters Centerline goodness : 0.143841 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:-0.20 [[ 9.99435749e-01 -8.22656947e-04 -3.35783637e-02 -1.68837129e-01] [ 9.50053222e-04 9.99992411e-01 3.77822014e-03 -5.06518571e-02] [ 3.35750007e-02 -3.80798951e-03 9.99428946e-01 -2.02290030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09463044 meters Centerline goodness : 0.143841 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:-0.20 [[ 9.99435749e-01 -8.22656947e-04 -3.35783637e-02 -1.68837129e-01] [ 9.50053222e-04 9.99992411e-01 3.77822014e-03 -5.06518571e-02] [ 3.35750007e-02 -3.80798951e-03 9.99428946e-01 -2.02290030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12463044 meters Centerline goodness : 0.117746 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:-0.20 [[ 9.99432710e-01 -8.89419807e-04 -3.36670006e-02 -1.68715696e-01] [ 1.01334780e-03 9.99992774e-01 3.66410908e-03 -5.01475579e-02] [ 3.36634984e-02 -3.69614685e-03 9.99426389e-01 -2.02172274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15463044 meters Centerline goodness : 0.141985 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:-0.20 [[ 9.99433373e-01 -9.55083925e-04 -3.36455231e-02 -1.68886152e-01] [ 1.07350138e-03 9.99993293e-01 3.50167187e-03 -4.92681184e-02] [ 3.36419530e-02 -3.53580624e-03 9.99427695e-01 -2.01982536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18463044 meters Centerline goodness : 0.157632 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:-0.20 [[ 0.99943988 -0.00114442 -0.03344581 -0.16948547] [ 0.00124514 0.99999475 0.00299062 -0.04657481] [ 0.03344221 -0.00303059 0.99943606 -0.20172058] [ 0. 0. 0. 1. ]] SLAMing on 18.21463044 meters Centerline goodness : 0.143414 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 0.99944377 -0.00129971 -0.03332364 -0.16980496] [ 0.00138671 0.99999569 0.00258771 -0.04463341] [ 0.03332013 -0.00263248 0.99944126 -0.2016763 ] [ 0. 0. 0. 1. ]] SLAMing on 18.244630439999998 meters Centerline goodness : 0.194587 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 0.99944652 -0.00144699 -0.03323487 -0.17022543] [ 0.00152102 0.99999642 0.00220218 -0.04269482] [ 0.03323156 -0.00225151 0.99944514 -0.20133087] [ 0. 0. 0. 1. ]] SLAMing on 18.27463044 meters Centerline goodness : 0.133414 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 0.99945348 -0.0015301 -0.03302117 -0.17100166] [ 0.00159357 0.99999693 0.00189601 -0.04091444] [ 0.03301817 -0.0019476 0.99945285 -0.20092624] [ 0. 0. 0. 1. ]] SLAMing on 18.30463044 meters Centerline goodness : 0.172812 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 0.99945641 -0.00157495 -0.03293025 -0.17139737] [ 0.00163143 0.99999724 0.00168833 -0.03952773] [ 0.0329275 -0.00174113 0.99945623 -0.20063052] [ 0. 0. 0. 1. ]] SLAMing on 18.334630439999998 meters Centerline goodness : 0.168724 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 0.99945022 -0.00170681 -0.03311102 -0.17052276] [ 0.00175113 0.99999761 0.00130971 -0.03719703] [ 0.0331087 -0.00136697 0.99945082 -0.2012497 ] [ 0. 0. 0. 1. ]] SLAMing on 18.36463044 meters Centerline goodness : 0.182362 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 0.99943558 -0.00176178 -0.03354723 -0.16908494] [ 0.00180259 0.99999767 0.00118624 -0.03641922] [ 0.03354507 -0.00124604 0.99943643 -0.20184596] [ 0. 0. 0. 1. ]] SLAMing on 18.39463044 meters Centerline goodness : 0.190193 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 0.99942289 -0.00183609 -0.03391929 -0.16773684] [ 0.0018722 0.99999771 0.00103279 -0.03568163] [ 0.03391732 -0.0010957 0.99942404 -0.20254849] [ 0. 0. 0. 1. ]] SLAMing on 18.424630439999998 meters Centerline goodness : 0.196212 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:-0.20 [[ 9.99408066e-01 -1.93487693e-03 -3.43478255e-02 -1.66436751e-01] [ 1.96674168e-03 9.99997666e-01 8.93945479e-04 -3.52153657e-02] [ 3.43460157e-02 -9.60969622e-04 9.99409540e-01 -2.02965619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45463044 meters Centerline goodness : 0.180527 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99399387e-01 -1.99332535e-03 -3.45961310e-02 -1.65728499e-01] [ 2.02232982e-03 9.99997632e-01 8.03400748e-04 -3.49257171e-02] [ 3.45944477e-02 -8.72883003e-04 9.99401052e-01 -2.03117938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48463044 meters Centerline goodness : 0.161664 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99404019e-01 -1.97137602e-03 -3.44633245e-02 -1.66545376e-01] [ 1.99696027e-03 9.99997755e-01 7.07956168e-04 -3.39359102e-02] [ 3.44618515e-02 -7.76356129e-04 9.99405712e-01 -2.02389847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514630439999998 meters Centerline goodness : 0.181634 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99407648e-01 -1.95453640e-03 -3.43588791e-02 -1.67096768e-01] [ 1.97682602e-03 9.99997857e-01 6.14770665e-04 -3.30383461e-02] [ 3.43576038e-02 -6.82328031e-04 9.99409370e-01 -2.01898347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54463044 meters Centerline goodness : 0.165086 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99410229e-01 -1.98797501e-03 -3.42817959e-02 -1.67393725e-01] [ 2.00435653e-03 9.99997893e-01 4.43489175e-04 -3.19552230e-02] [ 3.42808420e-02 -5.11940560e-04 9.99412108e-01 -2.01701554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57463044 meters Centerline goodness : 0.204546 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99410017e-01 -2.04580693e-03 -3.42845735e-02 -1.67390008e-01] [ 2.05594127e-03 9.99997853e-01 2.60343428e-04 -3.09598483e-02] [ 3.42839673e-02 -3.30676900e-04 9.99412077e-01 -2.01701441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604630439999998 meters Centerline goodness : 0.194434 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99407819e-01 -2.10761817e-03 -3.43448545e-02 -1.67210972e-01] [ 2.11105651e-03 9.99997770e-01 6.38496080e-05 -2.99600951e-02] [ 3.43446434e-02 -1.36315726e-04 9.99410039e-01 -2.01759033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63463044 meters Centerline goodness : 0.217602 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99417541e-01 -2.07318931e-03 -3.40628999e-02 -1.68558274e-01] [ 2.07033963e-03 9.99997850e-01 -1.18930292e-04 -2.86358258e-02] [ 3.40630733e-02 4.83392485e-05 9.99419684e-01 -2.00739733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66463044 meters Centerline goodness : 0.199001 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99426873e-01 -2.06423801e-03 -3.37885220e-02 -1.69624687e-01] [ 2.05773268e-03 9.99997857e-01 -2.27303435e-04 -2.79253900e-02] [ 3.37889188e-02 1.57645415e-04 9.99428979e-01 -2.00115713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694630439999997 meters Centerline goodness : 0.169043 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99435255e-01 -2.06545684e-03 -3.35395936e-02 -1.70606179e-01] [ 2.05560390e-03 9.99997833e-01 -3.28249497e-04 -2.73344372e-02] [ 3.35401989e-02 2.59120000e-04 9.99437336e-01 -1.99524899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72463044 meters Centerline goodness : 0.161184 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99446787e-01 -2.04393484e-03 -3.31955120e-02 -1.71639316e-01] [ 2.03208549e-03 9.99997859e-01 -3.90689800e-04 -2.68710849e-02] [ 3.31962395e-02 3.23017547e-04 9.99448801e-01 -1.99186159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75463044 meters Centerline goodness : 0.133893 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99456403e-01 -2.01464811e-03 -3.29065437e-02 -1.72494221e-01] [ 1.99931311e-03 9.99997877e-01 -4.98914279e-04 -2.61126197e-02] [ 3.29074789e-02 4.32852586e-04 9.99458309e-01 -1.98869018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784630439999997 meters Centerline goodness : 0.159111 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:-0.20 [[ 9.99462068e-01 -1.97873991e-03 -3.27362113e-02 -1.73148305e-01] [ 1.96119681e-03 9.99997916e-01 -5.67993905e-04 -2.55508366e-02] [ 3.27372670e-02 5.03486210e-04 9.99463865e-01 -1.98492049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81463044 meters Centerline goodness : 0.150484 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 9.99466839e-01 -2.01427130e-03 -3.25880281e-02 -1.73872421e-01] [ 1.98909340e-03 9.99997698e-01 -8.05012325e-04 -2.47217601e-02] [ 3.25895745e-02 7.39762493e-04 9.99468545e-01 -1.97966246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84463044 meters Centerline goodness : 0.162088 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 9.99464702e-01 -2.01746824e-03 -3.26533324e-02 -1.73742431e-01] [ 1.98987763e-03 9.99997635e-01 -8.77430162e-04 -2.43772896e-02] [ 3.26550254e-02 8.11984339e-04 9.99466353e-01 -1.97939644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87463044 meters Centerline goodness : 0.162129 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 9.99463618e-01 -1.94069833e-03 -3.26911334e-02 -1.73642284e-01] [ 1.91306376e-03 9.99997786e-01 -8.76580142e-04 -2.40567948e-02] [ 3.26927622e-02 8.13569737e-04 9.99465118e-01 -1.97960703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90463044 meters Centerline goodness : 0.161055 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 9.99468087e-01 -1.86065793e-03 -3.25588878e-02 -1.74009813e-01] [ 1.83245275e-03 9.99997920e-01 -8.96099728e-04 -2.34898223e-02] [ 3.25604874e-02 8.35960457e-04 9.99469417e-01 -1.97910984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93463044 meters Centerline goodness : 0.141148 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 9.99475198e-01 -1.71175003e-03 -3.23480853e-02 -1.74725826e-01] [ 1.68481759e-03 9.99998211e-01 -8.59821441e-04 -2.30359659e-02] [ 3.23494993e-02 8.04869581e-04 9.99476294e-01 -1.97551551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96463044 meters Centerline goodness : 0.139805 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 9.99468392e-01 -1.29690268e-03 -3.25768435e-02 -1.74337951e-01] [ 1.26669075e-03 9.99998748e-01 -9.48025813e-04 -2.10865955e-02] [ 3.25780322e-02 9.06257049e-04 9.99468784e-01 -1.97307727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994630439999998 meters Centerline goodness : 0.143237 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 0.99945736 -0.00120966 -0.03291683 -0.17331717] [ 0.00116973 0.99999856 -0.00123227 -0.01940986] [ 0.03291827 0.0011931 0.99945733 -0.19788996] [ 0. 0. 0. 1. ]] SLAMing on 19.02463044 meters Centerline goodness : 0.165289 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:-0.20 [[ 0.99944335 -0.00109933 -0.03334344 -0.17193739] [ 0.00105552 0.99999856 -0.00133153 -0.01836939] [ 0.03334485 0.00129559 0.99944307 -0.1985287 ] [ 0. 0. 0. 1. ]] SLAMing on 19.05463044 meters Centerline goodness : 0.163788 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:-0.20 [[ 0.99941059 0.00686555 -0.03363545 -0.15084977] [-0.00693439 0.99997409 -0.00193048 -0.02223755] [ 0.03362133 0.00216258 0.9994323 -0.19764341] [ 0. 0. 0. 1. ]] SLAMing on 19.084630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 19.11463044 meters Centerline goodness : 0.120973 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:-0.20 [[ 0.99940927 0.00734252 -0.03357384 -0.15086625] [-0.00740633 0.99997099 -0.00177674 -0.02252195] [ 0.03355982 0.00202434 0.99943466 -0.19846284] [ 0. 0. 0. 1. ]] SLAMing on 19.14463044 meters Centerline goodness : 0.132375 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:-0.20 [[ 0.99940083 0.00750108 -0.03378917 -0.15039815] [-0.00755628 0.99997032 -0.00150615 -0.0232414 ] [ 0.03377687 0.00176057 0.99942785 -0.1984807 ] [ 0. 0. 0. 1. ]] SLAMing on 19.174630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 19.20463044 meters Centerline goodness : 0.135344 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:-0.20 [[ 0.99939484 0.00765535 -0.03393156 -0.15031925] [-0.00770271 0.99996953 -0.00126542 -0.02405265] [ 0.03392084 0.00152602 0.99942336 -0.19826241] [ 0. 0. 0. 1. ]] SLAMing on 19.23463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 19.264630439999998 meters Centerline goodness : 0.120663 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:-0.20 [[ 0.99938089 0.00772863 -0.03432349 -0.14911848] [-0.0077692 0.99996927 -0.00104868 -0.02516734] [ 0.03431433 0.00131469 0.99941023 -0.19881788] [ 0. 0. 0. 1. ]] SLAMing on 19.29463044 meters Centerline goodness : 0.163448 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:-0.20 [[ 9.99365836e-01 7.61488547e-03 -3.47841782e-02 -1.47244584e-01] [-7.65358634e-03 9.99970231e-01 -9.79581365e-04 -2.59373373e-02] [ 3.47756833e-02 1.24518386e-03 9.99394367e-01 -1.99897961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32463044 meters Centerline goodness : 0.141966 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.02, Z:-0.20 [[ 9.99347139e-01 2.71802089e-04 -3.61278663e-02 -1.29297599e-01] [-3.03659209e-04 9.99999570e-01 -8.76303869e-04 -2.20670752e-02] [ 3.61276126e-02 8.86702323e-04 9.99346791e-01 -1.99591426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354630439999998 meters Centerline goodness : 0.136956 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.02, Z:-0.20 [[ 9.99346590e-01 3.58630618e-04 -3.61422721e-02 -1.29290800e-01] [-3.76619140e-04 9.99999809e-01 -4.90907270e-04 -2.44234380e-02] [ 3.61420892e-02 5.04198378e-04 9.99346534e-01 -1.99573497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 19.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 19.444630439999997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 19.47463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 19.50463044 meters Centerline goodness : 0.130185 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:-0.20 [[ 0.99952517 0.0049323 -0.03041547 -0.15566607] [-0.00497193 0.99998689 -0.00122772 -0.041573 ] [ 0.03040902 0.00137837 0.99953659 -0.19801764] [ 0. 0. 0. 1. ]] SLAMing on 19.534630439999997 meters Centerline goodness : 0.105568 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.04, Z:-0.20 [[ 9.99552273e-01 -2.49134542e-03 -2.98168862e-02 -1.37182014e-01] [ 2.50089087e-03 9.99996833e-01 2.82847091e-04 -3.72330055e-02] [ 2.98160871e-02 -3.57289231e-04 9.99555338e-01 -1.96682048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56463044 meters Centerline goodness : 0.108917 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99575806e-01 6.64201040e-03 -2.83565011e-02 -1.18205059e-01] [-6.64724901e-03 9.99977903e-01 -9.04786656e-05 -3.88939626e-02] [ 2.83552736e-02 2.78933009e-04 9.99597869e-01 -1.94879958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59463044 meters Centerline goodness : 0.113128 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99566231e-01 6.72621701e-03 -2.86724210e-02 -1.17710545e-01] [-6.73559347e-03 9.99977289e-01 -2.30448851e-04 -3.79887318e-02] [ 2.86702198e-02 4.23474662e-04 9.99588835e-01 -1.94604149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62463044 meters Centerline goodness : 0.161156 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99556603e-01 6.75481237e-03 -2.89994900e-02 -1.16933558e-01] [-6.76961106e-03 9.99977001e-01 -4.12159643e-04 -3.71139778e-02] [ 2.89960390e-02 6.08292161e-04 9.99579341e-01 -1.94724928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65463044 meters Centerline goodness : 0.139855 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99549875e-01 6.77835870e-03 -2.92250194e-02 -1.16333127e-01] [-6.79569142e-03 9.99976787e-01 -4.93794520e-04 -3.68015680e-02] [ 2.92209938e-02 6.92176464e-04 9.99572736e-01 -1.94923314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68463044 meters Centerline goodness : 0.108557 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99550705e-01 6.83407231e-03 -2.91836191e-02 -1.16559634e-01] [-6.84928482e-03 9.99976455e-01 -4.21334861e-04 -3.72872575e-02] [ 2.91800526e-02 6.21032477e-04 9.99573979e-01 -1.94817189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71463044 meters Centerline goodness : 0.111573 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99568134e-01 7.00072386e-03 -2.85400826e-02 -1.18684570e-01] [-7.00030193e-03 9.99975491e-01 1.14699931e-04 -4.03030479e-02] [ 2.85401861e-02 8.51387997e-05 9.99592642e-01 -1.93963993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744630439999998 meters Centerline goodness : 0.100971 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99572339e-01 7.12920127e-03 -2.83604149e-02 -1.19110551e-01] [-7.11795478e-03 9.99974543e-01 4.97491590e-04 -4.22771592e-02] [ 2.83632396e-02 -2.95410681e-04 9.99597639e-01 -1.93959067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77463044 meters Centerline goodness : 0.102545 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.19 [[ 9.99566452e-01 7.27597469e-03 -2.85301291e-02 -1.18398892e-01] [-7.25316701e-03 9.99973288e-01 9.02831958e-04 -4.44009517e-02] [ 2.85359360e-02 -6.95506746e-04 9.99592525e-01 -1.94429053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80463044 meters Centerline goodness : 0.103783 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:-0.20 [[ 0.99955337 0.00743563 -0.02894446 -0.11697156] [-0.00740072 0.99997175 0.00131319 -0.04648116] [ 0.02895341 -0.0010984 0.99958016 -0.19512339] [ 0. 0. 0. 1. ]] SLAMing on 19.834630439999998 meters Centerline goodness : 0.166276 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:-0.20 [[ 0.99953935 0.00767304 -0.02936337 -0.11559443] [-0.00762496 0.9999694 0.00174899 -0.04837289] [ 0.02937589 -0.00152429 0.99956727 -0.19573303] [ 0. 0. 0. 1. ]] SLAMing on 19.86463044 meters Centerline goodness : 0.098618 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.20 [[ 0.99952834 0.00787504 -0.02968297 -0.11470569] [-0.00781513 0.99996719 0.00213363 -0.05006412] [ 0.02969879 -0.00190065 0.99955709 -0.19590331] [ 0. 0. 0. 1. ]] SLAMing on 19.89463044 meters Centerline goodness : 0.201426 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.20 [[ 0.99952877 0.00812825 -0.02960014 -0.11480455] [-0.00805274 0.99996401 0.0026692 -0.05297307] [ 0.02962077 -0.00242958 0.99955826 -0.19609351] [ 0. 0. 0. 1. ]] SLAMing on 19.924630439999998 meters Centerline goodness : 0.103607 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.20 [[ 0.99952617 0.00823768 -0.02965782 -0.11446908] [-0.00815524 0.99996254 0.00289951 -0.05417975] [ 0.02968059 -0.00265627 0.9995559 -0.19641091] [ 0. 0. 0. 1. ]] SLAMing on 19.95463044 meters Centerline goodness : 0.178611 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.20 [[ 0.99951903 0.00838545 -0.02985621 -0.11380529] [-0.00829629 0.99996075 0.00310909 -0.05493753] [ 0.02988111 -0.0028599 0.99954937 -0.19676878] [ 0. 0. 0. 1. ]] SLAMing on 19.98463044 meters Centerline goodness : 0.106057 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.20 [[ 0.99950959 0.00852723 -0.03013085 -0.11294388] [-0.00843284 0.99995913 0.00325839 -0.05536932] [ 0.0301574 -0.0030027 0.99954065 -0.19711995] [ 0. 0. 0. 1. ]] SLAMing on 20.014630439999998 meters Centerline goodness : 0.106057 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.20 [[ 0.99950959 0.00852723 -0.03013085 -0.11294388] [-0.00843284 0.99995913 0.00325839 -0.05536932] [ 0.0301574 -0.0030027 0.99954065 -0.19711995] [ 0. 0. 0. 1. ]] SLAMing on 20.04463044 meters Centerline goodness : 0.115114 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.20 [[ 0.99950299 0.00855312 -0.03034168 -0.11228671] [-0.00845973 0.99995908 0.00320494 -0.05509327] [ 0.03036785 -0.00294666 0.99953445 -0.19742852] [ 0. 0. 0. 1. ]] SLAMing on 20.07463044 meters Centerline goodness : 0.097414 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.20 [[ 0.99949574 0.00854188 -0.03058259 -0.11171406] [-0.00845319 0.99995969 0.00302802 -0.05433205] [ 0.03060722 -0.00276797 0.99952766 -0.19751634] [ 0. 0. 0. 1. ]] SLAMing on 20.104630439999998 meters Centerline goodness : 0.180833 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.20 [[ 0.99960563 0.00197423 -0.02801229 -0.1310585 ] [-0.00188223 0.99999275 0.0033105 -0.04852972] [ 0.02801862 -0.00325647 0.9996021 -0.19908606] [ 0. 0. 0. 1. ]] SLAMing on 20.13463044 meters Centerline goodness : 0.096282 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.20 [[ 0.99961372 0.00203542 -0.02771749 -0.13191866] [-0.00194461 0.99999265 0.00330306 -0.04820022] [ 0.02772401 -0.00324789 0.99961034 -0.19887314] [ 0. 0. 0. 1. ]] SLAMing on 20.16463044 meters Centerline goodness : 0.098137 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.20 [[ 0.99961938 0.00208456 -0.02750905 -0.1324609 ] [-0.00199331 0.99999242 0.00334429 -0.04829092] [ 0.02751581 -0.00328818 0.99961596 -0.19881925] [ 0. 0. 0. 1. ]] SLAMing on 20.194630439999997 meters Centerline goodness : 0.101740 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.20 [[ 0.99962327 0.00210537 -0.02736562 -0.13288141] [-0.00201137 0.99999198 0.00346192 -0.0491627 ] [ 0.02737269 -0.00340557 0.9996195 -0.19871521] [ 0. 0. 0. 1. ]] SLAMing on 20.22463044 meters Centerline goodness : 0.166026 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:-0.20 [[ 9.99650934e-01 -4.61486456e-05 -2.64198468e-02 -1.37387904e-01] [ 9.80997375e-05 9.99998064e-01 1.96507339e-03 -5.41610829e-02] [ 2.64197050e-02 -1.96697923e-03 9.99649003e-01 -1.96121083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25463044 meters Centerline goodness : 0.109154 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:-0.19 [[ 0.99963981 -0.00811897 -0.02558006 -0.11833333] [ 0.00821206 0.99996003 0.0035364 -0.05298621] [ 0.02555033 -0.00374519 0.99966652 -0.19405557] [ 0. 0. 0. 1. ]] SLAMing on 20.284630439999997 meters Centerline goodness : 0.123811 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:-0.20 [[ 9.99693963e-01 -4.36517070e-04 -2.47343888e-02 -1.37405403e-01] [ 5.08477764e-04 9.99995657e-01 2.90312315e-03 -6.20584853e-02] [ 2.47330141e-02 -2.91481158e-03 9.99689843e-01 -1.95821194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31463044 meters Centerline goodness : 0.104032 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:-0.20 [[ 9.99688142e-01 -3.94407406e-04 -2.49692274e-02 -1.36564288e-01] [ 4.75545475e-04 9.99994626e-01 3.24366810e-03 -6.42883476e-02] [ 2.49678139e-02 -3.25453054e-03 9.99682958e-01 -1.96166847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34463044 meters Centerline goodness : 0.102580 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99682830e-01 -3.64851659e-04 -2.51814545e-02 -1.35585279e-01] [ 4.53153875e-04 9.99993769e-01 3.50101948e-03 -6.62452497e-02] [ 2.51800202e-02 -3.51132014e-03 9.99676766e-01 -1.96847326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37463044 meters Centerline goodness : 0.103100 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99678960e-01 -1.62168770e-04 -2.53367433e-02 -1.35062805e-01] [ 2.62655448e-04 9.99992114e-01 3.96276792e-03 -6.85714236e-02] [ 2.53359009e-02 -3.96815054e-03 9.99671119e-01 -1.97079873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40463044 meters Centerline goodness : 0.353665 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99679680e-01 -9.98959749e-07 -2.53088513e-02 -1.35331257e-01] [ 1.06271827e-04 9.99991349e-01 4.15818299e-03 -6.89633548e-02] [ 2.53086282e-02 -4.15954065e-03 9.99671032e-01 -1.96793087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43463044 meters Centerline goodness : 0.114971 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99679893e-01 1.62003746e-04 -2.52998942e-02 -1.35432828e-01] [-5.34524241e-05 9.99990791e-01 4.29120138e-03 -6.91880412e-02] [ 2.53003565e-02 -4.28847540e-03 9.99670696e-01 -1.96659582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46463044 meters Centerline goodness : 0.453723 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99678962e-01 1.80428379e-04 -2.53365248e-02 -1.35520202e-01] [-7.15312900e-05 9.99990757e-01 4.29886838e-03 -6.93720567e-02] [ 2.53370663e-02 -4.29567593e-03 9.99669736e-01 -1.96401846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494630439999998 meters Centerline goodness : 0.090412 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99679899e-01 1.62059228e-04 -2.52996756e-02 -1.35652556e-01] [-5.36012455e-05 9.99990807e-01 4.28755105e-03 -6.97345506e-02] [ 2.53001378e-02 -4.28482251e-03 9.99670717e-01 -1.96404483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52463044 meters Centerline goodness : 0.340036 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99680458e-01 3.40025000e-04 -2.52758146e-02 -1.35647246e-01] [-2.28288439e-04 9.99990190e-01 4.42344488e-03 -6.99568395e-02] [ 2.52770708e-02 -4.41626123e-03 9.99670729e-01 -1.96580409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55463044 meters Centerline goodness : 0.460510 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99679078e-01 3.93101480e-04 -2.53295763e-02 -1.35398504e-01] [-2.79807937e-04 9.99989943e-01 4.47616593e-03 -7.00949447e-02] [ 2.53310811e-02 -4.46764201e-03 9.99669134e-01 -1.96784421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584630439999998 meters Centerline goodness : 0.427940 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.20 [[ 9.99678520e-01 3.82537165e-04 -2.53517512e-02 -1.35221068e-01] [-2.68169217e-04 9.99989774e-01 4.51449081e-03 -7.05573820e-02] [ 2.53532189e-02 -4.50624093e-03 9.99668399e-01 -1.97027542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61463044 meters Centerline goodness : 0.103029 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:-0.20 [[ 0.99964905 0.00616967 -0.0257628 -0.11372469] [-0.00612303 0.99997947 0.00188863 -0.07376892] [ 0.02577392 -0.00173023 0.9996663 -0.19622098] [ 0. 0. 0. 1. ]] SLAMing on 20.64463044 meters Centerline goodness : 0.268766 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-0.20 [[ 0.99964136 0.00631481 -0.02602467 -0.11294235] [-0.00625614 0.9999777 0.00233517 -0.07593834] [ 0.02603883 -0.00217151 0.99965857 -0.19644551] [ 0. 0. 0. 1. ]] SLAMing on 20.674630439999998 meters Centerline goodness : 0.455599 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-0.20 [[ 9.99649063e-01 3.39996754e-03 -2.62714941e-02 -1.11732045e-01] [-3.39908034e-03 9.99994220e-01 7.84274134e-05 -8.01010665e-02] [ 2.62716089e-02 1.08990288e-05 9.99654842e-01 -1.97072362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70463044 meters Centerline goodness : 0.106418 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-0.20 [[ 9.99643234e-01 3.36507684e-03 -2.64968103e-02 -1.11237800e-01] [-3.35741360e-03 9.99994308e-01 3.33696379e-04 -8.21903234e-02] [ 2.64977824e-02 -2.44616576e-04 9.99648842e-01 -1.96971846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73463044 meters Centerline goodness : 0.453431 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.20 [[ 0.99962936 -0.00476632 -0.02680348 -0.09178678] [ 0.00480225 0.99998765 0.00127616 -0.08016032] [ 0.02679707 -0.00140441 0.99963991 -0.19530987] [ 0. 0. 0. 1. ]] SLAMing on 20.764630439999998 meters Centerline goodness : 0.281575 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.20 [[ 0.99962952 -0.00462674 -0.02682182 -0.09163345] [ 0.00467312 0.99998769 0.00166665 -0.08216319] [ 0.02681378 -0.00179137 0.99963884 -0.19544309] [ 0. 0. 0. 1. ]] SLAMing on 20.79463044 meters Centerline goodness : 0.451088 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.20 [[ 0.99963048 -0.00442578 -0.02682004 -0.09145157] [ 0.0044836 0.99998775 0.00209619 -0.08396901] [ 0.02681043 -0.00221567 0.99963808 -0.19567866] [ 0. 0. 0. 1. ]] SLAMing on 20.82463044 meters Centerline goodness : 0.301253 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:-0.20 [[ 0.9996302 -0.00423721 -0.02686091 -0.09116579] [ 0.00430473 0.99998772 0.00245653 -0.08546608] [ 0.02685018 -0.00257125 0.99963616 -0.19593465] [ 0. 0. 0. 1. ]] SLAMing on 20.854630439999998 meters Centerline goodness : 0.452732 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:-0.20 [[ 0.99962478 -0.00411622 -0.02708062 -0.09054638] [ 0.0041944 0.9999872 0.00283089 -0.08788014] [ 0.02706862 -0.00294342 0.99962924 -0.19602449] [ 0. 0. 0. 1. ]] SLAMing on 20.88463044 meters Centerline goodness : 0.450560 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:-0.20 [[ 0.99962304 -0.00405689 -0.0271536 -0.0905473 ] [ 0.00413891 0.99998704 0.00296515 -0.08872489] [ 0.02714122 -0.00307642 0.99962688 -0.19576458] [ 0. 0. 0. 1. ]] SLAMing on 20.91463044 meters Centerline goodness : 0.343387 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:-0.20 [[ 0.9996261 -0.00393686 -0.02705835 -0.09105307] [ 0.00402288 0.99998702 0.00312533 -0.08933411] [ 0.0270457 -0.00323302 0.99962897 -0.19532537] [ 0. 0. 0. 1. ]] SLAMing on 20.944630439999997 meters Centerline goodness : 0.109322 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99964482 0.00443643 -0.02627827 -0.11155876] [-0.00437072 0.99998718 0.00255754 -0.0951646 ] [ 0.02628928 -0.00244178 0.99965139 -0.19665121] [ 0. 0. 0. 1. ]] SLAMing on 20.97463044 meters Centerline goodness : 0.106834 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99965534 0.00461248 -0.02584414 -0.11275764] [-0.00454408 0.99998602 0.00270472 -0.09536644] [ 0.02585625 -0.00258635 0.99966233 -0.19637418] [ 0. 0. 0. 1. ]] SLAMing on 21.00463044 meters Centerline goodness : 0.089559 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-0.20 [[ 0.99968513 0.00502067 -0.02458543 -0.11586767] [-0.00495099 0.99998356 0.00289409 -0.09531693] [ 0.02459956 -0.00277146 0.99969354 -0.19612039] [ 0. 0. 0. 1. ]] SLAMing on 21.034630439999997 meters Centerline goodness : 0.291003 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.20 [[ 0.99969145 0.00505478 -0.02431999 -0.11656215] [-0.00498874 0.9999837 0.00277544 -0.09457491] [ 0.02433363 -0.00265326 0.99970037 -0.19606703] [ 0. 0. 0. 1. ]] SLAMing on 21.06463044 meters Centerline goodness : 0.091201 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.20 [[ 0.99969435 0.00517202 -0.02417556 -0.1168483 ] [-0.0051075 0.99998323 0.00272946 -0.09385379] [ 0.02418927 -0.00260515 0.999704 -0.19624486] [ 0. 0. 0. 1. ]] SLAMing on 21.09463044 meters Centerline goodness : 0.200621 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.20 [[ 0.99969835 0.00525693 -0.02399113 -0.11731089] [-0.00519391 0.9999829 0.00268847 -0.0931489 ] [ 0.02400485 -0.00256305 0.99970856 -0.19627 ] [ 0. 0. 0. 1. ]] SLAMing on 21.124630439999997 meters Centerline goodness : 0.453939 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.20 [[ 0.99969794 0.00529222 -0.02400056 -0.1174057 ] [-0.00523003 0.9999828 0.00265317 -0.09281529] [ 0.02401419 -0.00252685 0.99970842 -0.196148 ] [ 0. 0. 0. 1. ]] SLAMing on 21.15463044 meters Centerline goodness : 0.174977 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.20 [[ 0.99969479 -0.00332079 -0.02448068 -0.13751751] [ 0.0033992 0.99998922 0.0031621 -0.09023542] [ 0.02446992 -0.00324435 0.9996953 -0.19741488] [ 0. 0. 0. 1. ]] SLAMing on 21.18463044 meters Centerline goodness : 0.174774 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.20 [[ 0.99968319 -0.00343517 -0.02493422 -0.13638488] [ 0.0035174 0.99998852 0.00325478 -0.09179619] [ 0.02492275 -0.00334145 0.9996838 -0.19751352] [ 0. 0. 0. 1. ]] SLAMing on 21.21463044 meters Centerline goodness : 0.109724 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.20 [[ 0.99968519 -0.00335367 -0.02486493 -0.13664835] [ 0.00344073 0.9999881 0.003459 -0.09271852] [ 0.02485304 -0.00354346 0.99968484 -0.19732129] [ 0. 0. 0. 1. ]] SLAMing on 21.244630439999998 meters Centerline goodness : 0.096467 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.20 [[ 0.99968974 -0.00329579 -0.02468921 -0.13725612] [ 0.0033848 0.99998792 0.00356423 -0.09302272] [ 0.02467717 -0.00364669 0.99968882 -0.19698478] [ 0. 0. 0. 1. ]] SLAMing on 21.27463044 meters Centerline goodness : 0.168253 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.20 [[ 0.9996947 -0.00327583 -0.02449052 -0.13774848] [ 0.00336245 0.99998824 0.00349625 -0.09248442] [ 0.02447878 -0.00357754 0.99969395 -0.19695382] [ 0. 0. 0. 1. ]] SLAMing on 21.30463044 meters Centerline goodness : 0.454563 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.20 [[ 0.99968917 -0.00318477 -0.02472707 -0.13671007] [ 0.003265 0.99998953 0.00320521 -0.09033654] [ 0.0247166 -0.00328495 0.9996891 -0.19785185] [ 0. 0. 0. 1. ]] SLAMing on 21.334630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 21.36463044 meters Centerline goodness : 0.454207 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:-0.20 [[ 0.99967766 -0.00326338 -0.02517783 -0.13495214] [ 0.00333564 0.99999044 0.0028286 -0.08857362] [ 0.02516836 -0.00291167 0.99967899 -0.19902143] [ 0. 0. 0. 1. ]] SLAMing on 21.39463044 meters Centerline goodness : 0.453192 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:-0.20 [[ 0.99967076 -0.00336121 -0.0254378 -0.13412036] [ 0.00343097 0.99999047 0.00269915 -0.08844634] [ 0.02542848 -0.00278553 0.99967276 -0.19938068] [ 0. 0. 0. 1. ]] SLAMing on 21.424630439999998 meters Centerline goodness : 0.454417 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:-0.20 [[ 0.99966214 -0.00342784 -0.02576541 -0.1333624 ] [ 0.00349935 0.99999015 0.0027309 -0.08908013] [ 0.02575579 -0.00282014 0.99966429 -0.19937636] [ 0. 0. 0. 1. ]] SLAMing on 21.45463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 21.48463044 meters Centerline goodness : 0.151205 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:-0.20 [[ 0.99964187 -0.00375544 -0.026496 -0.13110855] [ 0.00383989 0.99998771 0.00313719 -0.09255572] [ 0.0264839 -0.00323781 0.999644 -0.19997076] [ 0. 0. 0. 1. ]] SLAMing on 21.514630439999998 meters Centerline goodness : 0.097008 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:-0.20 [[ 0.99963966 -0.00376118 -0.02657821 -0.13074802] [ 0.00385057 0.9999871 0.00331258 -0.09380878] [ 0.0265654 -0.00341373 0.99964125 -0.20013726] [ 0. 0. 0. 1. ]] SLAMing on 21.54463044 meters Centerline goodness : 0.096074 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99965984 0.0037662 -0.02580731 -0.11187661] [-0.00371683 0.99999117 0.00196055 -0.09748105] [ 0.02581447 -0.00186396 0.99966501 -0.19859706] [ 0. 0. 0. 1. ]] SLAMing on 21.57463044 meters Centerline goodness : 0.096758 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.9996597 0.0037516 -0.02581505 -0.11204867] [-0.00370257 0.99999125 0.0019467 -0.09750911] [ 0.02582213 -0.00185046 0.99966484 -0.19832306] [ 0. 0. 0. 1. ]] SLAMing on 21.604630439999998 meters Centerline goodness : 0.105760 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99965856 0.00378664 -0.02585395 -0.11208924] [-0.00373817 0.99999116 0.00192265 -0.09715428] [ 0.025861 -0.00182535 0.99966388 -0.19815447] [ 0. 0. 0. 1. ]] SLAMing on 21.63463044 meters Centerline goodness : 0.107399 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99965374 0.00392223 -0.02601949 -0.11177399] [-0.00387602 0.99999082 0.00182632 -0.09612191] [ 0.02602641 -0.00172483 0.99965977 -0.19811529] [ 0. 0. 0. 1. ]] SLAMing on 21.66463044 meters Centerline goodness : 0.451782 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99965448 0.00392449 -0.0259906 -0.11192763] [-0.00388043 0.99999095 0.0017454 -0.09557508] [ 0.02599722 -0.00164394 0.99966066 -0.19803208] [ 0. 0. 0. 1. ]] SLAMing on 21.694630439999997 meters Centerline goodness : 0.102144 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99965657 0.00396961 -0.02590342 -0.11221646] [-0.0039251 0.99999073 0.00176884 -0.09555263] [ 0.0259102 -0.00166656 0.99966289 -0.19794111] [ 0. 0. 0. 1. ]] SLAMing on 21.72463044 meters Centerline goodness : 0.169622 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99966105 0.00408744 -0.02571149 -0.11322126] [-0.0040361 0.99998976 0.00204839 -0.09679099] [ 0.0257196 -0.00194392 0.99966731 -0.19709627] [ 0. 0. 0. 1. ]] SLAMing on 21.75463044 meters Centerline goodness : 0.107865 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99966152 0.00413717 -0.02568504 -0.11348587] [-0.0040807 0.99998914 0.00225049 -0.0979935 ] [ 0.02569407 -0.00214491 0.99966755 -0.19676916] [ 0. 0. 0. 1. ]] SLAMing on 21.784630439999997 meters Centerline goodness : 0.169997 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.9996639 0.00420457 -0.0255813 -0.11393187] [-0.00414075 0.99998818 0.00254706 -0.09972616] [ 0.02559171 -0.00244028 0.9996695 -0.19640317] [ 0. 0. 0. 1. ]] SLAMing on 21.81463044 meters Centerline goodness : 0.095251 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-0.20 [[ 0.99966983 0.00430515 -0.02533181 -0.11480793] [-0.00423216 0.99998674 0.00293428 -0.10189449] [ 0.02534411 -0.00282611 0.99967479 -0.19589643] [ 0. 0. 0. 1. ]] SLAMing on 21.84463044 meters Centerline goodness : 0.227298 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-0.20 [[ 0.99967505 0.00450206 -0.02509036 -0.11572474] [-0.00441592 0.99998417 0.00348757 -0.10465823] [ 0.02510566 -0.00337564 0.9996791 -0.19527128] [ 0. 0. 0. 1. ]] SLAMing on 21.874630439999997 meters Centerline goodness : 0.268629 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:-0.19 [[ 0.99970691 0.00281335 -0.02404526 -0.11899607] [-0.00275153 0.99999283 0.0026036 -0.11187223] [ 0.02405242 -0.00253667 0.99970748 -0.19418965] [ 0. 0. 0. 1. ]] SLAMing on 21.90463044 meters Centerline goodness : 0.268629 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:-0.19 [[ 0.99970691 0.00281335 -0.02404526 -0.11899607] [-0.00275153 0.99999283 0.0026036 -0.11187223] [ 0.02405242 -0.00253667 0.99970748 -0.19418965] [ 0. 0. 0. 1. ]] SLAMing on 21.93463044 meters Centerline goodness : 0.463195 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:-0.19 [[ 0.99970106 0.00297824 -0.02426785 -0.11823406] [-0.00290431 0.99999104 0.00308131 -0.11460272] [ 0.02427681 -0.00300991 0.99970074 -0.19446254] [ 0. 0. 0. 1. ]] SLAMing on 21.96463044 meters Centerline goodness : 0.103760 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.19 [[ 0.99969676 0.00311131 -0.02442756 -0.11754432] [-0.00302759 0.99998942 0.00346343 -0.11686224] [ 0.02443807 -0.00338842 0.9996956 -0.19485909] [ 0. 0. 0. 1. ]] SLAMing on 21.994630439999998 meters Centerline goodness : 0.092189 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.20 [[ 0.9996959 0.00325542 -0.02444384 -0.1173667 ] [-0.00316375 0.99998782 0.00378807 -0.11869579] [ 0.02445588 -0.00370958 0.99969403 -0.19503067] [ 0. 0. 0. 1. ]] SLAMing on 22.02463044 meters Centerline goodness : 0.091870 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.19 [[ 0.99969806 0.00340995 -0.02433442 -0.11766791] [-0.00331276 0.99998638 0.00403311 -0.1198716 ] [ 0.02434784 -0.00395127 0.99969574 -0.19498064] [ 0. 0. 0. 1. ]] SLAMing on 22.05463044 meters Centerline goodness : 0.377012 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.20 [[ 0.99970133 0.00360625 -0.02417101 -0.11797074] [-0.00350332 0.99998462 0.00429932 -0.12086689] [ 0.02418614 -0.00421335 0.99969859 -0.19512392] [ 0. 0. 0. 1. ]] SLAMing on 22.084630439999998 meters Centerline goodness : 0.098797 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.20 [[ 0.99970301 0.00404679 -0.02403174 -0.1181561 ] [-0.00393517 0.99998126 0.0046899 -0.12191023] [ 0.02405026 -0.00459394 0.9997002 -0.19537318] [ 0. 0. 0. 1. ]] SLAMing on 22.11463044 meters Centerline goodness : 0.099994 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.20 [[ 0.99970225 0.00410488 -0.02405314 -0.11791796] [-0.00399315 0.99998102 0.00469135 -0.12184351] [ 0.02407194 -0.0045939 0.99969967 -0.19570238] [ 0. 0. 0. 1. ]] SLAMing on 22.14463044 meters Centerline goodness : 0.105262 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.20 [[ 0.99970326 0.00418094 -0.02399815 -0.1177871 ] [-0.0040686 0.99998055 0.00472811 -0.12174827] [ 0.02401745 -0.00462907 0.99970082 -0.1961574 ] [ 0. 0. 0. 1. ]] SLAMing on 22.174630439999998 meters Centerline goodness : 0.096338 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:-0.20 [[ 0.99969879 0.00436771 -0.02415065 -0.11695012] [-0.00425012 0.99997887 0.00491826 -0.12211085] [ 0.02417162 -0.00481414 0.99969623 -0.1968897 ] [ 0. 0. 0. 1. ]] SLAMing on 22.20463044 meters Centerline goodness : 0.084577 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-0.20 [[ 0.99963832 0.00288377 -0.02673796 -0.16112476] [-0.00277222 0.9999873 0.00420836 -0.12728676] [ 0.02674975 -0.00413271 0.99963362 -0.19727778] [ 0. 0. 0. 1. ]] SLAMing on 22.23463044 meters Centerline goodness : 0.113034 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-0.20 [[ 0.99963164 0.00282253 -0.02699283 -0.16071037] [-0.00270608 0.99998688 0.00434973 -0.12867074] [ 0.02700475 -0.00427508 0.99962616 -0.19695483] [ 0. 0. 0. 1. ]] SLAMing on 22.264630439999998 meters Centerline goodness : 0.097001 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-0.20 [[ 0.99962592 0.00283583 -0.02720246 -0.16050617] [-0.00271271 0.99998592 0.00456186 -0.12990357] [ 0.02721501 -0.00448636 0.99961954 -0.19644633] [ 0. 0. 0. 1. ]] SLAMing on 22.29463044 meters Centerline goodness : 0.114025 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:-0.19 [[ 0.99962024 -0.00470929 -0.02715148 -0.14178693] [ 0.00487107 0.99997076 0.0058952 -0.12551712] [ 0.02712293 -0.00602522 0.99961395 -0.19426321] [ 0. 0. 0. 1. ]] SLAMing on 22.32463044 meters Centerline goodness : 0.103435 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:-0.19 [[ 0.99962134 -0.00471212 -0.02711033 -0.14205314] [ 0.00488188 0.99996887 0.00619894 -0.12719952] [ 0.02708027 -0.00632894 0.99961323 -0.19380483] [ 0. 0. 0. 1. ]] SLAMing on 22.354630439999998 meters Centerline goodness : 0.114739 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:-0.19 [[ 0.99961526 0.00268397 -0.02760651 -0.12304378] [-0.00255694 0.99998599 0.00463554 -0.13084982] [ 0.02761856 -0.00456317 0.99960812 -0.19132258] [ 0. 0. 0. 1. ]] SLAMing on 22.38463044 meters Centerline goodness : 0.101170 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:-0.19 [[ 0.99960752 0.00266798 -0.02788707 -0.12242215] [-0.00253828 0.9999858 0.00468513 -0.13137672] [ 0.02789917 -0.00461251 0.9996001 -0.19122822] [ 0. 0. 0. 1. ]] SLAMing on 22.41463044 meters Centerline goodness : 0.109358 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:-0.19 [[ 0.99960153 0.00268522 -0.02809943 -0.12212572] [-0.00255239 0.9999854 0.0047621 -0.13182893] [ 0.0281118 -0.00468848 0.99959379 -0.19089131] [ 0. 0. 0. 1. ]] SLAMing on 22.444630439999997 meters Centerline goodness : 0.108749 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:-0.19 [[ 0.99959907 0.00269307 -0.02818593 -0.12232155] [-0.00255783 0.99998505 0.004833 -0.13227681] [ 0.02819852 -0.00475897 0.99959101 -0.19027034] [ 0. 0. 0. 1. ]] SLAMing on 22.47463044 meters Centerline goodness : 0.111912 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:-0.19 [[ 0.99959839 0.00266643 -0.0282126 -0.12258044] [-0.00252962 0.99998487 0.00488401 -0.13282993] [ 0.0282252 -0.00481068 0.99959001 -0.18973277] [ 0. 0. 0. 1. ]] SLAMing on 22.50463044 meters Centerline goodness : 0.117219 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.99958078 0.00117781 -0.0289288 -0.17067352] [-0.00105117 0.9999898 0.00439247 -0.1386719 ] [ 0.02893368 -0.00436022 0.99957182 -0.18849117] [ 0. 0. 0. 1. ]] SLAMing on 22.534630439999997 meters Centerline goodness : 0.120508 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.9995863 0.00126713 -0.02873363 -0.17163893] [-0.00113531 0.99998876 0.00460369 -0.13949716] [ 0.02873914 -0.00456917 0.9995765 -0.18770638] [ 0. 0. 0. 1. ]] SLAMing on 22.56463044 meters Centerline goodness : 0.111868 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.99959018 0.00135621 -0.02859429 -0.17235219] [-0.00121955 0.99998775 0.00479614 -0.1401727 ] [ 0.02860044 -0.0047593 0.99957959 -0.18707592] [ 0. 0. 0. 1. ]] SLAMing on 22.59463044 meters Centerline goodness : 0.122352 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.99958919 0.00136861 -0.02862845 -0.17239137] [-0.00123053 0.99998753 0.00484027 -0.14048549] [ 0.02863471 -0.00480305 0.9995784 -0.18687524] [ 0. 0. 0. 1. ]] SLAMing on 22.624630439999997 meters Centerline goodness : 0.119206 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.99958765 0.00122845 -0.02868848 -0.1721611 ] [-0.00109374 0.99998831 0.00471074 -0.14077742] [ 0.02869393 -0.00467742 0.9995773 -0.18695795] [ 0. 0. 0. 1. ]] SLAMing on 22.65463044 meters Centerline goodness : 0.118823 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.9995901 0.00120064 -0.02860404 -0.17253621] [-0.00106642 0.99998835 0.00470722 -0.1409572 ] [ 0.02860936 -0.00467478 0.99957974 -0.18669345] [ 0. 0. 0. 1. ]] SLAMing on 22.68463044 meters Centerline goodness : 0.085201 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.99959402 0.00124884 -0.02846473 -0.17302776] [-0.00111355 0.99998801 0.00476844 -0.14100636] [ 0.02847035 -0.0047348 0.99958342 -0.18647687] [ 0. 0. 0. 1. ]] SLAMing on 22.71463044 meters Centerline goodness : 0.104481 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.99959648 0.00131264 -0.02837521 -0.17327361] [-0.00117602 0.99998764 0.00483109 -0.14089408] [ 0.0283812 -0.00479577 0.99958567 -0.18641623] [ 0. 0. 0. 1. ]] SLAMing on 22.744630439999998 meters Centerline goodness : 0.104566 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 0.99959499 0.00126522 -0.02842999 -0.17291232] [-0.00113078 0.99998811 0.00474446 -0.14057302] [ 0.02843565 -0.00471039 0.99958453 -0.18675349] [ 0. 0. 0. 1. ]] SLAMing on 22.77463044 meters Centerline goodness : 0.104691 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 9.99583232e-01 1.07171613e-03 -2.88481271e-02 -1.71411550e-01] [-9.39226100e-04 9.99988952e-01 4.60583216e-03 -1.41011392e-01] [ 2.88527446e-02 -4.57681768e-03 9.99573195e-01 -1.87520799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80463044 meters Centerline goodness : 0.104471 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 9.99574510e-01 1.06985794e-03 -2.91488465e-02 -1.70640346e-01] [-9.31097696e-04 9.99988173e-01 4.77355980e-03 -1.42204029e-01] [ 2.91536088e-02 -4.74438827e-03 9.99563684e-01 -1.87565020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834630439999998 meters Centerline goodness : 0.162495 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-0.19 [[ 9.99562826e-01 1.06571478e-03 -2.95469237e-02 -1.69721559e-01] [-9.18309320e-04 9.99987068e-01 5.00198069e-03 -1.43807732e-01] [ 2.95518723e-02 -4.97266074e-03 9.99550879e-01 -1.87465256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86463044 meters Centerline goodness : 0.116311 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:-0.19 [[ 9.99553467e-01 1.01561545e-03 -2.98636219e-02 -1.69122950e-01] [-8.58989289e-04 9.99985813e-01 5.25707553e-03 -1.45934812e-01] [ 2.98685373e-02 -5.22907553e-03 9.99540158e-01 -1.87131659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89463044 meters Centerline goodness : 0.120390 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:-0.19 [[ 0.999556 -0.00265687 -0.02967747 -0.16974112] [ 0.00271561 0.99999443 0.00193899 -0.14772552] [ 0.02967215 -0.00201872 0.99955765 -0.18687234] [ 0. 0. 0. 1. ]] SLAMing on 22.924630439999998 meters Centerline goodness : 0.200232 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:-0.19 [[ 0.99955678 -0.00336205 -0.02957945 -0.16964361] [ 0.00342488 0.99999199 0.00207356 -0.15522284] [ 0.02957224 -0.00217395 0.99956028 -0.18698321] [ 0. 0. 0. 1. ]] SLAMing on 22.95463044 meters Centerline goodness : 0.161453 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:-0.19 [[ 0.99955706 -0.00311687 -0.02959669 -0.16925783] [ 0.00319932 0.99999113 0.00273883 -0.15832358] [ 0.02958789 -0.00283231 0.99955817 -0.18739369] [ 0. 0. 0. 1. ]] SLAMing on 22.98463044 meters Centerline goodness : 0.157621 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:-0.19 [[ 0.99955002 -0.00294007 -0.02985138 -0.16842986] [ 0.00303945 0.99998999 0.00328433 -0.1611874 ] [ 0.02984143 -0.00337359 0.99954895 -0.18760294] [ 0. 0. 0. 1. ]] SLAMing on 23.014630439999998 meters Centerline goodness : 0.103806 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:-0.19 [[ 0.99954119 -0.00283371 -0.03015583 -0.16749493] [ 0.00294589 0.9999889 0.00367633 -0.16353737] [ 0.03014508 -0.00376348 0.99953845 -0.18781893] [ 0. 0. 0. 1. ]] SLAMing on 23.04463044 meters Centerline goodness : 0.114448 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:-0.19 [[ 0.99950384 0.00486815 -0.03111873 -0.14779713] [-0.00479722 0.99998572 0.00235371 -0.16903035] [ 0.03112974 -0.00220326 0.99951292 -0.18538623] [ 0. 0. 0. 1. ]] SLAMing on 23.07463044 meters Centerline goodness : 0.146372 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:-0.18 [[ 0.99950464 0.00532654 -0.03101769 -0.14837627] [-0.00524355 0.99998245 0.00275621 -0.17016448] [ 0.03103182 -0.0025922 0.99951504 -0.18488226] [ 0. 0. 0. 1. ]] SLAMing on 23.104630439999998 meters Centerline goodness : 0.120897 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:-0.18 [[ 0.99950996 0.00555276 -0.03080591 -0.14901091] [-0.00546645 0.9999809 0.00288526 -0.17004718] [ 0.03082134 -0.00271544 0.99952122 -0.18474073] [ 0. 0. 0. 1. ]] SLAMing on 23.13463044 meters Centerline goodness : 0.123627 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:-0.18 [[ 0.99951554 0.00576931 -0.03058437 -0.14958805] [-0.00568072 0.99997942 0.00298264 -0.16964856] [ 0.03060094 -0.00280745 0.99952774 -0.1846772 ] [ 0. 0. 0. 1. ]] SLAMing on 23.16463044 meters Centerline goodness : 0.122947 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:-0.18 [[ 0.99952048 0.00590982 -0.03039542 -0.1500529 ] [-0.00581936 0.99997837 0.00306355 -0.16952864] [ 0.03041287 -0.0028852 0.99953326 -0.18469145] [ 0. 0. 0. 1. ]] SLAMing on 23.194630439999997 meters Centerline goodness : 0.084443 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:-0.18 [[ 0.99952423 0.00594642 -0.03026473 -0.15043869] [-0.00585295 0.99997783 0.00317623 -0.17056379] [ 0.03028294 -0.00299758 0.99953687 -0.18457555] [ 0. 0. 0. 1. ]] SLAMing on 23.22463044 meters Centerline goodness : 0.129036 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:-0.18 [[ 0.99954364 -0.00201293 -0.03014062 -0.13132434] [ 0.00212944 0.99999038 0.00383387 -0.16747597] [ 0.03013262 -0.0038963 0.99953832 -0.18287991] [ 0. 0. 0. 1. ]] SLAMing on 23.25463044 meters Centerline goodness : 0.140020 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:-0.18 [[ 0.99954161 -0.00196928 -0.03021095 -0.13140726] [ 0.00209593 0.99998915 0.00416106 -0.16945229] [ 0.03020243 -0.00422248 0.99953488 -0.18246405] [ 0. 0. 0. 1. ]] SLAMing on 23.284630439999997 meters Centerline goodness : 0.120842 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:-0.18 [[ 0.99954029 -0.00186478 -0.03026099 -0.1316276 ] [ 0.00200609 0.99998722 0.00464023 -0.17206476] [ 0.03025195 -0.0046988 0.99953126 -0.18186514] [ 0. 0. 0. 1. ]] SLAMing on 23.31463044 meters Centerline goodness : 0.150386 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:-0.18 [[ 0.99954066 -0.00179257 -0.03025304 -0.13191954] [ 0.00194997 0.99998471 0.0051742 -0.17523199] [ 0.0302433 -0.00523082 0.99952888 -0.18131895] [ 0. 0. 0. 1. ]] SLAMing on 23.34463044 meters Centerline goodness : 0.135495 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:-0.18 [[ 0.99953978 -0.00467287 -0.02997325 -0.13370205] [ 0.00477756 0.99998273 0.00342226 -0.18321667] [ 0.02995674 -0.00356388 0.99954484 -0.17975101] [ 0. 0. 0. 1. ]] SLAMing on 23.374630439999997 meters Centerline goodness : 0.122360 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.18 [[ 0.99953795 -0.00453171 -0.03005574 -0.13350173] [ 0.00465777 0.99998064 0.00412569 -0.18733031] [ 0.03003646 -0.00426378 0.99953971 -0.17958004] [ 0. 0. 0. 1. ]] SLAMing on 23.40463044 meters Centerline goodness : 0.146812 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.18 [[ 0.99953966 -0.00431767 -0.03003057 -0.13352207] [ 0.00446562 0.99997821 0.00486131 -0.19134656] [ 0.03000892 -0.00499318 0.99953716 -0.17947996] [ 0. 0. 0. 1. ]] SLAMing on 23.43463044 meters Centerline goodness : 0.165782 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:-0.18 [[ 0.99952877 -0.00770026 -0.02971442 -0.13343496] [ 0.0077703 0.9999673 0.00224246 -0.19704077] [ 0.02969618 -0.00247229 0.99955591 -0.18026088] [ 0. 0. 0. 1. ]] SLAMing on 23.46463044 meters Centerline goodness : 0.114673 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.20, Z:-0.18 [[ 9.99564713e-01 -7.52426098e-04 -2.94926852e-02 -1.12153064e-01] [ 7.54859717e-04 9.99999713e-01 7.13822408e-05 -2.02095710e-01] [ 2.94926230e-02 -9.36140090e-05 9.99564994e-01 -1.79978745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494630439999998 meters Centerline goodness : 0.135348 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.21, Z:-0.18 [[ 9.99561899e-01 -5.18422639e-04 -2.95929265e-02 -1.11479834e-01] [ 5.37603289e-04 9.99999651e-01 6.40197140e-04 -2.05107499e-01] [ 2.95925843e-02 -6.55825924e-04 9.99561828e-01 -1.80582502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52463044 meters Centerline goodness : 0.060099 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.21, Z:-0.18 [[ 9.99558768e-01 -2.16214233e-04 -2.97022215e-02 -1.10866216e-01] [ 2.53881200e-04 9.99999168e-01 1.26438778e-03 -2.07921752e-01] [ 2.97019234e-02 -1.27137072e-03 9.99557992e-01 -1.81028159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55463044 meters Centerline goodness : 0.112509 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.21, Z:-0.18 [[ 9.99555254e-01 1.72094602e-05 -2.98210264e-02 -1.10226990e-01] [ 3.62596723e-05 9.99998393e-01 1.79245938e-03 -2.10606499e-01] [ 2.98210094e-02 -1.79274349e-03 9.99553647e-01 -1.81518169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584630439999998 meters Centerline goodness : 0.113788 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.21, Z:-0.18 [[ 9.99550152e-01 2.08881076e-04 -2.99908393e-02 -1.09667568e-01] [-1.41353236e-04 9.99997450e-01 2.25371804e-03 -2.13054741e-01] [ 2.99912336e-02 -2.24846490e-03 9.99547633e-01 -1.81681485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61463044 meters Centerline goodness : 0.113438 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.22, Z:-0.18 [[ 9.99546439e-01 5.19915955e-04 -3.01105786e-02 -1.09368812e-01] [-4.29660816e-04 9.99995396e-01 3.00384874e-03 -2.17997703e-01] [ 3.01120018e-02 -2.98954897e-03 9.99542060e-01 -1.81641056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64463044 meters Centerline goodness : 0.195610 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.22, Z:-0.18 [[ 0.99954209 0.00883645 -0.02894021 -0.09063673] [-0.00878359 0.99995952 0.00195303 -0.22291873] [ 0.02895629 -0.00169793 0.99957924 -0.17986793] [ 0. 0. 0. 1. ]] SLAMing on 23.674630439999998 meters Centerline goodness : 0.111886 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.22, Z:-0.18 [[ 9.99594494e-01 8.64774086e-05 -2.84752639e-02 -1.12366703e-01] [ 4.56505491e-06 9.99994889e-01 3.19716687e-03 -2.23144147e-01] [ 2.84753949e-02 -3.19600039e-03 9.99589384e-01 -1.81070809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70463044 meters Centerline goodness : 0.076683 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.23, Z:-0.18 [[ 9.99596414e-01 2.83209417e-04 -2.84064791e-02 -1.12622316e-01] [-1.78125891e-04 9.99993133e-01 3.70174249e-03 -2.25638334e-01] [ 2.84073324e-02 -3.69518859e-03 9.99589600e-01 -1.80858795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73463044 meters Centerline goodness : 0.114104 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.23, Z:-0.18 [[ 9.99591843e-01 3.56564563e-04 -2.85660840e-02 -1.12153469e-01] [-2.41567578e-04 9.99991854e-01 4.02899739e-03 -2.27712198e-01] [ 2.85672880e-02 -4.02045228e-03 9.99583786e-01 -1.80932554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764630439999998 meters Centerline goodness : 0.115057 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.23, Z:-0.18 [[ 9.99564395e-01 3.46195871e-04 -2.95110282e-02 -1.09506551e-01] [-2.13401151e-04 9.99989839e-01 4.50286451e-03 -2.31619721e-01] [ 2.95122872e-02 -4.49460535e-03 9.99554312e-01 -1.81471040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79463044 meters Centerline goodness : 0.116393 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.23, Z:-0.18 [[ 9.99557819e-01 4.64614724e-04 -2.97313183e-02 -1.08977255e-01] [-3.18252978e-04 9.99987810e-01 4.92735663e-03 -2.34058624e-01] [ 2.97332452e-02 -4.91571576e-03 9.99545782e-01 -1.81429663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82463044 meters Centerline goodness : 0.116393 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.23, Z:-0.18 [[ 9.99557819e-01 4.64614724e-04 -2.97313183e-02 -1.08977255e-01] [-3.18252978e-04 9.99987810e-01 4.92735663e-03 -2.34058624e-01] [ 2.97332452e-02 -4.91571576e-03 9.99545782e-01 -1.81429663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854630439999998 meters Centerline goodness : 0.082541 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.24, Z:-0.18 [[ 0.99957007 0.00723656 -0.0284133 -0.0886307 ] [-0.00716872 0.99997121 0.00248876 -0.23767175] [ 0.02843049 -0.00228401 0.99959316 -0.18065245] [ 0. 0. 0. 1. ]] SLAMing on 23.88463044 meters Centerline goodness : 0.111531 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.24, Z:-0.18 [[ 9.99630283e-01 5.18497019e-03 -2.66910635e-02 -9.47195753e-02] [-5.15669575e-03 9.99986068e-01 1.12804468e-03 -2.43161768e-01] [ 2.66965405e-02 -9.89989925e-04 9.99643094e-01 -1.78155404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91463044 meters Centerline goodness : 0.117545 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:-0.18 [[ 0.99966614 -0.00213564 -0.02574987 -0.07627909] [ 0.00219637 0.99999487 0.00233048 -0.24051185] [ 0.02574476 -0.00238626 0.9996657 -0.17603716] [ 0. 0. 0. 1. ]] SLAMing on 23.944630439999997 meters Centerline goodness : 0.118842 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:-0.18 [[ 0.9996641 -0.00202182 -0.02583793 -0.07622958] [ 0.00209023 0.99999438 0.00262082 -0.24191679] [ 0.02583248 -0.00267395 0.99966271 -0.17577468] [ 0. 0. 0. 1. ]] SLAMing on 23.97463044 meters Centerline goodness : 0.114641 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:-0.18 [[ 0.99965572 -0.0019138 -0.02616822 -0.07515258] [ 0.00199019 0.99999383 0.00289354 -0.2432887 ] [ 0.02616252 -0.00294462 0.99965337 -0.17617394] [ 0. 0. 0. 1. ]] SLAMing on 24.00463044 meters Centerline goodness : 0.113828 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.24, Z:-0.18 [[ 0.99964855 -0.0017902 -0.02644948 -0.07402508] [ 0.00187525 0.99999315 0.00319145 -0.24481946] [ 0.02644358 -0.00323993 0.99964506 -0.17684418] [ 0. 0. 0. 1. ]] SLAMing on 24.034630439999997 meters Centerline goodness : 0.113784 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.18 [[ 0.99964416 -0.00175284 -0.02661734 -0.0735158 ] [ 0.00185234 0.99999139 0.00371386 -0.24922977] [ 0.0266106 -0.00376185 0.9996388 -0.17689164] [ 0. 0. 0. 1. ]] SLAMing on 24.06463044 meters Centerline goodness : 0.112256 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.18 [[ 0.99964227 -0.00174284 -0.02668879 -0.0737739 ] [ 0.00185218 0.99998999 0.00407262 -0.25181799] [ 0.02668143 -0.00412059 0.99963549 -0.17619711] [ 0. 0. 0. 1. ]] SLAMing on 24.09463044 meters Centerline goodness : 0.128160 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.18 [[ 0.99964014 -0.00168098 -0.02677232 -0.07399611] [ 0.00180195 0.99998827 0.0044948 -0.25441206] [ 0.02676445 -0.00454142 0.99963145 -0.17551648] [ 0. 0. 0. 1. ]] SLAMing on 24.124630439999997 meters Centerline goodness : 0.111252 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.26, Z:-0.17 [[ 0.99965511 0.00490691 -0.02579875 -0.0545651 ] [-0.00485572 0.99998612 0.00204661 -0.25919787] [ 0.02580844 -0.00192064 0.99966506 -0.17438803] [ 0. 0. 0. 1. ]] SLAMing on 24.15463044 meters Centerline goodness : 0.085458 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.27, Z:-0.17 [[ 0.99970971 0.00315147 -0.02388654 -0.05982924] [-0.00312365 0.9999944 0.00120168 -0.26648519] [ 0.02389019 -0.00112672 0.99971395 -0.17313714] [ 0. 0. 0. 1. ]] SLAMing on 24.18463044 meters Centerline goodness : 0.087287 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.27, Z:-0.17 [[ 0.99971306 0.00332694 -0.02372177 -0.06020076] [-0.00328536 0.999993 0.0017916 -0.26975499] [ 0.02372756 -0.00171315 0.99971699 -0.17307232] [ 0. 0. 0. 1. ]] SLAMing on 24.21463044 meters Centerline goodness : 0.085333 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.27, Z:-0.17 [[ 0.99970784 0.00343552 -0.02392555 -0.05945233] [-0.00338077 0.99999157 0.0023285 -0.27301396] [ 0.02393335 -0.00224693 0.99971103 -0.17343027] [ 0. 0. 0. 1. ]] SLAMing on 24.244630439999998 meters Centerline goodness : 0.113869 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.28, Z:-0.17 [[ 0.99969572 0.00356452 -0.02440807 -0.05793494] [-0.00349481 0.99998969 0.00289803 -0.27638409] [ 0.02441815 -0.00281184 0.99969788 -0.17395967] [ 0. 0. 0. 1. ]] SLAMing on 24.27463044 meters Centerline goodness : 0.111448 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.28, Z:-0.17 [[ 0.99968298 0.00368467 -0.02490718 -0.05654674] [-0.00359998 0.99998759 0.00344441 -0.27979032] [ 0.02491957 -0.00335366 0.99968383 -0.17427074] [ 0. 0. 0. 1. ]] SLAMing on 24.30463044 meters Centerline goodness : 0.105916 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.28, Z:-0.17 [[ 0.99966963 0.00376388 -0.02542548 -0.05532359] [-0.00366409 0.99998541 0.00397032 -0.2835337 ] [ 0.02544005 -0.00387585 0.99966884 -0.17423854] [ 0. 0. 0. 1. ]] SLAMing on 24.334630439999998 meters Centerline goodness : 0.085311 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.29, Z:-0.17 [[ 9.99672133e-01 3.65732649e-04 -2.56026117e-02 -5.47505828e-02] [-3.31120542e-04 9.99999026e-01 1.35612392e-03 -2.89642708e-01] [ 2.56030827e-02 -1.34720174e-03 9.99671280e-01 -1.74396367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36463044 meters Centerline goodness : 0.111092 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.30, Z:-0.18 [[ 9.99676804e-01 7.03594053e-03 -2.44291418e-02 -7.27722715e-02] [-7.01449857e-03 9.99974934e-01 9.63302934e-04 -2.99952440e-01] [ 2.44353072e-02 -7.91633419e-04 9.99701100e-01 -1.76529180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39463044 meters Centerline goodness : 0.099889 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.30, Z:-0.18 [[ 0.99967316 0.007424 -0.02446357 -0.07254401] [-0.00738237 0.99997115 0.00179137 -0.30273622] [ 0.02447616 -0.00161018 0.99969912 -0.1767926 ] [ 0. 0. 0. 1. ]] SLAMing on 24.424630439999998 meters Centerline goodness : 0.103227 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.31, Z:-0.18 [[ 0.9996721 0.00773891 -0.02440916 -0.0725024 ] [-0.00767966 0.99996734 0.00252014 -0.30540481] [ 0.02442787 -0.00233186 0.99969888 -0.17708711] [ 0. 0. 0. 1. ]] SLAMing on 24.45463044 meters Centerline goodness : 0.100961 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.30, Z:-0.18 [[ 0.99971632 -0.00111923 -0.02379114 -0.05426943] [ 0.00119483 0.99999428 0.00316337 -0.3047944 ] [ 0.02378747 -0.0031909 0.99971195 -0.17675582] [ 0. 0. 0. 1. ]] SLAMing on 24.48463044 meters Centerline goodness : 0.183110 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.31, Z:-0.18 [[ 9.99711307e-01 -9.51060088e-04 -2.40082802e-02 -5.36671224e-02] [ 1.03969909e-03 9.99992689e-01 3.67980551e-03 -3.07762845e-01] [ 2.40046050e-02 -3.70370456e-03 9.99704987e-01 -1.76860868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514630439999998 meters Centerline goodness : 0.095448 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.31, Z:-0.18 [[ 0.99966167 0.0072965 -0.0249661 -0.0336697 ] [-0.00723075 0.99997015 0.00272277 -0.3136389 ] [ 0.02498522 -0.00254133 0.99968459 -0.17525826] [ 0. 0. 0. 1. ]] SLAMing on 24.54463044 meters Centerline goodness : 0.097449 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.31, Z:-0.18 [[ 0.99966984 -0.00159796 -0.02564481 -0.05174296] [ 0.00169208 0.99999191 0.00364877 -0.31198885] [ 0.02563877 -0.00369095 0.99966446 -0.17643773] [ 0. 0. 0. 1. ]] SLAMing on 24.57463044 meters Centerline goodness : 0.097932 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.31, Z:-0.18 [[ 0.99967056 -0.00150407 -0.02562257 -0.05181604] [ 0.0016092 0.99999037 0.00408297 -0.31466414] [ 0.02561618 -0.00412285 0.99966335 -0.17631944] [ 0. 0. 0. 1. ]] SLAMing on 24.604630439999998 meters Centerline goodness : 0.097302 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.32, Z:-0.18 [[ 0.99967748 -0.00148031 -0.02535228 -0.05285587] [ 0.0015953 0.99998853 0.0045163 -0.31782033] [ 0.0253453 -0.00455528 0.99966838 -0.17562105] [ 0. 0. 0. 1. ]] SLAMing on 24.63463044 meters Centerline goodness : 0.103720 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.32, Z:-0.18 [[ 9.99800200e-01 1.47176484e-03 -1.99347244e-02 -3.17722865e-02] [-1.45970239e-03 9.99998743e-01 6.19634731e-04 -3.22931634e-01] [ 1.99356113e-02 -5.90412163e-04 9.99801092e-01 -1.76373484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66463044 meters Centerline goodness : 0.085310 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.33, Z:-0.18 [[ 0.99980812 0.0015406 -0.01952809 -0.03316482] [-0.0015111 0.99999769 0.00152538 -0.32632206] [ 0.0195304 -0.00149558 0.99980815 -0.17632256] [ 0. 0. 0. 1. ]] SLAMing on 24.694630439999997 meters Centerline goodness : 0.083835 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.33, Z:-0.18 [[ 0.99980166 0.00149879 -0.0198595 -0.0323784 ] [-0.00145878 0.99999688 0.00202887 -0.32971182] [ 0.01986248 -0.0019995 0.99980072 -0.17630418] [ 0. 0. 0. 1. ]] SLAMing on 24.72463044 meters Centerline goodness : 0.131998 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.34, Z:-0.18 [[ 9.99800151e-01 -2.34347513e-03 -1.98536075e-02 -3.20328124e-02] [ 2.32613190e-03 9.99996893e-01 -8.96604141e-04 -3.35827418e-01] [ 1.98556470e-02 8.50242846e-04 9.99802496e-01 -1.76724435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75463044 meters Centerline goodness : 0.101614 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.34, Z:-0.18 [[ 0.99981051 0.00351105 -0.01914698 -0.01204144] [-0.00359724 0.99998354 -0.00446916 -0.34031212] [ 0.01913097 0.00453719 0.99980669 -0.17633279] [ 0. 0. 0. 1. ]] SLAMing on 24.784630439999997 meters Centerline goodness : 0.102035 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.34, Z:-0.18 [[ 0.99980673 0.00358163 -0.01933078 -0.0117817 ] [-0.00366161 0.99998488 -0.00410379 -0.34234745] [ 0.01931579 0.00417378 0.99980472 -0.17610878] [ 0. 0. 0. 1. ]] SLAMing on 24.81463044 meters Centerline goodness : 0.147222 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.34, Z:-0.18 [[ 0.99980373 0.00370363 -0.01946257 -0.01158379] [-0.00377746 0.9999858 -0.00375803 -0.3438669 ] [ 0.01944838 0.00383081 0.99980352 -0.17596578] [ 0. 0. 0. 1. ]] SLAMing on 24.84463044 meters Centerline goodness : 0.105043 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.34, Z:-0.18 [[ 0.99980276 0.00373752 -0.0195055 -0.01141501] [-0.00380783 0.99998638 -0.00356866 -0.34490478] [ 0.01949189 0.00364223 0.99980338 -0.17604437] [ 0. 0. 0. 1. ]] SLAMing on 24.874630439999997 meters Centerline goodness : 0.103437 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.35, Z:-0.18 [[ 0.99980079 0.00371926 -0.01960966 -0.0109961 ] [-0.00378741 0.99998691 -0.00343952 -0.34600561] [ 0.01959661 0.00351311 0.9998018 -0.17630701] [ 0. 0. 0. 1. ]] SLAMing on 24.90463044 meters Centerline goodness : 0.104278 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.35, Z:-0.18 [[ 0.99979294 0.00362533 -0.02002333 -0.00948905] [-0.00369066 0.99998798 -0.00322693 -0.34800766] [ 0.02001139 0.00330016 0.99979431 -0.17715754] [ 0. 0. 0. 1. ]] SLAMing on 24.93463044 meters Centerline goodness : 0.103087 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.34, Z:-0.18 [[ 0.9997786 -0.00302775 -0.02082283 0.00930721] [ 0.00298698 0.99999356 -0.00198876 -0.34496859] [ 0.02082872 0.00192612 0.9997812 -0.17509899] [ 0. 0. 0. 1. ]] SLAMing on 24.96463044 meters Centerline goodness : 0.106108 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.35, Z:-0.18 [[ 0.99977244 -0.0029772 -0.02112351 0.01008703] [ 0.00294349 0.99999434 -0.00162699 -0.34708382] [ 0.02112823 0.00156444 0.99977555 -0.17526073] [ 0. 0. 0. 1. ]] SLAMing on 24.994630439999998 meters Centerline goodness : 0.119944 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.35, Z:-0.18 [[ 0.99974436 -0.00679818 -0.02156375 0.01161161] [ 0.00670033 0.99996694 -0.00460637 -0.35231092] [ 0.02159435 0.00446071 0.99975686 -0.1759629 ] [ 0. 0. 0. 1. ]] SLAMing on 25.02463044 meters Centerline goodness : 0.107697 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.36, Z:-0.18 [[ 0.9997304 -0.0070395 -0.02212612 0.01284494] [ 0.00694645 0.99996672 -0.00427921 -0.35596416] [ 0.02215551 0.00412435 0.99974603 -0.17588473] [ 0. 0. 0. 1. ]] SLAMing on 25.05463044 meters Centerline goodness : 0.107302 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.36, Z:-0.18 [[ 0.99972828 -0.00695015 -0.02225005 0.01281387] [ 0.00687102 0.9999698 -0.00363092 -0.359886 ] [ 0.02227462 0.00347705 0.99974584 -0.17544688] [ 0. 0. 0. 1. ]] SLAMing on 25.084630439999998 meters Centerline goodness : 0.107315 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.37, Z:-0.17 [[ 0.99976149 0.00156772 -0.0217833 0.03026475] [-0.00166734 0.99998823 -0.00455604 -0.3671534 ] [ 0.0217759 0.00459127 0.99975233 -0.17348976] [ 0. 0. 0. 1. ]] SLAMing on 25.11463044 meters Centerline goodness : 0.108509 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.37, Z:-0.17 [[ 0.99976078 0.00192839 -0.02178659 0.02969636] [-0.00201018 0.99999101 -0.00373291 -0.37096188] [ 0.0217792 0.00377581 0.99975567 -0.17257696] [ 0. 0. 0. 1. ]] SLAMing on 25.14463044 meters Centerline goodness : 0.273180 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.37, Z:-0.17 [[ 0.99975795 0.00203369 -0.02190654 0.03003542] [-0.0021132 0.99999126 -0.00360693 -0.37138051] [ 0.02189901 0.00365235 0.99975352 -0.17264926] [ 0. 0. 0. 1. ]] SLAMing on 25.174630439999998 meters Centerline goodness : 0.263504 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.37, Z:-0.17 [[ 0.99971806 -0.00633477 -0.02288402 0.01295639] [ 0.00629759 0.99997873 -0.00169624 -0.36736998] [ 0.02289428 0.00155164 0.99973669 -0.17456467] [ 0. 0. 0. 1. ]] SLAMing on 25.20463044 meters Centerline goodness : 0.257556 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.37, Z:-0.17 [[ 0.9997264 0.00296421 -0.02320222 0.03268487] [-0.0030282 0.99999171 -0.00272317 -0.3699134 ] [ 0.02319396 0.00279269 0.99972708 -0.17356826] [ 0. 0. 0. 1. ]] SLAMing on 25.23463044 meters Centerline goodness : 0.120531 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.37, Z:-0.17 [[ 0.99972573 0.00299373 -0.02322732 0.03286559] [-0.00306094 0.99999123 -0.00285838 -0.36905367] [ 0.02321856 0.00292869 0.99972612 -0.17371519] [ 0. 0. 0. 1. ]] SLAMing on 25.264630439999998 meters Centerline goodness : 0.107055 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.37, Z:-0.17 [[ 0.99972632 0.00291271 -0.02321211 0.03273105] [-0.00298601 0.99999066 -0.00312389 -0.3679914 ] [ 0.02320279 0.00319235 0.99972568 -0.17352087] [ 0. 0. 0. 1. ]] SLAMing on 25.29463044 meters Centerline goodness : 0.104016 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99970098 -0.00323026 -0.02423884 0.04978894] [ 0.00317021 0.99999181 -0.00251539 -0.36034603] [ 0.02424676 0.00243779 0.99970303 -0.17043997] [ 0. 0. 0. 1. ]] SLAMing on 25.32463044 meters Centerline goodness : 0.122510 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99970434 -0.00320837 -0.02410269 0.04920718] [ 0.00314583 0.99999159 -0.00263207 -0.35903775] [ 0.02411094 0.00255546 0.99970602 -0.17012789] [ 0. 0. 0. 1. ]] SLAMing on 25.354630439999998 meters Centerline goodness : 0.270634 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99970981 -0.00315877 -0.02388129 0.04829235] [ 0.00309669 0.99999173 -0.00263581 -0.35842141] [ 0.02388942 0.00256109 0.99971133 -0.16958171] [ 0. 0. 0. 1. ]] SLAMing on 25.38463044 meters Centerline goodness : 0.271904 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99971245 -0.00344236 -0.02373106 0.04713493] [ 0.00337648 0.99999034 -0.00281581 -0.3583486 ] [ 0.02374052 0.00273488 0.99971441 -0.16845225] [ 0. 0. 0. 1. ]] SLAMing on 25.41463044 meters Centerline goodness : 0.274618 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99970727 -0.00358587 -0.02392742 0.0473337 ] [ 0.00351861 0.99998974 -0.00285239 -0.35873777] [ 0.02393741 0.00276736 0.99970963 -0.16813671] [ 0. 0. 0. 1. ]] SLAMing on 25.444630439999997 meters Centerline goodness : 0.277081 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99970444 -0.00362274 -0.0240398 0.04743504] [ 0.00355748 0.99998987 -0.00275699 -0.35928643] [ 0.02404954 0.00267066 0.9997072 -0.16798228] [ 0. 0. 0. 1. ]] SLAMing on 25.47463044 meters Centerline goodness : 0.273602 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.9997068 -0.00354968 -0.0239525 0.04711465] [ 0.00348931 0.99999063 -0.00256196 -0.35987658] [ 0.02396137 0.00247763 0.99970981 -0.16787187] [ 0. 0. 0. 1. ]] SLAMing on 25.50463044 meters Centerline goodness : 0.135420 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99971051 -0.00351016 -0.02380282 0.04657104] [ 0.00345339 0.99999109 -0.00242595 -0.36036587] [ 0.02381113 0.00234305 0.99971373 -0.16762601] [ 0. 0. 0. 1. ]] SLAMing on 25.534630439999997 meters Centerline goodness : 0.103458 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99971446 -0.00357797 -0.02362614 0.04589152] [ 0.00352296 0.99999099 -0.00236936 -0.36111834] [ 0.02363441 0.00228545 0.99971806 -0.16725431] [ 0. 0. 0. 1. ]] SLAMing on 25.56463044 meters Centerline goodness : 0.270178 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.36, Z:-0.17 [[ 0.99971497 -0.00382844 -0.02356534 0.04494095] [ 0.00377396 0.9999901 -0.00235617 -0.36250177] [ 0.02357413 0.00226656 0.99971952 -0.16611215] [ 0. 0. 0. 1. ]] SLAMing on 25.59463044 meters Centerline goodness : 0.091844 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99971134 -0.00372347 -0.02373552 0.04516685] [ 0.00367349 0.99999094 -0.00214857 -0.36314814] [ 0.02374331 0.00206075 0.99971596 -0.1659366 ] [ 0. 0. 0. 1. ]] SLAMing on 25.624630439999997 meters Centerline goodness : 0.269247 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99970602 -0.00365299 -0.0239692 0.04594521] [ 0.00360568 0.99999147 -0.00201671 -0.36341274] [ 0.02397636 0.00192969 0.99971066 -0.16633055] [ 0. 0. 0. 1. ]] SLAMing on 25.65463044 meters Centerline goodness : 0.109285 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.36, Z:-0.17 [[ 0.99970227 -0.00367118 -0.02412247 0.04672191] [ 0.00362469 0.99999149 -0.00197052 -0.36382085] [ 0.0241295 0.0018825 0.99970707 -0.16697902] [ 0. 0. 0. 1. ]] SLAMing on 25.68463044 meters Centerline goodness : 0.109414 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.99968982 -0.00404311 -0.02457486 0.0484239 ] [ 0.00399336 0.99998988 -0.00207344 -0.36532256] [ 0.02458299 0.00197466 0.99969584 -0.16797435] [ 0. 0. 0. 1. ]] SLAMing on 25.714630439999997 meters Centerline goodness : 0.109414 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.99968982 -0.00404311 -0.02457486 0.0484239 ] [ 0.00399336 0.99998988 -0.00207344 -0.36532256] [ 0.02458299 0.00197466 0.99969584 -0.16797435] [ 0. 0. 0. 1. ]] SLAMing on 25.744630439999998 meters Centerline goodness : 0.110592 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.99968773 -0.00398548 -0.0246688 0.04878352] [ 0.00394006 0.99999045 -0.00188953 -0.36619911] [ 0.02467609 0.00179175 0.99969389 -0.16824184] [ 0. 0. 0. 1. ]] SLAMing on 25.77463044 meters Centerline goodness : 0.164962 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.99968801 -0.00387581 -0.02467511 0.04871974] [ 0.00383583 0.99999125 -0.00166742 -0.36697719] [ 0.02468135 0.00157225 0.99969413 -0.16817378] [ 0. 0. 0. 1. ]] SLAMing on 25.80463044 meters Centerline goodness : 0.111125 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.9996869 -0.00377634 -0.02473536 0.04859714] [ 0.00374044 0.99999188 -0.00149754 -0.3674717 ] [ 0.02474082 0.00140455 0.99969291 -0.16781235] [ 0. 0. 0. 1. ]] SLAMing on 25.834630439999998 meters Centerline goodness : 0.276416 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.99968297 -0.00378995 -0.02489152 0.0487836 ] [ 0.00375352 0.99999182 -0.00151025 -0.36747403] [ 0.02489704 0.00141634 0.99968902 -0.16755089] [ 0. 0. 0. 1. ]] SLAMing on 25.86463044 meters Centerline goodness : 0.274856 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.99967874 -0.00388641 -0.02504623 0.04910471] [ 0.00384607 0.99999123 -0.00165866 -0.36728239] [ 0.02505245 0.0015618 0.99968492 -0.16748737] [ 0. 0. 0. 1. ]] SLAMing on 25.89463044 meters Centerline goodness : 0.274991 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.37, Z:-0.17 [[ 0.99968515 -0.00386796 -0.02479202 0.04866166] [ 0.00382023 0.99999076 -0.00197241 -0.36520582] [ 0.02479942 0.00187708 0.99969068 -0.16767927] [ 0. 0. 0. 1. ]] SLAMing on 25.924630439999998 meters Centerline goodness : 0.108515 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.37, Z:-0.17 [[ 0.99969756 0.00527301 -0.0240203 0.06780403] [-0.00534866 0.99998093 -0.00308645 -0.3665735 ] [ 0.02400357 0.00321399 0.99970671 -0.16692721] [ 0. 0. 0. 1. ]] SLAMing on 25.95463044 meters Centerline goodness : 0.108817 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.36, Z:-0.17 [[ 0.99969765 0.00521047 -0.02403025 0.06816778] [-0.00529372 0.9999802 -0.00340203 -0.36465985] [ 0.02401205 0.00352821 0.99970544 -0.16735587] [ 0. 0. 0. 1. ]] SLAMing on 25.98463044 meters Centerline goodness : 0.146934 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.36, Z:-0.17 [[ 0.99968222 0.00482261 -0.0247429 0.07004658] [-0.00492944 0.99997878 -0.00425838 -0.36118749] [ 0.02472184 0.004379 0.99968478 -0.16776212] [ 0. 0. 0. 1. ]] SLAMing on 26.014630439999998 meters Centerline goodness : 0.108802 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.35, Z:-0.17 [[ 9.99633195e-01 -9.90260116e-04 -2.70646283e-02 8.77654240e-02] [ 8.94495769e-04 9.99993298e-01 -3.55023590e-03 -3.54837746e-01] [ 2.70679626e-02 3.52472446e-03 9.99627381e-01 -1.65243074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04463044 meters Centerline goodness : 0.109155 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.35, Z:-0.17 [[ 9.99634107e-01 -9.70247144e-04 -2.70316481e-02 8.79047813e-02] [ 8.71026832e-04 9.99992842e-01 -3.68205703e-03 -3.53414691e-01] [ 2.70350272e-02 3.65716450e-03 9.99627797e-01 -1.65573813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07463044 meters Centerline goodness : 0.166277 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.35, Z:-0.17 [[ 9.99645248e-01 -9.03885075e-04 -2.66187950e-02 8.70162883e-02] [ 8.04744256e-04 9.99992701e-01 -3.73494391e-03 -3.52377168e-01] [ 2.66219767e-02 3.71219761e-03 9.99638680e-01 -1.65694762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104630439999998 meters Centerline goodness : 0.168907 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.35, Z:-0.17 [[ 9.99656224e-01 -9.56184927e-04 -2.62015098e-02 8.58476994e-02] [ 8.53012579e-04 9.99991841e-01 -3.94854312e-03 -3.51117231e-01] [ 2.62050715e-02 3.92483549e-03 9.99648883e-01 -1.65353297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13463044 meters Centerline goodness : 0.162851 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.35, Z:-0.17 [[ 9.99662137e-01 -1.09108190e-03 -2.59696349e-02 8.50819495e-02] [ 9.79973457e-04 9.99990315e-01 -4.29074064e-03 -3.49485805e-01] [ 2.59740649e-02 4.26384141e-03 9.99653524e-01 -1.65023419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16463044 meters Centerline goodness : 0.112016 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.34, Z:-0.16 [[ 9.99675492e-01 1.83384975e-04 -2.54730753e-02 8.34075926e-02] [-2.79054495e-04 9.99992922e-01 -3.75220745e-03 -3.42263788e-01] [ 2.54722069e-02 3.75809820e-03 9.99668467e-01 -1.64424761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194630439999997 meters Centerline goodness : 0.110581 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.34, Z:-0.17 [[ 9.99677771e-01 1.50118613e-04 -2.53836970e-02 8.36562307e-02] [-2.56775235e-04 9.99991153e-01 -4.19856923e-03 -3.38868804e-01] [ 2.53828422e-02 4.20373424e-03 9.99668965e-01 -1.65058111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22463044 meters Centerline goodness : 0.111456 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.34, Z:-0.17 [[ 9.99681306e-01 -1.58847699e-05 -2.52445205e-02 8.36376265e-02] [-1.04447990e-04 9.99988640e-01 -4.76536254e-03 -3.35578428e-01] [ 2.52443094e-02 4.76648059e-03 9.99669948e-01 -1.65443850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25463044 meters Centerline goodness : 0.081741 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.33, Z:-0.16 [[ 9.99695534e-01 -3.18170298e-04 -2.46726233e-02 8.15172513e-02] [ 1.75551613e-04 9.99983266e-01 -5.78239323e-03 -3.28830020e-01] [ 2.46740502e-02 5.77630137e-03 9.99678861e-01 -1.64319913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284630439999997 meters Centerline goodness : 0.157397 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.33, Z:-0.16 [[ 9.99697699e-01 -4.43695984e-04 -2.45827806e-02 8.11815331e-02] [ 2.91029126e-04 9.99980653e-01 -6.21354656e-03 -3.26342416e-01] [ 2.45850620e-02 6.20451389e-03 9.99678488e-01 -1.64139642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31463044 meters Centerline goodness : 0.093781 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.16 [[ 9.99697910e-01 -5.09549522e-04 -2.45729303e-02 8.11012377e-02] [ 3.48961036e-04 9.99978559e-01 -6.53902393e-03 -3.24160032e-01] [ 2.45757354e-02 6.52847356e-03 9.99676654e-01 -1.64076688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34463044 meters Centerline goodness : 0.193925 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.16 [[ 9.99700294e-01 -5.82021550e-04 -2.44741513e-02 8.10243576e-02] [ 4.15338335e-04 9.99976691e-01 -6.81511388e-03 -3.22384641e-01] [ 2.44775473e-02 6.80290629e-03 9.99677233e-01 -1.64339087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374630439999997 meters Centerline goodness : 0.114379 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.16 [[ 9.99710688e-01 -7.59810044e-04 -2.40408477e-02 8.00763867e-02] [ 5.83100146e-04 9.99972770e-01 -7.35655861e-03 -3.19314787e-01] [ 2.40457827e-02 7.34041205e-03 9.99683909e-01 -1.64362006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40463044 meters Centerline goodness : 0.114886 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.16 [[ 9.99715196e-01 -8.26639813e-04 -2.38504271e-02 7.94794465e-02] [ 6.43616165e-04 9.99970298e-01 -7.68046620e-03 -3.17320340e-01] [ 2.38560677e-02 7.66292826e-03 9.99686034e-01 -1.64136995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43463044 meters Centerline goodness : 0.092109 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.16 [[ 9.99718081e-01 -8.15387842e-04 -2.37296149e-02 7.90725507e-02] [ 6.27364389e-04 9.99968361e-01 -7.92994415e-03 -3.15422979e-01] [ 2.37353301e-02 7.91282143e-03 9.99686962e-01 -1.63926208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464630439999997 meters Centerline goodness : 0.111787 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:-0.16 [[ 9.99722443e-01 -7.84387176e-04 -2.35461447e-02 7.86066545e-02] [ 5.90431102e-04 9.99965851e-01 -8.24309750e-03 -3.13237156e-01] [ 2.35518064e-02 8.22690720e-03 9.99688767e-01 -1.63819741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494630439999998 meters Centerline goodness : 0.112321 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:-0.16 [[ 9.99720980e-01 -8.31483792e-04 -2.36065643e-02 7.87482922e-02] [ 6.28758645e-04 9.99962875e-01 -8.59378397e-03 -3.11127241e-01] [ 2.36128335e-02 8.57654330e-03 9.99684389e-01 -1.63780495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52463044 meters Centerline goodness : 0.105506 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:-0.17 [[ 0.99968425 0.00102866 -0.02510678 0.08378283] [-0.00121044 0.99997316 -0.00722629 -0.30809447] [ 0.02509867 0.0072544 0.99965866 -0.16557712] [ 0. 0. 0. 1. ]] SLAMing on 26.55463044 meters Centerline goodness : 0.140915 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:-0.17 [[ 0.99967626 0.00103801 -0.02542234 0.08487109] [-0.00122527 0.99997223 -0.0073514 -0.30720896] [ 0.02541401 0.00738017 0.99964977 -0.16611121] [ 0. 0. 0. 1. ]] SLAMing on 26.584630439999998 meters Centerline goodness : 0.139785 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.31, Z:-0.17 [[ 0.99967296 0.00105754 -0.02555085 0.08539492] [-0.00124599 0.99997213 -0.00736054 -0.30709763] [ 0.02554235 0.00738997 0.99964643 -0.16644637] [ 0. 0. 0. 1. ]] SLAMing on 26.61463044 meters Centerline goodness : 0.111876 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.30, Z:-0.16 [[ 0.99965094 -0.00586923 -0.02575928 0.10396316] [ 0.00570427 0.99996278 -0.00647257 -0.30304433] [ 0.02579631 0.00632337 0.99964722 -0.16447421] [ 0. 0. 0. 1. ]] SLAMing on 26.64463044 meters Centerline goodness : 0.108441 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.30, Z:-0.16 [[ 0.99966275 -0.00604337 -0.02525587 0.10200271] [ 0.00588067 0.99996151 -0.00651122 -0.30379011] [ 0.02529425 0.00636051 0.99965981 -0.16323261] [ 0. 0. 0. 1. ]] SLAMing on 26.674630439999998 meters Centerline goodness : 0.124056 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.30, Z:-0.16 [[ 0.99966614 -0.00592634 -0.02514945 0.10168898] [ 0.00576867 0.99996328 -0.00633723 -0.30433402] [ 0.02518608 0.00619004 0.99966362 -0.16310672] [ 0. 0. 0. 1. ]] SLAMing on 26.70463044 meters Centerline goodness : 0.265487 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.31, Z:-0.16 [[ 0.99967879 0.00296511 -0.02516995 0.12072216] [-0.00315282 0.99996749 -0.00742127 -0.30785667] [ 0.02514713 0.00749824 0.99965564 -0.16171391] [ 0. 0. 0. 1. ]] SLAMing on 26.73463044 meters Centerline goodness : 0.094557 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.31, Z:-0.16 [[ 0.99967627 0.00301675 -0.02526377 0.12139952] [-0.00320644 0.99996695 -0.00747136 -0.307325 ] [ 0.0252404 0.00754995 0.9996529 -0.1623875 ] [ 0. 0. 0. 1. ]] SLAMing on 26.764630439999998 meters Centerline goodness : 0.108426 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99618987e-01 1.94501547e-04 -2.76014956e-02 1.41045347e-01] [-3.10875962e-04 9.99991081e-01 -4.21200736e-03 -3.01967842e-01] [ 2.76004302e-02 4.21898317e-03 9.99610132e-01 -1.61449918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79463044 meters Centerline goodness : 0.096381 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99624365e-01 3.18648560e-04 -2.74048822e-02 1.40732011e-01] [-4.35197447e-04 9.99990887e-01 -4.24699198e-03 -3.01150607e-01] [ 2.74032792e-02 4.25732320e-03 9.99615394e-01 -1.61668562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82463044 meters Centerline goodness : 0.107409 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99624378e-01 3.14719685e-04 -2.74044323e-02 1.40624004e-01] [-4.34532323e-04 9.99990374e-01 -4.36617134e-03 -3.00478725e-01] [ 2.74027944e-02 4.37643942e-03 9.99614893e-01 -1.61518899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854630439999998 meters Centerline goodness : 0.096998 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99622578e-01 2.38992472e-04 -2.74707967e-02 1.40647191e-01] [-3.62782499e-04 9.99989803e-01 -4.50134529e-03 -3.00111268e-01] [ 2.74694408e-02 4.50961231e-03 9.99612472e-01 -1.61304540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88463044 meters Centerline goodness : 0.258790 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99621389e-01 2.82097412e-04 -2.75136322e-02 1.40655268e-01] [-4.03523940e-04 9.99990204e-01 -4.40786996e-03 -3.00695420e-01] [ 2.75121193e-02 4.41730350e-03 9.99611710e-01 -1.61168724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91463044 meters Centerline goodness : 0.279667 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99625348e-01 3.84226246e-04 -2.73681603e-02 1.40281673e-01] [-4.99841740e-04 9.99990980e-01 -4.21773666e-03 -3.01442693e-01] [ 2.73662929e-02 4.22983623e-03 9.99616524e-01 -1.61142870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944630439999997 meters Centerline goodness : 0.276473 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99629129e-01 4.56732672e-04 -2.72285936e-02 1.39965758e-01] [-5.66194436e-04 9.99991789e-01 -4.01252927e-03 -3.02451131e-01] [ 2.72265373e-02 4.02645782e-03 9.99621180e-01 -1.61161286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97463044 meters Centerline goodness : 0.107534 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.30, Z:-0.16 [[ 9.99633896e-01 5.45654657e-04 -2.70513494e-02 1.39448600e-01] [-6.46202271e-04 9.99992915e-01 -3.70831416e-03 -3.04080795e-01] [ 2.70491343e-02 3.72443717e-03 9.99627167e-01 -1.60995915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00463044 meters Centerline goodness : 0.277111 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.31, Z:-0.16 [[ 9.99637737e-01 6.18658533e-04 -2.69074616e-02 1.38926938e-01] [-7.10182899e-04 9.99993995e-01 -3.39202597e-03 -3.05947691e-01] [ 2.69052016e-02 3.40990639e-03 9.99632174e-01 -1.60686214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034630439999997 meters Centerline goodness : 0.097637 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.31, Z:-0.16 [[ 9.99648337e-01 7.82976727e-04 -2.65063833e-02 1.37608805e-01] [-8.54597202e-04 9.99996015e-01 -2.69078831e-03 -3.09991747e-01] [ 2.65041708e-02 2.71249434e-03 9.99645023e-01 -1.60072164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06463044 meters Centerline goodness : 0.101170 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.31, Z:-0.16 [[ 0.99963973 -0.0061706 -0.02612137 0.15659105] [ 0.00613761 0.99998026 -0.00134312 -0.30817575] [ 0.02612914 0.00118231 0.99965788 -0.15820163] [ 0. 0. 0. 1. ]] SLAMing on 27.09463044 meters Centerline goodness : 0.236043 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.31, Z:-0.16 [[ 9.99638397e-01 -6.04454148e-03 -2.62019036e-02 1.56913052e-01] [ 6.02643063e-03 9.99981544e-01 -7.70114727e-04 -3.10457220e-01] [ 2.62060750e-02 6.11932297e-04 9.99656375e-01 -1.58634381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124630439999997 meters Centerline goodness : 0.456488 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.31, Z:-0.16 [[ 9.99628635e-01 -5.87448745e-03 -2.66098171e-02 1.58091901e-01] [ 5.87050948e-03 9.99982743e-01 -2.27611403e-04 -3.12739039e-01] [ 2.66106949e-02 7.13136925e-05 9.99645870e-01 -1.59136674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15463044 meters Centerline goodness : 0.097930 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.32, Z:-0.16 [[ 0.99961935 0.00184678 -0.02752717 0.14558623] [-0.001899 0.99999645 -0.00187105 -0.3241523 ] [ 0.02752362 0.00192261 0.9996193 -0.1617852 ] [ 0. 0. 0. 1. ]] SLAMing on 27.18463044 meters Centerline goodness : 0.076956 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.33, Z:-0.16 [[ 0.99961942 0.00197614 -0.02751553 0.14562685] [-0.0020175 0.99999688 -0.00147554 -0.32638373] [ 0.02751253 0.00153049 0.99962029 -0.16184964] [ 0. 0. 0. 1. ]] SLAMing on 27.214630439999997 meters Centerline goodness : 0.253718 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.32, Z:-0.16 [[ 9.99629524e-01 -4.90306660e-03 -2.67726631e-02 1.64444813e-01] [ 4.89995292e-03 9.99987979e-01 -1.81904011e-04 -3.24889006e-01] [ 2.67732332e-02 5.06518309e-05 9.99641531e-01 -1.59923887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244630439999998 meters Centerline goodness : 0.278474 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.33, Z:-0.16 [[ 9.99631996e-01 -4.78757875e-03 -2.67011486e-02 1.63969068e-01] [ 4.79734998e-03 9.99988447e-01 3.01900509e-04 -3.27007099e-01] [ 2.66993947e-02 -4.29884163e-04 9.99643415e-01 -1.59565413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27463044 meters Centerline goodness : 0.112834 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.34, Z:-0.16 [[ 9.99695143e-01 4.69581977e-04 -2.46860349e-02 1.52411931e-01] [-4.78740964e-04 9.99999819e-01 -3.65110256e-04 -3.40806416e-01] [ 2.46858590e-02 3.76817166e-04 9.99695187e-01 -1.62779652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30463044 meters Centerline goodness : 0.275047 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.34, Z:-0.16 [[ 9.99658446e-01 -6.59259786e-03 -2.52889287e-02 1.72952586e-01] [ 6.60766100e-03 9.99978038e-01 5.12123172e-04 -3.40505196e-01] [ 2.52849971e-02 -6.79048922e-04 9.99680053e-01 -1.61718954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334630439999998 meters Centerline goodness : 0.095892 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.35, Z:-0.16 [[ 9.99726172e-01 1.58187516e-04 -2.33999196e-02 1.57209829e-01] [-1.72410376e-04 9.99999802e-01 -6.05800421e-04 -3.51612939e-01] [ 2.33998191e-02 6.09668924e-04 9.99726001e-01 -1.64135411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36463044 meters Centerline goodness : 0.335233 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.35, Z:-0.16 [[ 9.99725525e-01 3.23315889e-04 -2.34258342e-02 1.57142257e-01] [-3.25231835e-04 9.99999944e-01 -7.79778873e-05 -3.54537817e-01] [ 2.34258077e-02 8.55753114e-05 9.99725574e-01 -1.63886051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39463044 meters Centerline goodness : 0.099793 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.36, Z:-0.16 [[ 9.99723771e-01 4.93288913e-04 -2.34976370e-02 1.57253363e-01] [-4.84527240e-04 9.99999811e-01 3.78566592e-04 -3.56859292e-01] [ 2.34978193e-02 -3.67076775e-04 9.99723821e-01 -1.63769787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424630439999998 meters Centerline goodness : 0.092284 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.37, Z:-0.16 [[ 9.99682644e-01 -2.18964560e-04 -2.51905490e-02 1.14463133e-01] [ 2.94467819e-04 9.99995476e-01 2.99361471e-03 -3.66942374e-01] [ 2.51897795e-02 -3.00008248e-03 9.99678185e-01 -1.64290823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45463044 meters Centerline goodness : 0.092422 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.37, Z:-0.16 [[ 9.99679193e-01 -9.54069094e-05 -2.53278699e-02 1.14840966e-01] [ 1.83217320e-04 9.99993981e-01 3.46465014e-03 -3.69615158e-01] [ 2.53273869e-02 -3.46817916e-03 9.99673194e-01 -1.64332847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48463044 meters Centerline goodness : 0.091663 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.37, Z:-0.16 [[ 9.99666829e-01 6.44676704e-03 -2.49933866e-02 1.35583738e-01] [-6.43751314e-03 9.99979177e-01 4.50697373e-04 -3.74943199e-01] [ 2.49957718e-02 -2.89651958e-04 9.99687515e-01 -1.64081712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514630439999998 meters Centerline goodness : 0.094714 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.38, Z:-0.16 [[ 0.99969155 0.00282564 -0.02467436 0.13509702] [-0.00289432 0.99999204 -0.00274811 -0.37753227] [ 0.0246664 0.00281867 0.99969176 -0.16440353] [ 0. 0. 0. 1. ]] SLAMing on 27.54463044 meters Centerline goodness : 0.100282 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.38, Z:-0.16 [[ 0.99971495 -0.00570881 -0.02318243 0.15502386] [ 0.00565917 0.99998155 -0.00220644 -0.38323189] [ 0.0231946 0.00207462 0.99972882 -0.16339485] [ 0. 0. 0. 1. ]] SLAMing on 27.57463044 meters Centerline goodness : 0.095516 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.39, Z:-0.16 [[ 0.99971325 -0.00556205 -0.02329102 0.1550344 ] [ 0.00552883 0.99998361 -0.00149051 -0.38709898] [ 0.02329893 0.00136131 0.99972762 -0.16305451] [ 0. 0. 0. 1. ]] SLAMing on 27.604630439999998 meters Centerline goodness : 0.251730 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.39, Z:-0.16 [[ 9.99711082e-01 -5.44161403e-03 -2.34124031e-02 1.55205997e-01] [ 5.42399083e-03 9.99984957e-01 -8.16166996e-04 -3.90915297e-01] [ 2.34164922e-02 6.88942531e-04 9.99725559e-01 -1.62893033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63463044 meters Centerline goodness : 0.251730 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.39, Z:-0.16 [[ 9.99711082e-01 -5.44161403e-03 -2.34124031e-02 1.55205997e-01] [ 5.42399083e-03 9.99984957e-01 -8.16166996e-04 -3.90915297e-01] [ 2.34164922e-02 6.88942531e-04 9.99725559e-01 -1.62893033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66463044 meters Centerline goodness : 0.104410 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.40, Z:-0.16 [[ 0.99972488 -0.00737607 -0.02226545 0.15265866] [ 0.00734084 0.99997167 -0.00166355 -0.39932883] [ 0.02227709 0.00149964 0.99975071 -0.16259347] [ 0. 0. 0. 1. ]] SLAMing on 27.694630439999997 meters Centerline goodness : 0.097013 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.40, Z:-0.16 [[ 9.99737011e-01 -7.21698914e-03 -2.17675015e-02 1.51027007e-01] [ 7.19465751e-03 9.99973509e-01 -1.10405673e-03 -4.02361316e-01] [ 2.17748929e-02 9.47156657e-04 9.99762450e-01 -1.61862357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72463044 meters Centerline goodness : 0.276285 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.40, Z:-0.16 [[ 9.99745798e-01 -7.04051326e-03 -2.14189074e-02 1.49711128e-01] [ 7.02881822e-03 9.99975105e-01 -6.21250162e-04 -4.04819319e-01] [ 2.14227481e-02 4.70542633e-04 9.99770396e-01 -1.61084462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75463044 meters Centerline goodness : 0.275776 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.41, Z:-0.16 [[ 9.99748947e-01 -6.88267210e-03 -2.13230219e-02 1.49100469e-01] [ 6.87987117e-03 9.99976312e-01 -2.04713354e-04 -4.06867051e-01] [ 2.13239257e-02 5.79623166e-05 9.99772618e-01 -1.60510448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784630439999997 meters Centerline goodness : 0.268300 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.41, Z:-0.16 [[ 0.99974388 0.00161855 -0.0225731 0.16854666] [-0.00165477 0.99999737 -0.00158612 -0.41358316] [ 0.02257048 0.00162307 0.99974394 -0.15895495] [ 0. 0. 0. 1. ]] SLAMing on 27.81463044 meters Centerline goodness : 0.273324 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.41, Z:-0.16 [[ 0.9997422 0.00168308 -0.0226427 0.16925953] [-0.00171665 0.99999746 -0.00146339 -0.41420031] [ 0.02264018 0.00150188 0.99974255 -0.15979556] [ 0. 0. 0. 1. ]] SLAMing on 27.84463044 meters Centerline goodness : 0.276512 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.41, Z:-0.16 [[ 0.99974543 0.00177316 -0.02249312 0.16929853] [-0.00180352 0.99999749 -0.00132931 -0.41470351] [ 0.02249071 0.00136954 0.99974611 -0.16036024] [ 0. 0. 0. 1. ]] SLAMing on 27.874630439999997 meters Centerline goodness : 0.273333 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.41, Z:-0.16 [[ 9.99748999e-01 -4.84131532e-03 -2.18746430e-02 1.87948879e-01] [ 4.83514387e-03 9.99988255e-01 -3.35009357e-04 -4.11103775e-01] [ 2.18760080e-02 2.29158223e-04 9.99760665e-01 -1.58892314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90463044 meters Centerline goodness : 0.273402 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.41, Z:-0.16 [[ 9.99753370e-01 -4.75862834e-03 -2.16922910e-02 1.87155743e-01] [ 4.75577611e-03 9.99988674e-01 -1.83072323e-04 -4.11675682e-01] [ 2.16929165e-02 7.98634926e-05 9.99764678e-01 -1.58341642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93463044 meters Centerline goodness : 0.274183 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.42, Z:-0.16 [[ 0.99977375 0.0043336 -0.02082449 0.20446088] [-0.00436592 0.99998933 -0.00150677 -0.41577648] [ 0.02081774 0.00159735 0.99978201 -0.15628745] [ 0. 0. 0. 1. ]] SLAMing on 27.964630439999997 meters Centerline goodness : 0.271864 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.42, Z:-0.16 [[ 0.99977367 0.00434426 -0.02082641 0.20472957] [-0.00437708 0.99998925 -0.00153065 -0.41553513] [ 0.02081954 0.00162146 0.99978194 -0.15666008] [ 0. 0. 0. 1. ]] SLAMing on 27.994630439999998 meters Centerline goodness : 0.273129 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.42, Z:-0.16 [[ 0.99977696 0.00437166 -0.02066216 0.20477305] [-0.00440462 0.9999891 -0.00154987 -0.41525696] [ 0.02065516 0.00164053 0.99978531 -0.15723619] [ 0. 0. 0. 1. ]] SLAMing on 28.02463044 meters Centerline goodness : 0.274584 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.42, Z:-0.16 [[ 0.9997788 0.0043544 -0.02057639 0.20501415] [-0.00438858 0.99998906 -0.00161632 -0.41500681] [ 0.02056912 0.00170627 0.99978698 -0.15789075] [ 0. 0. 0. 1. ]] SLAMing on 28.05463044 meters Centerline goodness : 0.270754 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.41, Z:-0.16 [[ 9.99768483e-01 -1.82535070e-03 -2.14394099e-02 2.24169063e-01] [ 1.80980094e-03 9.99998085e-01 -7.44669017e-04 -4.10546447e-01] [ 2.14407281e-02 7.05695549e-04 9.99769872e-01 -1.56921658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084630439999998 meters Centerline goodness : 0.118043 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.41, Z:-0.16 [[ 9.99766118e-01 -1.78311998e-03 -2.15529749e-02 2.24671611e-01] [ 1.76908746e-03 9.99998211e-01 -6.70120249e-04 -4.10795307e-01] [ 2.15541312e-02 6.31834422e-04 9.99767483e-01 -1.57241033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11463044 meters Centerline goodness : 0.273617 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.41, Z:-0.16 [[ 9.99761807e-01 -1.76677088e-03 -2.17533421e-02 2.25411798e-01] [ 1.75431308e-03 9.99998286e-01 -5.91754252e-04 -4.11342664e-01] [ 2.17543503e-02 5.53451128e-04 9.99763193e-01 -1.57663720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14463044 meters Centerline goodness : 0.091027 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.41, Z:-0.16 [[ 9.99749089e-01 -1.81062225e-03 -2.23266811e-02 2.27118292e-01] [ 1.80282187e-03 9.99998307e-01 -3.69498051e-04 -4.13509273e-01] [ 2.23273123e-02 3.29154311e-04 9.99750660e-01 -1.58230131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174630439999998 meters Centerline goodness : 0.090162 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.42, Z:-0.16 [[ 0.99974819 0.00562218 -0.02172442 0.24775176] [-0.00568887 0.99997929 -0.00300944 -0.41622623] [ 0.02170705 0.00313227 0.99975947 -0.15831492] [ 0. 0. 0. 1. ]] SLAMing on 28.20463044 meters Centerline goodness : 0.096428 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.42, Z:-0.16 [[ 0.99974733 0.00571212 -0.02174053 0.24776895] [-0.00577258 0.99997964 -0.00271936 -0.41772789] [ 0.02172455 0.00284417 0.99975995 -0.15831361] [ 0. 0. 0. 1. ]] SLAMing on 28.23463044 meters Centerline goodness : 0.096718 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.42, Z:-0.16 [[ 0.99974675 0.0057997 -0.02174389 0.247815 ] [-0.00585441 0.99997985 -0.00245322 -0.41908042] [ 0.02172923 0.0025799 0.99976056 -0.15836888] [ 0. 0. 0. 1. ]] SLAMing on 28.264630439999998 meters Centerline goodness : 0.095345 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.42, Z:-0.16 [[ 0.9997422 0.00579987 -0.02195227 0.24859852] [-0.00585101 0.99998032 -0.00226589 -0.42049703] [ 0.0219387 0.00239375 0.99975645 -0.15879692] [ 0. 0. 0. 1. ]] SLAMing on 28.29463044 meters Centerline goodness : 0.093679 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.42, Z:-0.16 [[ 0.99973113 0.00553784 -0.02251679 0.25049574] [-0.00558775 0.99998207 -0.00215407 -0.42329408] [ 0.02250445 0.0022793 0.99974414 -0.15958724] [ 0. 0. 0. 1. ]] SLAMing on 28.32463044 meters Centerline goodness : 0.238351 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.42, Z:-0.16 [[ 0.9997527 -0.00133106 -0.02219833 0.26947773] [ 0.00130362 0.99999837 -0.00125049 -0.42137814] [ 0.02219996 0.00122124 0.9997528 -0.15791017] [ 0. 0. 0. 1. ]] SLAMing on 28.354630439999998 meters Centerline goodness : 0.273797 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.42, Z:-0.16 [[ 9.99754663e-01 -1.23409153e-03 -2.21154044e-02 2.69097964e-01] [ 1.21334103e-03 9.99998811e-01 -9.51676247e-04 -4.22889762e-01] [ 2.21165526e-02 9.24609238e-04 9.99754972e-01 -1.57672228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38463044 meters Centerline goodness : 0.108055 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.42, Z:-0.16 [[ 9.99753802e-01 -1.14972048e-03 -2.21588447e-02 2.69123822e-01] [ 1.13536555e-03 9.99999137e-01 -6.60389138e-04 -4.24334626e-01] [ 2.21595849e-02 6.35068162e-04 9.99754245e-01 -1.57594706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41463044 meters Centerline goodness : 0.109535 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.43, Z:-0.16 [[ 9.99752557e-01 -1.10079914e-03 -2.22173980e-02 2.69352637e-01] [ 1.09152305e-03 9.99999312e-01 -4.29637177e-04 -4.25561745e-01] [ 2.22178556e-02 4.05280064e-04 9.99753071e-01 -1.57778236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444630439999997 meters Centerline goodness : 0.268250 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.43, Z:-0.16 [[ 9.99753259e-01 -1.08683320e-03 -2.21865007e-02 2.69268944e-01] [ 1.08126404e-03 9.99999381e-01 -2.63010446e-04 -4.26537971e-01] [ 2.21867728e-02 2.38956085e-04 9.99753815e-01 -1.57790431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47463044 meters Centerline goodness : 0.092563 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.43, Z:-0.16 [[ 9.99763183e-01 -1.07931990e-03 -2.17350843e-02 2.67860721e-01] [ 1.07824317e-03 9.99999417e-01 -6.12577906e-05 -4.27628734e-01] [ 2.17351377e-02 3.78075774e-05 9.99763763e-01 -1.57299833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50463044 meters Centerline goodness : 0.107075 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.43, Z:-0.16 [[ 9.99770825e-01 -1.04970076e-03 -2.13821448e-02 2.66853109e-01] [ 1.04940120e-03 9.99999449e-01 -2.52305497e-05 -4.27484072e-01] [ 2.13821595e-02 2.78631918e-06 9.99771375e-01 -1.57121311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534630439999997 meters Centerline goodness : 0.268702 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.42, Z:-0.16 [[ 9.99769791e-01 -7.95218633e-03 -1.99280596e-02 2.85096684e-01] [ 7.97210209e-03 9.99967799e-01 9.20138801e-04 -4.22146736e-01] [ 1.99201008e-02 -1.07879550e-03 9.99800993e-01 -1.55715061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56463044 meters Centerline goodness : 0.266326 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.42, Z:-0.16 [[ 9.99769539e-01 -8.05530670e-03 -1.98992462e-02 2.84987033e-01] [ 8.07151565e-03 9.99967155e-01 7.34367517e-04 -4.21353247e-01] [ 1.98926771e-02 -8.94815351e-04 9.99801721e-01 -1.55679408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59463044 meters Centerline goodness : 0.267693 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.42, Z:-0.15 [[ 9.99809223e-01 6.22544449e-04 -1.95225755e-02 3.02707628e-01] [-6.44797270e-04 9.99999150e-01 -1.13357672e-03 -4.23482381e-01] [ 1.95218532e-02 1.14594857e-03 9.99808774e-01 -1.54229387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624630439999997 meters Centerline goodness : 0.264627 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.42, Z:-0.15 [[ 9.99808254e-01 5.43755026e-04 -1.95744372e-02 3.03014963e-01] [-5.70409950e-04 9.99998918e-01 -1.35616358e-03 -4.22189310e-01] [ 1.95736786e-02 1.36706899e-03 9.99807483e-01 -1.54529091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65463044 meters Centerline goodness : 0.263706 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.42, Z:-0.16 [[ 9.99808133e-01 4.66277148e-04 -1.95826489e-02 3.04034659e-01] [-5.01296508e-04 9.99998284e-01 -1.78341440e-03 -4.18687564e-01] [ 1.95817837e-02 1.79288893e-03 9.99806651e-01 -1.55927936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68463044 meters Centerline goodness : 0.266292 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.42, Z:-0.16 [[ 9.99810083e-01 3.21500790e-04 -1.94857443e-02 3.04123903e-01] [-3.63118380e-04 9.99997661e-01 -2.13229628e-03 -4.16951974e-01] [ 1.94850132e-02 2.13896696e-03 9.99807861e-01 -1.56407782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714630439999997 meters Centerline goodness : 0.270552 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.42, Z:-0.16 [[ 9.99813170e-01 1.83204885e-04 -1.93285102e-02 3.03901050e-01] [-2.30181531e-04 9.99997025e-01 -2.42823608e-03 -4.15562435e-01] [ 1.93280078e-02 2.43223148e-03 9.99810238e-01 -1.56692676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744630439999998 meters Centerline goodness : 0.271362 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.41, Z:-0.16 [[ 9.99814100e-01 4.72784849e-05 -1.92811561e-02 3.03754363e-01] [-9.91591910e-05 9.99996378e-01 -2.68979948e-03 -4.14368286e-01] [ 1.92809590e-02 2.69121136e-03 9.99810483e-01 -1.56717520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77463044 meters Centerline goodness : 0.268316 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.41, Z:-0.16 [[ 9.99815448e-01 -4.01034911e-05 -1.92111718e-02 3.03642707e-01] [-1.48530072e-05 9.99995909e-01 -2.86050188e-03 -4.13387873e-01] [ 1.92112079e-02 2.86025931e-03 9.99811356e-01 -1.56864541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804630439999997 meters Centerline goodness : 0.267497 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.41, Z:-0.16 [[ 9.99814348e-01 -2.17958092e-04 -1.92671307e-02 3.03884536e-01] [ 1.57370022e-04 9.99995039e-01 -3.14609402e-03 -4.12210225e-01] [ 1.92677208e-02 3.14247787e-03 9.99809422e-01 -1.57049599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834630439999998 meters Centerline goodness : 0.160553 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.41, Z:-0.16 [[ 9.99821842e-01 -3.90136896e-04 -1.88714746e-02 3.03260325e-01] [ 3.23762853e-04 9.99993752e-01 -3.52008985e-03 -4.10136975e-01] [ 1.88727300e-02 3.51335284e-03 9.99815721e-01 -1.57552093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86463044 meters Centerline goodness : 0.106223 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.41, Z:-0.16 [[ 9.99822691e-01 -4.85244389e-04 -1.88242387e-02 3.03590762e-01] [ 4.14229143e-04 9.99992784e-01 -3.77625851e-03 -4.08661770e-01] [ 1.88259353e-02 3.76779140e-03 9.99815677e-01 -1.58196177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89463044 meters Centerline goodness : 0.105937 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.41, Z:-0.16 [[ 9.99823701e-01 -5.15668333e-04 -1.87697059e-02 3.04005524e-01] [ 4.41509177e-04 9.99992082e-01 -3.95493200e-03 -4.07285068e-01] [ 1.87715967e-02 3.94594775e-03 9.99816011e-01 -1.59060635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924630439999998 meters Centerline goodness : 0.267493 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.41, Z:-0.16 [[ 9.99824215e-01 -5.93750713e-04 -1.87399558e-02 3.04165760e-01] [ 5.15513030e-04 9.99991133e-01 -4.17946758e-03 -4.05824798e-01] [ 1.87422712e-02 4.16907220e-03 9.99815656e-01 -1.59454405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95463044 meters Centerline goodness : 0.106098 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.40, Z:-0.16 [[ 0.99981095 -0.00759411 -0.01789963 0.3222563 ] [ 0.00752623 0.99996424 -0.00385652 -0.39753607] [ 0.01792827 0.00372107 0.99983235 -0.15737256] [ 0. 0. 0. 1. ]] SLAMing on 28.98463044 meters Centerline goodness : 0.094884 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.40, Z:-0.16 [[ 9.99866063e-01 -1.00968312e-03 -1.63351243e-02 3.02614079e-01] [ 9.27839001e-04 9.99986984e-01 -5.01711802e-03 -3.98658997e-01] [ 1.63399774e-02 5.00128968e-03 9.99853985e-01 -1.59229709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014630439999998 meters Centerline goodness : 0.108775 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.40, Z:-0.16 [[ 0.99986849 -0.00120661 -0.01617234 0.30247345] [ 0.00111582 0.99998358 -0.00562168 -0.39551036] [ 0.01617886 0.00560289 0.99985342 -0.15957819] [ 0. 0. 0. 1. ]] SLAMing on 29.04463044 meters Centerline goodness : 0.268967 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.39, Z:-0.16 [[ 0.99986569 0.00215857 -0.01624648 0.3040168 ] [-0.00220783 0.99999302 -0.00301433 -0.38927181] [ 0.01623986 0.00304979 0.99986347 -0.16147528] [ 0. 0. 0. 1. ]] SLAMing on 29.07463044 meters Centerline goodness : 0.094446 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.39, Z:-0.16 [[ 0.99986555 0.00191034 -0.01628626 0.30482492] [-0.00197153 0.99999105 -0.00374221 -0.3853548 ] [ 0.01627896 0.00377382 0.99986037 -0.16250264] [ 0. 0. 0. 1. ]] SLAMing on 29.104630439999998 meters Centerline goodness : 0.110431 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.38, Z:-0.16 [[ 0.99986264 0.00159248 -0.01649721 0.305729 ] [-0.00166719 0.99998841 -0.00451567 -0.38174757] [ 0.01648982 0.00454255 0.99985371 -0.1630994 ] [ 0. 0. 0. 1. ]] SLAMing on 29.13463044 meters Centerline goodness : 0.110075 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.38, Z:-0.16 [[ 0.9998582 0.00119116 -0.01679789 0.30665723] [-0.00128213 0.99998456 -0.00540625 -0.37791449] [ 0.01679119 0.00542702 0.99984429 -0.16338153] [ 0. 0. 0. 1. ]] SLAMing on 29.16463044 meters Centerline goodness : 0.088498 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.37, Z:-0.16 [[ 9.99854907e-01 9.02869962e-04 -1.70102899e-02 3.07306175e-01] [-1.00797308e-03 9.99980450e-01 -6.17123665e-03 -3.74202897e-01] [ 1.70043855e-02 6.18748716e-03 9.99836270e-01 -1.63565678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194630439999997 meters Centerline goodness : 0.092966 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.37, Z:-0.16 [[ 0.99980819 -0.00385059 -0.01920311 0.32245916] [ 0.00375205 0.99997962 -0.00516447 -0.36517592] [ 0.01922261 0.00509143 0.99980226 -0.16046554] [ 0. 0. 0. 1. ]] SLAMing on 29.22463044 meters Centerline goodness : 0.163389 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.36, Z:-0.16 [[ 9.99822370e-01 -4.19537493e-04 -1.88428464e-02 3.22132104e-01] [ 3.71412296e-04 9.99996661e-01 -2.55745703e-03 -3.58860731e-01] [ 1.88438565e-02 2.55000428e-03 9.99819187e-01 -1.61145170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25463044 meters Centerline goodness : 0.178913 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.36, Z:-0.16 [[ 9.99823817e-01 -6.52159377e-04 -1.87592705e-02 3.22185861e-01] [ 5.92604556e-04 9.99994768e-01 -3.18007119e-03 -3.55737327e-01] [ 1.87612462e-02 3.16839409e-03 9.99818972e-01 -1.61495404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284630439999997 meters Centerline goodness : 0.166613 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.35, Z:-0.16 [[ 9.99820695e-01 -9.32500009e-04 -1.89131866e-02 3.22887846e-01] [ 8.60416518e-04 9.99992337e-01 -3.81906151e-03 -3.52865156e-01] [ 1.89166030e-02 3.80210352e-03 9.99813836e-01 -1.61998651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31463044 meters Centerline goodness : 0.091754 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.35, Z:-0.16 [[ 0.99981506 -0.00113095 -0.01919802 0.32407152] [ 0.00104757 0.99998998 -0.00435254 -0.35019066] [ 0.01920275 0.00433162 0.99980623 -0.16277647] [ 0. 0. 0. 1. ]] SLAMing on 29.34463044 meters Centerline goodness : 0.094207 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.35, Z:-0.16 [[ 0.99981148 -0.00123036 -0.0193778 0.32496538] [ 0.00113847 0.99998806 -0.00475236 -0.3477295 ] [ 0.01938341 0.00472941 0.99980094 -0.16344967] [ 0. 0. 0. 1. ]] SLAMing on 29.374630439999997 meters Centerline goodness : 0.200221 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.34, Z:-0.16 [[ 0.99980456 0.0021066 -0.01965716 0.32634623] [-0.00214448 0.99999588 -0.00190598 -0.34422993] [ 0.01965306 0.00194776 0.99980496 -0.16436382] [ 0. 0. 0. 1. ]] SLAMing on 29.40463044 meters Centerline goodness : 0.156857 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.34, Z:-0.16 [[ 0.99980353 0.00199848 -0.01972097 0.32684911] [-0.0020441 0.99999528 -0.00229322 -0.3421385 ] [ 0.01971629 0.00233308 0.99980289 -0.16481059] [ 0. 0. 0. 1. ]] SLAMing on 29.43463044 meters Centerline goodness : 0.138822 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.34, Z:-0.16 [[ 0.99976166 -0.00407119 -0.02144895 0.34492336] [ 0.00403266 0.99999018 -0.00183938 -0.3351601 ] [ 0.02145623 0.00175244 0.99976825 -0.16276816] [ 0. 0. 0. 1. ]] SLAMing on 29.464630439999997 meters Centerline goodness : 0.143694 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.33, Z:-0.16 [[ 0.99976434 -0.00253824 -0.02155955 0.34510808] [ 0.00251431 0.99999619 -0.00113691 -0.32846724] [ 0.02156235 0.00108243 0.99976692 -0.162788 ] [ 0. 0. 0. 1. ]] SLAMing on 29.494630439999998 meters Centerline goodness : 0.116281 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.32, Z:-0.16 [[ 9.99784383e-01 -6.09342590e-04 -2.07560919e-02 3.42079189e-01] [ 6.15593252e-04 9.99999767e-01 2.94760287e-04 -3.23840844e-01] [ 2.07559074e-02 -3.07474042e-04 9.99784526e-01 -1.61550336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52463044 meters Centerline goodness : 0.116281 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.32, Z:-0.16 [[ 9.99784383e-01 -6.09342590e-04 -2.07560919e-02 3.42079189e-01] [ 6.15593252e-04 9.99999767e-01 2.94760287e-04 -3.23840844e-01] [ 2.07559074e-02 -3.07474042e-04 9.99784526e-01 -1.61550336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554630439999997 meters Centerline goodness : 0.110968 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.32, Z:-0.16 [[ 9.99792173e-01 -3.33669371e-04 -2.03838253e-02 3.41340429e-01] [ 3.35501726e-04 9.99999940e-01 8.64728767e-05 -3.20946536e-01] [ 2.03837952e-02 -9.32937139e-05 9.99792225e-01 -1.61708271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584630439999998 meters Centerline goodness : 0.239459 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.32, Z:-0.16 [[ 9.99796873e-01 -2.72208448e-04 -2.01528960e-02 3.41271345e-01] [ 2.65746238e-04 9.99999912e-01 -3.23336465e-04 -3.17889035e-01] [ 2.01529822e-02 3.17915230e-04 9.99796857e-01 -1.62352481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61463044 meters Centerline goodness : 0.124881 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.31, Z:-0.16 [[ 9.99797224e-01 -3.65161578e-04 -2.01339713e-02 3.41694770e-01] [ 3.47780654e-04 9.99999564e-01 -8.66758266e-04 -3.14762419e-01] [ 2.01342790e-02 8.59580303e-04 9.99796915e-01 -1.63032825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64463044 meters Centerline goodness : 0.166259 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.31, Z:-0.16 [[ 9.99792035e-01 3.11028797e-04 -2.03909386e-02 3.43337680e-01] [-3.31102203e-04 9.99999464e-01 -9.81059070e-04 -3.07369081e-01] [ 2.03906226e-02 9.87606529e-04 9.99791602e-01 -1.64467064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674630439999998 meters Centerline goodness : 0.120676 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.16 [[ 9.99792484e-01 1.95485336e-04 -2.03703426e-02 3.43521885e-01] [-2.24804315e-04 9.99998942e-01 -1.43701728e-03 -3.04746365e-01] [ 2.03700402e-02 1.44129842e-03 9.99791470e-01 -1.64833976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70463044 meters Centerline goodness : 0.124536 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.30, Z:-0.17 [[ 9.99752692e-01 -8.43656111e-03 -2.05761782e-02 3.24566831e-01] [ 8.43465487e-03 9.99964412e-01 -1.79428315e-04 -2.98751601e-01] [ 2.05769596e-02 5.83097939e-06 9.99788272e-01 -1.66530342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73463044 meters Centerline goodness : 0.155283 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.17 [[ 9.99817292e-01 9.60376682e-05 -1.91147373e-02 3.42973291e-01] [-1.27703072e-04 9.99998622e-01 -1.65538263e-03 -2.99687687e-01] [ 1.91145520e-02 1.65752119e-03 9.99815926e-01 -1.65541343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764630439999998 meters Centerline goodness : 0.149941 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.17 [[ 9.99820751e-01 3.56984234e-05 -1.89331454e-02 3.42461862e-01] [-7.01163158e-05 9.99998346e-01 -1.81720377e-03 -2.98710115e-01] [ 1.89330492e-02 1.81820556e-03 9.99819101e-01 -1.65442134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79463044 meters Centerline goodness : 0.181364 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.17 [[ 9.99824377e-01 2.11214424e-06 -1.87407440e-02 3.41903449e-01] [-3.73461188e-05 9.99998233e-01 -1.87972364e-03 -2.98325836e-01] [ 1.87407069e-02 1.88009341e-03 9.99822610e-01 -1.65300223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82463044 meters Centerline goodness : 0.235588 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.17 [[ 9.99823322e-01 -2.78475254e-04 -1.87948962e-02 3.41968772e-01] [ 2.38039875e-04 9.99997653e-01 -2.15360495e-03 -2.97741131e-01] [ 1.87954518e-02 2.14875052e-03 9.99821041e-01 -1.65257125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854630439999998 meters Centerline goodness : 0.149103 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.16 [[ 0.99978375 -0.00727339 -0.01948197 0.36147446] [ 0.00724838 0.99997281 -0.00135416 -0.29302727] [ 0.01949129 0.00121266 0.99980929 -0.16337332] [ 0. 0. 0. 1. ]] SLAMing on 29.88463044 meters Centerline goodness : 0.158971 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.16 [[ 0.99978094 -0.00730415 -0.01961438 0.36188308] [ 0.00727705 0.99997247 -0.00145254 -0.29245111] [ 0.01962445 0.00130949 0.99980656 -0.16354812] [ 0. 0. 0. 1. ]] SLAMing on 29.91463044 meters Centerline goodness : 0.155457 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.16 [[ 0.99977926 -0.00734966 -0.01968284 0.36247397] [ 0.00731775 0.99997179 -0.00169276 -0.29081209] [ 0.01969473 0.00154835 0.99980484 -0.16418356] [ 0. 0. 0. 1. ]] SLAMing on 29.944630439999997 meters Centerline goodness : 0.177671 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.16 [[ 0.99978028 -0.00742984 -0.01960095 0.36237007] [ 0.00739333 0.9999708 -0.00193434 -0.28970848] [ 0.01961475 0.001789 0.99980601 -0.16432032] [ 0. 0. 0. 1. ]] SLAMing on 29.97463044 meters Centerline goodness : 0.163556 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.16 [[ 0.99978212 -0.00746616 -0.01949282 0.36216525] [ 0.00742583 0.99997014 -0.00214071 -0.28854317] [ 0.01950822 0.00199549 0.99980771 -0.16440303] [ 0. 0. 0. 1. ]] SLAMing on 30.00463044 meters Centerline goodness : 0.172441 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.16 [[ 0.99978515 -0.00746203 -0.01933847 0.36187808] [ 0.00741712 0.99996963 -0.00239278 -0.28682135] [ 0.01935573 0.00224883 0.99981013 -0.16447837] [ 0. 0. 0. 1. ]] SLAMing on 30.034630439999997 meters Centerline goodness : 0.099546 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.29, Z:-0.16 [[ 0.99982973 0.00163651 -0.01838044 0.38144282] [-0.00170193 0.99999227 -0.00354429 -0.28690398] [ 0.0183745 0.00357497 0.99982478 -0.16344674] [ 0. 0. 0. 1. ]] SLAMing on 30.06463044 meters Centerline goodness : 0.162397 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.28, Z:-0.16 [[ 9.99810385e-01 5.01290545e-03 -1.88166357e-02 3.83354220e-01] [-5.03234822e-03 9.99986851e-01 -9.86067745e-04 -2.81402686e-01] [ 1.88114452e-02 1.08057263e-03 9.99822465e-01 -1.64569165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09463044 meters Centerline goodness : 0.180994 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.28, Z:-0.17 [[ 0.9997995 0.00500275 -0.01938919 0.38539811] [-0.00503128 0.99998633 -0.00142248 -0.27859677] [ 0.01938181 0.00151975 0.999811 -0.16569916] [ 0. 0. 0. 1. ]] SLAMing on 30.124630439999997 meters Centerline goodness : 0.130924 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.28, Z:-0.17 [[ 0.99979075 0.00487432 -0.01986677 0.38732009] [-0.00491312 0.99998612 -0.00190501 -0.27609272] [ 0.0198572 0.00200221 0.99980082 -0.1669549 ] [ 0. 0. 0. 1. ]] SLAMing on 30.15463044 meters Centerline goodness : 0.163762 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.27, Z:-0.17 [[ 0.99975643 -0.00125634 -0.02203393 0.40658822] [ 0.0012248 0.99999821 -0.00144483 -0.26870924] [ 0.02203571 0.00141749 0.99975618 -0.16560322] [ 0. 0. 0. 1. ]] SLAMing on 30.18463044 meters Centerline goodness : 0.116745 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.27, Z:-0.17 [[ 0.99973361 0.00607074 -0.02226788 0.38677395] [-0.00612952 0.99997791 -0.00257238 -0.27186222] [ 0.02225177 0.00270818 0.99974873 -0.16727351] [ 0. 0. 0. 1. ]] SLAMing on 30.214630439999997 meters Centerline goodness : 0.090304 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.27, Z:-0.17 [[ 0.99976085 -0.00135946 -0.02182625 0.40610404] [ 0.00131507 0.99999704 -0.00204817 -0.26647789] [ 0.02182897 0.00201897 0.99975968 -0.16543899] [ 0. 0. 0. 1. ]] SLAMing on 30.244630439999998 meters Centerline goodness : 0.128843 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.27, Z:-0.17 [[ 0.99976011 -0.00138494 -0.02185873 0.40637385] [ 0.00134029 0.99999699 -0.00205694 -0.26644666] [ 0.02186151 0.00202715 0.99975895 -0.16575674] [ 0. 0. 0. 1. ]] SLAMing on 30.27463044 meters Centerline goodness : 0.167012 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.27, Z:-0.17 [[ 0.99975968 -0.00132867 -0.02188207 0.40662557] [ 0.00128647 0.99999729 -0.00194238 -0.26679008] [ 0.02188459 0.00191376 0.99975867 -0.16608387] [ 0. 0. 0. 1. ]] SLAMing on 30.304630439999997 meters Centerline goodness : 0.091280 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.27, Z:-0.17 [[ 9.99809282e-01 -2.35666714e-04 -1.95280131e-02 4.50020339e-01] [ 1.89777067e-04 9.99997217e-01 -2.35175924e-03 -2.65706747e-01] [ 1.95285130e-02 2.34760475e-03 9.99806544e-01 -1.65799624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334630439999998 meters Centerline goodness : 0.187895 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.17 [[ 0.99977004 -0.00160467 -0.02138417 0.40481896] [ 0.00156745 0.99999723 -0.00175727 -0.26788085] [ 0.02138693 0.00172335 0.99976979 -0.16595669] [ 0. 0. 0. 1. ]] SLAMing on 30.36463044 meters Centerline goodness : 0.165143 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.17 [[ 0.9997705 -0.00170428 -0.0213553 0.4047853 ] [ 0.0016633 0.99999674 -0.00193639 -0.26741039] [ 0.02135853 0.00190042 0.99977007 -0.16595069] [ 0. 0. 0. 1. ]] SLAMing on 30.39463044 meters Centerline goodness : 0.093974 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.27, Z:-0.17 [[ 0.99976832 -0.00171532 -0.02145629 0.40535468] [ 0.00167108 0.99999644 -0.00207996 -0.2664921 ] [ 0.02145978 0.00204363 0.99976762 -0.16643394] [ 0. 0. 0. 1. ]] SLAMing on 30.424630439999998 meters Centerline goodness : 0.167683 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.17 [[ 0.99976503 -0.00166176 -0.02161322 0.40622022] [ 0.00161269 0.99999608 -0.0022879 -0.26482621] [ 0.02161694 0.00225251 0.99976379 -0.16717752] [ 0. 0. 0. 1. ]] SLAMing on 30.45463044 meters Centerline goodness : 0.120890 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.17 [[ 0.99976942 -0.00151493 -0.0214199 0.4062665 ] [ 0.00146168 0.9999958 -0.00250131 -0.26256807] [ 0.0214236 0.00246943 0.99976744 -0.16791724] [ 0. 0. 0. 1. ]] SLAMing on 30.48463044 meters Centerline goodness : 0.100470 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.17 [[ 9.99771168e-01 1.98710303e-03 -2.12993864e-02 4.06086189e-01] [-1.98442595e-03 9.99998020e-01 1.46823550e-04 -2.57172972e-01] [ 2.12996360e-02 -1.04522897e-04 9.99773132e-01 -1.68087275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514630439999998 meters Centerline goodness : 0.266968 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.17 [[ 9.99776310e-01 1.96766896e-03 -2.10584357e-02 4.05605567e-01] [-1.97494608e-03 9.99997997e-01 -3.24776545e-04 -2.54139513e-01] [ 2.10577545e-02 3.66293170e-04 9.99778194e-01 -1.68271056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54463044 meters Centerline goodness : 0.093775 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.17 [[ 9.99779001e-01 1.95159151e-03 -2.09318234e-02 4.05528582e-01] [-1.96711731e-03 9.99997805e-01 -7.21167967e-04 -2.51449473e-01] [ 2.09303700e-02 7.62183942e-04 9.99780645e-01 -1.68632168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57463044 meters Centerline goodness : 0.125118 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.17 [[ 0.99977937 0.00187079 -0.0209217 0.40594777] [-0.00189517 0.99999755 -0.00114582 -0.24882398] [ 0.0209195 0.00118522 0.99978046 -0.16933239] [ 0. 0. 0. 1. ]] SLAMing on 30.604630439999998 meters Centerline goodness : 0.140100 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.17 [[ 0.99977905 0.00173344 -0.02094881 0.40646325] [-0.00176701 0.99999718 -0.00158428 -0.24641172] [ 0.020946 0.00162095 0.99977929 -0.17007316] [ 0. 0. 0. 1. ]] SLAMing on 30.63463044 meters Centerline goodness : 0.125532 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.17 [[ 0.99977816 0.00151652 -0.02100809 0.40708139] [-0.00156153 0.99999652 -0.00212636 -0.24377798] [ 0.02100479 0.00215869 0.99977704 -0.17086573] [ 0. 0. 0. 1. ]] SLAMing on 30.66463044 meters Centerline goodness : 0.152191 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.17 [[ 0.99978074 0.00120457 -0.02090519 0.40743789] [-0.00126825 0.9999946 -0.00303295 -0.23919887] [ 0.02090143 0.0030588 0.99977686 -0.17186626] [ 0. 0. 0. 1. ]] SLAMing on 30.694630439999997 meters Centerline goodness : 0.226309 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.17 [[ 9.99791476e-01 9.37691409e-04 -2.03991605e-02 4.06192202e-01] [-1.00942876e-03 9.99993342e-01 -3.50666922e-03 -2.36933712e-01] [ 2.03957365e-02 3.52652949e-03 9.99785766e-01 -1.71868805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72463044 meters Centerline goodness : 0.124284 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.23, Z:-0.17 [[ 9.99799427e-01 8.33253350e-04 -2.00103036e-02 4.04965668e-01] [-9.10559565e-04 9.99992157e-01 -3.85452004e-03 -2.34755890e-01] [ 2.00069348e-02 3.87196750e-03 9.99792344e-01 -1.71461046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75463044 meters Centerline goodness : 0.122302 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.22, Z:-0.17 [[ 0.99978751 -0.00622063 -0.01965306 0.42270668] [ 0.0061607 0.99997619 -0.00310824 -0.22426532] [ 0.01967193 0.0029865 0.99980203 -0.16920479] [ 0. 0. 0. 1. ]] SLAMing on 30.784630439999997 meters Centerline goodness : 0.129420 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.17 [[ 0.99976396 0.00218679 -0.02161576 0.40693558] [-0.00228988 0.99998612 -0.00474587 -0.22812926] [ 0.02160508 0.00479425 0.99975509 -0.17103557] [ 0. 0. 0. 1. ]] SLAMing on 30.81463044 meters Centerline goodness : 0.125871 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.17 [[ 0.99975217 0.00174347 -0.02219362 0.40893856] [-0.00186275 0.99998393 -0.00535535 -0.22633774] [ 0.02218392 0.00539536 0.99973935 -0.17200382] [ 0. 0. 0. 1. ]] SLAMing on 30.84463044 meters Centerline goodness : 0.123943 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.17 [[ 0.99974958 0.00155435 -0.02232414 0.40960223] [-0.00167908 0.99998308 -0.00556958 -0.22573267] [ 0.0223151 0.00560567 0.99973527 -0.17268643] [ 0. 0. 0. 1. ]] SLAMing on 30.874630439999997 meters Centerline goodness : 0.241547 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.17 [[ 0.99975133 0.00148982 -0.02224995 0.40940891] [-0.00161558 0.99998282 -0.00563529 -0.22533878] [ 0.02224117 0.00566983 0.99973656 -0.1726864 ] [ 0. 0. 0. 1. ]] SLAMing on 30.90463044 meters Centerline goodness : 0.091164 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.22, Z:-0.17 [[ 0.99975413 -0.00646881 -0.02120915 0.42833415] [ 0.006369 0.99996834 -0.00477007 -0.22120737] [ 0.02123934 0.00463382 0.99976368 -0.17065971] [ 0. 0. 0. 1. ]] SLAMing on 30.93463044 meters Centerline goodness : 0.130179 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.17 [[ 0.99976394 0.00190261 -0.02164374 0.40988017] [-0.00203526 0.99997927 -0.00610846 -0.22689043] [ 0.02163167 0.00615107 0.99974709 -0.17179281] [ 0. 0. 0. 1. ]] SLAMing on 30.964630439999997 meters Centerline goodness : 0.125095 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.17 [[ 0.9997597 0.00180898 -0.02184656 0.41058914] [-0.00194554 0.99997869 -0.00623129 -0.22660082] [ 0.02183482 0.00627229 0.99974192 -0.17214356] [ 0. 0. 0. 1. ]] SLAMing on 30.994630439999998 meters Centerline goodness : 0.094884 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.17 [[ 0.999757 0.00175242 -0.02197453 0.41139105] [-0.00189358 0.9999777 -0.00640425 -0.22580115] [ 0.02196282 0.0064443 0.99973802 -0.17290436] [ 0. 0. 0. 1. ]] SLAMing on 31.02463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 31.054630439999997 meters Centerline goodness : 0.240776 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.22, Z:-0.18 [[ 0.99972581 0.00406536 -0.02306024 0.41606034] [-0.00417777 0.99997962 -0.0048283 -0.22040074] [ 0.02304014 0.00492332 0.99972242 -0.17540906] [ 0. 0. 0. 1. ]] SLAMing on 31.084630439999998 meters Centerline goodness : 0.116357 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.22, Z:-0.18 [[ 0.9997161 0.00402437 -0.02348466 0.4170398 ] [-0.00414821 0.99997773 -0.00522705 -0.21797888] [ 0.0234631 0.00532298 0.99971053 -0.17539236] [ 0. 0. 0. 1. ]] SLAMing on 31.11463044 meters Centerline goodness : 0.123890 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.22, Z:-0.18 [[ 0.99970458 0.00400406 -0.02397348 0.41820188] [-0.00414114 0.99997535 -0.0056707 -0.21573581] [ 0.02395019 0.0057683 0.99969651 -0.17528874] [ 0. 0. 0. 1. ]] SLAMing on 31.14463044 meters Centerline goodness : 0.104545 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.21, Z:-0.18 [[ 0.99970397 0.00377325 -0.02403595 0.4182446 ] [-0.00392941 0.99997146 -0.00645309 -0.21200371] [ 0.02401092 0.00654563 0.99969027 -0.17508271] [ 0. 0. 0. 1. ]] SLAMing on 31.174630439999998 meters Centerline goodness : 0.125844 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.21, Z:-0.18 [[ 0.99970733 0.00369807 -0.02390787 0.4180095 ] [-0.00385843 0.99997035 -0.00666474 -0.21077011] [ 0.02388252 0.00675504 0.99969195 -0.17522079] [ 0. 0. 0. 1. ]] SLAMing on 31.20463044 meters Centerline goodness : 0.171997 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.21, Z:-0.18 [[ 0.99971242 0.0037395 -0.02368762 0.41771587] [-0.00389877 0.99997008 -0.00668103 -0.21002805] [ 0.02366193 0.00677146 0.99969708 -0.17561535] [ 0. 0. 0. 1. ]] SLAMing on 31.23463044 meters Centerline goodness : 0.143838 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.20, Z:-0.17 [[ 0.99970925 -0.00313926 -0.02390713 0.43576942] [ 0.00301529 0.99998183 -0.00521979 -0.20134138] [ 0.02392308 0.00514619 0.99970056 -0.17437411] [ 0. 0. 0. 1. ]] SLAMing on 31.264630439999998 meters Centerline goodness : 0.148118 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.20, Z:-0.17 [[ 0.99970782 -0.00330147 -0.02394527 0.4361457 ] [ 0.00316568 0.99997871 -0.00570666 -0.19895508] [ 0.0239636 0.00562919 0.99969698 -0.17481373] [ 0. 0. 0. 1. ]] SLAMing on 31.29463044 meters Centerline goodness : 0.113794 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.17 [[ 0.9997094 -0.00342159 -0.02386218 0.43599947] [ 0.00326549 0.99997304 -0.00657754 -0.1939359 ] [ 0.02388404 0.0064977 0.99969362 -0.17498532] [ 0. 0. 0. 1. ]] SLAMing on 31.32463044 meters Centerline goodness : 0.126622 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.18 [[ 0.9997113 -0.00340741 -0.02378456 0.43589159] [ 0.00324414 0.99997093 -0.00689974 -0.19158194] [ 0.02380738 0.00682059 0.9996933 -0.17516838] [ 0. 0. 0. 1. ]] SLAMing on 31.354630439999998 meters Centerline goodness : 0.128744 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.18 [[ 0.99971395 -0.00339203 -0.02367508 0.43601512] [ 0.00322243 0.9999689 -0.00719807 -0.18924769] [ 0.02369876 0.00711972 0.99969379 -0.17580134] [ 0. 0. 0. 1. ]] SLAMing on 31.38463044 meters Centerline goodness : 0.120004 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.18 [[ 0.99971279 -0.00346371 -0.02371386 0.43647095] [ 0.00328671 0.99996648 -0.0074988 -0.18757609] [ 0.02373904 0.00741871 0.99969066 -0.17637178] [ 0. 0. 0. 1. ]] SLAMing on 31.41463044 meters Centerline goodness : 0.127306 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.18 [[ 0.99970794 -0.00359233 -0.02389852 0.43725207] [ 0.0034083 0.99996426 -0.00773681 -0.18673423] [ 0.02392546 0.0076531 0.99968445 -0.17690241] [ 0. 0. 0. 1. ]] SLAMing on 31.444630439999997 meters Centerline goodness : 0.127306 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.18 [[ 0.99970794 -0.00359233 -0.02389852 0.43725207] [ 0.0034083 0.99996426 -0.00773681 -0.18673423] [ 0.02392546 0.0076531 0.99968445 -0.17690241] [ 0. 0. 0. 1. ]] SLAMing on 31.47463044 meters Centerline goodness : 0.130284 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.18 [[ 0.99960112 -0.00583154 -0.02763329 0.39564772] [ 0.00559447 0.99994695 -0.0086487 -0.18878243] [ 0.02768226 0.00849066 0.99958071 -0.17811245] [ 0. 0. 0. 1. ]] SLAMing on 31.50463044 meters Centerline goodness : 0.127107 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.18 [[ 0.99959234 -0.0058483 -0.02794545 0.39661605] [ 0.00561124 0.99994767 -0.00855401 -0.18934044] [ 0.02799401 0.00839371 0.99957285 -0.17847233] [ 0. 0. 0. 1. ]] SLAMing on 31.534630439999997 meters Centerline goodness : 0.095795 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.18 [[ 0.99959017 -0.00581447 -0.02803021 0.3969195 ] [ 0.00558192 0.99994941 -0.00836778 -0.19026504] [ 0.02807745 0.00820789 0.99957205 -0.17863848] [ 0. 0. 0. 1. ]] SLAMing on 31.56463044 meters Centerline goodness : 0.124603 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.18 [[ 0.99961874 -0.0059944 -0.02695247 0.39427527] [ 0.00577327 0.9999491 -0.00827475 -0.19174701] [ 0.0270007 0.00811599 0.99960247 -0.17831143] [ 0. 0. 0. 1. ]] SLAMing on 31.59463044 meters Centerline goodness : 0.141514 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.18 [[ 0.99962937 -0.00593765 -0.02656815 0.39306221] [ 0.00572284 0.99995038 -0.00815393 -0.19219399] [ 0.02661525 0.00799887 0.99961375 -0.17786688] [ 0. 0. 0. 1. ]] SLAMing on 31.624630439999997 meters Centerline goodness : 0.143661 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.18 [[ 0.99962956 -0.00586684 -0.02657665 0.39307126] [ 0.00565249 0.99995095 -0.00813327 -0.19184631] [ 0.02662307 0.00798004 0.99961369 -0.17785508] [ 0. 0. 0. 1. ]] SLAMing on 31.65463044 meters Centerline goodness : 0.100803 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.18 [[ 0.99961927 -0.00584441 -0.02696599 0.39445109] [ 0.00562425 0.99995029 -0.00823271 -0.19102574] [ 0.02701276 0.00807791 0.99960245 -0.17855554] [ 0. 0. 0. 1. ]] SLAMing on 31.68463044 meters Centerline goodness : 0.134093 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.18 [[ 0.99953324 0.0015407 -0.03051118 0.3765053 ] [-0.00183533 0.99995194 -0.00963084 -0.19193579] [ 0.03049488 0.00968234 0.99948803 -0.18056084] [ 0. 0. 0. 1. ]] SLAMing on 31.714630439999997 meters Centerline goodness : 0.124840 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.18 [[ 0.99953131 0.00141113 -0.03058043 0.376978 ] [-0.00171743 0.9999486 -0.0099923 -0.19025232] [ 0.03056476 0.01004014 0.99948236 -0.18105402] [ 0. 0. 0. 1. ]] SLAMing on 31.744630439999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 31.77463044 meters Centerline goodness : 0.125476 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.18 [[ 0.99964163 -0.00202418 -0.02669291 0.40025995] [ 0.0018379 0.9999738 -0.00700117 -0.18432545] [ 0.02670638 0.00694961 0.99961916 -0.18154112] [ 0. 0. 0. 1. ]] SLAMing on 31.804630439999997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 31.834630439999998 meters Centerline goodness : 0.128853 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.18 [[ 0.99965267 -0.00228205 -0.02625528 0.39881774] [ 0.00208129 0.99996841 -0.00767128 -0.18102064] [ 0.02627196 0.00761397 0.99962584 -0.18103133] [ 0. 0. 0. 1. ]] SLAMing on 31.86463044 meters Centerline goodness : 0.143322 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.18 [[ 0.99962992 -0.00260259 -0.02707844 0.40166671] [ 0.00237512 0.99996165 -0.0084294 -0.17721879] [ 0.02709934 0.00836196 0.99959777 -0.18237286] [ 0. 0. 0. 1. ]] SLAMing on 31.89463044 meters Centerline goodness : 0.148197 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.18, Z:-0.18 [[ 0.99952972 -0.00308625 -0.03050935 0.35953649] [ 0.00284123 0.99996339 -0.00807102 -0.17698678] [ 0.03053315 0.00798054 0.99950189 -0.18411665] [ 0. 0. 0. 1. ]] SLAMing on 31.924630439999998 meters Centerline goodness : 0.107338 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.18, Z:-0.18 [[ 0.99953254 -0.0031589 -0.0304091 0.35962758] [ 0.00290727 0.9999612 -0.00831553 -0.17550233] [ 0.03043418 0.00822324 0.99950295 -0.1846243 ] [ 0. 0. 0. 1. ]] SLAMing on 31.95463044 meters Centerline goodness : 0.100186 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.18 [[ 0.99954841 -0.00345933 -0.02984962 0.35805751] [ 0.00319816 0.99995623 -0.00879282 -0.17360751] [ 0.02987873 0.00869339 0.99951573 -0.18425624] [ 0. 0. 0. 1. ]] SLAMing on 31.98463044 meters Centerline goodness : 0.106025 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.18 [[ 0.99955129 -0.0035307 -0.02974488 0.35759139] [ 0.00326749 0.99995512 -0.00889318 -0.17313001] [ 0.02977494 0.008792 0.99951796 -0.18393998] [ 0. 0. 0. 1. ]] SLAMing on 32.01463044 meters Centerline goodness : 0.122699 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.18 [[ 0.99954903 -0.00359783 -0.02981255 0.35768878] [ 0.00333062 0.99995388 -0.00900784 -0.17256696] [ 0.02984359 0.00890448 0.99951492 -0.18388346] [ 0. 0. 0. 1. ]] SLAMing on 32.04463044 meters Centerline goodness : 0.160391 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.18 [[ 0.99954404 -0.00365336 -0.02997258 0.35830154] [ 0.00338014 0.99995232 -0.00916127 -0.17173193] [ 0.03000462 0.00905578 0.99950874 -0.18424298] [ 0. 0. 0. 1. ]] SLAMing on 32.07463044 meters Centerline goodness : 0.166191 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.18 [[ 0.99952796 0.00414906 -0.03044065 0.37685609] [-0.00445379 0.99994058 -0.00994944 -0.17524436] [ 0.03039756 0.01008032 0.99948706 -0.18321624] [ 0. 0. 0. 1. ]] SLAMing on 32.10463044 meters Centerline goodness : 0.100558 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99953734 0.00380401 -0.03017668 0.37636985] [-0.00412494 0.99993552 -0.01057978 -0.17276135] [ 0.03013449 0.01069937 0.99948859 -0.18345618] [ 0. 0. 0. 1. ]] SLAMing on 32.134630439999995 meters Centerline goodness : 0.102814 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99953994 0.00361215 -0.03011408 0.37608527] [-0.00394566 0.99993146 -0.01102307 -0.17075143] [ 0.0300722 0.01113682 0.99948568 -0.18328112] [ 0. 0. 0. 1. ]] SLAMing on 32.164630439999996 meters Centerline goodness : 0.101005 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99953912 0.00353872 -0.03014999 0.37632299] [-0.00388195 0.99992824 -0.0113332 -0.16886783] [ 0.03010772 0.01144502 0.99948113 -0.18353812] [ 0. 0. 0. 1. ]] SLAMing on 32.19463044 meters Centerline goodness : 0.104993 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99953173 0.00346575 -0.03040236 0.3774042 ] [-0.00382303 0.99992423 -0.01170125 -0.16657781] [ 0.0303595 0.011812 0.99946925 -0.18428767] [ 0. 0. 0. 1. ]] SLAMing on 32.22463044 meters Centerline goodness : 0.105982 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99951564 0.00313696 -0.0309621 0.37988511] [-0.00352618 0.99991535 -0.01252453 -0.1627472 ] [ 0.03092019 0.01262764 0.99944209 -0.18592821] [ 0. 0. 0. 1. ]] SLAMing on 32.25463044 meters Centerline goodness : 0.109435 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99952128 0.00298508 -0.03079456 0.37930919] [-0.00337885 0.9999131 -0.01274298 -0.16218307] [ 0.03075385 0.01284093 0.9994445 -0.18569463] [ 0. 0. 0. 1. ]] SLAMing on 32.28463044 meters Centerline goodness : 0.111794 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99952654 0.00292064 -0.03062944 0.37848301] [-0.00331308 0.99991298 -0.01276964 -0.1623347 ] [ 0.03058948 0.01286507 0.99944924 -0.1850419 ] [ 0. 0. 0. 1. ]] SLAMing on 32.31463044 meters Centerline goodness : 0.095610 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.18 [[ 0.99952491 0.00298498 -0.03067646 0.3783636 ] [-0.003372 0.99991528 -0.01257241 -0.16313828] [ 0.03063633 0.01266988 0.99945029 -0.18473791] [ 0. 0. 0. 1. ]] SLAMing on 32.344630439999996 meters Centerline goodness : 0.096400 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99950922 0.00307138 -0.03117521 0.38027884] [-0.00345732 0.99991796 -0.01233336 -0.16407085] [ 0.03113477 0.01243509 0.99943784 -0.18578369] [ 0. 0. 0. 1. ]] SLAMing on 32.37463044 meters Centerline goodness : 0.155960 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99950268 0.00297157 -0.03139381 0.38141276] [-0.00336519 0.9999163 -0.01249276 -0.16372149] [ 0.03135406 0.0125922 0.99942902 -0.1866683 ] [ 0. 0. 0. 1. ]] SLAMing on 32.40463044 meters Centerline goodness : 0.098362 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99950204 0.00283489 -0.03142677 0.38182804] [-0.00323794 0.99991307 -0.01278142 -0.16274687] [ 0.0313878 0.01287682 0.99942433 -0.18717722] [ 0. 0. 0. 1. ]] SLAMing on 32.43463044 meters Centerline goodness : 0.098768 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99950226 0.0027349 -0.0314285 0.38191965] [-0.00314861 0.99990895 -0.01312185 -0.16117426] [ 0.03138975 0.01321428 0.99941986 -0.1873142 ] [ 0. 0. 0. 1. ]] SLAMing on 32.46463044 meters Centerline goodness : 0.100112 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.99947751 0.0066984 -0.0316201 0.38250504] [-0.00700666 0.99992891 -0.00964821 -0.15844683] [ 0.03155322 0.00986472 0.99945339 -0.1874457 ] [ 0. 0. 0. 1. ]] SLAMing on 32.49463044 meters Centerline goodness : 0.098793 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.19 [[ 0.9994764 0.00673261 -0.0316479 0.38277792] [-0.0070502 0.9999258 -0.00993419 -0.15617386] [ 0.03157867 0.01015211 0.99944971 -0.18775433] [ 0. 0. 0. 1. ]] SLAMing on 32.524630439999996 meters Centerline goodness : 0.101987 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.19 [[ 0.99947357 0.00661919 -0.031761 0.3833103 ] [-0.0069512 0.99992223 -0.01035433 -0.15394737] [ 0.03168999 0.01056966 0.99944186 -0.1881691 ] [ 0. 0. 0. 1. ]] SLAMing on 32.55463044 meters Centerline goodness : 0.105446 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.19 [[ 0.99947102 0.0065198 -0.03186164 0.38381082] [-0.00686375 0.99991922 -0.0106979 -0.15217137] [ 0.03178932 0.01091094 0.99943504 -0.18859892] [ 0. 0. 0. 1. ]] SLAMing on 32.58463044 meters Centerline goodness : 0.108291 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.19 [[ 0.99947244 0.00647443 -0.03182657 0.38400155] [-0.00682603 0.99991674 -0.01095117 -0.15063336] [ 0.03175301 0.01116264 0.99943341 -0.1890538 ] [ 0. 0. 0. 1. ]] SLAMing on 32.61463044 meters Centerline goodness : 0.113694 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.19 [[ 9.99494288e-01 -2.40645568e-04 -3.17979733e-02 4.02054429e-01] [-6.29040078e-05 9.99954445e-01 -9.54484736e-03 -1.42328853e-01] [ 3.17988217e-02 9.54202063e-03 9.99448740e-01 -1.87654571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64463044 meters Centerline goodness : 0.109919 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.19 [[ 9.99503058e-01 -3.30037502e-04 -3.15202754e-02 4.01435824e-01] [ 2.48400892e-05 9.99953123e-01 -9.68247524e-03 -1.41901843e-01] [ 3.15219934e-02 9.67688065e-03 9.99456213e-01 -1.87720889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67463044 meters Centerline goodness : 0.127490 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.19 [[ 9.99503770e-01 -5.00931057e-04 -3.14954516e-02 4.01299967e-01] [ 1.88991369e-04 9.99950912e-01 -9.90647430e-03 -1.41369522e-01] [ 3.14988680e-02 9.89560603e-03 9.99454801e-01 -1.87617606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704630439999995 meters Centerline goodness : 0.161072 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.14, Z:-0.19 [[ 0.99937884 -0.00139092 -0.03521349 0.35938665] [ 0.00103361 0.99994782 -0.01016322 -0.14054053] [ 0.03522579 0.01012051 0.99932813 -0.18895294] [ 0. 0. 0. 1. ]] SLAMing on 32.73463044 meters Centerline goodness : 0.209645 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.14, Z:-0.19 [[ 0.99936666 -0.00144321 -0.03555556 0.36059359] [ 0.00107586 0.99994587 -0.01034852 -0.13948989] [ 0.03556857 0.01030371 0.99931412 -0.18957018] [ 0. 0. 0. 1. ]] SLAMing on 32.76463044 meters Centerline goodness : 0.117514 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.14, Z:-0.19 [[ 0.9993537 -0.00152319 -0.03591479 0.36189278] [ 0.00114419 0.99994347 -0.0105711 -0.13831234] [ 0.03592886 0.01052318 0.99929894 -0.19029425] [ 0. 0. 0. 1. ]] SLAMing on 32.79463044 meters Centerline goodness : 0.098391 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.14, Z:-0.19 [[ 0.99934687 -0.00159521 -0.03610115 0.36296037] [ 0.00120644 0.99994108 -0.01078836 -0.1371394 ] [ 0.03611623 0.01073776 0.99928991 -0.19124983] [ 0. 0. 0. 1. ]] SLAMing on 32.82463044 meters Centerline goodness : 0.117584 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.14, Z:-0.19 [[ 0.99935469 -0.00159309 -0.03588415 0.36263037] [ 0.0012016 0.99993956 -0.01092878 -0.1359487 ] [ 0.03589939 0.01087861 0.9992962 -0.19155384] [ 0. 0. 0. 1. ]] SLAMing on 32.85463044 meters Centerline goodness : 0.107655 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.14, Z:-0.19 [[ 0.99937047 -0.00159851 -0.03544165 0.3614148 ] [ 0.00120811 0.99993839 -0.01103404 -0.13503518] [ 0.03545711 0.01098428 0.99931083 -0.19133263] [ 0. 0. 0. 1. ]] SLAMing on 32.884630439999995 meters Centerline goodness : 0.108524 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:-0.19 [[ 0.9993815 -0.00978987 -0.03377534 0.38066563] [ 0.00944314 0.99990122 -0.01041009 -0.13024166] [ 0.03387392 0.01008471 0.99937523 -0.18954675] [ 0. 0. 0. 1. ]] SLAMing on 32.914630439999996 meters Centerline goodness : 0.108397 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.14, Z:-0.19 [[ 0.99937761 -0.00241303 -0.03519346 0.36279388] [ 0.00200027 0.99992886 -0.01175878 -0.13599553] [ 0.03521933 0.01168106 0.99931134 -0.1912849 ] [ 0. 0. 0. 1. ]] SLAMing on 32.94463044 meters Centerline goodness : 0.111159 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.14, Z:-0.19 [[ 0.99934253 -0.00272346 -0.03615384 0.3654828 ] [ 0.00229723 0.99992744 -0.01182549 -0.13692588] [ 0.03618343 0.01173467 0.99927627 -0.19192517] [ 0. 0. 0. 1. ]] SLAMing on 32.97463044 meters Centerline goodness : 0.109996 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.14, Z:-0.19 [[ 0.99931704 -0.0028933 -0.03683869 0.36752069] [ 0.00246466 0.9999288 -0.01167576 -0.13843301] [ 0.03686985 0.01157699 0.99925301 -0.19256398] [ 0. 0. 0. 1. ]] SLAMing on 33.00463044 meters Centerline goodness : 0.115800 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.14, Z:-0.19 [[ 0.99932745 -0.0033724 -0.03651396 0.36747174] [ 0.00296602 0.99993313 -0.01117793 -0.1428731 ] [ 0.03654921 0.01106212 0.99927063 -0.19377566] [ 0. 0. 0. 1. ]] SLAMing on 33.03463044 meters Centerline goodness : 0.107549 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.14, Z:-0.19 [[ 0.99933268 -0.00343658 -0.0363647 0.36723312] [ 0.00304147 0.9999358 -0.01091493 -0.14481275] [ 0.03639988 0.01079705 0.99927898 -0.19392833] [ 0. 0. 0. 1. ]] SLAMing on 33.06463044 meters Centerline goodness : 0.102670 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99932977 -0.00355824 -0.03643271 0.3672423 ] [ 0.0031695 0.99993749 -0.0107224 -0.14651573] [ 0.03646858 0.01059974 0.99927858 -0.19380991] [ 0. 0. 0. 1. ]] SLAMing on 33.094630439999996 meters Centerline goodness : 0.121763 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99932166 -0.00357829 -0.03665274 0.36764248] [ 0.00319022 0.9999383 -0.01064073 -0.1473878 ] [ 0.03668855 0.01051658 0.99927141 -0.19360026] [ 0. 0. 0. 1. ]] SLAMing on 33.12463044 meters Centerline goodness : 0.187515 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99931445 -0.0034401 -0.03686183 0.36808997] [ 0.0030578 0.99994101 -0.01042244 -0.1481221 ] [ 0.03689551 0.01030258 0.99926602 -0.19351595] [ 0. 0. 0. 1. ]] SLAMing on 33.15463044 meters Centerline goodness : 0.161800 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99931004 -0.00324925 -0.03699833 0.36852474] [ 0.00287622 0.99994454 -0.01013126 -0.1489974 ] [ 0.0370292 0.01001785 0.99926397 -0.19368872] [ 0. 0. 0. 1. ]] SLAMing on 33.18463044 meters Centerline goodness : 0.106236 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99930993 -0.00310946 -0.03701334 0.36877827] [ 0.00274813 0.99994811 -0.00980913 -0.15066397] [ 0.03704192 0.00970065 0.99926663 -0.19389338] [ 0. 0. 0. 1. ]] SLAMing on 33.21463044 meters Centerline goodness : 0.123477 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99931279 -0.00315709 -0.03693207 0.36841808] [ 0.00279951 0.99994875 -0.00972985 -0.15189591] [ 0.0369609 0.00961978 0.99927041 -0.19363122] [ 0. 0. 0. 1. ]] SLAMing on 33.24463044 meters Centerline goodness : 0.113048 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99931221 -0.00320476 -0.03694371 0.36843389] [ 0.0028468 0.99994853 -0.00973779 -0.15237178] [ 0.03697301 0.00962592 0.9992699 -0.19354594] [ 0. 0. 0. 1. ]] SLAMing on 33.274630439999996 meters Centerline goodness : 0.107720 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.15, Z:-0.19 [[ 0.99930372 -0.0030939 -0.03718208 0.36911133] [ 0.00273814 0.99995003 -0.00961501 -0.15276764] [ 0.03720997 0.0095065 0.99926225 -0.1936268 ] [ 0. 0. 0. 1. ]] SLAMing on 33.30463044 meters Centerline goodness : 0.093144 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.20 [[ 0.99925162 -0.00197979 -0.03863006 0.37396616] [ 0.00165308 0.99996261 -0.00848747 -0.1553435 ] [ 0.03864542 0.00841726 0.99921753 -0.19530223] [ 0. 0. 0. 1. ]] SLAMing on 33.33463044 meters Centerline goodness : 0.093144 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.20 [[ 0.99925162 -0.00197979 -0.03863006 0.37396616] [ 0.00165308 0.99996261 -0.00848747 -0.1553435 ] [ 0.03864542 0.00841726 0.99921753 -0.19530223] [ 0. 0. 0. 1. ]] SLAMing on 33.36463044 meters Centerline goodness : 0.095033 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.20 [[ 0.99923722 -0.00182672 -0.03900828 0.37529961] [ 0.00150701 0.99996505 -0.00822388 -0.15652727] [ 0.03902193 0.00815882 0.99920505 -0.19583152] [ 0. 0. 0. 1. ]] SLAMing on 33.39463044 meters Centerline goodness : 0.131270 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.20 [[ 0.99922434 -0.00172352 -0.03934152 0.37622437] [ 0.00140975 0.99996699 -0.00800192 -0.15776449] [ 0.03935401 0.00794025 0.99919378 -0.1959509 ] [ 0. 0. 0. 1. ]] SLAMing on 33.42463044 meters Centerline goodness : 0.130617 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.20 [[ 0.99921371 -0.00159787 -0.03961567 0.37686973] [ 0.00129387 0.99996953 -0.00769821 -0.15934348] [ 0.03962676 0.0076409 0.99918534 -0.19593542] [ 0. 0. 0. 1. ]] SLAMing on 33.454630439999995 meters Centerline goodness : 0.099548 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.20 [[ 0.99921189 -0.00141356 -0.03966861 0.37682308] [ 0.00112208 0.99997222 -0.00736923 -0.16071793] [ 0.03967793 0.00731891 0.99918572 -0.19566769] [ 0. 0. 0. 1. ]] SLAMing on 33.48463044 meters Centerline goodness : 0.171449 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.20 [[ 9.99226026e-01 -8.14734893e-04 -3.93279172e-02 3.75807044e-01] [ 5.47204276e-04 9.99976643e-01 -6.81284765e-03 -1.61660904e-01] [ 3.93325493e-02 6.78605428e-03 9.99203133e-01 -1.95354196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51463044 meters Centerline goodness : 0.138050 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.20 [[ 9.99107889e-01 -3.11986924e-04 -4.22294793e-02 3.32093558e-01] [ 5.77656076e-05 9.99981871e-01 -6.02108286e-03 -1.62881975e-01] [ 4.22305922e-02 6.01327197e-03 9.99089795e-01 -1.96412828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54463044 meters Centerline goodness : 0.109351 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.20 [[ 9.99097023e-01 -2.55489101e-04 -4.24861539e-02 3.33133361e-01] [-4.25976140e-06 9.99981312e-01 -6.11352683e-03 -1.62240937e-01] [ 4.24869219e-02 6.10818744e-03 9.99078351e-01 -1.97096800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57463044 meters Centerline goodness : 0.111598 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.20 [[ 9.99084585e-01 -1.65302763e-04 -4.27780909e-02 3.34189739e-01] [-9.75899229e-05 9.99981125e-01 -6.14333705e-03 -1.61792956e-01] [ 4.27782990e-02 6.14188806e-03 9.99065711e-01 -1.97679630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60463044 meters Centerline goodness : 0.114449 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.20 [[ 9.99079996e-01 1.57358910e-04 -4.28851510e-02 3.34188197e-01] [-4.05827566e-04 9.99983183e-01 -5.78517118e-03 -1.62355118e-01] [ 4.28835195e-02 5.79725277e-03 9.99063259e-01 -1.97347071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634630439999995 meters Centerline goodness : 0.120370 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.20 [[ 9.99080933e-01 2.70617556e-04 -4.28627678e-02 3.33847178e-01] [-5.08133004e-04 9.99984578e-01 -5.53050178e-03 -1.63444166e-01] [ 4.28606101e-02 5.54719887e-03 9.99065662e-01 -1.96944665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664630439999996 meters Centerline goodness : 0.118075 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.20 [[ 9.99079558e-01 2.78468295e-04 -4.28947394e-02 3.34000768e-01] [-5.08203024e-04 9.99985586e-01 -5.34496712e-03 -1.64726857e-01] [ 4.28926327e-02 5.36184662e-03 9.99065299e-01 -1.97026047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69463044 meters Centerline goodness : 0.119610 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.20 [[ 9.99080612e-01 2.37969753e-04 -4.28704357e-02 3.34018074e-01] [-4.61345649e-04 9.99986370e-01 -5.20066987e-03 -1.66021063e-01] [ 4.28686138e-02 5.21566653e-03 9.99067104e-01 -1.97112017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72463044 meters Centerline goodness : 0.123263 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.20 [[ 9.99084967e-01 2.12113900e-04 -4.27689610e-02 3.33647107e-01] [-4.29347670e-04 9.99987055e-01 -5.07011727e-03 -1.67131165e-01] [ 4.27673319e-02 5.08384070e-03 9.99072124e-01 -1.96927414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75463044 meters Centerline goodness : 0.117493 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.20 [[ 9.99090737e-01 2.68852648e-04 -4.26336459e-02 3.33297186e-01] [-4.74724601e-04 9.99988277e-01 -4.81881040e-03 -1.68507478e-01] [ 4.26318505e-02 4.83466807e-03 9.99079152e-01 -1.96860816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78463044 meters Centerline goodness : 0.119379 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.20 [[ 9.99078928e-01 4.20380584e-04 -4.29082568e-02 3.34111124e-01] [-5.99796401e-04 9.99991131e-01 -4.16859372e-03 -1.71715590e-01] [ 4.29061238e-02 4.19049037e-03 9.99070320e-01 -1.97078130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81463044 meters Centerline goodness : 0.118559 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:-0.19 [[ 0.99907771 -0.00695485 -0.04237164 0.35349103] [ 0.00684922 0.99997307 -0.00263751 -0.16943664] [ 0.04238884 0.00234486 0.99909844 -0.194889 ] [ 0. 0. 0. 1. ]] SLAMing on 33.844630439999996 meters Centerline goodness : 0.116200 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:-0.19 [[ 0.99908264 -0.00682214 -0.04227696 0.35308129] [ 0.00673096 0.9999747 -0.00229871 -0.17100323] [ 0.04229157 0.00201204 0.99910329 -0.19462998] [ 0. 0. 0. 1. ]] SLAMing on 33.87463044 meters Centerline goodness : 0.120859 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.18, Z:-0.20 [[ 0.99924629 -0.00173354 -0.03877939 0.33447413] [ 0.00159409 0.99999215 -0.00362661 -0.17977659] [ 0.03878537 0.00356205 0.99924122 -0.19683465] [ 0. 0. 0. 1. ]] SLAMing on 33.90463044 meters Centerline goodness : 0.119756 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.19, Z:-0.20 [[ 0.99926974 0.00613052 -0.03771466 0.35180477] [-0.00630533 0.99996992 -0.00451784 -0.18558071] [ 0.03768582 0.00475235 0.99927834 -0.19510175] [ 0. 0. 0. 1. ]] SLAMing on 33.93463044 meters Centerline goodness : 0.122236 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.19 [[ 0.99929545 -0.00120152 -0.037512 0.37026227] [ 0.00108664 0.99999466 -0.00308295 -0.18198592] [ 0.0375155 0.00304002 0.99929142 -0.19255196] [ 0. 0. 0. 1. ]] SLAMing on 33.96463044 meters Centerline goodness : 0.162192 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.19 [[ 0.99928661 -0.00114948 -0.03774852 0.37111663] [ 0.00104109 0.99999528 -0.00289083 -0.18276746] [ 0.03775167 0.00284946 0.99928309 -0.19301423] [ 0. 0. 0. 1. ]] SLAMing on 33.99463044 meters Centerline goodness : 0.126572 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.19 [[ 0.99926401 -0.00110702 -0.03834325 0.37311267] [ 0.00100471 0.99999588 -0.00268759 -0.18370955] [ 0.03834607 0.00264709 0.99926101 -0.1938758 ] [ 0. 0. 0. 1. ]] SLAMing on 34.024630439999996 meters Centerline goodness : 0.122344 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.19 [[ 0.99924556 -0.00122055 -0.03881771 0.37450974] [ 0.00112014 0.99999597 -0.00260825 -0.18465417] [ 0.03882074 0.0025628 0.9992429 -0.19425319] [ 0. 0. 0. 1. ]] SLAMing on 34.05463044 meters Centerline goodness : 0.122570 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.19 [[ 0.99928794 -0.0038595 -0.03753277 0.36950195] [ 0.00370871 0.99998477 -0.00408635 -0.19062613] [ 0.03754797 0.00394425 0.99928704 -0.19269808] [ 0. 0. 0. 1. ]] SLAMing on 34.08463044 meters Centerline goodness : 0.144953 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.19 [[ 0.99931286 -0.00411528 -0.03683566 0.36754008] [ 0.00397732 0.9999848 -0.00381773 -0.19250119] [ 0.03685082 0.0036686 0.99931404 -0.19260163] [ 0. 0. 0. 1. ]] SLAMing on 34.11463044 meters Centerline goodness : 0.123481 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.19 [[ 0.99930203 -0.00420715 -0.03711811 0.36847578] [ 0.00407883 0.99998544 -0.00353223 -0.1946933 ] [ 0.03713243 0.00337836 0.99930464 -0.19298939] [ 0. 0. 0. 1. ]] SLAMing on 34.14463044 meters Centerline goodness : 0.138842 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.19 [[ 0.99927382 -0.00436913 -0.03785154 0.37060595] [ 0.00424708 0.99998552 -0.00330422 -0.19695488] [ 0.03786543 0.00314106 0.99927791 -0.19355464] [ 0. 0. 0. 1. ]] SLAMing on 34.17463044 meters Centerline goodness : 0.120180 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.19 [[ 0.99926144 -0.00432862 -0.03818168 0.37169101] [ 0.00421901 0.99998675 -0.00295089 -0.19898395] [ 0.03819394 0.00278762 0.99926646 -0.19402582] [ 0. 0. 0. 1. ]] SLAMing on 34.204630439999995 meters Centerline goodness : 0.106410 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.19 [[ 0.99928874 -0.00438567 -0.03745358 0.36932318] [ 0.00428858 0.99998723 -0.00267212 -0.20098525] [ 0.03746482 0.00250959 0.9992948 -0.19302419] [ 0. 0. 0. 1. ]] SLAMing on 34.23463044 meters Centerline goodness : 0.112342 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.19 [[ 0.99935825 0.00368933 -0.03562964 0.38687446] [-0.00383883 0.99998411 -0.00412865 -0.20478653] [ 0.03561385 0.00426277 0.99935653 -0.19078713] [ 0. 0. 0. 1. ]] SLAMing on 34.26463044 meters Centerline goodness : 0.154469 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.19 [[ 0.99935859 0.00362607 -0.03562678 0.38652484] [-0.00378222 0.99998353 -0.00431648 -0.20381823] [ 0.03561055 0.00444846 0.99935584 -0.1902678 ] [ 0. 0. 0. 1. ]] SLAMing on 34.29463044 meters Centerline goodness : 0.180725 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.19 [[ 0.99934953 0.00359323 -0.03588324 0.38725821] [-0.00375819 0.99998267 -0.00453087 -0.20248897] [ 0.03586634 0.00466278 0.99934572 -0.19042426] [ 0. 0. 0. 1. ]] SLAMing on 34.32463044 meters Centerline goodness : 0.120579 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.19 [[ 0.99932727 0.00353441 -0.03650371 0.3894304 ] [-0.00371352 0.99998139 -0.00483984 -0.20069076] [ 0.03648592 0.00497214 0.9993218 -0.19139915] [ 0. 0. 0. 1. ]] SLAMing on 34.35463044 meters Centerline goodness : 0.125295 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.19 [[ 0.9993008 0.00336221 -0.03723708 0.39245055] [-0.00357112 0.99997825 -0.00554519 -0.1968537 ] [ 0.03721762 0.00567429 0.99929107 -0.19327819] [ 0. 0. 0. 1. ]] SLAMing on 34.384630439999995 meters Centerline goodness : 0.164651 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.19 [[ 0.99929771 -0.00363974 -0.03729388 0.4094251 ] [ 0.0034734 0.99998373 -0.00452396 -0.19022275] [ 0.03730974 0.00439124 0.9992941 -0.19012196] [ 0. 0. 0. 1. ]] SLAMing on 34.414630439999996 meters Centerline goodness : 0.110085 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.19 [[ 0.99931498 -0.00363465 -0.03682875 0.40762737] [ 0.0034617 0.99998269 -0.00475872 -0.18846549] [ 0.03684541 0.00462797 0.99931026 -0.18909211] [ 0. 0. 0. 1. ]] SLAMing on 34.44463044 meters Centerline goodness : 0.176146 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.19 [[ 0.99937627 0.00485739 -0.03497822 0.4267656 ] [-0.00506325 0.99997036 -0.00579939 -0.18893945] [ 0.03494902 0.00597287 0.99937125 -0.18736501] [ 0. 0. 0. 1. ]] SLAMing on 34.47463044 meters Centerline goodness : 0.107740 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.19 [[ 0.99935202 0.00529773 -0.03560148 0.42855525] [-0.00551334 0.99996704 -0.00596061 -0.18528883] [ 0.03556873 0.00615303 0.99934829 -0.18773 ] [ 0. 0. 0. 1. ]] SLAMing on 34.50463044 meters Centerline goodness : 0.110102 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.19 [[ 0.99933659 0.00529445 -0.0360327 0.43001874] [-0.00552339 0.99996517 -0.00625712 -0.18366185] [ 0.03599832 0.006452 0.99933102 -0.18841524] [ 0. 0. 0. 1. ]] SLAMing on 34.53463044 meters Centerline goodness : 0.114366 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.19 [[ 0.99932483 0.0052698 -0.03636074 0.43093647] [-0.00551306 0.99996307 -0.0065931 -0.18186502] [ 0.03632466 0.00678911 0.99931698 -0.18859023] [ 0. 0. 0. 1. ]] SLAMing on 34.56463044 meters Centerline goodness : 0.115103 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.19 [[ 0.99932588 0.00535305 -0.0363197 0.43070965] [-0.00560291 0.99996131 -0.00678125 -0.18043716] [ 0.03628199 0.00698017 0.99931721 -0.1883507 ] [ 0. 0. 0. 1. ]] SLAMing on 34.594630439999996 meters Centerline goodness : 0.122902 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.19 [[ 0.99932308 0.00581227 -0.03632639 0.43016042] [-0.00605968 0.99995916 -0.0067044 -0.17916606] [ 0.03628594 0.00691998 0.99931749 -0.18750526] [ 0. 0. 0. 1. ]] SLAMing on 34.62463044 meters Centerline goodness : 0.112466 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.19 [[ 0.99930894 0.0059034 -0.03669871 0.4315621 ] [-0.00615459 0.99995838 -0.00673556 -0.17862153] [ 0.03665742 0.00695677 0.99930368 -0.188206 ] [ 0. 0. 0. 1. ]] SLAMing on 34.65463044 meters Centerline goodness : 0.120033 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.19 [[ 0.99928784 0.00601778 -0.03725054 0.43403752] [-0.00626995 0.99995819 -0.0066564 -0.1787565 ] [ 0.03720892 0.00688522 0.99928379 -0.18979334] [ 0. 0. 0. 1. ]] SLAMing on 34.68463044 meters Centerline goodness : 0.117330 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.19 [[ 0.9992755 0.00605934 -0.03757338 0.43573949] [-0.00631159 0.99995831 -0.00659874 -0.17906823] [ 0.03753183 0.0068311 0.99927208 -0.19117466] [ 0. 0. 0. 1. ]] SLAMing on 34.71463044 meters Centerline goodness : 0.110872 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.19 [[ 0.99927024 0.00611533 -0.03770408 0.43642387] [-0.00636576 0.99995845 -0.00652544 -0.17930628] [ 0.03766261 0.00676069 0.99926764 -0.19173986] [ 0. 0. 0. 1. ]] SLAMing on 34.74463044 meters Centerline goodness : 0.112018 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.19 [[ 0.99926802 0.00629166 -0.03773372 0.43640238] [-0.00653315 0.99995894 -0.00627988 -0.18015983] [ 0.03769266 0.0065218 0.9992681 -0.19154983] [ 0. 0. 0. 1. ]] SLAMing on 34.774630439999996 meters Centerline goodness : 0.145888 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.19 [[ 0.99924405 0.00651944 -0.03832518 0.43742091] [-0.0067525 0.99995947 -0.00595479 -0.18178766] [ 0.03828481 0.00620908 0.99924758 -0.19076235] [ 0. 0. 0. 1. ]] SLAMing on 34.80463044 meters Centerline goodness : 0.108286 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.19 [[ 0.99923161 0.00658637 -0.038637 0.43803233] [-0.00681699 0.99995971 -0.0058402 -0.18261876] [ 0.03859697 0.0060991 0.99923625 -0.19044685] [ 0. 0. 0. 1. ]] SLAMing on 34.83463044 meters Centerline goodness : 0.106578 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.19 [[ 0.99922366 0.00664056 -0.03883281 0.43834482] [-0.00686813 0.99996 -0.00572978 -0.18336021] [ 0.0387932 0.00599204 0.99922929 -0.19016522] [ 0. 0. 0. 1. ]] SLAMing on 34.86463044 meters Centerline goodness : 0.111920 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.19 [[ 0.99922315 0.00676438 -0.03882446 0.43839277] [-0.00698382 0.99996038 -0.00551915 -0.18423999] [ 0.03878559 0.005786 0.9992308 -0.19024094] [ 0. 0. 0. 1. ]] SLAMing on 34.89463044 meters Centerline goodness : 0.171626 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.18, Z:-0.19 [[ 0.99928811 0.0010841 -0.03771077 0.46018427] [-0.00117878 0.99999621 -0.0024884 -0.18276947] [ 0.03770793 0.00253108 0.9992856 -0.19040108] [ 0. 0. 0. 1. ]] SLAMing on 34.92463044 meters Centerline goodness : 0.242472 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.18, Z:-0.19 [[ 0.99930029 0.00128598 -0.03738011 0.45900781] [-0.00136456 0.99999691 -0.00207682 -0.1844951 ] [ 0.03737732 0.00212638 0.99929896 -0.18980345] [ 0. 0. 0. 1. ]] SLAMing on 34.954630439999995 meters Centerline goodness : 0.109111 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.19 [[ 0.99931391 0.00141063 -0.03700976 0.45757882] [-0.00147166 0.9999976 -0.00162172 -0.18690439] [ 0.03700739 0.00167507 0.99931359 -0.1889593 ] [ 0. 0. 0. 1. ]] SLAMing on 34.98463044 meters Centerline goodness : 0.119846 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.19 [[ 0.99932094 0.00141769 -0.03681919 0.45661515] [-0.00146307 0.9999982 -0.0012058 -0.18982933] [ 0.03681741 0.00125885 0.99932122 -0.18817055] [ 0. 0. 0. 1. ]] SLAMing on 35.01463044 meters Centerline goodness : 0.102541 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99354378e-01 -4.77729992e-04 -3.59248989e-02 4.53036752e-01] [ 3.83379732e-04 9.99996460e-01 -2.63316222e-03 -1.94169810e-01] [ 3.59260296e-02 2.61768932e-03 9.99351023e-01 -1.86760372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04463044 meters Centerline goodness : 0.127955 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99358176e-01 -3.14784380e-04 -3.58208876e-02 4.52485592e-01] [ 2.37349169e-04 9.99997626e-01 -2.16596532e-03 -1.96519398e-01] [ 3.58214844e-02 2.15607310e-03 9.99355879e-01 -1.86285087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07463044 meters Centerline goodness : 0.111217 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99362302e-01 -3.08259271e-05 -3.57069825e-02 4.52307727e-01] [-2.63517667e-05 9.99998718e-01 -1.60083115e-03 -1.98804645e-01] [ 3.57069861e-02 1.60075125e-03 9.99361020e-01 -1.86379447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10463044 meters Centerline goodness : 0.112452 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99365402e-01 3.22374571e-05 -3.56201233e-02 4.52320278e-01] [-8.59738113e-05 9.99998861e-01 -1.50706475e-03 -1.99218006e-01] [ 3.56200342e-02 1.50917076e-03 9.99364266e-01 -1.86713226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134630439999995 meters Centerline goodness : 0.111541 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99366710e-01 -1.58893687e-07 -3.55834024e-02 4.52610867e-01] [-5.32166812e-05 9.99998875e-01 -1.49906612e-03 -1.99689085e-01] [ 3.55833626e-02 1.50001041e-03 9.99365586e-01 -1.87262350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164630439999996 meters Centerline goodness : 0.111313 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99365887e-01 -2.91947103e-05 -3.56065020e-02 4.52851139e-01] [-2.26156459e-05 9.99998942e-01 -1.45467770e-03 -2.00419488e-01] [ 3.56065067e-02 1.45456054e-03 9.99364829e-01 -1.87538484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19463044 meters Centerline goodness : 0.111594 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99361751e-01 1.34076189e-05 -3.57224221e-02 4.52666733e-01] [-5.77960697e-05 9.99999228e-01 -1.24156119e-03 -2.01903457e-01] [ 3.57223778e-02 1.24283338e-03 9.99360979e-01 -1.86857771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22463044 meters Centerline goodness : 0.112115 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99358403e-01 1.27912638e-04 -3.58157186e-02 4.52703742e-01] [-1.67377407e-04 9.99999382e-01 -1.09888788e-03 -2.02266445e-01] [ 3.58155559e-02 1.10417758e-03 9.99357807e-01 -1.86579054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25463044 meters Centerline goodness : 0.112115 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99358403e-01 1.27912638e-04 -3.58157186e-02 4.52703742e-01] [-1.67377407e-04 9.99999382e-01 -1.09888788e-03 -2.02266445e-01] [ 3.58155559e-02 1.10417758e-03 9.99357807e-01 -1.86579054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28463044 meters Centerline goodness : 0.117949 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99355955e-01 1.77387294e-04 -3.58837588e-02 4.52905530e-01] [-2.15941885e-04 9.99999404e-01 -1.07055731e-03 -2.02290898e-01] [ 3.58835475e-02 1.07761663e-03 9.99355397e-01 -1.86623693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314630439999995 meters Centerline goodness : 0.124365 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99350777e-01 1.32852145e-04 -3.60278564e-02 4.53631850e-01] [-1.76660733e-04 9.99999249e-01 -1.21278366e-03 -2.01768830e-01] [ 3.60276682e-02 1.21836100e-03 9.99350050e-01 -1.87175079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344630439999996 meters Centerline goodness : 0.127920 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99341398e-01 1.53455583e-04 -3.62870039e-02 4.54407570e-01] [-2.00029535e-04 9.99999161e-01 -1.27986156e-03 -2.01390430e-01] [ 3.62867771e-02 1.28627711e-03 9.99340590e-01 -1.87436441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37463044 meters Centerline goodness : 0.181781 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99352296e-01 4.21995633e-04 -3.59834774e-02 4.53443764e-01] [-4.64535242e-04 9.99999203e-01 -1.17384610e-03 -2.00589231e-01] [ 3.59829534e-02 1.18980138e-03 9.99351696e-01 -1.87145199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40463044 meters Centerline goodness : 0.121054 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99352588e-01 4.53144944e-04 -3.59749870e-02 4.53483174e-01] [-4.98265921e-04 9.99999101e-01 -1.24527636e-03 -1.99824525e-01] [ 3.59743904e-02 1.26239527e-03 9.99351915e-01 -1.87247621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43463044 meters Centerline goodness : 0.127216 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99350202e-01 4.70387024e-04 -3.60409722e-02 4.53830334e-01] [-5.17600938e-04 9.99999020e-01 -1.30068743e-03 -1.99399874e-01] [ 3.60403251e-02 1.31849708e-03 9.99349467e-01 -1.87537118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46463044 meters Centerline goodness : 0.040331 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99349488e-01 3.99309265e-04 -3.60616395e-02 4.54128841e-01] [-4.50253348e-04 9.99998912e-01 -1.40458456e-03 -1.99251560e-01] [ 3.60610394e-02 1.41990773e-03 9.99348580e-01 -1.87921115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 35.524630439999996 meters Centerline goodness : 0.037432 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99339055e-01 3.64301617e-04 -3.63499843e-02 4.54668528e-01] [-4.18811456e-04 9.99998799e-01 -1.49198043e-03 -1.98894403e-01] [ 3.63493971e-02 1.50621810e-03 9.99338007e-01 -1.87760195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55463044 meters Centerline goodness : 0.118942 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99333121e-01 4.10881670e-04 -3.65122436e-02 4.54975346e-01] [-4.65386697e-04 9.99998790e-01 -1.48430120e-03 -1.98522769e-01] [ 3.65115896e-02 1.50030367e-03 9.99332103e-01 -1.87655115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58463044 meters Centerline goodness : 0.098504 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.20, Z:-0.19 [[ 9.99324350e-01 3.94174993e-04 -3.67516968e-02 4.55529483e-01] [-4.51085276e-04 9.99998712e-01 -1.54022862e-03 -1.98190311e-01] [ 3.67510423e-02 1.55576612e-03 9.99323241e-01 -1.87597456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61463044 meters Centerline goodness : 0.120146 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.20, Z:-0.19 [[ 9.99322499e-01 2.95465425e-04 -3.68029291e-02 4.55847422e-01] [-3.57448853e-04 9.99998529e-01 -1.67762982e-03 -1.97934764e-01] [ 3.68023793e-02 1.68964839e-03 9.99321135e-01 -1.87881329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64463044 meters Centerline goodness : 0.157735 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.20, Z:-0.19 [[ 9.99325759e-01 2.28261468e-04 -3.67147888e-02 4.55540821e-01] [-2.94518673e-04 9.99998338e-01 -1.79924795e-03 -1.97515722e-01] [ 3.67143171e-02 1.80884801e-03 9.99324165e-01 -1.87744306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67463044 meters Centerline goodness : 0.187794 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99366296e-01 6.89354916e-04 -3.55883535e-02 4.52216505e-01] [-7.45767288e-04 9.99998487e-01 -1.57188557e-03 -1.96216901e-01] [ 3.55872160e-02 1.59743009e-03 9.99365298e-01 -1.86849710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704630439999995 meters Centerline goodness : 0.120104 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.19 [[ 9.99379636e-01 7.37546974e-04 -3.52107818e-02 4.50865950e-01] [-7.97299068e-04 9.99998266e-01 -1.68297193e-03 -1.95130339e-01] [ 3.52094795e-02 1.71000140e-03 9.99378491e-01 -1.86194132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73463044 meters Centerline goodness : 0.116790 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99382523e-01 6.45843595e-04 -3.51305581e-02 4.50391114e-01] [-7.14642861e-04 9.99997851e-01 -1.94586654e-03 -1.93859078e-01] [ 3.51292259e-02 1.96977082e-03 9.99380837e-01 -1.85756106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76463044 meters Centerline goodness : 0.111056 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99352397e-01 8.24034711e-04 -3.59736964e-02 4.52862910e-01] [-9.07116248e-04 9.99996959e-01 -2.29324756e-03 -1.90340280e-01] [ 3.59716973e-02 2.32439478e-03 9.99350106e-01 -1.86566978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79463044 meters Centerline goodness : 0.114549 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99335193e-01 9.02927018e-04 -3.64466337e-02 4.54680789e-01] [-9.95854234e-04 9.99996300e-01 -2.53160572e-03 -1.88064186e-01] [ 3.64442130e-02 2.56621822e-03 9.99332394e-01 -1.87645005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82463044 meters Centerline goodness : 0.105882 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.19 [[ 9.99333344e-01 8.75753869e-04 -3.64979666e-02 4.55235460e-01] [-9.76271387e-04 9.99995780e-01 -2.73632713e-03 -1.86596046e-01] [ 3.64954162e-02 2.77013486e-03 9.99329981e-01 -1.88314166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85463044 meters Centerline goodness : 0.107535 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99338169e-01 7.44142899e-04 -3.63685360e-02 4.54780125e-01] [-8.54171253e-04 9.99995105e-01 -3.00992812e-03 -1.85364533e-01] [ 3.63661182e-02 3.03900101e-03 9.99333913e-01 -1.88124530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884630439999995 meters Centerline goodness : 0.108494 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99342832e-01 5.26524700e-04 -3.62439823e-02 4.54205457e-01] [-6.47986181e-04 9.99994214e-01 -3.33955280e-03 -1.84347236e-01] [ 3.62420143e-02 3.36084375e-03 9.99337391e-01 -1.87710044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914630439999996 meters Centerline goodness : 0.100706 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99342778e-01 6.86878572e-05 -3.62492446e-02 4.53921607e-01] [-2.11666166e-04 9.99992214e-01 -3.94048851e-03 -1.82707513e-01] [ 3.62486917e-02 3.94557147e-03 9.99335011e-01 -1.87264822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94463044 meters Centerline goodness : 0.162318 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99346687e-01 4.08917795e-05 -3.61413668e-02 4.53576929e-01] [-1.83177504e-04 9.99992247e-01 -3.93361905e-03 -1.82736184e-01] [ 3.61409258e-02 3.93766945e-03 9.99338946e-01 -1.87145936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97463044 meters Centerline goodness : 0.111425 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99352539e-01 7.37669278e-05 -3.59791350e-02 4.53032392e-01] [-2.11480732e-04 9.99992667e-01 -3.82381121e-03 -1.83137068e-01] [ 3.59785891e-02 3.82894433e-03 9.99345226e-01 -1.86909626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00463044 meters Centerline goodness : 0.117149 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99361596e-01 7.67370104e-05 -3.57266523e-02 4.52096724e-01] [-2.08423900e-04 9.99993199e-01 -3.68224684e-03 -1.83934093e-01] [ 3.57261267e-02 3.68734237e-03 9.99354816e-01 -1.86380151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03463044 meters Centerline goodness : 0.109003 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99359982e-01 4.52887433e-05 -3.57718461e-02 4.51983013e-01] [-1.72506806e-04 9.99993672e-01 -3.55329556e-03 -1.84947630e-01] [ 3.57714588e-02 3.55719228e-03 9.99353666e-01 -1.86043588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064630439999995 meters Centerline goodness : 0.098841 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.19 [[ 9.99318504e-01 -3.50438209e-04 -3.69107770e-02 4.55434123e-01] [ 2.16293080e-04 9.99993358e-01 -3.63823836e-03 -1.86628320e-01] [ 3.69118068e-02 3.62777537e-03 9.99311942e-01 -1.87080086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094630439999996 meters Centerline goodness : 0.098140 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.19 [[ 9.99308316e-01 -3.35979265e-04 -3.71857174e-02 4.56380774e-01] [ 2.07377905e-04 9.99993985e-01 -3.46215668e-03 -1.87860611e-01] [ 3.71866569e-02 3.45205047e-03 9.99302375e-01 -1.87486748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12463044 meters Centerline goodness : 0.141507 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.19 [[ 9.99309923e-01 -2.93841383e-04 -3.71428626e-02 4.56545850e-01] [ 1.71399770e-04 9.99994541e-01 -3.29964573e-03 -1.88888454e-01] [ 3.71436295e-02 3.29100244e-03 9.99304518e-01 -1.87859661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15463044 meters Centerline goodness : 0.181014 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.19 [[ 9.99318816e-01 -2.35616072e-04 -3.69032270e-02 4.55731890e-01] [ 1.18782959e-04 9.99994975e-01 -3.16809264e-03 -1.89621559e-01] [ 3.69037880e-02 3.16155111e-03 9.99313822e-01 -1.87468617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18463044 meters Centerline goodness : 0.087940 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99332582e-01 -1.40515592e-04 -3.65290357e-02 4.54499480e-01] [ 3.09440928e-05 9.99995499e-01 -3.00012079e-03 -1.90389192e-01] [ 3.65292929e-02 2.99698810e-03 9.99328089e-01 -1.86968959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21463044 meters Centerline goodness : 0.119497 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99345264e-01 1.29906811e-05 -3.61807147e-02 4.53321132e-01] [-1.16060946e-04 9.99995942e-01 -2.84666374e-03 -1.90660142e-01] [ 3.61805308e-02 2.84899909e-03 9.99341209e-01 -1.86417680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24463044 meters Centerline goodness : 0.101058 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99361147e-01 2.79397908e-04 -3.57382046e-02 4.52050733e-01] [-3.80794785e-04 9.99995922e-01 -2.83043725e-03 -1.89678624e-01] [ 3.57372680e-02 2.84223794e-03 9.99357178e-01 -1.86078571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274630439999996 meters Centerline goodness : 0.443818 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99360201e-01 2.32842129e-04 -3.57649805e-02 4.52200308e-01] [-3.44853494e-04 9.99995055e-01 -3.12573580e-03 -1.88079809e-01] [ 3.57640758e-02 3.13606964e-03 9.99355340e-01 -1.86225971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30463044 meters Centerline goodness : 0.233074 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99362301e-01 2.66954505e-04 -3.57060260e-02 4.52014222e-01] [-3.87282115e-04 9.99994270e-01 -3.36307856e-03 -1.86407650e-01] [ 3.57049236e-02 3.37476223e-03 9.99356678e-01 -1.86235198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33463044 meters Centerline goodness : 0.147924 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99365746e-01 8.92841018e-04 -3.55992743e-02 4.51535822e-01] [-1.00971928e-03 9.99994159e-01 -3.26532096e-03 -1.83401526e-01] [ 3.55961509e-02 3.29919519e-03 9.99360810e-01 -1.86101527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36463044 meters Centerline goodness : 0.107813 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99362988e-01 8.36055570e-04 -3.56779962e-02 4.51975428e-01] [-9.60928535e-04 9.99993473e-01 -3.48299548e-03 -1.82130878e-01] [ 3.56748513e-02 3.51506078e-03 9.99357268e-01 -1.86503973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39463044 meters Centerline goodness : 0.111205 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99365568e-01 7.01535396e-04 -3.56085545e-02 4.51797649e-01] [-8.32577824e-04 9.99992936e-01 -3.66538806e-03 -1.81678245e-01] [ 3.56057315e-02 3.69270952e-03 9.99359093e-01 -1.86496623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42463044 meters Centerline goodness : 0.109234 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99371508e-01 5.55627746e-04 -3.54440331e-02 4.51334475e-01] [-6.88806290e-04 9.99992749e-01 -3.74533178e-03 -1.82025107e-01] [ 3.54416951e-02 3.76739194e-03 9.99364645e-01 -1.86356517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454630439999995 meters Centerline goodness : 0.114982 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99379398e-01 4.85829467e-04 -3.52219121e-02 4.50538663e-01] [-6.18047726e-04 9.99992804e-01 -3.74307315e-03 -1.82434388e-01] [ 3.52198402e-02 3.76251902e-03 9.99372506e-01 -1.85949703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48463044 meters Centerline goodness : 0.119538 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99390177e-01 7.70644059e-04 -3.49095874e-02 4.49202457e-01] [-8.89395835e-04 9.99993871e-01 -3.38629398e-03 -1.82699237e-01] [ 3.49067638e-02 3.41527738e-03 9.99384738e-01 -1.85166841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51463044 meters Centerline goodness : 0.116260 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99389864e-01 8.88831701e-04 -3.49157625e-02 4.49174001e-01] [-1.00303395e-03 9.99994205e-01 -3.25341354e-03 -1.82743847e-01] [ 3.49126684e-02 3.28645020e-03 9.99384963e-01 -1.85075006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54463044 meters Centerline goodness : 0.120945 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99388175e-01 8.78001657e-04 -3.49643444e-02 4.49448588e-01] [-9.92961264e-04 9.99994158e-01 -3.27068101e-03 -1.82823048e-01] [ 3.49612684e-02 3.30339816e-03 9.99383208e-01 -1.85303917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57463044 meters Centerline goodness : 0.114393 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99378248e-01 7.74418728e-04 -3.52493573e-02 4.50493758e-01] [-8.91797458e-04 9.99994110e-01 -3.31435304e-03 -1.83370392e-01] [ 3.52465830e-02 3.34372762e-03 9.99373052e-01 -1.85840352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60463044 meters Centerline goodness : 0.126788 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99362152e-01 7.42167475e-04 -3.57034812e-02 4.51941664e-01] [-8.54075038e-04 9.99994771e-01 -3.11921051e-03 -1.85009704e-01] [ 3.57009795e-02 3.14771438e-03 9.99357560e-01 -1.86320382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634630439999995 meters Centerline goodness : 0.122338 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99359452e-01 8.68806830e-04 -3.57761339e-02 4.52010228e-01] [-9.70912716e-04 9.99995505e-01 -2.83674797e-03 -1.86155643e-01] [ 3.57735085e-02 2.86966639e-03 9.99355803e-01 -1.86176160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664630439999996 meters Centerline goodness : 0.128709 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99357441e-01 9.44141614e-04 -3.58303325e-02 4.51903358e-01] [-1.03861957e-03 9.99996033e-01 -2.61829348e-03 -1.87203917e-01] [ 3.58277183e-02 2.65382516e-03 9.99354458e-01 -1.85798136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69463044 meters Centerline goodness : 0.129756 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99357713e-01 9.72893850e-04 -3.58219788e-02 4.51655157e-01] [-1.06244446e-03 9.99996358e-01 -2.48092811e-03 -1.88019657e-01] [ 3.58194347e-02 2.51739351e-03 9.99355107e-01 -1.85442934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72463044 meters Centerline goodness : 0.128223 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.19 [[ 9.99363896e-01 9.21557287e-04 -3.56504442e-02 4.51123086e-01] [-1.01143943e-03 9.99996355e-01 -2.50325414e-03 -1.88183887e-01] [ 3.56480074e-02 2.53772007e-03 9.99361186e-01 -1.85251161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75463044 meters Centerline goodness : 0.167163 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.18 [[ 9.99370217e-01 8.82050432e-04 -3.54738049e-02 4.50507715e-01] [-9.75405118e-04 9.99996107e-01 -2.61443132e-03 -1.87642155e-01] [ 3.54713608e-02 2.64738613e-03 9.99367187e-01 -1.84963277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78463044 meters Centerline goodness : 0.125680 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.18 [[ 0.99938574 0.00101512 -0.03503002 0.44938221] [-0.00111659 0.99999524 -0.00287717 -0.18535574] [ 0.03502694 0.00291451 0.99938212 -0.18494139] [ 0. 0. 0. 1. ]] SLAMing on 36.814630439999995 meters Centerline goodness : 0.125673 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 0.99938038 0.00104548 -0.03518177 0.44997171] [-0.00115482 0.99999457 -0.00308792 -0.18371962] [ 0.03517836 0.00312664 0.99937616 -0.18531553] [ 0. 0. 0. 1. ]] SLAMing on 36.844630439999996 meters Centerline goodness : 0.141669 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 0.99936769 0.00101656 -0.03554147 0.45114702] [-0.00113664 0.99999371 -0.00335874 -0.1819787 ] [ 0.03553783 0.00339701 0.99936256 -0.18583057] [ 0. 0. 0. 1. ]] SLAMing on 36.87463044 meters Centerline goodness : 0.142124 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99350237e-01 9.19472716e-04 -3.60313457e-02 4.52721406e-01] [-1.05373107e-03 9.99992573e-01 -3.70734164e-03 -1.80207631e-01] [ 3.60276693e-02 3.74290009e-03 9.99343784e-01 -1.86487664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90463044 meters Centerline goodness : 0.127271 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99341284e-01 8.10035238e-04 -3.62814250e-02 4.53593492e-01] [-9.53549297e-04 9.99991790e-01 -3.93845036e-03 -1.79259959e-01] [ 3.62779368e-02 3.97045216e-03 9.99333852e-01 -1.86906181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93463044 meters Centerline goodness : 0.117554 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.19 [[ 9.99336784e-01 7.49151737e-04 -3.64064583e-02 4.53701028e-01] [-8.95640562e-04 9.99991569e-01 -4.00756199e-03 -1.79043456e-01] [ 3.64031491e-02 4.03751122e-03 9.99329030e-01 -1.86654139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96463044 meters Centerline goodness : 0.118502 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.18, Z:-0.18 [[ 0.9993813 -0.00675102 -0.03451711 0.47189358] [ 0.00667124 0.9999748 -0.00242598 -0.17629064] [ 0.03453262 0.00219421 0.99940116 -0.18382984] [ 0. 0. 0. 1. ]] SLAMing on 36.99463044 meters Centerline goodness : 0.128791 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.18, Z:-0.18 [[ 0.99939056 -0.00673467 -0.03425128 0.47097106] [ 0.00666234 0.99997533 -0.0022256 -0.17744901] [ 0.03426542 0.00199605 0.99941077 -0.18333309] [ 0. 0. 0. 1. ]] SLAMing on 37.024630439999996 meters Centerline goodness : 0.130153 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.18, Z:-0.18 [[ 0.99939332 -0.00677143 -0.03416345 0.47071246] [ 0.00670227 0.99997525 -0.00213868 -0.17829922] [ 0.03417709 0.00190841 0.99941397 -0.18320635] [ 0. 0. 0. 1. ]] SLAMing on 37.05463044 meters Centerline goodness : 0.127553 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.18, Z:-0.18 [[ 0.9993908 -0.00682408 -0.03422669 0.47104574] [ 0.0067543 0.99997487 -0.00215395 -0.17867321] [ 0.03424053 0.00192146 0.99941177 -0.18346489] [ 0. 0. 0. 1. ]] SLAMing on 37.08463044 meters Centerline goodness : 0.121181 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 0.99941646 0.0013888 -0.03412918 0.49009697] [-0.00151108 0.99999253 -0.00355745 -0.18206336] [ 0.03412399 0.00360695 0.9994111 -0.18153459] [ 0. 0. 0. 1. ]] SLAMing on 37.11463044 meters Centerline goodness : 0.169207 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 0.99941249 0.00141411 -0.03424427 0.49058496] [-0.00154209 0.99999193 -0.00371099 -0.18104444] [ 0.03423875 0.00376162 0.9994066 -0.18188792] [ 0. 0. 0. 1. ]] SLAMing on 37.14463044 meters Centerline goodness : 0.169207 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 0.99941249 0.00141411 -0.03424427 0.49058496] [-0.00154209 0.99999193 -0.00371099 -0.18104444] [ 0.03423875 0.00376162 0.9994066 -0.18188792] [ 0. 0. 0. 1. ]] SLAMing on 37.17463044 meters Centerline goodness : 0.109469 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 0.99941018 0.00138733 -0.03431287 0.49089093] [-0.00152145 0.9999913 -0.00388299 -0.18007236] [ 0.03430718 0.00393291 0.9994036 -0.18212169] [ 0. 0. 0. 1. ]] SLAMing on 37.204630439999995 meters Centerline goodness : 0.108378 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 0.99941236 0.0013246 -0.03425181 0.49069408] [-0.0014651 0.99999061 -0.00407728 -0.17909377] [ 0.03424609 0.00412506 0.99940492 -0.18208991] [ 0. 0. 0. 1. ]] SLAMing on 37.23463044 meters Centerline goodness : 0.126597 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 0.99941724 0.00126672 -0.0341113 0.49004854] [-0.00141389 0.9999898 -0.00429067 -0.17791266] [ 0.03410552 0.0043364 0.99940883 -0.18163949] [ 0. 0. 0. 1. ]] SLAMing on 37.26463044 meters Centerline goodness : 0.379382 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 0.99944703 0.00161513 -0.03321174 0.48716858] [-0.0017582 0.9999893 -0.00427897 -0.17586284] [ 0.03320448 0.004335 0.99943918 -0.18066186] [ 0. 0. 0. 1. ]] SLAMing on 37.29463044 meters Centerline goodness : 0.109067 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99945599 0.00158947 -0.0329424 0.4864051 ] [-0.00173906 0.9999883 -0.00451287 -0.17419021] [ 0.03293484 0.0045677 0.99944706 -0.18047136] [ 0. 0. 0. 1. ]] SLAMing on 37.32463044 meters Centerline goodness : 0.196589 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99946479 0.00151984 -0.03267757 0.48561433] [-0.00167756 0.99998707 -0.00479967 -0.17250498] [ 0.03266985 0.00485192 0.99945442 -0.18025528] [ 0. 0. 0. 1. ]] SLAMing on 37.35463044 meters Centerline goodness : 0.100675 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99946872 0.00136975 -0.03256385 0.48506302] [-0.00153906 0.99998543 -0.00517474 -0.17075266] [ 0.03255629 0.00522211 0.99945626 -0.17986851] [ 0. 0. 0. 1. ]] SLAMing on 37.384630439999995 meters Centerline goodness : 0.102340 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.18 [[ 0.9994703 0.00118332 -0.03252257 0.48473068] [-0.00136595 0.99998342 -0.00559392 -0.16889995] [ 0.03251542 0.00563538 0.99945535 -0.17956536] [ 0. 0. 0. 1. ]] SLAMing on 37.414630439999996 meters Centerline goodness : 0.157662 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.18 [[ 0.99947037 0.00109212 -0.03252375 0.48459806] [-0.00128362 0.99998196 -0.00586789 -0.16742947] [ 0.03251675 0.00590653 0.99945374 -0.17937868] [ 0. 0. 0. 1. ]] SLAMing on 37.44463044 meters Centerline goodness : 0.105603 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.18 [[ 0.99947731 0.00102476 -0.03231196 0.48420928] [-0.00122794 0.9999796 -0.0062687 -0.16467887] [ 0.03230487 0.0063051 0.99945817 -0.1796154 ] [ 0. 0. 0. 1. ]] SLAMing on 37.47463044 meters Centerline goodness : 0.109528 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.18 [[ 9.99477745e-01 9.59908463e-04 -3.23004062e-02 4.84270355e-01] [-1.16781161e-03 9.99978721e-01 -6.41829947e-03 -1.63988384e-01] [ 3.22935579e-02 6.45266827e-03 9.99457597e-01 -1.79773829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50463044 meters Centerline goodness : 0.241199 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.18 [[ 9.99475274e-01 8.75507444e-04 -3.23791626e-02 4.84512047e-01] [-1.08793521e-03 9.99977999e-01 -6.54359603e-03 -1.63577847e-01] [ 3.23727212e-02 6.57538887e-03 9.99454237e-01 -1.79860989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53463044 meters Centerline goodness : 0.106936 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.18 [[ 9.99471121e-01 7.61538239e-04 -3.25099593e-02 4.84868497e-01] [-9.76938146e-04 9.99977675e-01 -6.61028905e-03 -1.63605723e-01] [ 3.25041995e-02 6.63855323e-03 9.99449552e-01 -1.79916049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564630439999995 meters Centerline goodness : 0.107855 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 9.99465171e-01 7.99941632e-04 -3.26914717e-02 4.85130175e-01] [-1.01074211e-03 9.99978803e-01 -6.43216258e-03 -1.64540568e-01] [ 3.26856334e-02 6.46176512e-03 9.99444793e-01 -1.79656527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594630439999996 meters Centerline goodness : 0.108453 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 9.99461730e-01 8.29795387e-04 -3.27957677e-02 4.85237003e-01] [-1.03373815e-03 9.99980232e-01 -6.20210309e-03 -1.65744335e-01] [ 3.27899729e-02 6.23266692e-03 9.99442831e-01 -1.79394285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62463044 meters Centerline goodness : 0.110809 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 9.99449265e-01 6.06765643e-04 -3.31782693e-02 4.86267422e-01] [-8.03430319e-04 9.99982186e-01 -5.91450403e-03 -1.68484007e-01] [ 3.31740895e-02 5.93790314e-03 9.99431949e-01 -1.79547914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65463044 meters Centerline goodness : 0.148190 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 9.99446586e-01 6.30595272e-04 -3.32584468e-02 4.86661236e-01] [-8.17583572e-04 9.99983935e-01 -5.60898014e-03 -1.70375121e-01] [ 3.32543755e-02 5.63306761e-03 9.99431046e-01 -1.79781668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68463044 meters Centerline goodness : 0.109306 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 9.99450831e-01 7.31034037e-04 -3.31285667e-02 4.86498104e-01] [-9.06416815e-04 9.99985654e-01 -5.27929539e-03 -1.72104928e-01] [ 3.31242321e-02 5.30642446e-03 9.99437155e-01 -1.80019448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71463044 meters Centerline goodness : 0.138497 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 9.99451224e-01 8.65285553e-04 -3.31134741e-02 4.86518607e-01] [-1.02851179e-03 9.99987404e-01 -4.91258385e-03 -1.73914262e-01] [ 3.31088062e-02 4.94394554e-03 9.99439525e-01 -1.80073411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74463044 meters Centerline goodness : 0.109883 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 9.99449921e-01 9.87427287e-04 -3.31493700e-02 4.86632981e-01] [-1.14003961e-03 9.99988838e-01 -4.58519221e-03 -1.75563071e-01] [ 3.31444725e-02 4.62046158e-03 9.99439891e-01 -1.80098299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774630439999996 meters Centerline goodness : 0.149729 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 9.99430028e-01 8.95328280e-04 -3.37463709e-02 4.88386347e-01] [-1.04607425e-03 9.99989553e-01 -4.44963676e-03 -1.77480817e-01] [ 3.37420345e-02 4.48240180e-03 9.99420524e-01 -1.80550627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80463044 meters Centerline goodness : 0.108898 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 9.99415823e-01 8.54045833e-04 -3.41655197e-02 4.89622459e-01] [-1.00873869e-03 9.99989318e-01 -4.51076685e-03 -1.77481026e-01] [ 3.41613023e-02 4.54259585e-03 9.99406009e-01 -1.80896441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83463044 meters Centerline goodness : 0.107828 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 9.99405985e-01 8.83477734e-04 -3.44513645e-02 4.90603646e-01] [-1.04170557e-03 9.99988992e-01 -4.57510987e-03 -1.76928431e-01] [ 3.44469433e-02 4.60828036e-03 9.99395903e-01 -1.81390477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86463044 meters Centerline goodness : 0.108512 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.18 [[ 9.99409599e-01 9.35019458e-04 -3.43450053e-02 4.90448287e-01] [-1.09757027e-03 9.99988285e-01 -4.71433194e-03 -1.75715922e-01] [ 3.43401949e-02 4.74924465e-03 9.99398917e-01 -1.81528366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89463044 meters Centerline goodness : 0.109536 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.18 [[ 0.99947627 0.00189842 -0.03230458 0.4843458 ] [-0.0020321 0.99998951 -0.00410578 -0.17471802] [ 0.03229644 0.00416927 0.99946964 -0.17979535] [ 0. 0. 0. 1. ]] SLAMing on 37.92463044 meters Centerline goodness : 0.111263 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.18 [[ 0.999491 0.00187436 -0.0318468 0.48282155] [-0.00201353 0.99998856 -0.00433851 -0.17336397] [ 0.0318383 0.00440043 0.99948335 -0.17916238] [ 0. 0. 0. 1. ]] SLAMing on 37.954630439999995 meters Centerline goodness : 0.111227 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.18 [[ 0.99949392 0.00178489 -0.03176026 0.4827676 ] [-0.0019343 0.99998721 -0.00467399 -0.17163078] [ 0.03175151 0.00473306 0.99948459 -0.17941605] [ 0. 0. 0. 1. ]] SLAMing on 37.98463044 meters Centerline goodness : 0.142318 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.18 [[ 0.99948085 0.00175584 -0.03217066 0.48425759] [-0.0019158 0.99998595 -0.00494188 -0.16993601] [ 0.03216153 0.00500095 0.99947017 -0.18030293] [ 0. 0. 0. 1. ]] SLAMing on 38.01463044 meters Centerline goodness : 0.114162 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99945795 0.00178477 -0.03287284 0.48671409] [-0.00195649 0.99998461 -0.00519222 -0.16811676] [ 0.03286307 0.00525372 0.99944606 -0.18152622] [ 0. 0. 0. 1. ]] SLAMing on 38.04463044 meters Centerline goodness : 0.116610 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.9994423 0.0017102 -0.0333492 0.48848708] [-0.00189341 0.99998329 -0.00546278 -0.16673145] [ 0.0333393 0.00552288 0.99942883 -0.18252831] [ 0. 0. 0. 1. ]] SLAMing on 38.07463044 meters Centerline goodness : 0.115057 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99943487 0.00152747 -0.03357981 0.48938589] [-0.0017212 0.99998204 -0.00574117 -0.16586959] [ 0.03357043 0.00579572 0.99941955 -0.18310796] [ 0. 0. 0. 1. ]] SLAMing on 38.10463044 meters Centerline goodness : 0.126171 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99944479 0.00150049 -0.03328459 0.48833391] [-0.00168871 0.99998274 -0.00562745 -0.16668042] [ 0.03327558 0.00568053 0.99943007 -0.18254505] [ 0. 0. 0. 1. ]] SLAMing on 38.134630439999995 meters Centerline goodness : 0.114991 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99945387 0.00157551 -0.03300722 0.48730763] [-0.0017521 0.9999843 -0.00532173 -0.1681948 ] [ 0.03299831 0.00537665 0.99944095 -0.18200483] [ 0. 0. 0. 1. ]] SLAMing on 38.164630439999996 meters Centerline goodness : 0.120852 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99945507 0.00168303 -0.03296547 0.4869707 ] [-0.00184908 0.99998575 -0.00500712 -0.16964688] [ 0.03295658 0.00506535 0.99944395 -0.18163543] [ 0. 0. 0. 1. ]] SLAMing on 38.19463044 meters Centerline goodness : 0.129220 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99943663 0.00172133 -0.03351819 0.48884292] [-0.0018742 0.99998798 -0.00453002 -0.17249757] [ 0.03350999 0.00459029 0.99942784 -0.18239772] [ 0. 0. 0. 1. ]] SLAMing on 38.22463044 meters Centerline goodness : 0.158537 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99942911 0.00172309 -0.03374146 0.48976945] [-0.00187394 0.99998839 -0.00443954 -0.17323473] [ 0.03373342 0.00450024 0.99942073 -0.18296282] [ 0. 0. 0. 1. ]] SLAMing on 38.25463044 meters Centerline goodness : 0.125294 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99942534 0.00169429 -0.03385438 0.49011742] [-0.00184755 0.99998819 -0.00449613 -0.17314396] [ 0.03384636 0.0045561 0.99941666 -0.1830973 ] [ 0. 0. 0. 1. ]] SLAMing on 38.28463044 meters Centerline goodness : 0.127322 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99942711 0.00172732 -0.03380035 0.48974084] [-0.00188297 0.99998777 -0.00457378 -0.17247525] [ 0.03379204 0.00463481 0.99941814 -0.18272 ] [ 0. 0. 0. 1. ]] SLAMing on 38.314630439999995 meters Centerline goodness : 0.129804 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.9994349 0.00180023 -0.03356533 0.48896171] [-0.00195853 0.99998711 -0.00468374 -0.17150208] [ 0.03355647 0.00474684 0.99942555 -0.18240608] [ 0. 0. 0. 1. ]] SLAMing on 38.344630439999996 meters Centerline goodness : 0.132796 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99944159 0.00185075 -0.03336298 0.48855618] [-0.00201403 0.99998616 -0.00486103 -0.17019036] [ 0.03335352 0.00492551 0.99943148 -0.18246991] [ 0. 0. 0. 1. ]] SLAMing on 38.37463044 meters Centerline goodness : 0.129517 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99945138 0.00226904 -0.03304223 0.48793608] [-0.00243956 0.99998391 -0.00512124 -0.16693962] [ 0.03303008 0.00519904 0.99944084 -0.18280845] [ 0. 0. 0. 1. ]] SLAMing on 38.40463044 meters Centerline goodness : 0.139573 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.18 [[ 0.99945861 0.00234657 -0.03281739 0.4873538 ] [-0.00252308 0.99998257 -0.0053381 -0.16514905] [ 0.03280429 0.00541801 0.99944711 -0.18279767] [ 0. 0. 0. 1. ]] SLAMing on 38.43463044 meters Centerline goodness : 0.128467 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99946581 0.00232829 -0.03259864 0.48679303] [-0.00251263 0.99998108 -0.00561516 -0.1633385 ] [ 0.03258495 0.00569407 0.99945275 -0.18280294] [ 0. 0. 0. 1. ]] SLAMing on 38.46463044 meters Centerline goodness : 0.129921 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99947114 0.0023122 -0.03243599 0.48646307] [-0.0025014 0.99998009 -0.0057937 -0.16220818] [ 0.03242194 0.00587177 0.99945702 -0.18293083] [ 0. 0. 0. 1. ]] SLAMing on 38.49463044 meters Centerline goodness : 0.128289 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99946653 0.00221014 -0.03258477 0.48697037] [-0.00240734 0.99997902 -0.00601399 -0.16119918] [ 0.03257079 0.00608923 0.99945088 -0.18318924] [ 0. 0. 0. 1. ]] SLAMing on 38.524630439999996 meters Centerline goodness : 0.129705 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99945639 0.00200097 -0.03290789 0.48786127] [-0.002212 0.99997722 -0.00637757 -0.15971475] [ 0.03289438 0.0064469 0.99943804 -0.18341217] [ 0. 0. 0. 1. ]] SLAMing on 38.55463044 meters Centerline goodness : 0.125837 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99945952 0.00192568 -0.03281707 0.48755198] [-0.00214079 0.99997645 -0.00652068 -0.1589679 ] [ 0.03280374 0.00658741 0.9994401 -0.18330988] [ 0. 0. 0. 1. ]] SLAMing on 38.58463044 meters Centerline goodness : 0.125062 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99946333 0.00193503 -0.03270029 0.48712326] [-0.00214969 0.99997636 -0.0065306 -0.15865029] [ 0.03268688 0.00659739 0.99944387 -0.18307276] [ 0. 0. 0. 1. ]] SLAMing on 38.61463044 meters Centerline goodness : 0.137712 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99947356 0.00186231 -0.03239027 0.48621688] [-0.00207706 0.99997608 -0.00659778 -0.15844836] [ 0.03237721 0.00666159 0.99945352 -0.18282434] [ 0. 0. 0. 1. ]] SLAMing on 38.64463044 meters Centerline goodness : 0.106166 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.18 [[ 0.99948333 0.00176159 -0.0320931 0.48511788] [-0.00197824 0.99997546 -0.00672004 -0.15805981] [ 0.03208047 0.00678006 0.99946229 -0.1822336 ] [ 0. 0. 0. 1. ]] SLAMing on 38.67463044 meters Centerline goodness : 0.130121 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.18 [[ 0.99949 0.00167324 -0.03188963 0.48430455] [-0.00189437 0.99997437 -0.00690511 -0.15715891] [ 0.03187726 0.006962 0.99946754 -0.18172925] [ 0. 0. 0. 1. ]] SLAMing on 38.704630439999995 meters Centerline goodness : 0.106487 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.18 [[ 0.99944854 -0.00329604 -0.03304156 0.50380646] [ 0.00316577 0.99998701 -0.00399407 -0.14858842] [ 0.03305429 0.00388726 0.999446 -0.17900098] [ 0. 0. 0. 1. ]] SLAMing on 38.73463044 meters Centerline goodness : 0.109859 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.18 [[ 0.99945143 -0.00331717 -0.03295214 0.50328626] [ 0.00317661 0.99998564 -0.00431692 -0.14631118] [ 0.03296599 0.00420988 0.99944761 -0.17856868] [ 0. 0. 0. 1. ]] SLAMing on 38.76463044 meters Centerline goodness : 0.117486 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.18 [[ 0.99947634 0.00491407 -0.03198277 0.52280773] [-0.00510114 0.99997034 -0.00576995 -0.14594778] [ 0.03195347 0.00593008 0.99947177 -0.17701038] [ 0. 0. 0. 1. ]] SLAMing on 38.79463044 meters Centerline goodness : 0.105812 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.18 [[ 0.99947411 0.00475437 -0.03207637 0.52287956] [-0.00495616 0.99996841 -0.00621442 -0.14370344] [ 0.03204581 0.00637012 0.9994661 -0.17683729] [ 0. 0. 0. 1. ]] SLAMing on 38.82463044 meters Centerline goodness : 0.122560 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.18 [[ 0.99947363 0.00462182 -0.03211073 0.52300526] [-0.00483615 0.99996652 -0.00660005 -0.14179402] [ 0.03207915 0.00675186 0.99946253 -0.1769447 ] [ 0. 0. 0. 1. ]] SLAMing on 38.85463044 meters Centerline goodness : 0.106157 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.18 [[ 0.9994802 0.00450283 -0.03192271 0.52252859] [-0.00472695 0.99996469 -0.00694865 -0.14002953] [ 0.0318903 0.00709594 0.99946619 -0.17692035] [ 0. 0. 0. 1. ]] SLAMing on 38.884630439999995 meters Centerline goodness : 0.106696 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.18 [[ 0.99950669 0.0043475 -0.0311042 0.51987427] [-0.00458586 0.99996064 -0.0075958 -0.13647424] [ 0.03106995 0.00773469 0.99948728 -0.17592737] [ 0. 0. 0. 1. ]] SLAMing on 38.914630439999996 meters Centerline goodness : 0.107971 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.18 [[ 0.99952135 0.00428503 -0.03063823 0.51838211] [-0.00452929 0.99995848 -0.00790723 -0.13459888] [ 0.03060307 0.00804221 0.99949926 -0.17531675] [ 0. 0. 0. 1. ]] SLAMing on 38.94463044 meters Centerline goodness : 0.107955 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 0.99953251 0.0042114 -0.03028228 0.51716062] [-0.00446397 0.99995578 -0.00827765 -0.13223183] [ 0.03024608 0.00840896 0.99950711 -0.17476183] [ 0. 0. 0. 1. ]] SLAMing on 38.97463044 meters Centerline goodness : 0.112517 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.18 [[ 0.9994989 0.00765483 -0.03071418 0.51884936] [-0.00783203 0.99995335 -0.00565315 -0.12668397] [ 0.03066948 0.00589087 0.99951222 -0.17560692] [ 0. 0. 0. 1. ]] SLAMing on 39.00463044 meters Centerline goodness : 0.159336 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.18 [[ 0.99948267 0.00762165 -0.03124569 0.52081971] [-0.00782156 0.99994969 -0.0062805 -0.12269914] [ 0.03119625 0.00652164 0.999492 -0.17677974] [ 0. 0. 0. 1. ]] SLAMing on 39.03463044 meters Centerline goodness : 0.107219 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.18 [[ 0.99947271 0.00748931 -0.03159455 0.52209418] [-0.0077132 0.99994596 -0.00697044 -0.11886265] [ 0.03154063 0.00721046 0.99947646 -0.17755769] [ 0. 0. 0. 1. ]] SLAMing on 39.064630439999995 meters Centerline goodness : 0.107219 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.18 [[ 0.99947271 0.00748931 -0.03159455 0.52209418] [-0.0077132 0.99994596 -0.00697044 -0.11886265] [ 0.03154063 0.00721046 0.99947646 -0.17755769] [ 0. 0. 0. 1. ]] SLAMing on 39.094630439999996 meters Centerline goodness : 0.118491 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.18 [[ 0.99946618 0.00722897 -0.03186057 0.52309106] [-0.00748004 0.99994185 -0.00776818 -0.1149974 ] [ 0.03180256 0.00800235 0.99946214 -0.17821497] [ 0. 0. 0. 1. ]] SLAMing on 39.12463044 meters Centerline goodness : 0.136688 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.18 [[ 0.9994589 0.00703726 -0.0321308 0.52392238] [-0.00731259 0.99993748 -0.0084596 -0.11129502] [ 0.03206926 0.00868998 0.99944787 -0.17860804] [ 0. 0. 0. 1. ]] SLAMing on 39.15463044 meters Centerline goodness : 0.204371 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.18 [[ 0.99945151 0.00692812 -0.03238345 0.52458755] [-0.00722409 0.99993312 -0.00903154 -0.10765828] [ 0.03231872 0.00926053 0.99943471 -0.17880278] [ 0. 0. 0. 1. ]] SLAMing on 39.18463044 meters Centerline goodness : 0.123828 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.18 [[ 0.99941271 0.01024901 -0.03269842 0.52544733] [-0.01046905 0.99992364 -0.00656531 -0.10116345] [ 0.03262864 0.00690378 0.9994437 -0.17887636] [ 0. 0. 0. 1. ]] SLAMing on 39.21463044 meters Centerline goodness : 0.126195 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.09, Z:-0.18 [[ 0.99948751 0.00180748 -0.03196025 0.50514832] [-0.00200896 0.99997831 -0.00627305 -0.09325839] [ 0.03194822 0.00633404 0.99946945 -0.18088175] [ 0. 0. 0. 1. ]] SLAMing on 39.24463044 meters Centerline goodness : 0.124284 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.18 [[ 0.99941175 -0.00453839 -0.0339934 0.52137459] [ 0.0043396 0.99997306 -0.00591933 -0.08364787] [ 0.03401935 0.00576833 0.99940453 -0.17818618] [ 0. 0. 0. 1. ]] SLAMing on 39.274630439999996 meters Centerline goodness : 0.126415 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.18 [[ 0.99940984 -0.00480043 -0.03401362 0.52135242] [ 0.00458252 0.99996849 -0.00648183 -0.08100025] [ 0.03404366 0.00632214 0.99940035 -0.17812479] [ 0. 0. 0. 1. ]] SLAMing on 39.30463044 meters Centerline goodness : 0.127015 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.18 [[ 0.99941976 -0.00520107 -0.0336614 0.51999989] [ 0.00495935 0.99996135 -0.00726039 -0.07700541] [ 0.03369786 0.00708924 0.99940692 -0.17742264] [ 0. 0. 0. 1. ]] SLAMing on 39.33463044 meters Centerline goodness : 0.128596 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.18 [[ 0.99942032 -0.00530946 -0.03362796 0.51977178] [ 0.00506015 0.99995911 -0.0074945 -0.07565066] [ 0.03366638 0.00731999 0.99940632 -0.17725541] [ 0. 0. 0. 1. ]] SLAMing on 39.36463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 39.39463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 39.42463044 meters Centerline goodness : 0.132230 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.18 [[ 0.99939755 -0.00603717 -0.03417735 0.52108778] [ 0.00575655 0.99994896 -0.00830316 -0.07209537] [ 0.03422573 0.00810141 0.99938129 -0.17724253] [ 0. 0. 0. 1. ]] SLAMing on 39.454630439999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 39.48463044 meters Centerline goodness : 0.432239 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.18 [[ 0.99941879 -0.00693903 -0.03337552 0.51825805] [ 0.00665395 0.99994049 -0.00864496 -0.07318935] [ 0.03343352 0.00841786 0.99940549 -0.1757285 ] [ 0. 0. 0. 1. ]] SLAMing on 39.51463044 meters Centerline goodness : 0.443284 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.18 [[ 0.99941469 -0.00690589 -0.03350506 0.51887572] [ 0.00662896 0.99994301 -0.00836914 -0.07477321] [ 0.03356095 0.00814213 0.99940351 -0.17613804] [ 0. 0. 0. 1. ]] SLAMing on 39.54463044 meters Centerline goodness : 0.318780 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.18 [[ 0.99940549 -0.00691547 -0.03377632 0.51979095] [ 0.00664755 0.9999456 -0.00803802 -0.07696448] [ 0.03383007 0.00780871 0.99939709 -0.17650283] [ 0. 0. 0. 1. ]] SLAMing on 39.57463044 meters Centerline goodness : 0.432170 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.18 [[ 0.99936044 -0.01065147 -0.03413572 0.52064954] [ 0.01028657 0.99988825 -0.01084762 -0.08284154] [ 0.03424745 0.01048954 0.99935833 -0.17635955] [ 0. 0. 0. 1. ]] SLAMing on 39.60463044 meters Centerline goodness : 0.234209 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.18 [[ 0.99935659 -0.01054992 -0.03427967 0.52092165] [ 0.01020525 0.99989576 -0.01021417 -0.08648523] [ 0.03438386 0.00985776 0.99936008 -0.17620474] [ 0. 0. 0. 1. ]] SLAMing on 39.634630439999995 meters Centerline goodness : 0.191066 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.18 [[ 0.99944081 -0.00291268 -0.03331051 0.5028282 ] [ 0.00256474 0.99994176 -0.01048314 -0.09597511] [ 0.0333391 0.01039184 0.99939007 -0.17868919] [ 0. 0. 0. 1. ]] SLAMing on 39.664630439999996 meters Centerline goodness : 0.042629 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.18 [[ 0.99943799 -0.00274489 -0.033409 0.50324564] [ 0.00241349 0.99994753 -0.00995572 -0.0988035 ] [ 0.03343458 0.0098695 0.99939218 -0.17894104] [ 0. 0. 0. 1. ]] SLAMing on 39.69463044 meters Centerline goodness : 0.399165 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.18 [[ 0.99943472 -0.00265142 -0.03351447 0.50371204] [ 0.00232839 0.9999505 -0.00967395 -0.10048501] [ 0.03353846 0.00959045 0.99939141 -0.17925695] [ 0. 0. 0. 1. ]] SLAMing on 39.72463044 meters Centerline goodness : 0.191881 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.18 [[ 0.9994222 -0.002611 -0.03388877 0.50485854] [ 0.002285 0.99995078 -0.00965493 -0.10074124] [ 0.03391231 0.00957192 0.99937897 -0.17964527] [ 0. 0. 0. 1. ]] SLAMing on 39.75463044 meters Centerline goodness : 0.096300 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.18 [[ 0.99935175 0.00755462 -0.03519953 0.48454472] [-0.00789066 0.99992452 -0.00941778 -0.10125811] [ 0.03512572 0.00968942 0.99933593 -0.18098449] [ 0. 0. 0. 1. ]] SLAMing on 39.78463044 meters Centerline goodness : 0.099033 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.18 [[ 0.99933567 0.00796146 -0.03556447 0.48575025] [-0.00830773 0.99991941 -0.00959925 -0.09847997] [ 0.03548518 0.00988833 0.99932128 -0.18152922] [ 0. 0. 0. 1. ]] SLAMing on 39.814630439999995 meters Centerline goodness : 0.098584 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.18 [[ 0.99932728 0.00825094 -0.03573385 0.48655511] [-0.00861192 0.99991332 -0.00995971 -0.09523431] [ 0.03564858 0.01026074 0.99931171 -0.18222886] [ 0. 0. 0. 1. ]] SLAMing on 39.844630439999996 meters Centerline goodness : 0.128880 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.18 [[ 0.99932239 0.00853883 -0.03580303 0.48693823] [-0.00891425 0.99990681 -0.01033942 -0.09179295] [ 0.03571141 0.01065157 0.99930538 -0.18266131] [ 0. 0. 0. 1. ]] SLAMing on 39.87463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 39.90463044 meters Centerline goodness : 0.126195 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.18 [[ 0.99932655 0.00901023 -0.03557039 0.48586973] [-0.00939715 0.99989832 -0.01072546 -0.08530329] [ 0.03547013 0.0110525 0.99930962 -0.18215038] [ 0. 0. 0. 1. ]] SLAMing on 39.93463044 meters Centerline goodness : 0.125963 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.18 [[ 0.99932411 0.00878264 -0.03569567 0.48598789] [-0.00919448 0.99989286 -0.01138988 -0.08186574] [ 0.03559181 0.01171039 0.9992978 -0.18199309] [ 0. 0. 0. 1. ]] SLAMing on 39.96463044 meters Centerline goodness : 0.158742 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 0.99936689 0.00138804 -0.03555132 0.50373515] [-0.00174127 0.99994941 -0.00990684 -0.07594256] [ 0.03553577 0.00996248 0.99931875 -0.17939893] [ 0. 0. 0. 1. ]] SLAMing on 39.99463044 meters Centerline goodness : 0.119391 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 0.99937649 0.00138519 -0.03528059 0.50274861] [-0.00173333 0.99995009 -0.00983919 -0.07610253] [ 0.0352652 0.0098942 0.99932901 -0.17885125] [ 0. 0. 0. 1. ]] SLAMing on 40.024630439999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 40.05463044 meters Centerline goodness : 0.086516 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99390989e-01 7.07556292e-04 -3.48876791e-02 5.01456518e-01] [-1.06675304e-03 9.99946608e-01 -1.02782665e-02 -7.58647131e-02] [ 3.48785440e-02 1.03092234e-02 9.99338385e-01 -1.78286655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08463044 meters Centerline goodness : 0.439223 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99391959e-01 5.97163245e-04 -3.48619507e-02 5.01585358e-01] [-9.59082947e-04 9.99945815e-01 -1.03657108e-02 -7.58902333e-02] [ 3.48538716e-02 1.03928435e-02 9.99338379e-01 -1.78551064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11463044 meters Centerline goodness : 0.412341 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99394601e-01 6.02879131e-04 -3.47860355e-02 5.01397604e-01] [-9.61758383e-04 9.99946481e-01 -1.03009517e-02 -7.62018076e-02] [ 3.47779635e-02 1.03281712e-02 9.99341694e-01 -1.78558784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14463044 meters Centerline goodness : 0.380564 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99398004e-01 6.44051685e-04 -3.46873942e-02 5.01164927e-01] [-9.99189126e-04 9.99947256e-01 -1.02218662e-02 -7.62645738e-02] [ 3.46789813e-02 1.02503720e-02 9.99345935e-01 -1.78555063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17463044 meters Centerline goodness : 0.367829 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99404094e-01 7.42063470e-04 -3.45095032e-02 5.00432758e-01] [-1.08867948e-03 9.99949142e-01 -1.00263686e-02 -7.68552298e-02] [ 3.45003079e-02 1.00579636e-02 9.99354074e-01 -1.78111569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204630439999995 meters Centerline goodness : 0.445428 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99427986e-01 4.55589631e-04 -3.38155820e-02 4.98228629e-01] [-7.93461999e-04 9.99949895e-01 -9.97887080e-03 -7.82849672e-02] [ 3.38093414e-02 9.99999412e-03 9.99378271e-01 -1.77159856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23463044 meters Centerline goodness : 0.243047 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99418915e-01 3.75405113e-04 -3.40836056e-02 4.99028927e-01] [-7.10474578e-04 9.99951538e-01 -9.81923145e-03 -7.97932414e-02] [ 3.40782677e-02 9.83774117e-03 9.99370747e-01 -1.77379881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26463044 meters Centerline goodness : 0.243478 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.18 [[ 9.99405094e-01 3.65895069e-04 -3.44865726e-02 5.00233301e-01] [-6.96607542e-04 9.99953887e-01 -9.57807360e-03 -8.14088851e-02] [ 3.44814777e-02 9.59639915e-03 9.99359263e-01 -1.77712732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29463044 meters Centerline goodness : 0.097081 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99297379e-01 -1.81372623e-04 -3.74795431e-02 4.57500576e-01] [-1.79864157e-04 9.99953570e-01 -9.63464207e-03 -8.55455270e-02] [ 3.74795504e-02 9.63461379e-03 9.99250948e-01 -1.79439923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32463044 meters Centerline goodness : 0.101100 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99292359e-01 -9.04099751e-05 -3.76134655e-02 4.58029472e-01] [-2.58449448e-04 9.99957000e-01 -9.26988890e-03 -8.75331188e-02] [ 3.76126862e-02 9.27305032e-03 9.99249366e-01 -1.79707011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35463044 meters Centerline goodness : 0.434023 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99294739e-01 -6.43307643e-05 -3.75502304e-02 4.57985030e-01] [-2.72503722e-04 9.99959776e-01 -8.96505051e-03 -8.95981100e-02] [ 3.75492967e-02 8.96896039e-03 9.99254526e-01 -1.79794837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384630439999995 meters Centerline goodness : 0.093306 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99321339e-01 -2.02267738e-04 -3.68350506e-02 4.55496365e-01] [-1.11009343e-04 9.99963846e-01 -8.50261981e-03 -9.40006178e-02] [ 3.68354387e-02 8.50093844e-03 9.99285187e-01 -1.78678897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414630439999996 meters Centerline goodness : 0.099702 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 9.99324387e-01 5.95703824e-07 -3.67528223e-02 4.55133162e-01] [-2.99021015e-04 9.99967034e-01 -8.11429680e-03 -9.55427882e-02] [ 3.67516058e-02 8.11980454e-03 9.99291443e-01 -1.78434731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44463044 meters Centerline goodness : 0.095874 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 9.99313938e-01 1.92441808e-04 -3.70353457e-02 4.56232959e-01] [-4.87459402e-04 9.99968224e-01 -7.95697396e-03 -9.57175090e-02] [ 3.70326376e-02 7.96956821e-03 9.99282277e-01 -1.79042438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47463044 meters Centerline goodness : 0.096059 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 9.99303064e-01 2.42915430e-04 -3.73273087e-02 4.57374469e-01] [-5.42258225e-04 9.99967776e-01 -8.00948994e-03 -9.53376092e-02] [ 3.73241602e-02 8.02414888e-03 9.99270994e-01 -1.79747305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50463044 meters Centerline goodness : 0.183858 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 9.99281804e-01 5.80998847e-04 -3.78885115e-02 4.58814212e-01] [-8.79578838e-04 9.99968689e-01 -7.86429608e-03 -9.53954092e-02] [ 3.78827560e-02 7.89197390e-03 9.99251026e-01 -1.80039139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53463044 meters Centerline goodness : 0.425934 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 9.99287610e-01 8.07973066e-04 -3.77308835e-02 4.58269568e-01] [-1.09876546e-03 9.99969852e-01 -7.68691268e-03 -9.55549744e-02] [ 3.77235352e-02 7.72289400e-03 9.99258371e-01 -1.79835218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564630439999995 meters Centerline goodness : 0.231656 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 0.99929352 0.00100165 -0.03756946 0.45769871] [-0.00128632 0.99997064 -0.00755371 -0.09555484] [ 0.03756079 0.0075967 0.99926547 -0.17961703] [ 0. 0. 0. 1. ]] SLAMing on 40.594630439999996 meters Centerline goodness : 0.441001 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 0.99929807 0.00108493 -0.03744585 0.45741241] [-0.00136695 0.99997089 -0.00750663 -0.09548409] [ 0.03743661 0.00755254 0.99927046 -0.17966695] [ 0. 0. 0. 1. ]] SLAMing on 40.62463044 meters Centerline goodness : 0.095599 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 0.99930008 0.00104905 -0.03739326 0.45749672] [-0.00133346 0.99997037 -0.00758161 -0.09532295] [ 0.0373842 0.00762617 0.99927187 -0.17999857] [ 0. 0. 0. 1. ]] SLAMing on 40.65463044 meters Centerline goodness : 0.109188 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.18 [[ 9.99290951e-01 8.58795103e-04 -3.76411767e-02 4.58836641e-01] [-1.15429396e-03 9.99968684e-01 -7.82938607e-03 -9.52002048e-02] [ 3.76332740e-02 7.86728363e-03 9.99260648e-01 -1.81077185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68463044 meters Centerline goodness : 0.090262 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99285148e-01 8.35460595e-04 -3.77954336e-02 4.59471274e-01] [-1.13561970e-03 9.99967984e-01 -7.92090523e-03 -9.46974891e-02] [ 3.77876059e-02 7.95816420e-03 9.99254104e-01 -1.81497632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71463044 meters Centerline goodness : 0.440795 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99280958e-01 9.06505941e-04 -3.79044279e-02 4.59772244e-01] [-1.20886787e-03 9.99967629e-01 -7.95479755e-03 -9.39533139e-02] [ 3.78959898e-02 7.99489916e-03 9.99249706e-01 -1.81593582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74463044 meters Centerline goodness : 0.090205 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99272389e-01 9.35007911e-04 -3.81289713e-02 4.60261202e-01] [-1.24462685e-03 9.99966441e-01 -8.09737842e-03 -9.26642487e-02] [ 3.81201206e-02 8.13894302e-03 9.99240018e-01 -1.81562625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774630439999996 meters Centerline goodness : 0.095648 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99261809e-01 8.37827216e-04 -3.84074877e-02 4.60836993e-01] [-1.16524949e-03 9.99963167e-01 -8.50336683e-03 -9.04779279e-02] [ 3.83989487e-02 8.54184403e-03 9.99225979e-01 -1.81458294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80463044 meters Centerline goodness : 0.100301 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99257419e-01 7.57514174e-04 -3.85231894e-02 4.61179018e-01] [-1.09225689e-03 9.99961826e-01 -8.66907837e-03 -8.98602122e-02] [ 3.85151518e-02 8.70471810e-03 9.99220101e-01 -1.81564158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83463044 meters Centerline goodness : 0.094350 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99256619e-01 7.02927055e-04 -3.85449759e-02 4.61533098e-01] [-1.04183997e-03 9.99960971e-01 -8.77328004e-03 -8.93374427e-02] [ 3.85373046e-02 8.80691584e-03 9.99218352e-01 -1.82039561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86463044 meters Centerline goodness : 0.099676 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99252984e-01 6.95942739e-04 -3.86392130e-02 4.61941253e-01] [-1.03717303e-03 9.99960637e-01 -8.81184879e-03 -8.89283310e-02] [ 3.86315595e-02 8.84534175e-03 9.99214373e-01 -1.82280982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89463044 meters Centerline goodness : 0.206330 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99256793e-01 7.30653748e-04 -3.85399576e-02 4.61689938e-01] [-1.06763631e-03 9.99961376e-01 -8.72386306e-03 -8.91408566e-02] [ 3.85320949e-02 8.75852608e-03 9.99218978e-01 -1.82279544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92463044 meters Centerline goodness : 0.095775 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99281235e-01 4.11872831e-04 -3.79057308e-02 4.59341890e-01] [-7.47606929e-04 9.99960618e-01 -8.84333206e-03 -8.97713152e-02] [ 3.79005957e-02 8.86531437e-03 9.99242188e-01 -1.80888652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954630439999995 meters Centerline goodness : 0.095775 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99281235e-01 4.11872831e-04 -3.79057308e-02 4.59341890e-01] [-7.47606929e-04 9.99960618e-01 -8.84333206e-03 -8.97713152e-02] [ 3.79005957e-02 8.86531437e-03 9.99242188e-01 -1.80888652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98463044 meters Centerline goodness : 0.428444 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99287176e-01 3.78078890e-04 -3.77491434e-02 4.58601901e-01] [-7.13981476e-04 9.99960271e-01 -8.88519932e-03 -8.95857308e-02] [ 3.77442843e-02 8.90581792e-03 9.99247745e-01 -1.80348644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01463044 meters Centerline goodness : 0.229060 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99285851e-01 3.99569738e-04 -3.77839810e-02 4.58673347e-01] [-7.37257165e-04 9.99959910e-01 -8.92380648e-03 -8.90514234e-02] [ 3.77789005e-02 8.94529006e-03 9.99246084e-01 -1.80306114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04463044 meters Centerline goodness : 0.422166 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.18 [[ 9.99276097e-01 4.14213771e-04 -3.80408945e-02 4.59724189e-01] [-7.57596584e-04 9.99959098e-01 -9.01270419e-03 -8.82092007e-02] [ 3.80356053e-02 9.03499952e-03 9.99235539e-01 -1.80936133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07463044 meters Centerline goodness : 0.097713 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.18 [[ 9.99139941e-01 2.82234738e-04 -4.14644334e-02 4.18117293e-01] [-6.71908637e-04 9.99955742e-01 -9.38415110e-03 -8.66150054e-02] [ 4.14599498e-02 9.40394049e-03 9.99095911e-01 -1.83277024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10463044 meters Centerline goodness : 0.442254 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.18 [[ 9.99125974e-01 1.96664477e-04 -4.18001121e-02 4.19080880e-01] [-6.01194152e-04 9.99953109e-01 -9.66536734e-03 -8.52418533e-02] [ 4.17962512e-02 9.68204954e-03 9.99079242e-01 -1.83559900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134630439999995 meters Centerline goodness : 0.107023 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.18 [[ 9.99111775e-01 1.32842389e-04 -4.21383748e-02 4.20018446e-01] [-5.51095632e-04 9.99950701e-01 -9.91424792e-03 -8.38395780e-02] [ 4.21349804e-02 9.92866411e-03 9.99062593e-01 -1.83771189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164630439999996 meters Centerline goodness : 0.439158 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99906782 -0.0054896 -0.04281759 0.44218723] [ 0.0051879 0.99996095 -0.00715431 -0.07920995] [ 0.04285519 0.00692551 0.99905729 -0.18293439] [ 0. 0. 0. 1. ]] SLAMing on 41.19463044 meters Centerline goodness : 0.417807 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99906324 -0.00551113 -0.04292177 0.44237677] [ 0.00520483 0.99996021 -0.0072447 -0.07859545] [ 0.04295999 0.00701451 0.99905217 -0.18284581] [ 0. 0. 0. 1. ]] SLAMing on 41.22463044 meters Centerline goodness : 0.434545 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.9990596 -0.00557578 -0.04299795 0.44248711] [ 0.00526494 0.99995921 -0.00733907 -0.07830912] [ 0.04303711 0.00710578 0.9990482 -0.18271042] [ 0. 0. 0. 1. ]] SLAMing on 41.25463044 meters Centerline goodness : 0.258267 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99906031 -0.00565852 -0.04297062 0.44193939] [ 0.00534544 0.99995835 -0.00739731 -0.07817348] [ 0.04301069 0.00716066 0.99904895 -0.18199508] [ 0. 0. 0. 1. ]] SLAMing on 41.28463044 meters Centerline goodness : 0.436968 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99906382 -0.00560865 -0.04289542 0.44176872] [ 0.00529965 0.99995921 -0.00731407 -0.07825848] [ 0.0429347 0.0070799 0.99905279 -0.18200651] [ 0. 0. 0. 1. ]] SLAMing on 41.314630439999995 meters Centerline goodness : 0.417536 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99906723 -0.00560615 -0.04281626 0.44145857] [ 0.00529845 0.99995934 -0.00729668 -0.07838115] [ 0.04285543 0.00706302 0.99905632 -0.18181174] [ 0. 0. 0. 1. ]] SLAMing on 41.344630439999996 meters Centerline goodness : 0.441064 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99906813 -0.0056428 -0.04279054 0.4412078 ] [ 0.00533583 0.99995923 -0.00728443 -0.07875224] [ 0.0428299 0.00704932 0.99905751 -0.18152961] [ 0. 0. 0. 1. ]] SLAMing on 41.37463044 meters Centerline goodness : 0.440812 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99906407 -0.00557398 -0.04289424 0.44115935] [ 0.00527241 0.99996061 -0.00714056 -0.07946253] [ 0.04293235 0.00690772 0.9990541 -0.18106725] [ 0. 0. 0. 1. ]] SLAMing on 41.40463044 meters Centerline goodness : 0.158453 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99905891 -0.00545748 -0.04302918 0.44159114] [ 0.00516002 0.99996204 -0.00702096 -0.07955713] [ 0.04306587 0.00679232 0.99904915 -0.18120664] [ 0. 0. 0. 1. ]] SLAMing on 41.43463044 meters Centerline goodness : 0.431416 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.18 [[ 0.99904626 -0.00545014 -0.04332278 0.44254295] [ 0.00514947 0.9999619 -0.00704885 -0.07941826] [ 0.04335955 0.00681904 0.99903626 -0.18152974] [ 0. 0. 0. 1. ]] SLAMing on 41.46463044 meters Centerline goodness : 0.097898 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.18 [[ 0.99901544 0.00246189 -0.04429547 0.42351659] [-0.00283443 0.99996112 -0.00834954 -0.08453736] [ 0.04427319 0.00846687 0.99898358 -0.18358808] [ 0. 0. 0. 1. ]] SLAMing on 41.49463044 meters Centerline goodness : 0.437260 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.18 [[ 0.99900376 0.00239163 -0.04456197 0.42435285] [-0.00277313 0.99996002 -0.00850112 -0.08397775] [ 0.04453985 0.00861622 0.99897045 -0.18385633] [ 0. 0. 0. 1. ]] SLAMing on 41.524630439999996 meters Centerline goodness : 0.425256 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.18 [[ 0.99899672 0.00240888 -0.04471852 0.42465537] [-0.00279546 0.99995925 -0.00858421 -0.0832698 ] [ 0.04469601 0.00870061 0.99896274 -0.18376795] [ 0. 0. 0. 1. ]] SLAMing on 41.55463044 meters Centerline goodness : 0.248449 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.18 [[ 0.99900033 0.00293872 -0.0446062 0.4237181 ] [-0.00332192 0.99995819 -0.00851908 -0.08119491] [ 0.0445793 0.00865875 0.99896832 -0.18284272] [ 0. 0. 0. 1. ]] SLAMing on 41.58463044 meters Centerline goodness : 0.277478 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.18 [[ 0.99899868 0.0028769 -0.04464705 0.42374356] [-0.00327697 0.99995511 -0.00889015 -0.07925943] [ 0.04461947 0.00902755 0.99896327 -0.18280487] [ 0. 0. 0. 1. ]] SLAMing on 41.61463044 meters Centerline goodness : 0.097276 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.18 [[ 0.99899437 0.00276169 -0.04475076 0.42387377] [-0.00318408 0.99995103 -0.00937021 -0.07686213] [ 0.04472269 0.00950327 0.99895424 -0.18271929] [ 0. 0. 0. 1. ]] SLAMing on 41.64463044 meters Centerline goodness : 0.094305 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.18 [[ 0.99898905 0.00272839 -0.04487132 0.4242516 ] [-0.00317029 0.99994715 -0.0097798 -0.0743707 ] [ 0.04484227 0.00991217 0.9989449 -0.18292484] [ 0. 0. 0. 1. ]] SLAMing on 41.67463044 meters Centerline goodness : 0.098545 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.18 [[ 0.99896774 0.00304883 -0.04532279 0.42545928] [-0.00351251 0.99994227 -0.01015468 -0.07003226] [ 0.04528921 0.01030339 0.99892078 -0.1832307 ] [ 0. 0. 0. 1. ]] SLAMing on 41.704630439999995 meters Centerline goodness : 0.110668 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.18 [[ 0.99895661 0.00297107 -0.04557264 0.42597458] [-0.00345595 0.99993822 -0.01056475 -0.0676659 ] [ 0.04553844 0.01071123 0.99890516 -0.18315945] [ 0. 0. 0. 1. ]] SLAMing on 41.73463044 meters Centerline goodness : 0.093804 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.18 [[ 0.99895507 0.00284013 -0.04561466 0.4259732 ] [-0.00334697 0.99993347 -0.01103879 -0.06512784] [ 0.04558027 0.01117992 0.99889812 -0.18309057] [ 0. 0. 0. 1. ]] SLAMing on 41.76463044 meters Centerline goodness : 0.191466 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.06, Z:-0.18 [[ 0.99896037 0.00270609 -0.04550659 0.42552852] [-0.00323443 0.99992817 -0.01154057 -0.06228604] [ 0.04547209 0.01167576 0.99889738 -0.18287631] [ 0. 0. 0. 1. ]] SLAMing on 41.79463044 meters Centerline goodness : 0.439650 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.06, Z:-0.18 [[ 0.99897158 0.00257956 -0.04526725 0.42466617] [-0.0031277 0.9999226 -0.01204246 -0.05938352] [ 0.04523268 0.01217166 0.99890233 -0.18251752] [ 0. 0. 0. 1. ]] SLAMing on 41.82463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 41.85463044 meters Centerline goodness : 0.098798 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.05, Z:-0.18 [[ 0.99898715 0.00461954 -0.04475852 0.42143112] [-0.00512573 0.99992413 -0.01120126 -0.04923723] [ 0.04470338 0.01141933 0.99893504 -0.18023515] [ 0. 0. 0. 1. ]] SLAMing on 41.884630439999995 meters Centerline goodness : 0.092997 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99901059 -0.00323709 -0.0443549 0.40242588] [ 0.00277738 0.99994183 -0.01042207 -0.04214414] [ 0.04438606 0.01028857 0.99896147 -0.18288702] [ 0. 0. 0. 1. ]] SLAMing on 41.914630439999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 41.94463044 meters Centerline goodness : 0.091727 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:-0.18 [[ 0.99903568 -0.01179722 -0.04229119 0.41980709] [ 0.01137659 0.99988354 -0.01017298 -0.03082635] [ 0.04240628 0.00968204 0.99905353 -0.17946609] [ 0. 0. 0. 1. ]] SLAMing on 41.97463044 meters Centerline goodness : 0.091216 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:-0.18 [[ 0.99903862 -0.01193881 -0.04218181 0.41884592] [ 0.01151709 0.99988138 -0.01022672 -0.03071977] [ 0.04229891 0.00973108 0.99905761 -0.1783835 ] [ 0. 0. 0. 1. ]] SLAMing on 42.00463044 meters Centerline goodness : 0.180174 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99915045 -0.00468892 -0.04094366 0.40083256] [ 0.00423979 0.99992997 -0.01104929 -0.03674398] [ 0.0409926 0.01086631 0.99910036 -0.18049329] [ 0. 0. 0. 1. ]] SLAMing on 42.03463044 meters Centerline goodness : 0.091316 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99914056 -0.00478594 -0.04117319 0.40141993] [ 0.0043375 0.99993038 -0.01097406 -0.03732892] [ 0.04122284 0.01078604 0.99909176 -0.18044749] [ 0. 0. 0. 1. ]] SLAMing on 42.064630439999995 meters Centerline goodness : 0.046392 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99913238 -0.00542989 -0.04129175 0.40175117] [ 0.00497224 0.99992516 -0.01117792 -0.0384252 ] [ 0.04134936 0.01096291 0.9990846 -0.18033957] [ 0. 0. 0. 1. ]] SLAMing on 42.094630439999996 meters Centerline goodness : 0.136556 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99913769 -0.00560311 -0.04113977 0.40123037] [ 0.00514635 0.99992403 -0.01120017 -0.03909824] [ 0.0411994 0.01097879 0.99909062 -0.18001457] [ 0. 0. 0. 1. ]] SLAMing on 42.12463044 meters Centerline goodness : 0.158695 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99914522 -0.00569012 -0.04094442 0.40036225] [ 0.00523651 0.99992382 -0.01117751 -0.03963718] [ 0.04100491 0.01095355 0.9990989 -0.17939911] [ 0. 0. 0. 1. ]] SLAMing on 42.15463044 meters Centerline goodness : 0.110043 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99915089 -0.00568684 -0.04080624 0.39966925] [ 0.00524026 0.9999253 -0.01104263 -0.04033924] [ 0.04086599 0.01081942 0.99910606 -0.17883128] [ 0. 0. 0. 1. ]] SLAMing on 42.18463044 meters Centerline goodness : 0.100725 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99914902 -0.00560003 -0.04086412 0.39975093] [ 0.00516159 0.99992807 -0.01082679 -0.04124213] [ 0.04092181 0.01060665 0.99910605 -0.17870083] [ 0. 0. 0. 1. ]] SLAMing on 42.21463044 meters Centerline goodness : 0.107488 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99914638 -0.00541117 -0.04095401 0.39997618] [ 0.00499654 0.99993529 -0.01021993 -0.04404269] [ 0.04100666 0.01000658 0.99910876 -0.17862661] [ 0. 0. 0. 1. ]] SLAMing on 42.244630439999995 meters Centerline goodness : 0.106768 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99914059 -0.00532277 -0.04110663 0.40028756] [ 0.00492123 0.99993925 -0.00986321 -0.04611581] [ 0.04115664 0.00965244 0.99910608 -0.17850861] [ 0. 0. 0. 1. ]] SLAMing on 42.274630439999996 meters Centerline goodness : 0.177059 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.9991388 -0.00528973 -0.04115427 0.40048039] [ 0.00490242 0.9999428 -0.00950632 -0.04861636] [ 0.04120221 0.00929637 0.99910758 -0.1786106 ] [ 0. 0. 0. 1. ]] SLAMing on 42.30463044 meters Centerline goodness : 0.445906 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99913315 -0.00518869 -0.04130401 0.40097361] [ 0.00481944 0.99994758 -0.00903415 -0.05152037] [ 0.04134872 0.00882726 0.99910578 -0.17877096] [ 0. 0. 0. 1. ]] SLAMing on 42.33463044 meters Centerline goodness : 0.112331 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99913121 -0.00499613 -0.04137471 0.40131409] [ 0.00464696 0.99995281 -0.00853108 -0.05406563] [ 0.04141538 0.0083314 0.99910728 -0.17897375] [ 0. 0. 0. 1. ]] SLAMing on 42.36463044 meters Centerline goodness : 0.429391 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99913741 -0.00474983 -0.04125371 0.40094627] [ 0.00442146 0.99995784 -0.00804732 -0.05611917] [ 0.04129019 0.00785798 0.9991163 -0.17880382] [ 0. 0. 0. 1. ]] SLAMing on 42.39463044 meters Centerline goodness : 0.434024 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99916386 -0.00435711 -0.04065215 0.39891485] [ 0.0040609 0.99996462 -0.00736612 -0.0594953 ] [ 0.04068281 0.00719488 0.99914621 -0.17792121] [ 0. 0. 0. 1. ]] SLAMing on 42.42463044 meters Centerline goodness : 0.439771 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99916113 -0.00424333 -0.04073111 0.39913562] [ 0.00395099 0.99996588 -0.00725512 -0.06001667] [ 0.04076051 0.0070881 0.9991438 -0.17799662] [ 0. 0. 0. 1. ]] SLAMing on 42.454630439999995 meters Centerline goodness : 0.441371 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99915087 -0.00405574 -0.04100108 0.40010068] [ 0.00376747 0.99996766 -0.00710564 -0.06031918] [ 0.04102857 0.00694513 0.99913384 -0.17851296] [ 0. 0. 0. 1. ]] SLAMing on 42.48463044 meters Centerline goodness : 0.148092 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99910135 -0.00309486 -0.042272 0.40414072] [ 0.00282123 0.99997469 -0.00653108 -0.06048895] [ 0.04229114 0.00640596 0.99908479 -0.18003459] [ 0. 0. 0. 1. ]] SLAMing on 42.51463044 meters Centerline goodness : 0.228300 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99909906 -0.00294055 -0.04233709 0.4043929 ] [ 0.00266157 0.99997438 -0.0066443 -0.05940624] [ 0.04235554 0.00652563 0.99908129 -0.18025588] [ 0. 0. 0. 1. ]] SLAMing on 42.54463044 meters Centerline goodness : 0.127315 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99910619 -0.00283343 -0.04217582 0.40379181] [ 0.00255117 0.999974 -0.00674459 -0.05837422] [ 0.04219384 0.00663096 0.99908744 -0.18002273] [ 0. 0. 0. 1. ]] SLAMing on 42.57463044 meters Centerline goodness : 0.442879 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99911769 -0.00276807 -0.04190685 0.40291303] [ 0.00248091 0.9999731 -0.00690279 -0.05702265] [ 0.04192483 0.00679274 0.99909768 -0.17975392] [ 0. 0. 0. 1. ]] SLAMing on 42.60463044 meters Centerline goodness : 0.284623 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.06, Z:-0.18 [[ 0.99912093 -0.00274264 -0.04183112 0.40258574] [ 0.00244812 0.99997187 -0.00709025 -0.0555833 ] [ 0.04184939 0.00698161 0.99909954 -0.17958975] [ 0. 0. 0. 1. ]] SLAMing on 42.634630439999995 meters Centerline goodness : 0.416774 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.9991178 -0.00273981 -0.04190606 0.40282988] [ 0.00243804 0.99997074 -0.0072506 -0.05452359] [ 0.0419247 0.00714203 0.99909525 -0.17971023] [ 0. 0. 0. 1. ]] SLAMing on 42.664630439999996 meters Centerline goodness : 0.443206 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99909124 -0.00274956 -0.04253391 0.40458112] [ 0.00243805 0.99996984 -0.00737395 -0.05373949] [ 0.0425529 0.00726355 0.99906781 -0.18012468] [ 0. 0. 0. 1. ]] SLAMing on 42.69463044 meters Centerline goodness : 0.441780 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99906758 -0.00275295 -0.04308585 0.40623643] [ 0.00243716 0.9999698 -0.00738019 -0.05369063] [ 0.04310487 0.00726831 0.99904411 -0.18059764] [ 0. 0. 0. 1. ]] SLAMing on 42.72463044 meters Centerline goodness : 0.229747 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99904279 -0.00278775 -0.04365462 0.40783097] [ 0.00246765 0.99996969 -0.00738478 -0.05374492] [ 0.04367389 0.00726999 0.99901939 -0.18090692] [ 0. 0. 0. 1. ]] SLAMing on 42.75463044 meters Centerline goodness : 0.398869 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99902146 -0.00287217 -0.04413474 0.40915771] [ 0.00254713 0.99996923 -0.00741915 -0.05393382] [ 0.04415469 0.00729947 0.99899804 -0.18109696] [ 0. 0. 0. 1. ]] SLAMing on 42.78463044 meters Centerline goodness : 0.420210 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99902903 -0.00333942 -0.04393003 0.40793426] [ 0.00300165 0.99996544 -0.00775255 -0.05378155] [ 0.0439544 0.00761316 0.99900453 -0.17997407] [ 0. 0. 0. 1. ]] SLAMing on 42.814630439999995 meters Centerline goodness : 0.419584 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.9990352 -0.00332122 -0.04379088 0.40736108] [ 0.0029838 0.99996537 -0.00776837 -0.05327277] [ 0.04381516 0.00763021 0.99901052 -0.17959882] [ 0. 0. 0. 1. ]] SLAMing on 42.844630439999996 meters Centerline goodness : 0.440549 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99904423 -0.00331076 -0.04358523 0.40664966] [ 0.00297094 0.9999647 -0.00785921 -0.05225254] [ 0.04360971 0.00772221 0.9990188 -0.17928277] [ 0. 0. 0. 1. ]] SLAMing on 42.87463044 meters Centerline goodness : 0.440549 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99904423 -0.00331076 -0.04358523 0.40664966] [ 0.00297094 0.9999647 -0.00785921 -0.05225254] [ 0.04360971 0.00772221 0.9990188 -0.17928277] [ 0. 0. 0. 1. ]] SLAMing on 42.90463044 meters Centerline goodness : 0.441036 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99905165 -0.0033699 -0.04341015 0.40604319] [ 0.00302432 0.99996323 -0.00802406 -0.05118981] [ 0.04343559 0.00788516 0.99902511 -0.178972 ] [ 0. 0. 0. 1. ]] SLAMing on 42.93463044 meters Centerline goodness : 0.437382 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99905504 -0.00344152 -0.04332642 0.40567255] [ 0.00309006 0.9999618 -0.00817633 -0.05042662] [ 0.0433529 0.00803472 0.99902751 -0.17873221] [ 0. 0. 0. 1. ]] SLAMing on 42.96463044 meters Centerline goodness : 0.426399 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99905549 -0.00368377 -0.04329615 0.40507404] [ 0.00332405 0.99995938 -0.00837744 -0.05020458] [ 0.04332525 0.0082256 0.99902716 -0.17793517] [ 0. 0. 0. 1. ]] SLAMing on 42.994630439999995 meters Centerline goodness : 0.440865 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.18 [[ 0.99905142 -0.0036701 -0.04339118 0.4050774 ] [ 0.00331448 0.99996035 -0.00826475 -0.05074837] [ 0.04341979 0.00811309 0.99902397 -0.17760363] [ 0. 0. 0. 1. ]] SLAMing on 43.024630439999996 meters Centerline goodness : 0.138199 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99905273 -0.00363491 -0.04336389 0.40471739] [ 0.00328631 0.99996173 -0.00810749 -0.0514339 ] [ 0.0433917 0.0079573 0.99902645 -0.17713363] [ 0. 0. 0. 1. ]] SLAMing on 43.05463044 meters Centerline goodness : 0.443475 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99905808 -0.0036541 -0.04323877 0.40408637] [ 0.00331168 0.99996261 -0.00798829 -0.05212595] [ 0.04326635 0.00783757 0.99903283 -0.17661525] [ 0. 0. 0. 1. ]] SLAMing on 43.08463044 meters Centerline goodness : 0.334553 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99905059 -0.00426445 -0.04335586 0.40383311] [ 0.00390259 0.99995687 -0.00842738 -0.05235022] [ 0.04338993 0.00825018 0.99902415 -0.17579469] [ 0. 0. 0. 1. ]] SLAMing on 43.11463044 meters Centerline goodness : 0.160696 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.9990444 -0.00441348 -0.04348334 0.40397777] [ 0.0040444 0.99995508 -0.00857233 -0.05222989] [ 0.04351922 0.00838827 0.99901737 -0.17556573] [ 0. 0. 0. 1. ]] SLAMing on 43.14463044 meters Centerline goodness : 0.331891 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99904668 -0.00443836 -0.04342849 0.40369559] [ 0.0040682 0.99995468 -0.00860792 -0.05191624] [ 0.04346473 0.00842304 0.99901945 -0.17538732] [ 0. 0. 0. 1. ]] SLAMing on 43.17463044 meters Centerline goodness : 0.137763 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99905496 -0.00435922 -0.04324574 0.40311331] [ 0.00399097 0.99995507 -0.00859789 -0.05120107] [ 0.04328127 0.00841718 0.99902747 -0.1751804 ] [ 0. 0. 0. 1. ]] SLAMing on 43.204630439999995 meters Centerline goodness : 0.100347 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.17 [[ 0.99906547 -0.00431297 -0.04300681 0.40242735] [ 0.00394216 0.99995436 -0.00870324 -0.04985731] [ 0.04304239 0.00852557 0.99903687 -0.17499476] [ 0. 0. 0. 1. ]] SLAMing on 43.23463044 meters Centerline goodness : 0.116501 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.18 [[ 0.99906628 -0.00441932 -0.04297726 0.40253268] [ 0.00403549 0.99995123 -0.00901362 -0.04821967] [ 0.043015 0.00883177 0.99903539 -0.17525367] [ 0. 0. 0. 1. ]] SLAMing on 43.26463044 meters Centerline goodness : 0.109034 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.18 [[ 0.99903037 -0.00491153 -0.04375164 0.40475115] [ 0.00447351 0.99993895 -0.01010393 -0.04364143] [ 0.0437986 0.00989841 0.99899134 -0.17586636] [ 0. 0. 0. 1. ]] SLAMing on 43.29463044 meters Centerline goodness : 0.175378 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.04, Z:-0.18 [[ 0.99901331 -0.00510729 -0.04411712 0.40562825] [ 0.00464085 0.99993232 -0.01066875 -0.0407346 ] [ 0.04416862 0.01045349 0.9989694 -0.17591714] [ 0. 0. 0. 1. ]] SLAMing on 43.32463044 meters Centerline goodness : 0.100641 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.04, Z:-0.18 [[ 0.99900005 -0.00525509 -0.04439914 0.40612153] [ 0.00476258 0.99992603 -0.01119137 -0.03764648] [ 0.04445467 0.01096873 0.99895118 -0.17570569] [ 0. 0. 0. 1. ]] SLAMing on 43.35463044 meters Centerline goodness : 0.105343 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:-0.18 [[ 0.99900372 -0.00562133 -0.04427144 0.4052789 ] [ 0.00508853 0.99991338 -0.01213829 -0.03117436] [ 0.04433584 0.01190092 0.99894579 -0.17501033] [ 0. 0. 0. 1. ]] SLAMing on 43.384630439999995 meters Centerline goodness : 0.103997 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:-0.17 [[ 0.99900246 -0.00592603 -0.04426024 0.40515838] [ 0.00536631 0.99990426 -0.01275431 -0.0284639 ] [ 0.04433159 0.01250407 0.99893862 -0.17491885] [ 0. 0. 0. 1. ]] SLAMing on 43.414630439999996 meters Centerline goodness : 0.106710 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:-0.18 [[ 0.99899774 -0.00623069 -0.04432478 0.40533949] [ 0.00564159 0.99989426 -0.01340323 -0.02541971] [ 0.04440361 0.01313974 0.99892726 -0.17501339] [ 0. 0. 0. 1. ]] SLAMing on 43.44463044 meters Centerline goodness : 0.119780 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.17 [[ 0.99899616 -0.00643103 -0.04433194 0.40530105] [ 0.00581899 0.99988617 -0.01392106 -0.02263114] [ 0.04441642 0.01364911 0.99891986 -0.17494379] [ 0. 0. 0. 1. ]] SLAMing on 43.47463044 meters Centerline goodness : 0.116146 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.02, Z:-0.18 [[ 0.99894033 -0.00581196 -0.04565557 0.35857223] [ 0.00517461 0.99988768 -0.01406571 -0.02022709] [ 0.04573219 0.01381455 0.99885821 -0.17534167] [ 0. 0. 0. 1. ]] SLAMing on 43.50463044 meters Centerline goodness : 0.156973 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.02, Z:-0.17 [[ 0.99895378 -0.00596682 -0.04534035 0.35745354] [ 0.00531929 0.99988233 -0.01438869 -0.0185574 ] [ 0.04542087 0.01413246 0.99886797 -0.17478208] [ 0. 0. 0. 1. ]] SLAMing on 43.53463044 meters Centerline goodness : 0.118172 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.02, Z:-0.17 [[ 0.99897271 -0.0061732 -0.04489341 0.35584928] [ 0.00552234 0.99987805 -0.01460751 -0.0179437 ] [ 0.04497811 0.01434459 0.99888498 -0.17398276] [ 0. 0. 0. 1. ]] SLAMing on 43.564630439999995 meters Centerline goodness : 0.111723 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.17 [[ 0.99899978 -0.00714414 -0.0441406 0.35326998] [ 0.00648155 0.99986444 -0.01513601 -0.01872348] [ 0.04424275 0.01483478 0.99891066 -0.17285843] [ 0. 0. 0. 1. ]] SLAMing on 43.594630439999996 meters Centerline goodness : 0.109434 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.17 [[ 0.99898533 -0.00728129 -0.04444425 0.35408795] [ 0.00661968 0.99986535 -0.01501542 -0.02004675] [ 0.04454759 0.01470598 0.99889902 -0.17297013] [ 0. 0. 0. 1. ]] SLAMing on 43.62463044 meters Centerline goodness : 0.114559 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.17 [[ 0.99897694 -0.00738793 -0.04461496 0.35460562] [ 0.00673025 0.99986673 -0.01487344 -0.02137741] [ 0.0447189 0.01455795 0.99889353 -0.17313723] [ 0. 0. 0. 1. ]] SLAMing on 43.65463044 meters Centerline goodness : 0.128145 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.02, Z:-0.17 [[ 0.99890398 -0.01613534 -0.04393741 0.37514271] [ 0.01552684 0.99977925 -0.01415544 -0.01894929] [ 0.04415611 0.01345772 0.998934 -0.1717401 ] [ 0. 0. 0. 1. ]] SLAMing on 43.68463044 meters Centerline goodness : 0.099341 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.17 [[ 0.99905727 -0.00840447 -0.04259028 0.35580513] [ 0.00776931 0.99985645 -0.01505692 -0.02523474] [ 0.04271071 0.01471183 0.99897916 -0.17401802] [ 0. 0. 0. 1. ]] SLAMing on 43.71463044 meters Centerline goodness : 0.104244 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.17 [[ 0.99904635 -0.00815367 -0.04289421 0.35675308] [ 0.00753764 0.9998664 -0.01450384 -0.02709137] [ 0.04300674 0.01416669 0.99897434 -0.17435572] [ 0. 0. 0. 1. ]] SLAMing on 43.744630439999995 meters Centerline goodness : 0.112175 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.17 [[ 0.99904171 -0.00796265 -0.04303779 0.35739923] [ 0.00736152 0.99987338 -0.01410798 -0.02856754] [ 0.04314468 0.01377764 0.99897383 -0.17478838] [ 0. 0. 0. 1. ]] SLAMing on 43.774630439999996 meters Centerline goodness : 0.103073 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.18 [[ 0.9990311 -0.007964 -0.04328331 0.35848891] [ 0.00736721 0.99987583 -0.01393005 -0.02975081] [ 0.04338887 0.01359768 0.99896572 -0.17545016] [ 0. 0. 0. 1. ]] SLAMing on 43.80463044 meters Centerline goodness : 0.183027 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.18 [[ 0.9990153 -0.00805876 -0.04362892 0.35967405] [ 0.00747055 0.99987922 -0.01362842 -0.03262532] [ 0.04373348 0.01328907 0.99895485 -0.17602197] [ 0. 0. 0. 1. ]] SLAMing on 43.83463044 meters Centerline goodness : 0.113141 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.18 [[ 0.99901253 -0.00791495 -0.04371873 0.35975366] [ 0.00734218 0.99988531 -0.01324637 -0.03457751] [ 0.04381856 0.0129123 0.99895606 -0.17585803] [ 0. 0. 0. 1. ]] SLAMing on 43.86463044 meters Centerline goodness : 0.114089 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.18 [[ 0.99901288 -0.00772674 -0.04374427 0.35995725] [ 0.00717261 0.99989222 -0.01281038 -0.03658366] [ 0.04383853 0.01248398 0.99896063 -0.17609211] [ 0. 0. 0. 1. ]] SLAMing on 43.89463044 meters Centerline goodness : 0.113405 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.18 [[ 0.99900787 -0.00757732 -0.04388463 0.36063737] [ 0.00703798 0.99989796 -0.01243149 -0.03849634] [ 0.04397435 0.0121103 0.99895926 -0.17662096] [ 0. 0. 0. 1. ]] SLAMing on 43.92463044 meters Centerline goodness : 0.113528 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.18 [[ 0.9990036 -0.00744192 -0.04400491 0.36126558] [ 0.0069176 0.9999034 -0.01205544 -0.04053769] [ 0.04409037 0.01173902 0.99895857 -0.17713367] [ 0. 0. 0. 1. ]] SLAMing on 43.954630439999995 meters Centerline goodness : 0.113966 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.18 [[ 0.99900505 -0.00727184 -0.04400038 0.36139655] [ 0.00676602 0.99990943 -0.01163389 -0.04266534] [ 0.04408099 0.01132461 0.99896377 -0.17741774] [ 0. 0. 0. 1. ]] SLAMing on 43.98463044 meters Centerline goodness : 0.117593 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.18 [[ 0.99901509 -0.00693264 -0.0438267 0.360229 ] [ 0.00645722 0.99991887 -0.01098002 -0.04551205] [ 0.04389926 0.0106862 0.99897881 -0.17636373] [ 0. 0. 0. 1. ]] SLAMing on 44.01463044 meters Centerline goodness : 0.122896 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.18 [[ 0.99902095 -0.00679949 -0.04371388 0.35973344] [ 0.00633388 0.99992182 -0.01078109 -0.04622437] [ 0.04378377 0.01049365 0.99898592 -0.17609237] [ 0. 0. 0. 1. ]] SLAMing on 44.04463044 meters Centerline goodness : 0.123365 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.18 [[ 0.99901362 -0.00674214 -0.04389005 0.36011285] [ 0.00627953 0.99992336 -0.01066968 -0.04695216] [ 0.04395862 0.01038354 0.99897939 -0.17603201] [ 0. 0. 0. 1. ]] SLAMing on 44.07463044 meters Centerline goodness : 0.122405 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.17 [[ 9.99035702e-01 9.17419561e-04 -4.38956155e-02 3.79489019e-01] [-1.43261783e-03 9.99930446e-01 -1.17068779e-02 -5.18369036e-02] [ 4.38818222e-02 1.17584747e-02 9.98967529e-01 -1.74031011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10463044 meters Centerline goodness : 0.108346 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.17 [[ 0.99905172 0.00100454 -0.04352762 0.37825956] [-0.00151968 0.99992918 -0.01180345 -0.05114736] [ 0.04351268 0.01185841 0.99898249 -0.17351037] [ 0. 0. 0. 1. ]] SLAMing on 44.134630439999995 meters Centerline goodness : 0.111875 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.17 [[ 0.99907788 0.00122686 -0.04291707 0.37632951] [-0.00173656 0.99992839 -0.01184095 -0.05021524] [ 0.04289947 0.01190456 0.99900847 -0.17280789] [ 0. 0. 0. 1. ]] SLAMing on 44.164630439999996 meters Centerline goodness : 0.104320 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.17 [[ 0.99911311 0.00185112 -0.04206622 0.37383206] [-0.00235578 0.99992581 -0.01195052 -0.04791729] [ 0.04204098 0.01203902 0.99904335 -0.17200764] [ 0. 0. 0. 1. ]] SLAMing on 44.19463044 meters Centerline goodness : 0.166913 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.17 [[ 0.99911125 0.00185998 -0.04211001 0.37393414] [-0.00237121 0.99992406 -0.01209378 -0.04705072] [ 0.04208432 0.01218288 0.99903978 -0.17208457] [ 0. 0. 0. 1. ]] SLAMing on 44.22463044 meters Centerline goodness : 0.118844 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.17 [[ 0.99899591 0.00196991 -0.04475818 0.33079447] [-0.00253977 0.9999164 -0.01267867 -0.0476453 ] [ 0.04472947 0.01277962 0.99891739 -0.17378514] [ 0. 0. 0. 1. ]] SLAMing on 44.25463044 meters Centerline goodness : 0.129985 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.17 [[ 0.9990137 0.00100927 -0.04439159 0.37620267] [-0.00157346 0.99991842 -0.01267617 -0.0493143 ] [ 0.04437517 0.01273352 0.99893378 -0.17285573] [ 0. 0. 0. 1. ]] SLAMing on 44.28463044 meters Centerline goodness : 0.107988 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.17 [[ 0.99892582 0.00107636 -0.04632542 0.32966829] [-0.00167475 0.99991564 -0.01288019 -0.05116334] [ 0.04630765 0.01294394 0.99884336 -0.17319678] [ 0. 0. 0. 1. ]] SLAMing on 44.314630439999995 meters Centerline goodness : 0.100469 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.17 [[ 0.99892744 0.00113569 -0.046289 0.32922887] [-0.00172663 0.9999175 -0.01272827 -0.05207928] [ 0.04627073 0.01279455 0.99884699 -0.17269809] [ 0. 0. 0. 1. ]] SLAMing on 44.344630439999996 meters Centerline goodness : 0.103200 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.17 [[ 0.9988542 0.0010244 -0.04784608 0.28313952] [-0.00165947 0.99991103 -0.01323526 -0.05421586] [ 0.04782826 0.0132995 0.99876703 -0.17345096] [ 0. 0. 0. 1. ]] SLAMing on 44.37463044 meters Centerline goodness : 0.103499 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 0.99885396 0.001033 -0.04785082 0.28316956] [-0.00166193 0.99991274 -0.01310555 -0.05542381] [ 0.0478331 0.01317006 0.99876851 -0.17349763] [ 0. 0. 0. 1. ]] SLAMing on 44.40463044 meters Centerline goodness : 0.115330 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 0.99885027 0.00108259 -0.04792676 0.2837333 ] [-0.00170597 0.99991446 -0.01296806 -0.05624504] [ 0.04790862 0.01303492 0.99876667 -0.17407398] [ 0. 0. 0. 1. ]] SLAMing on 44.43463044 meters Centerline goodness : 0.104434 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 0.99884768 0.00118778 -0.04797815 0.28412231] [-0.00180354 0.99991654 -0.01279279 -0.05699595] [ 0.04795895 0.01286457 0.99876646 -0.17450583] [ 0. 0. 0. 1. ]] SLAMing on 44.46463044 meters Centerline goodness : 0.100078 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 0.99884567 0.00139118 -0.04801447 0.28443133] [-0.00198547 0.99992199 -0.01233193 -0.05931636] [ 0.04799357 0.01241302 0.99877051 -0.17482087] [ 0. 0. 0. 1. ]] SLAMing on 44.494630439999995 meters Centerline goodness : 0.173214 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 0.9988469 0.00146309 -0.04798668 0.28421065] [-0.00204648 0.99992457 -0.01211051 -0.06069813] [ 0.04796534 0.01219475 0.99877456 -0.17467589] [ 0. 0. 0. 1. ]] SLAMing on 44.524630439999996 meters Centerline goodness : 0.166143 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 0.99883867 0.00156907 -0.04815438 0.28458487] [-0.00214295 0.99992728 -0.01186811 -0.06201723] [ 0.04813225 0.01195752 0.99876939 -0.17466366] [ 0. 0. 0. 1. ]] SLAMing on 44.55463044 meters Centerline goodness : 0.098562 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:-0.17 [[ 0.99882716 0.00166669 -0.04838939 0.28530814] [-0.00223219 0.99992982 -0.01163472 -0.06332991] [ 0.0483666 0.01172908 0.99876078 -0.17494052] [ 0. 0. 0. 1. ]] SLAMing on 44.58463044 meters Centerline goodness : 0.436000 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.99879841 0.00183821 -0.04897302 0.287319 ] [-0.00239507 0.99993312 -0.01131442 -0.06519226] [ 0.04894895 0.01141812 0.99873601 -0.17591415] [ 0. 0. 0. 1. ]] SLAMing on 44.61463044 meters Centerline goodness : 0.388844 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.99878999 0.00195106 -0.04914006 0.28793017] [-0.00250491 0.99993401 -0.01121188 -0.06536367] [ 0.04911495 0.01132141 0.99872897 -0.17624839] [ 0. 0. 0. 1. ]] SLAMing on 44.64463044 meters Centerline goodness : 0.102084 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.99878608 0.0021331 -0.04921203 0.28813905] [-0.00268079 0.99993518 -0.01106587 -0.0653342 ] [ 0.04918524 0.01118436 0.99872705 -0.17635399] [ 0. 0. 0. 1. ]] SLAMing on 44.67463044 meters Centerline goodness : 0.283530 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.99878338 0.0022949 -0.04925952 0.28820021] [-0.00283653 0.99993626 -0.01092836 -0.06532649] [ 0.0492313 0.01105479 0.99872622 -0.17630785] [ 0. 0. 0. 1. ]] SLAMing on 44.704630439999995 meters Centerline goodness : 0.352251 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.99879058 0.00238664 -0.04910884 0.28728969] [-0.00291439 0.99993874 -0.01067768 -0.06697416] [ 0.04908035 0.01080789 0.99873636 -0.17558029] [ 0. 0. 0. 1. ]] SLAMing on 44.73463044 meters Centerline goodness : 0.275120 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.99880005 0.00239175 -0.04891559 0.28660985] [-0.00291348 0.9999396 -0.01059741 -0.06774461] [ 0.04888729 0.0107272 0.99874669 -0.17528848] [ 0. 0. 0. 1. ]] SLAMing on 44.76463044 meters Centerline goodness : 0.275120 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.99880005 0.00239175 -0.04891559 0.28660985] [-0.00291348 0.9999396 -0.01059741 -0.06774461] [ 0.04888729 0.0107272 0.99874669 -0.17528848] [ 0. 0. 0. 1. ]] SLAMing on 44.79463044 meters Centerline goodness : 0.343198 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.18 [[ 0.9988114 0.0024192 -0.04868189 0.28601464] [-0.00293637 0.99993998 -0.01055484 -0.06802115] [ 0.04865344 0.01068524 0.99875856 -0.17527385] [ 0. 0. 0. 1. ]] SLAMing on 44.82463044 meters Centerline goodness : 0.144274 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.07, Z:-0.17 [[ 0.99882549 -0.00333305 -0.04833778 0.30766205] [ 0.00296334 0.99996582 -0.00771802 -0.0653611 ] [ 0.04836185 0.00756572 0.99880123 -0.17462283] [ 0. 0. 0. 1. ]] SLAMing on 44.85463044 meters Centerline goodness : 0.384629 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 0.99868793 -0.0023455 -0.05115585 0.26101922] [ 0.00198117 0.99997232 -0.00717158 -0.06664662] [ 0.05117125 0.00706082 0.99866493 -0.17484078] [ 0. 0. 0. 1. ]] SLAMing on 44.884630439999995 meters Centerline goodness : 0.428788 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.18 [[ 0.99867418 -0.00227577 -0.05142661 0.26179742] [ 0.00190576 0.99997196 -0.00724271 -0.06594702] [ 0.05144166 0.0071351 0.99865051 -0.17507087] [ 0. 0. 0. 1. ]] SLAMing on 44.914630439999996 meters Centerline goodness : 0.428420 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.18 [[ 0.99866408 -0.00230863 -0.05162094 0.26227029] [ 0.0019279 0.99997058 -0.00742399 -0.06499989] [ 0.05163656 0.00731455 0.99863916 -0.17513742] [ 0. 0. 0. 1. ]] SLAMing on 44.94463044 meters Centerline goodness : 0.176163 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.17 [[ 0.99865559 -0.00225166 -0.05178755 0.26241127] [ 0.00185379 0.99996841 -0.0077296 -0.06285149] [ 0.05180331 0.0076232 0.99862821 -0.17486422] [ 0. 0. 0. 1. ]] SLAMing on 44.97463044 meters Centerline goodness : 0.112356 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.17 [[ 0.99865711 -0.00227177 -0.0517573 0.26226891] [ 0.00186664 0.99996725 -0.00787441 -0.061922 ] [ 0.0517735 0.00776723 0.99862865 -0.17482316] [ 0. 0. 0. 1. ]] SLAMing on 45.00463044 meters Centerline goodness : 0.438962 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.17 [[ 0.99866369 -0.0022734 -0.05163002 0.26178013] [ 0.00186866 0.99996716 -0.00788602 -0.06182088] [ 0.05164625 0.00777901 0.99863514 -0.17458291] [ 0. 0. 0. 1. ]] SLAMing on 45.03463044 meters Centerline goodness : 0.375622 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.17 [[ 0.998669 -0.00229835 -0.05152619 0.26120873] [ 0.00189796 0.99996764 -0.00781814 -0.06245436] [ 0.05154249 0.00770994 0.99864104 -0.17413634] [ 0. 0. 0. 1. ]] SLAMing on 45.064630439999995 meters Centerline goodness : 0.429154 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 0.9987134 -0.00246267 -0.05065049 0.25843375] [ 0.00208834 0.99997013 -0.00744221 -0.06562803] [ 0.05066731 0.00732686 0.99868871 -0.17307397] [ 0. 0. 0. 1. ]] SLAMing on 45.094630439999996 meters Centerline goodness : 0.428345 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 0.99872217 -0.00243895 -0.05047853 0.25761984] [ 0.00208409 0.99997276 -0.00708124 -0.06797521] [ 0.05049443 0.00696699 0.99870004 -0.17247338] [ 0. 0. 0. 1. ]] SLAMing on 45.12463044 meters Centerline goodness : 0.433015 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 0.99872438 -0.00241051 -0.0504362 0.25727412] [ 0.00207425 0.99997528 -0.00671833 -0.0704349 ] [ 0.05045115 0.00660514 0.99870469 -0.17208945] [ 0. 0. 0. 1. ]] SLAMing on 45.15463044 meters Centerline goodness : 0.448432 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 0.99872112 -0.00230361 -0.05050557 0.25732253] [ 0.00199022 0.99997846 -0.00625455 -0.07324019] [ 0.05051889 0.00614604 0.99870419 -0.17190325] [ 0. 0. 0. 1. ]] SLAMing on 45.18463044 meters Centerline goodness : 0.118860 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.9987268 -0.0022265 -0.05039672 0.25679638] [ 0.00193244 0.99998083 -0.00588291 -0.07560905] [ 0.05040885 0.00577803 0.99871195 -0.17154411] [ 0. 0. 0. 1. ]] SLAMing on 45.21463044 meters Centerline goodness : 0.288297 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99875734 -0.0019323 -0.0498001 0.2547741 ] [ 0.00167272 0.9999848 -0.00525359 -0.07863014] [ 0.0498095 0.00516376 0.99874539 -0.17067794] [ 0. 0. 0. 1. ]] SLAMing on 45.244630439999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 45.274630439999996 meters Centerline goodness : 0.439850 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99877797 -0.0013014 -0.04940515 0.25386077] [ 0.00106497 0.99998786 -0.00481165 -0.07911011] [ 0.04941082 0.00475315 0.99876723 -0.17072525] [ 0. 0. 0. 1. ]] SLAMing on 45.30463044 meters Centerline goodness : 0.098518 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 9.98767978e-01 -1.20156236e-03 -4.96093072e-02 2.54521592e-01] [ 9.58516721e-04 9.99987424e-01 -4.92269413e-03 -7.80716171e-02] [ 4.96145982e-02 4.86907791e-03 9.98756569e-01 -1.71037992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33463044 meters Centerline goodness : 0.089195 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 9.98741889e-01 -9.75149147e-04 -5.01367050e-02 2.55886625e-01] [ 7.26488230e-04 9.99987348e-01 -4.97764227e-03 -7.68827192e-02] [ 5.01409246e-02 4.93495611e-03 9.98729960e-01 -1.71311622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36463044 meters Centerline goodness : 0.103789 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.17 [[ 0.99863641 0.00824396 -0.05154961 0.23589613] [-0.00852858 0.99994957 -0.00530375 -0.07986139] [ 0.05150328 0.00573617 0.99865635 -0.17298797] [ 0. 0. 0. 1. ]] SLAMing on 45.39463044 meters Centerline goodness : 0.308169 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.17 [[ 0.99863436 0.00109744 -0.05223222 0.25378244] [-0.00131177 0.99999086 -0.00406916 -0.07493753] [ 0.05222728 0.00413212 0.99862668 -0.17030624] [ 0. 0. 0. 1. ]] SLAMing on 45.42463044 meters Centerline goodness : 0.443842 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99863002 0.00113504 -0.05231432 0.25393879] [-0.00134703 0.99999102 -0.00401722 -0.0752518 ] [ 0.05230929 0.00408219 0.99862259 -0.17029064] [ 0. 0. 0. 1. ]] SLAMing on 45.454630439999995 meters Centerline goodness : 0.443026 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.9986281 0.00119027 -0.05234979 0.25415274] [-0.00139453 0.99999156 -0.00386546 -0.07606679] [ 0.05234475 0.00393316 0.99862133 -0.1704787 ] [ 0. 0. 0. 1. ]] SLAMing on 45.48463044 meters Centerline goodness : 0.091900 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99863274 0.00125504 -0.05225964 0.2541753 ] [-0.00145071 0.99999208 -0.00370646 -0.07687524] [ 0.05225457 0.00377721 0.99862665 -0.17084077] [ 0. 0. 0. 1. ]] SLAMing on 45.51463044 meters Centerline goodness : 0.319137 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99863165 0.00134676 -0.05227824 0.25421321] [-0.00153444 0.99999252 -0.00354987 -0.07737049] [ 0.05227307 0.00362523 0.99862625 -0.17086083] [ 0. 0. 0. 1. ]] SLAMing on 45.54463044 meters Centerline goodness : 0.094282 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99863122 0.0014352 -0.05228401 0.25425269] [-0.00161476 0.99999294 -0.00339235 -0.07789872] [ 0.05227877 0.00347213 0.99862649 -0.17089293] [ 0. 0. 0. 1. ]] SLAMing on 45.57463044 meters Centerline goodness : 0.089476 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99862145 0.00145779 -0.05246978 0.25479065] [-0.00163544 0.99999308 -0.00334292 -0.07809947] [ 0.05246455 0.00342412 0.99861692 -0.17102554] [ 0. 0. 0. 1. ]] SLAMing on 45.60463044 meters Centerline goodness : 0.436866 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99860959 0.00145952 -0.05269493 0.25544837] [-0.00163577 0.99999321 -0.00330175 -0.07841858] [ 0.05268975 0.00338335 0.9986052 -0.1711987 ] [ 0. 0. 0. 1. ]] SLAMing on 45.634630439999995 meters Centerline goodness : 0.271797 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99859728 0.00141569 -0.05292888 0.25624576] [-0.00159371 0.99999321 -0.00332134 -0.07866374] [ 0.05292382 0.00340103 0.99859276 -0.17154058] [ 0. 0. 0. 1. ]] SLAMing on 45.664630439999996 meters Centerline goodness : 0.443093 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99858973 0.00134506 -0.05307305 0.25680231] [-0.00152178 0.99999343 -0.00328945 -0.07955629] [ 0.05306828 0.00336558 0.99858521 -0.17186252] [ 0. 0. 0. 1. ]] SLAMing on 45.69463044 meters Centerline goodness : 0.203816 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99860313 0.00138404 -0.05281924 0.25589604] [-0.00155353 0.99999378 -0.00316786 -0.080166 ] [ 0.05281453 0.00324549 0.99859906 -0.17144963] [ 0. 0. 0. 1. ]] SLAMing on 45.72463044 meters Centerline goodness : 0.441219 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99861598 0.00145892 -0.05257379 0.25492528] [-0.00161879 0.99999419 -0.00299832 -0.08087372] [ 0.05256911 0.00307927 0.99861254 -0.17090951] [ 0. 0. 0. 1. ]] SLAMing on 45.75463044 meters Centerline goodness : 0.440419 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99861272 0.00150478 -0.05263422 0.25496393] [-0.00165951 0.99999443 -0.00289612 -0.08130609] [ 0.05262957 0.00297945 0.99860966 -0.17076218] [ 0. 0. 0. 1. ]] SLAMing on 45.78463044 meters Centerline goodness : 0.089432 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.9985826 0.001492 -0.05320307 0.25681011] [-0.00165256 0.99999421 -0.00297417 -0.08090127] [ 0.05319832 0.00305788 0.99857928 -0.17145803] [ 0. 0. 0. 1. ]] SLAMing on 45.814630439999995 meters Centerline goodness : 0.240144 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.9985642 0.00136593 -0.05355064 0.25808437] [-0.00153762 0.99999381 -0.00316515 -0.08041929] [ 0.05354599 0.00324294 0.99856012 -0.17210923] [ 0. 0. 0. 1. ]] SLAMing on 45.844630439999996 meters Centerline goodness : 0.098993 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99854031 0.0012738 -0.05399662 0.25955948] [-0.00145555 0.99999341 -0.00332684 -0.07990405] [ 0.05399203 0.00340058 0.99853558 -0.17272145] [ 0. 0. 0. 1. ]] SLAMing on 45.87463044 meters Centerline goodness : 0.095501 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99852203 0.00118161 -0.05433563 0.26065015] [-0.00137581 0.9999928 -0.00353679 -0.07891394] [ 0.05433106 0.00360632 0.99851646 -0.17313547] [ 0. 0. 0. 1. ]] SLAMing on 45.90463044 meters Centerline goodness : 0.434039 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99851128 0.00111666 -0.0545341 0.26091789] [-0.0013233 0.99999208 -0.0037532 -0.07761687] [ 0.05452948 0.00381977 0.99850485 -0.17284301] [ 0. 0. 0. 1. ]] SLAMing on 45.93463044 meters Centerline goodness : 0.299404 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99852105 0.00104791 -0.05435641 0.26009585] [-0.00126795 0.99999114 -0.00401382 -0.07602494] [ 0.05435173 0.0040768 0.99851353 -0.1723443 ] [ 0. 0. 0. 1. ]] SLAMing on 45.96463044 meters Centerline goodness : 0.152773 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 9.98546005e-01 9.29463311e-04 -5.38981611e-02 2.58397045e-01] [-1.17183508e-03 9.99989343e-01 -4.46541824e-03 -7.34403795e-02] [ 5.38934363e-02 4.52208530e-03 9.98536453e-01 -1.71538234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994630439999995 meters Centerline goodness : 0.091837 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 9.98550958e-01 8.39038931e-04 -5.38078101e-02 2.58062650e-01] [-1.08985439e-03 9.99988678e-01 -4.63214758e-03 -7.28013304e-02] [ 5.38033143e-02 4.68407809e-03 9.98540566e-01 -1.71393199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024630439999996 meters Centerline goodness : 0.292644 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 9.98555515e-01 7.42685663e-04 -5.37245954e-02 2.57601509e-01] [-1.00002889e-03 9.99988155e-01 -4.76332103e-03 -7.24898982e-02] [ 5.37204214e-02 4.81016664e-03 9.98544430e-01 -1.71031576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05463044 meters Centerline goodness : 0.092143 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 9.98560540e-01 6.35880886e-04 -5.36324835e-02 2.56649743e-01] [-8.85825603e-04 9.99988858e-01 -4.63668052e-03 -7.36363854e-02] [ 5.36289376e-02 4.67751523e-03 9.98549978e-01 -1.70008947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08463044 meters Centerline goodness : 0.321178 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 9.98573781e-01 6.68078470e-04 -5.33849962e-02 2.55735959e-01] [-9.04714999e-04 9.99989873e-01 -4.40859772e-03 -7.47351945e-02] [ 5.33815103e-02 4.45060830e-03 9.98564273e-01 -1.69489369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11463044 meters Centerline goodness : 0.442479 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 9.98601863e-01 6.02878925e-04 -5.28578866e-02 2.54172033e-01] [-8.27674654e-04 9.99990707e-01 -4.23104562e-03 -7.60785091e-02] [ 5.28548446e-02 4.26887917e-03 9.98593081e-01 -1.68932567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14463044 meters Centerline goodness : 0.448544 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 9.98629574e-01 4.54208370e-04 -5.23332365e-02 2.52672031e-01] [-6.71333597e-04 9.99991240e-01 -4.13139348e-03 -7.74658115e-02] [ 5.23309016e-02 4.16086477e-03 9.98621131e-01 -1.68478205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17463044 meters Centerline goodness : 0.435871 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 9.98634252e-01 4.84255002e-04 -5.22436146e-02 2.52451794e-01] [-6.89008975e-04 9.99992153e-01 -3.90127603e-03 -7.89203984e-02] [ 5.22413154e-02 3.93194419e-03 9.98626749e-01 -1.68452308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204630439999995 meters Centerline goodness : 0.441964 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 9.98627564e-01 5.70926499e-04 -5.23704304e-02 2.52940856e-01] [-7.68861034e-04 9.99992638e-01 -3.75944066e-03 -7.94466320e-02] [ 5.23678985e-02 3.79454665e-03 9.98620651e-01 -1.68696479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23463044 meters Centerline goodness : 0.341535 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99858738 0.00115684 -0.05312158 0.25529677] [-0.00135301 0.9999924 -0.00365704 -0.07749499] [ 0.05311695 0.00372375 0.99858136 -0.16959083] [ 0. 0. 0. 1. ]] SLAMing on 46.26463044 meters Centerline goodness : 0.441392 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99855085 0.00121777 -0.0538025 0.25719502] [-0.00143405 0.99999105 -0.00398149 -0.07549435] [ 0.05379717 0.00405288 0.99854366 -0.17005416] [ 0. 0. 0. 1. ]] SLAMing on 46.29463044 meters Centerline goodness : 0.443165 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 0.99851882 0.00112659 -0.05439575 0.2588282 ] [-0.00137268 0.99998899 -0.00448682 -0.07292716] [ 0.0543901 0.00455484 0.99850937 -0.17053785] [ 0. 0. 0. 1. ]] SLAMing on 46.32463044 meters Centerline goodness : 0.335970 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.17 [[ 0.99849647 0.00109178 -0.05480523 0.25999475] [-0.00136394 0.99998692 -0.00492888 -0.07025788] [ 0.05479913 0.00499623 0.9984849 -0.17092357] [ 0. 0. 0. 1. ]] SLAMing on 46.35463044 meters Centerline goodness : 0.441722 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:-0.17 [[ 0.99838582 0.00224695 -0.05675122 0.21369648] [-0.00248615 0.99998832 -0.0041446 -0.06983988] [ 0.05674124 0.004279 0.99837975 -0.17159123] [ 0. 0. 0. 1. ]] SLAMing on 46.384630439999995 meters Centerline goodness : 0.195231 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.17 [[ 9.98435957e-01 -2.98766083e-03 -5.58275271e-02 2.34811231e-01] [ 2.94540017e-03 9.99995310e-01 -8.39252330e-04 -6.54900239e-02] [ 5.58297727e-02 6.73505296e-04 9.98440075e-01 -1.70392359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414630439999996 meters Centerline goodness : 0.102642 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.17 [[ 9.98486239e-01 -3.13635724e-03 -5.49126103e-02 2.31821737e-01] [ 3.09206187e-03 9.99994822e-01 -8.91594518e-04 -6.57044440e-02] [ 5.49151223e-02 7.20451669e-04 9.98490766e-01 -1.69200893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44463044 meters Centerline goodness : 0.438422 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.17 [[ 9.98512777e-01 -3.26342281e-03 -5.44204327e-02 2.30186372e-01] [ 3.22663228e-03 9.99994503e-01 -7.63891582e-04 -6.71446613e-02] [ 5.44226265e-02 5.87160780e-04 9.98517818e-01 -1.68426504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47463044 meters Centerline goodness : 0.162572 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:-0.17 [[ 9.98641708e-01 -3.41951664e-03 -5.19908213e-02 2.71735933e-01] [ 3.40133729e-03 9.99994119e-01 -4.38139783e-04 -6.77745163e-02] [ 5.19920138e-02 2.60706342e-04 9.98647467e-01 -1.65801410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50463044 meters Centerline goodness : 0.429888 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:-0.17 [[ 9.98642540e-01 -3.27676120e-03 -5.19840387e-02 2.71665683e-01] [ 3.29144413e-03 9.99994564e-01 1.96843798e-04 -7.15293181e-02] [ 5.19831111e-02 -3.67679149e-04 9.98647896e-01 -1.65569839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53463044 meters Centerline goodness : 0.093664 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:-0.17 [[ 9.98632669e-01 -3.35243311e-03 -5.21685204e-02 2.72372278e-01] [ 3.37108430e-03 9.99994282e-01 2.69529827e-04 -7.29176127e-02] [ 5.21673185e-02 -4.45025770e-04 9.98638259e-01 -1.65874044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564630439999995 meters Centerline goodness : 0.437436 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99858549 0.00269652 -0.05310134 0.25118853] [-0.00284242 0.99999239 -0.00267222 -0.07752446] [ 0.05309373 0.00281938 0.99858555 -0.16686011] [ 0. 0. 0. 1. ]] SLAMing on 46.594630439999996 meters Centerline goodness : 0.097552 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99857906 0.00279912 -0.05321686 0.25155508] [-0.00293815 0.99999247 -0.0025344 -0.07801539] [ 0.05320936 0.00268716 0.99857976 -0.16702976] [ 0. 0. 0. 1. ]] SLAMing on 46.62463044 meters Centerline goodness : 0.279406 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99857944 0.00305175 -0.0531957 0.25153226] [-0.00317823 0.99999232 -0.00229338 -0.07806536] [ 0.05318829 0.00245919 0.99858147 -0.16708387] [ 0. 0. 0. 1. ]] SLAMing on 46.65463044 meters Centerline goodness : 0.091317 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99858099 0.00328552 -0.05315267 0.25142313] [-0.00340334 0.99999195 -0.00212613 -0.07794298] [ 0.05314525 0.00230401 0.99858413 -0.1670842 ] [ 0. 0. 0. 1. ]] SLAMing on 46.68463044 meters Centerline goodness : 0.091317 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99858099 0.00328552 -0.05315267 0.25142313] [-0.00340334 0.99999195 -0.00212613 -0.07794298] [ 0.05314525 0.00230401 0.99858413 -0.1670842 ] [ 0. 0. 0. 1. ]] SLAMing on 46.71463044 meters Centerline goodness : 0.094665 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99857169 0.0032594 -0.05332868 0.25178825] [-0.00339057 0.99999145 -0.00236935 -0.07739301] [ 0.0533205 0.00254678 0.9985742 -0.16710347] [ 0. 0. 0. 1. ]] SLAMing on 46.744630439999995 meters Centerline goodness : 0.328976 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99856739 0.00314518 -0.05341602 0.25192363] [-0.00328818 0.99999124 -0.00258936 -0.07680982] [ 0.05340741 0.00276129 0.99856899 -0.1670881 ] [ 0. 0. 0. 1. ]] SLAMing on 46.774630439999996 meters Centerline goodness : 0.092203 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99856489 0.00319727 -0.05345966 0.252183 ] [-0.00333908 0.99999114 -0.00256373 -0.07681074] [ 0.05345099 0.00273855 0.99856672 -0.16738039] [ 0. 0. 0. 1. ]] SLAMing on 46.80463044 meters Centerline goodness : 0.093196 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99857242 0.00330633 -0.05331225 0.25203792] [-0.00343886 0.99999122 -0.00239449 -0.07730592] [ 0.05330387 0.0025744 0.99857502 -0.16771496] [ 0. 0. 0. 1. ]] SLAMing on 46.83463044 meters Centerline goodness : 0.187535 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.9986074 0.0033608 -0.05264944 0.25035674] [-0.00346532 0.9999922 -0.00189407 -0.08049699] [ 0.05264267 0.00207387 0.99861126 -0.16746786] [ 0. 0. 0. 1. ]] SLAMing on 46.86463044 meters Centerline goodness : 0.446076 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.17 [[ 0.99860968 0.00332735 -0.05260834 0.24989726] [-0.00341397 0.99999296 -0.00155668 -0.08313916] [ 0.05260279 0.00173411 0.99861401 -0.16690895] [ 0. 0. 0. 1. ]] SLAMing on 46.89463044 meters Centerline goodness : 0.444768 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:-0.17 [[ 0.99860425 0.00338183 -0.05270779 0.24982955] [-0.00344554 0.99999344 -0.00111779 -0.08601606] [ 0.05270366 0.00129783 0.99860935 -0.16642382] [ 0. 0. 0. 1. ]] SLAMing on 46.92463044 meters Centerline goodness : 0.090094 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.16 [[ 9.98601591e-01 -4.42616757e-03 -5.26808525e-02 2.69894422e-01] [ 4.44576414e-03 9.99990085e-01 2.54807078e-04 -8.43320213e-02] [ 5.26792024e-02 -4.88657398e-04 9.98611367e-01 -1.64376932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954630439999995 meters Centerline goodness : 0.446036 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.98723393e-01 1.33868964e-03 -5.04954609e-02 2.55186127e-01] [-1.37979226e-03 9.99998745e-01 -7.79136330e-04 -9.19787453e-02] [ 5.04943545e-02 8.47814926e-04 9.98723987e-01 -1.68254452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98463044 meters Centerline goodness : 0.107225 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.98718686e-01 1.30242330e-03 -5.05894228e-02 2.55828448e-01] [-1.33975147e-03 9.99998855e-01 -7.03961673e-04 -9.32384743e-02] [ 5.05884480e-02 7.70836930e-04 9.98719287e-01 -1.68807836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01463044 meters Centerline goodness : 0.110269 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.98721658e-01 1.27702511e-03 -5.05313646e-02 2.55499785e-01] [-1.32164447e-03 9.99998766e-01 -8.49599465e-04 -9.25713004e-02] [ 5.05302173e-02 9.15297885e-04 9.98722113e-01 -1.68594664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04463044 meters Centerline goodness : 0.110372 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.17 [[ 0.99872969 0.00989114 -0.04940828 0.27541051] [-0.00998444 0.99994881 -0.00164191 -0.09292723] [ 0.04938951 0.00213314 0.99877732 -0.16656854] [ 0. 0. 0. 1. ]] SLAMing on 47.07463044 meters Centerline goodness : 0.093247 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.17 [[ 0.99874696 0.0102168 -0.04899109 0.27415139] [-0.01030852 0.99994555 -0.00161973 -0.09130122] [ 0.04897188 0.00212273 0.9987979 -0.16621146] [ 0. 0. 0. 1. ]] SLAMing on 47.10463044 meters Centerline goodness : 0.114700 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.17 [[ 0.99874147 0.01071231 -0.04899709 0.27417854] [-0.01081525 0.99993983 -0.0018362 -0.08764225] [ 0.04897447 0.0023638 0.99879723 -0.16634943] [ 0. 0. 0. 1. ]] SLAMing on 47.134630439999995 meters Centerline goodness : 0.118469 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.17 [[ 0.99872992 0.01044097 -0.04929028 0.27509123] [-0.01057468 0.99994108 -0.00245273 -0.08515272] [ 0.04926177 0.00297084 0.99878148 -0.16676233] [ 0. 0. 0. 1. ]] SLAMing on 47.164630439999996 meters Centerline goodness : 0.119135 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.17 [[ 0.99871754 0.01024565 -0.0495812 0.27600957] [-0.01040353 0.9999416 -0.00292727 -0.08311791] [ 0.04954831 0.00343933 0.99876581 -0.16718414] [ 0. 0. 0. 1. ]] SLAMing on 47.19463044 meters Centerline goodness : 0.118709 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.17 [[ 0.99872828 0.00233385 -0.05036245 0.25788056] [-0.0024282 0.99999541 -0.00181234 -0.07732127] [ 0.05035799 0.00193233 0.99872936 -0.16977979] [ 0. 0. 0. 1. ]] SLAMing on 47.22463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 47.25463044 meters Centerline goodness : 0.125729 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.17 [[ 0.99882848 -0.00227121 -0.0483375 0.27753444] [ 0.00234313 0.99999623 0.00143121 -0.06523865] [ 0.04833406 -0.00154279 0.99883003 -0.16846907] [ 0. 0. 0. 1. ]] SLAMing on 47.28463044 meters Centerline goodness : 0.116679 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 9.98841786e-01 -2.51151626e-03 -4.80497541e-02 2.76252203e-01] [ 2.56124426e-03 9.99996246e-01 9.73386091e-04 -6.32773168e-02] [ 4.80471291e-02 -1.09532586e-03 9.98844469e-01 -1.67679391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314630439999995 meters Centerline goodness : 0.127890 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 9.98840927e-01 -2.69379157e-03 -4.80577308e-02 2.76020655e-01] [ 2.72530433e-03 9.99996112e-01 5.90215170e-04 -6.15139023e-02] [ 4.80559541e-02 -7.20503010e-04 9.98844385e-01 -1.67428703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344630439999996 meters Centerline goodness : 0.128158 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 9.98831529e-01 -2.79424708e-03 -4.82469581e-02 2.76521128e-01] [ 2.81366213e-03 9.99995986e-01 3.34499604e-04 -6.00282668e-02] [ 4.82458297e-02 -4.69859389e-04 9.98835381e-01 -1.67536499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37463044 meters Centerline goodness : 0.126258 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.17 [[ 9.98838101e-01 -2.85924470e-03 -4.81068784e-02 2.75949356e-01] [ 2.87227813e-03 9.99995855e-01 2.01800281e-04 -5.88432160e-02] [ 4.81061020e-02 -3.39742144e-04 9.98842173e-01 -1.67201088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 47.43463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 47.46463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 47.494630439999995 meters Centerline goodness : 0.447085 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:-0.16 [[ 0.99892172 -0.00445958 -0.04621151 0.26969535] [ 0.0044018 0.9999894 -0.0013521 -0.05560646] [ 0.04621705 0.00114723 0.99893076 -0.16495453] [ 0. 0. 0. 1. ]] SLAMing on 47.524630439999996 meters Centerline goodness : 0.093677 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.16 [[ 0.99892108 -0.0045226 -0.04621931 0.26971327] [ 0.0044548 0.99998885 -0.00156974 -0.05434438] [ 0.04622589 0.00136215 0.99893008 -0.16496476] [ 0. 0. 0. 1. ]] SLAMing on 47.55463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 47.58463044 meters Centerline goodness : 0.101767 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.17 [[ 0.99890776 -0.00474063 -0.04648455 0.27042185] [ 0.0046389 0.9999866 -0.00229624 -0.05065663] [ 0.04649481 0.0020781 0.99891637 -0.16524461] [ 0. 0. 0. 1. ]] SLAMing on 47.61463044 meters Centerline goodness : 0.234559 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.17 [[ 0.99889776 -0.00477041 -0.04669589 0.27082948] [ 0.00465296 0.99998573 -0.00262362 -0.04854975] [ 0.04670774 0.00240346 0.99890571 -0.16519991] [ 0. 0. 0. 1. ]] SLAMing on 47.64463044 meters Centerline goodness : 0.451293 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.17 [[ 0.99887064 -0.00457045 -0.04729226 0.27221135] [ 0.00443165 0.99998556 -0.00303936 -0.04418819] [ 0.04730547 0.00282635 0.99887647 -0.16537499] [ 0. 0. 0. 1. ]] SLAMing on 47.67463044 meters Centerline goodness : 0.299064 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.17 [[ 0.99886492 -0.00466207 -0.04740388 0.2728227 ] [ 0.00450619 0.99998409 -0.00339462 -0.04230092] [ 0.04741895 0.00317716 0.99887004 -0.16594516] [ 0. 0. 0. 1. ]] SLAMing on 47.704630439999995 meters Centerline goodness : 0.101559 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.17 [[ 0.99886393 -0.00485689 -0.04740535 0.27317709] [ 0.00468024 0.99998169 -0.00383684 -0.04042296] [ 0.04742311 0.00361061 0.99886837 -0.16652483] [ 0. 0. 0. 1. ]] SLAMing on 47.73463044 meters Centerline goodness : 0.279016 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.17 [[ 0.99890205 0.00287541 -0.04675932 0.29314687] [-0.00312622 0.99998111 -0.00529158 -0.04072909] [ 0.04674322 0.00543195 0.99889217 -0.16503469] [ 0. 0. 0. 1. ]] SLAMing on 47.76463044 meters Centerline goodness : 0.098440 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.16 [[ 0.99889986 0.00277583 -0.04681194 0.29311175] [-0.00304759 0.99997891 -0.00573492 -0.03804894] [ 0.04679503 0.00587127 0.99888726 -0.16494882] [ 0. 0. 0. 1. ]] SLAMing on 47.79463044 meters Centerline goodness : 0.256441 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.16 [[ 0.9988958 0.00274364 -0.04690049 0.2932313 ] [-0.00302194 0.99997824 -0.00586387 -0.03719032] [ 0.04688339 0.00599912 0.99888235 -0.1648359 ] [ 0. 0. 0. 1. ]] SLAMing on 47.82463044 meters Centerline goodness : 0.241988 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.16 [[ 0.99889257 0.00266684 -0.04697367 0.29339765] [-0.00295151 0.99997769 -0.00599182 -0.03676897] [ 0.04695664 0.00612382 0.99887816 -0.16485341] [ 0. 0. 0. 1. ]] SLAMing on 47.85463044 meters Centerline goodness : 0.447241 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.17 [[ 0.99888582 0.0026199 -0.04711949 0.29413987] [-0.00290917 0.99997734 -0.00607159 -0.03629446] [ 0.04710251 0.0062019 0.99887081 -0.16540989] [ 0. 0. 0. 1. ]] SLAMing on 47.884630439999995 meters Centerline goodness : 0.447498 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.17 [[ 0.9988838 0.0026586 -0.04716015 0.29447341] [-0.00294871 0.99997715 -0.00608316 -0.03581512] [ 0.0471429 0.00621543 0.99886882 -0.16575739] [ 0. 0. 0. 1. ]] SLAMing on 47.914630439999996 meters Centerline goodness : 0.098806 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99888552 0.00264868 -0.04712424 0.29452392] [-0.00294458 0.99997638 -0.00621074 -0.03490194] [ 0.04710667 0.00634258 0.99886973 -0.16597076] [ 0. 0. 0. 1. ]] SLAMing on 47.94463044 meters Centerline goodness : 0.098425 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99889335 0.00261569 -0.04696 0.29408877] [-0.00292256 0.99997482 -0.00646726 -0.03341626] [ 0.0469419 0.00659735 0.99887583 -0.16593915] [ 0. 0. 0. 1. ]] SLAMing on 47.97463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.00463044 meters Centerline goodness : 0.446501 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99890095 0.00280369 -0.04678708 0.29346055] [-0.00313489 0.99997054 -0.00700705 -0.02918885] [ 0.04676606 0.00714603 0.99888031 -0.16586615] [ 0. 0. 0. 1. ]] SLAMing on 48.03463044 meters Centerline goodness : 0.293923 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.17 [[ 0.9988854 0.00309754 -0.04709946 0.29433018] [-0.00344999 0.99996664 -0.00740369 -0.02220005] [ 0.04707496 0.00755793 0.99886277 -0.16617697] [ 0. 0. 0. 1. ]] SLAMing on 48.064630439999995 meters Centerline goodness : 0.398474 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.17 [[ 0.99888764 0.00297682 -0.04705969 0.29414002] [-0.00334797 0.9999639 -0.00780982 -0.01987982] [ 0.04703475 0.00795868 0.99886155 -0.16612217] [ 0. 0. 0. 1. ]] SLAMing on 48.094630439999996 meters Centerline goodness : 0.211560 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.17 [[ 0.99889806 0.00283887 -0.04684673 0.29344603] [-0.00322334 0.99996173 -0.00813344 -0.01821921] [ 0.04682185 0.00827548 0.99886898 -0.16588284] [ 0. 0. 0. 1. ]] SLAMing on 48.12463044 meters Centerline goodness : 0.104352 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.17 [[ 0.99890269 0.00275915 -0.04675253 0.29312069] [-0.00314913 0.99996085 -0.00826965 -0.01761233] [ 0.04672788 0.0084078 0.99887227 -0.16576492] [ 0. 0. 0. 1. ]] SLAMing on 48.15463044 meters Centerline goodness : 0.419663 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.17 [[ 0.99888515 0.00227892 -0.04715147 0.29451969] [-0.00268689 0.99995949 -0.00859079 -0.01751943] [ 0.04712998 0.0087079 0.99885081 -0.16631163] [ 0. 0. 0. 1. ]] SLAMing on 48.18463044 meters Centerline goodness : 0.299946 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.17 [[ 0.99888354 0.00214255 -0.04719189 0.29483523] [-0.00254902 0.99996016 -0.00855452 -0.01834369] [ 0.04717169 0.00866526 0.99884921 -0.16654718] [ 0. 0. 0. 1. ]] SLAMing on 48.21463044 meters Centerline goodness : 0.281185 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.17 [[ 0.99888194 0.00203102 -0.04723076 0.2948755 ] [-0.00243503 0.99996093 -0.00849795 -0.01919398] [ 0.04721165 0.00860346 0.99884786 -0.16639576] [ 0. 0. 0. 1. ]] SLAMing on 48.244630439999995 meters Centerline goodness : 0.231415 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:-0.16 [[ 0.99887842 -0.00612438 -0.04695095 0.31427262] [ 0.00578328 0.99995592 -0.00739738 -0.01479869] [ 0.04699418 0.00711756 0.99886981 -0.16440791] [ 0. 0. 0. 1. ]] SLAMing on 48.274630439999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.30463044 meters Centerline goodness : 0.178149 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.16 [[ 0.99888324 -0.0061441 -0.04684576 0.31382648] [ 0.00582242 0.99995855 -0.00700007 -0.01702676] [ 0.04688683 0.0067195 0.99887761 -0.16396122] [ 0. 0. 0. 1. ]] SLAMing on 48.33463044 meters Centerline goodness : 0.336063 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.16 [[ 0.99889311 -0.00613729 -0.04663574 0.31332453] [ 0.0058233 0.99995947 -0.00686568 -0.01801874] [ 0.04667598 0.00658651 0.99888837 -0.16390488] [ 0. 0. 0. 1. ]] SLAMing on 48.36463044 meters Centerline goodness : 0.227073 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.16 [[ 0.99890677 -0.0061661 -0.04633836 0.31238397] [ 0.00586119 0.99996029 -0.00671315 -0.01930647] [ 0.04637791 0.00643421 0.99890324 -0.16351757] [ 0. 0. 0. 1. ]] SLAMing on 48.39463044 meters Centerline goodness : 0.447249 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 9.99003562e-01 8.93131917e-04 -4.46215791e-02 2.93720762e-01] [-1.24608408e-03 9.99968155e-01 -7.88270978e-03 -2.69794882e-02] [ 4.46131178e-02 7.93045739e-03 9.98972861e-01 -1.66119128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42463044 meters Centerline goodness : 0.431901 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99900732 0.00100802 -0.04453483 0.29324621] [-0.00134824 0.99997013 -0.00761004 -0.02815515] [ 0.04452582 0.00766253 0.99897885 -0.16570948] [ 0. 0. 0. 1. ]] SLAMing on 48.454630439999995 meters Centerline goodness : 0.188964 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99900221 0.00122972 -0.04464395 0.29357722] [-0.0015555 0.99997241 -0.00726338 -0.02919151] [ 0.04463379 0.00732558 0.99897656 -0.16576836] [ 0. 0. 0. 1. ]] SLAMing on 48.48463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.51463044 meters Centerline goodness : 0.449381 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99900659 0.00125426 -0.04454513 0.29347521] [-0.00158866 0.99997082 -0.0074723 -0.0285918 ] [ 0.04453446 0.00753564 0.99897943 -0.16607116] [ 0. 0. 0. 1. ]] SLAMing on 48.54463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.57463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.60463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.634630439999995 meters Centerline goodness : 0.445538 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99903905 0.00163107 -0.04379848 0.29144979] [-0.00194523 0.99997268 -0.00713122 -0.02886835] [ 0.04378565 0.00720956 0.99901493 -0.16572578] [ 0. 0. 0. 1. ]] SLAMing on 48.664630439999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.69463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.72463044 meters Centerline goodness : 0.445468 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99904734 0.00176948 -0.04360375 0.2905579 ] [-0.00208447 0.99997205 -0.00717953 -0.02805997] [ 0.04358983 0.00726358 0.99902311 -0.1651784 ] [ 0. 0. 0. 1. ]] SLAMing on 48.75463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.78463044 meters Centerline goodness : 0.449162 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99903445 0.00171804 -0.04390014 0.29145487] [-0.00204932 0.99996976 -0.00750253 -0.02621438] [ 0.04388592 0.00758525 0.99900775 -0.1655382 ] [ 0. 0. 0. 1. ]] SLAMing on 48.814630439999995 meters Centerline goodness : 0.451298 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.17 [[ 0.99902708 0.00169364 -0.04406845 0.29222439] [-0.0020343 0.99996839 -0.00768657 -0.02510234] [ 0.04405404 0.00776874 0.99899894 -0.16613323] [ 0. 0. 0. 1. ]] SLAMing on 48.844630439999996 meters Centerline goodness : 0.107124 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.17 [[ 0.99892283 0.00180414 -0.04636733 0.2476827 ] [-0.00217455 0.99996612 -0.00793944 -0.02661589] [ 0.04635143 0.00803172 0.99889291 -0.16776555] [ 0. 0. 0. 1. ]] SLAMing on 48.87463044 meters Centerline goodness : 0.137603 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.17 [[ 0.99892063 0.00167167 -0.04641955 0.24794171] [-0.00206557 0.99996226 -0.00843893 -0.02393179] [ 0.04640369 0.00852571 0.99888638 -0.1680598 ] [ 0. 0. 0. 1. ]] SLAMing on 48.90463044 meters Centerline goodness : 0.198297 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.17 [[ 0.99890711 0.00150123 -0.04671538 0.24868834] [-0.00191569 0.99995919 -0.0088286 -0.02225455] [ 0.04670022 0.00890844 0.99886923 -0.16818483] [ 0. 0. 0. 1. ]] SLAMing on 48.93463044 meters Centerline goodness : 0.447535 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.17 [[ 0.99889471 0.00138371 -0.04698337 0.24949047] [-0.00181549 0.9999565 -0.00914876 -0.02064359] [ 0.04696867 0.00922394 0.99885377 -0.16849647] [ 0. 0. 0. 1. ]] SLAMing on 48.96463044 meters Centerline goodness : 0.104087 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:-0.17 [[ 0.9989032 -0.00622462 -0.04640753 0.26721457] [ 0.00586603 0.99995191 -0.00785932 -0.01310826] [ 0.04645422 0.00757847 0.99889167 -0.16593724] [ 0. 0. 0. 1. ]] SLAMing on 48.994630439999995 meters Centerline goodness : 0.200000 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.17 [[ 0.99898913 0.00139686 -0.04493074 0.24749454] [-0.00179268 0.99995993 -0.0087705 -0.01923471] [ 0.04491669 0.00884218 0.9989516 -0.16787801] [ 0. 0. 0. 1. ]] SLAMing on 49.024630439999996 meters Centerline goodness : 0.255247 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.17 [[ 0.99899896 0.00143431 -0.04471048 0.24658071] [-0.00182152 0.99996118 -0.00862098 -0.01976967] [ 0.04469638 0.00869379 0.99896279 -0.16729525] [ 0. 0. 0. 1. ]] SLAMing on 49.05463044 meters Centerline goodness : 0.082939 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.17 [[ 0.99899301 0.00143416 -0.04484323 0.24690538] [-0.00181813 0.99996203 -0.00852295 -0.02024208] [ 0.0448293 0.0085959 0.99895768 -0.1672276 ] [ 0. 0. 0. 1. ]] SLAMing on 49.08463044 meters Centerline goodness : 0.443796 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.17 [[ 0.9988391 -0.0066413 -0.04771114 0.22843902] [ 0.00628421 0.99995114 -0.00763062 -0.01851455] [ 0.04775949 0.00732194 0.99883203 -0.16944227] [ 0. 0. 0. 1. ]] SLAMing on 49.11463044 meters Centerline goodness : 0.451503 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.17 [[ 0.99882727 -0.00666782 -0.0479543 0.22925298] [ 0.00630394 0.99995021 -0.00773534 -0.01792044] [ 0.04800349 0.00742397 0.99881958 -0.16984542] [ 0. 0. 0. 1. ]] SLAMing on 49.14463044 meters Centerline goodness : 0.443392 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.17 [[ 0.99883273 -0.00668723 -0.04783781 0.2286474 ] [ 0.00631891 0.99994925 -0.00784651 -0.01714078] [ 0.04788785 0.00753507 0.9988243 -0.16938824] [ 0. 0. 0. 1. ]] SLAMing on 49.17463044 meters Centerline goodness : 0.243331 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.17 [[ 0.99885146 -0.00665264 -0.04745008 0.22697516] [ 0.00628578 0.99994922 -0.00787646 -0.01646435] [ 0.04750007 0.00756915 0.99884256 -0.1683312 ] [ 0. 0. 0. 1. ]] SLAMing on 49.204630439999995 meters Centerline goodness : 0.157120 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.17 [[ 0.99887316 -0.00666051 -0.04698997 0.22535384] [ 0.00629389 0.99994863 -0.00794564 -0.01581764] [ 0.04704048 0.00764094 0.99886376 -0.16759599] [ 0. 0. 0. 1. ]] SLAMing on 49.23463044 meters Centerline goodness : 0.106060 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.17 [[ 0.99886878 -0.00679986 -0.04706291 0.22561194] [ 0.00642032 0.99994568 -0.00821095 -0.01471666] [ 0.04711619 0.0078995 0.99885818 -0.16774466] [ 0. 0. 0. 1. ]] SLAMing on 49.26463044 meters Centerline goodness : 0.449842 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.17 [[ 0.99884782 -0.00687522 -0.04749495 0.22711259] [ 0.00648313 0.99994366 -0.00840466 -0.01388065] [ 0.04755006 0.00808706 0.99883612 -0.16845134] [ 0. 0. 0. 1. ]] SLAMing on 49.29463044 meters Centerline goodness : 0.284139 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.17 [[ 0.99883133 -0.00693247 -0.04783216 0.22825819] [ 0.00652823 0.99994169 -0.0086021 -0.01285947] [ 0.04788901 0.00827979 0.99881835 -0.16899706] [ 0. 0. 0. 1. ]] SLAMing on 49.32463044 meters Centerline goodness : 0.350635 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.17 [[ 0.99882138 -0.00696738 -0.04803451 0.22888218] [ 0.00655447 0.99994025 -0.00874826 -0.01196746] [ 0.04809259 0.00842311 0.99880737 -0.16920116] [ 0. 0. 0. 1. ]] SLAMing on 49.35463044 meters Centerline goodness : 0.453470 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.17 [[ 0.99882572 -0.00709771 -0.04792503 0.22848895] [ 0.00666548 0.99993571 -0.00917272 -0.00963864] [ 0.04798706 0.0088425 0.99880882 -0.16903485] [ 0. 0. 0. 1. ]] SLAMing on 49.384630439999995 meters Centerline goodness : 0.101305 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.17 [[ 9.98848566e-01 8.94753612e-04 -4.79660405e-02 2.08755141e-01] [-1.40383364e-03 9.99943037e-01 -1.05807060e-02 -1.38534963e-02] [ 4.79538411e-02 1.06358593e-02 9.98792925e-01 -1.70893889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414630439999996 meters Centerline goodness : 0.089876 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.17 [[ 9.98861504e-01 7.31503907e-04 -4.76986493e-02 2.07852623e-01] [-1.25430226e-03 9.99939463e-01 -1.09314336e-02 -1.22927329e-02] [ 4.76877654e-02 1.09788167e-02 9.98801954e-01 -1.70520623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44463044 meters Centerline goodness : 0.097024 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.17 [[ 9.98885149e-01 5.91939139e-04 -4.72028387e-02 2.06184977e-01] [-1.13529550e-03 9.99933399e-01 -1.14851165e-02 -8.92561966e-03] [ 4.71928964e-02 1.15259014e-02 9.98819295e-01 -1.69941139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 49.50463044 meters Centerline goodness : 0.436460 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.17 [[ 9.98888894e-01 4.20739250e-04 -4.71253593e-02 2.06083097e-01] [-9.86708276e-04 9.99927664e-01 -1.19872428e-02 -6.03002402e-03] [ 4.71169069e-02 1.20204227e-02 9.98817054e-01 -1.70035032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53463044 meters Centerline goodness : 0.450459 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.17 [[ 9.98892529e-01 3.09947056e-04 -4.70491200e-02 2.05796580e-01] [-8.83340613e-04 9.99925591e-01 -1.21668236e-02 -5.33825111e-03] [ 4.70418480e-02 1.21949096e-02 9.98818476e-01 -1.69873337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564630439999995 meters Centerline goodness : 0.109754 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:-0.17 [[ 9.98887404e-01 2.52851460e-04 -4.71581335e-02 2.05871447e-01] [-8.32689894e-04 9.99924296e-01 -1.22763792e-02 -4.88720538e-03] [ 4.71514594e-02 1.23019886e-02 9.98811995e-01 -1.69604280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594630439999996 meters Centerline goodness : 0.284203 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:-0.17 [[ 9.98872806e-01 2.62255193e-04 -4.74662931e-02 2.06553727e-01] [-8.47147749e-04 9.99923962e-01 -1.23025743e-02 -4.58367830e-03] [ 4.74594574e-02 1.23289179e-02 9.98797075e-01 -1.69543643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62463044 meters Centerline goodness : 0.118265 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.17 [[ 9.98822034e-01 5.08850454e-04 -4.85209745e-02 2.09834213e-01] [-1.09148500e-03 9.99927616e-01 -1.19821511e-02 -5.13076573e-03] [ 4.85113652e-02 1.20209964e-02 9.98750291e-01 -1.70631546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65463044 meters Centerline goodness : 0.094287 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.17 [[ 9.98812455e-01 5.46266284e-04 -4.87173517e-02 2.10543484e-01] [-1.12383859e-03 9.99929404e-01 -1.18289735e-02 -5.98493548e-03] [ 4.87074506e-02 1.18696765e-02 9.98742557e-01 -1.70957042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68463044 meters Centerline goodness : 0.103201 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.17 [[ 9.98726438e-01 1.32089875e-04 -5.04527900e-02 1.64961299e-01] [-7.67212189e-04 9.99920709e-01 -1.25692890e-02 -9.48441440e-03] [ 5.04471293e-02 1.25919892e-02 9.98647350e-01 -1.72343047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71463044 meters Centerline goodness : 0.103895 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.17 [[ 9.98737668e-01 1.85785273e-04 -5.02298269e-02 1.64315265e-01] [-8.10794061e-04 9.99922504e-01 -1.24228916e-02 -1.02315528e-02] [ 5.02236263e-02 1.24479358e-02 9.98660421e-01 -1.72170227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744630439999995 meters Centerline goodness : 0.112120 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.17 [[ 9.98729414e-01 2.52658445e-04 -5.03933959e-02 1.64918157e-01] [-8.80057418e-04 9.99922379e-01 -1.24282237e-02 -9.81663401e-03] [ 5.03863443e-02 1.24567816e-02 9.98652114e-01 -1.72505465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.774630439999996 meters Centerline goodness : 0.127472 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:-0.17 [[ 9.98720625e-01 2.79424617e-04 -5.05671294e-02 1.65596074e-01] [-9.16737158e-04 9.99920442e-01 -1.25805425e-02 -8.62726223e-03] [ 5.05595910e-02 1.26108041e-02 9.98641425e-01 -1.72941456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80463044 meters Centerline goodness : 0.109239 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.00, Z:-0.17 [[ 0.99868755 -0.00496878 -0.05097536 0.18683377] [ 0.004491 0.99994495 -0.00948302 -0.00327885] [ 0.05101968 0.00924164 0.99865489 -0.17196269] [ 0. 0. 0. 1. ]] SLAMing on 49.83463044 meters Centerline goodness : 0.106281 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:-0.17 [[ 0.99867721 0.00387541 -0.05127203 0.16528676] [-0.00440501 0.99993807 -0.01022016 -0.00520525] [ 0.05122925 0.0104325 0.99863243 -0.17246198] [ 0. 0. 0. 1. ]] SLAMing on 49.86463044 meters Centerline goodness : 0.099064 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.17 [[ 0.99868659 0.00384558 -0.05109107 0.16443646] [-0.0043744 0.99993797 -0.01024277 -0.00505788] [ 0.05104852 0.01045281 0.99864147 -0.17187065] [ 0. 0. 0. 1. ]] SLAMing on 49.89463044 meters Centerline goodness : 0.183917 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:-0.17 [[ 9.98729935e-01 -4.47681909e-03 -5.01844057e-02 1.83258425e-01] [ 4.01554556e-03 9.99948797e-01 -9.28862866e-03 -6.05694651e-04] [ 5.02234196e-02 9.07531374e-03 9.98696774e-01 -1.69665480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92463044 meters Centerline goodness : 0.099179 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.17 [[ 0.99879969 0.00126697 -0.04896502 0.16138159] [-0.00185599 0.99992645 -0.0119858 -0.00709423] [ 0.04894623 0.01206229 0.99872858 -0.17105459] [ 0. 0. 0. 1. ]] SLAMing on 49.954630439999995 meters Centerline goodness : 0.107647 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.17 [[ 0.99880073 0.00104872 -0.04894896 0.16144238] [-0.00162928 0.99992879 -0.01182215 -0.0090019 ] [ 0.04893308 0.01188772 0.99873131 -0.17109275] [ 0. 0. 0. 1. ]] SLAMing on 49.98463044 meters Centerline goodness : 0.100997 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.17 [[ 0.99879987 -0.002418 -0.04891806 0.16136409] [ 0.00171459 0.99989461 -0.01441622 -0.01370117] [ 0.04894776 0.01431505 0.99869875 -0.17098867] [ 0. 0. 0. 1. ]] SLAMing on 50.01463044 meters Centerline goodness : 0.100030 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.17 [[ 0.99879435 -0.00245744 -0.04902868 0.16176172] [ 0.0017733 0.99990053 -0.01399236 -0.01649325] [ 0.04905819 0.01388854 0.99869936 -0.17108324] [ 0. 0. 0. 1. ]] SLAMing on 50.04463044 meters Centerline goodness : 0.103199 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.17 [[ 0.99878014 -0.00253166 -0.04931355 0.16259632] [ 0.0018626 0.99990566 -0.0136088 -0.01945521] [ 0.04934335 0.01350034 0.99869063 -0.17121409] [ 0. 0. 0. 1. ]] SLAMing on 50.07463044 meters Centerline goodness : 0.154521 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.17 [[ 0.99876204 -0.00251518 -0.04967962 0.16356556] [ 0.00186343 0.99991166 -0.0131609 -0.02247584] [ 0.04970833 0.01305203 0.99867849 -0.17128462] [ 0. 0. 0. 1. ]] SLAMing on 50.10463044 meters Centerline goodness : 0.099847 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.17 [[ 0.99875526 -0.00240653 -0.04982103 0.16398389] [ 0.00177749 0.9999182 -0.01266645 -0.02530827] [ 0.04984744 0.01256212 0.99867784 -0.17132227] [ 0. 0. 0. 1. ]] SLAMing on 50.134630439999995 meters Centerline goodness : 0.094698 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.17 [[ 0.99876186 -0.00223147 -0.04969672 0.16375379] [ 0.00164642 0.9999289 -0.01181012 -0.03075328] [ 0.04971954 0.01171368 0.99869453 -0.17133428] [ 0. 0. 0. 1. ]] SLAMing on 50.164630439999996 meters Centerline goodness : 0.100534 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.17 [[ 0.99877132 -0.00204902 -0.04951406 0.16337871] [ 0.00149097 0.99993499 -0.01130467 -0.03342577] [ 0.04953401 0.01121695 0.99870945 -0.17141382] [ 0. 0. 0. 1. ]] SLAMing on 50.19463044 meters Centerline goodness : 0.098611 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.17 [[ 0.99877843 -0.00190673 -0.04937617 0.16311803] [ 0.00137058 0.99993976 -0.01088995 -0.03573557] [ 0.04939396 0.01080898 0.99872088 -0.17150102] [ 0. 0. 0. 1. ]] SLAMing on 50.22463044 meters Centerline goodness : 0.226907 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.17 [[ 0.99877765 -0.00172612 -0.0493987 0.16368939] [ 0.00121423 0.99994528 -0.01039043 -0.03914672] [ 0.04941393 0.01031774 0.99872509 -0.17219789] [ 0. 0. 0. 1. ]] SLAMing on 50.25463044 meters Centerline goodness : 0.436999 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.17 [[ 0.9987689 -0.00154967 -0.04958097 0.16449181] [ 0.0010498 0.99994838 -0.01010638 -0.04040584] [ 0.04959408 0.01004189 0.99871897 -0.17272941] [ 0. 0. 0. 1. ]] SLAMing on 50.28463044 meters Centerline goodness : 0.447885 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:-0.18 [[ 0.99873337 0.00674868 -0.04986088 0.14496155] [-0.00730646 0.99991266 -0.01101299 -0.04723781] [ 0.0497822 0.01136335 0.99869545 -0.17510364] [ 0. 0. 0. 1. ]] SLAMing on 50.314630439999995 meters Centerline goodness : 0.103938 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.18 [[ 0.9987317 0.00686629 -0.04987837 0.145066 ] [-0.00741428 0.99991409 -0.01080974 -0.04817372] [ 0.04979986 0.01116584 0.9986968 -0.17524761] [ 0. 0. 0. 1. ]] SLAMing on 50.344630439999996 meters Centerline goodness : 0.444416 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.18 [[ 0.99872023 0.00717508 -0.05006409 0.1454183 ] [-0.00770432 0.99991638 -0.0103862 -0.04953475] [ 0.04998538 0.01075862 0.998692 -0.17516095] [ 0. 0. 0. 1. ]] SLAMing on 50.37463044 meters Centerline goodness : 0.446549 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.18 [[ 0.99871742 0.00726728 -0.05010692 0.1456567 ] [-0.00779143 0.99991687 -0.0102732 -0.04987129] [ 0.05002809 0.01065043 0.99869102 -0.17537058] [ 0. 0. 0. 1. ]] SLAMing on 50.40463044 meters Centerline goodness : 0.452306 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.18 [[ 0.99872357 0.00734515 -0.04997275 0.14533073] [-0.00786101 0.99991775 -0.01013427 -0.05052855] [ 0.0498942 0.01051417 0.99869916 -0.17537789] [ 0. 0. 0. 1. ]] SLAMing on 50.43463044 meters Centerline goodness : 0.447230 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.18 [[ 9.98816997e-01 -3.39969444e-04 -4.86260321e-02 1.25529977e-01] [-1.08226030e-04 9.99957542e-01 -9.21426215e-03 -4.84063502e-02] [ 4.86271001e-02 9.20862426e-03 9.98774552e-01 -1.77800700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46463044 meters Centerline goodness : 0.448387 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.18 [[ 9.98822057e-01 -2.79758826e-04 -4.85223680e-02 1.25273474e-01] [-1.58605957e-04 9.99959214e-01 -9.03019704e-03 -4.94735055e-02] [ 4.85229153e-02 9.02725592e-03 9.98781275e-01 -1.77790523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.494630439999995 meters Centerline goodness : 0.448387 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.18 [[ 9.98822057e-01 -2.79758826e-04 -4.85223680e-02 1.25273474e-01] [-1.58605957e-04 9.99959214e-01 -9.03019704e-03 -4.94735055e-02] [ 4.85229153e-02 9.02725592e-03 9.98781275e-01 -1.77790523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524630439999996 meters Centerline goodness : 0.434864 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.18 [[ 0.99875742 -0.00818481 -0.04915924 0.1053013 ] [ 0.00781656 0.99993997 -0.00767862 -0.04803894] [ 0.04921914 0.00728482 0.99876144 -0.17973732] [ 0. 0. 0. 1. ]] SLAMing on 50.55463044 meters Centerline goodness : 0.453183 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.18 [[ 0.99875035 -0.00771193 -0.04937878 0.10592827] [ 0.00738774 0.99994997 -0.00674451 -0.05158688] [ 0.04942833 0.00637129 0.99875735 -0.1798173 ] [ 0. 0. 0. 1. ]] SLAMing on 50.58463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 50.61463044 meters Centerline goodness : 0.453643 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.18 [[ 0.99874807 -0.00756794 -0.04944722 0.10641653] [ 0.0072779 0.99995526 -0.00604303 -0.05588239] [ 0.04949074 0.0056756 0.99875846 -0.18012361] [ 0. 0. 0. 1. ]] SLAMing on 50.64463044 meters Centerline goodness : 0.108360 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.18 [[ 0.99877818 -0.0078899 -0.04878425 0.10437725] [ 0.00761667 0.99995426 -0.00578411 -0.06122914] [ 0.04882765 0.00540547 0.99879259 -0.17943511] [ 0. 0. 0. 1. ]] SLAMing on 50.674630439999994 meters Centerline goodness : 0.090786 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.18 [[ 0.99878739 -0.0076397 -0.04863528 0.10391233] [ 0.0073959 0.99995918 -0.00519079 -0.06391875] [ 0.04867295 0.00482479 0.99880312 -0.17922249] [ 0. 0. 0. 1. ]] SLAMing on 50.704630439999995 meters Centerline goodness : 0.286015 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:-0.18 [[ 0.99879319 -0.00740139 -0.0485529 0.10365873] [ 0.00718428 0.99996341 -0.00464471 -0.06631675] [ 0.0485855 0.00429028 0.99880981 -0.17908756] [ 0. 0. 0. 1. ]] SLAMing on 50.73463044 meters Centerline goodness : 0.097575 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:-0.18 [[ 0.99879574 -0.00722597 -0.04852686 0.10372719] [ 0.00703248 0.99996663 -0.00415701 -0.06902181] [ 0.04855528 0.00381074 0.99881323 -0.17918478] [ 0. 0. 0. 1. ]] SLAMing on 50.76463044 meters Centerline goodness : 0.353646 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.18 [[ 0.99869525 -0.00773985 -0.05047674 0.05814777] [ 0.00751596 0.99996106 -0.00462385 -0.07552439] [ 0.05051056 0.00423843 0.99871453 -0.18030231] [ 0. 0. 0. 1. ]] SLAMing on 50.79463044 meters Centerline goodness : 0.451898 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.18 [[ 0.9986988 -0.00750704 -0.05044161 0.05801931] [ 0.00732413 0.99996592 -0.00381009 -0.08195459] [ 0.0504685 0.0034357 0.99871974 -0.18016063] [ 0. 0. 0. 1. ]] SLAMing on 50.82463044 meters Centerline goodness : 0.406785 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.18 [[ 0.99869538 -0.00721698 -0.05055149 0.05838477] [ 0.00706618 0.99997004 -0.00316112 -0.08488124] [ 0.05057279 0.00279979 0.99871645 -0.1802581 ] [ 0. 0. 0. 1. ]] SLAMing on 50.85463044 meters Centerline goodness : 0.453889 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.09, Z:-0.18 [[ 0.99869008 -0.00696327 -0.05069152 0.05885633] [ 0.00683948 0.99997319 -0.00261516 -0.08740785] [ 0.05070837 0.00226503 0.99871093 -0.18038895] [ 0. 0. 0. 1. ]] SLAMing on 50.884630439999995 meters Centerline goodness : 0.175828 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.18 [[ 9.98735511e-01 7.91047795e-04 -5.02668240e-02 4.04874385e-02] [-9.72339915e-04 9.99993111e-01 -3.58224455e-03 -9.53740833e-02] [ 5.02636440e-02 3.62659128e-03 9.98729400e-01 -1.83332842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914630439999996 meters Centerline goodness : 0.443842 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.18 [[ 9.98735081e-01 8.74019300e-04 -5.02739802e-02 4.04194887e-02] [-1.04419930e-03 9.99993814e-01 -3.35888621e-03 -9.67851167e-02] [ 5.02707335e-02 3.40713355e-03 9.98729816e-01 -1.83202739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94463044 meters Centerline goodness : 0.110340 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.18 [[ 0.99875366 0.00128685 -0.04989455 0.03932385] [-0.00143441 0.9999947 -0.00292181 -0.09812622] [ 0.04989052 0.00298973 0.99875022 -0.18296576] [ 0. 0. 0. 1. ]] SLAMing on 50.97463044 meters Centerline goodness : 0.437508 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:-0.18 [[ 0.99864785 0.0023659 -0.05193143 -0.00624841] [-0.00248368 0.99999449 -0.00220342 -0.10107146] [ 0.05192593 0.00232942 0.99864822 -0.18445167] [ 0. 0. 0. 1. ]] SLAMing on 51.00463044 meters Centerline goodness : 0.447956 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:-0.18 [[ 0.99865418 0.00246248 -0.05180508 -0.0065354 ] [-0.00257562 0.99999444 -0.00211728 -0.10128265] [ 0.05179958 0.00224786 0.99865497 -0.18449688] [ 0. 0. 0. 1. ]] SLAMing on 51.03463044 meters Centerline goodness : 0.286039 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:-0.18 [[ 0.99865447 0.00246619 -0.05179928 -0.00629844] [-0.00257548 0.9999946 -0.00204318 -0.10233223] [ 0.05179396 0.00217384 0.99865543 -0.18489108] [ 0. 0. 0. 1. ]] SLAMing on 51.064630439999995 meters Centerline goodness : 0.221009 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:-0.19 [[ 0.99864552 0.00253516 -0.05196828 -0.00579349] [-0.00263302 0.99999489 -0.00181472 -0.10371738] [ 0.05196342 0.0019491 0.99864709 -0.18506074] [ 0. 0. 0. 1. ]] SLAMing on 51.094630439999996 meters Centerline goodness : 0.363400 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:-0.19 [[ 0.99864552 0.00266811 -0.05196159 -0.00571995] [-0.0027449 0.99999524 -0.00140661 -0.1057748 ] [ 0.05195759 0.00154733 0.99864809 -0.18514133] [ 0. 0. 0. 1. ]] SLAMing on 51.12463044 meters Centerline goodness : 0.413089 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:-0.18 [[ 9.98645134e-01 2.75906369e-03 -5.19642547e-02 -5.76580658e-03] [-2.81082683e-03 9.99995624e-01 -9.23075295e-04 -1.08520212e-01] [ 5.19614804e-02 1.06788717e-03 9.98648519e-01 -1.84989472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15463044 meters Centerline goodness : 0.102086 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:-0.19 [[ 9.98645168e-01 -8.36737135e-04 -5.20300659e-02 -5.48683272e-03] [ 6.49139420e-04 9.99993229e-01 -3.62235797e-03 -1.13846890e-01] [ 5.20327445e-02 3.58367552e-03 9.98638949e-01 -1.85059563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18463044 meters Centerline goodness : 0.448913 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.12, Z:-0.19 [[ 9.98632912e-01 -8.46964081e-04 -5.22646055e-02 -4.76903320e-03] [ 6.77772131e-04 9.99994473e-01 -3.25485751e-03 -1.16484463e-01] [ 5.22670733e-02 3.21498434e-03 9.98627967e-01 -1.85214210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21463044 meters Centerline goodness : 0.373953 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.12, Z:-0.19 [[ 9.98623957e-01 -7.81428760e-04 -5.24364518e-02 -4.16381030e-03] [ 6.31301866e-04 9.99995655e-01 -2.87952736e-03 -1.18738710e-01] [ 5.24384741e-02 2.84246177e-03 9.98620111e-01 -1.85453488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244630439999995 meters Centerline goodness : 0.241365 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.12, Z:-0.19 [[ 9.98622070e-01 -6.20003777e-04 -5.24745447e-02 -4.00491723e-03] [ 4.90829251e-04 9.99996818e-01 -2.47451181e-03 -1.20586057e-01] [ 5.24759119e-02 2.44534607e-03 9.98619196e-01 -1.85495415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274630439999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.30463044 meters Centerline goodness : 0.441466 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.12, Z:-0.19 [[ 9.98641111e-01 -2.75587821e-04 -5.21138640e-02 -5.10250816e-03] [ 1.82686185e-04 9.99998386e-01 -1.78742149e-03 -1.23338876e-01] [ 5.21142725e-02 1.77547210e-03 9.98639550e-01 -1.85084811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33463044 meters Centerline goodness : 0.287094 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 9.98502616e-01 -7.63582217e-04 -5.46986453e-02 -4.97619617e-02] [ 6.46897464e-04 9.99997478e-01 -2.15090300e-03 -1.25641269e-01] [ 5.47001498e-02 2.11229786e-03 9.98500592e-01 -1.86636940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36463044 meters Centerline goodness : 0.387018 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 9.98488883e-01 -7.48036234e-04 -5.49489823e-02 -4.90214276e-02] [ 6.28441455e-04 9.99997396e-01 -2.19371633e-03 -1.25249633e-01] [ 5.49504802e-02 2.15586915e-03 9.98486754e-01 -1.86880081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39463044 meters Centerline goodness : 0.453138 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 9.98485668e-01 -6.71971617e-04 -5.50083516e-02 -4.87806273e-02] [ 5.51728285e-04 9.99997425e-01 -2.20106763e-03 -1.24570293e-01] [ 5.50096890e-02 2.16738482e-03 9.98483468e-01 -1.87041833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424630439999994 meters Centerline goodness : 0.360976 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 9.98511536e-01 -7.36359279e-04 -5.45359617e-02 -5.02628309e-02] [ 6.07154387e-04 9.99996970e-01 -2.38569899e-03 -1.23279169e-01] [ 5.45375531e-02 2.34903622e-03 9.98508957e-01 -1.86520047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454630439999995 meters Centerline goodness : 0.450539 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:-0.18 [[ 0.99856726 0.00689637 -0.05306477 -0.03174719] [-0.007109 0.99996744 -0.00381927 -0.12519513] [ 0.0530367 0.00419104 0.99858377 -0.18441402] [ 0. 0. 0. 1. ]] SLAMing on 51.48463044 meters Centerline goodness : 0.448426 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:-0.18 [[ 0.99857556 0.00684902 -0.05291439 -0.03218654] [-0.00706297 0.99996762 -0.00385752 -0.12500558] [ 0.05288626 0.00422575 0.9985916 -0.18431881] [ 0. 0. 0. 1. ]] SLAMing on 51.51463044 meters Centerline goodness : 0.448485 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99849685 -0.00152953 -0.0547877 -0.05007826] [ 0.00138924 0.99999566 -0.00259854 -0.12151038] [ 0.05479144 0.00251852 0.99849464 -0.1869004 ] [ 0. 0. 0. 1. ]] SLAMing on 51.54463044 meters Centerline goodness : 0.448770 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99846556 -0.00175999 -0.05534819 -0.04839917] [ 0.00161074 0.99999495 -0.00274107 -0.12162162] [ 0.05535273 0.00264771 0.99846335 -0.1873956 ] [ 0. 0. 0. 1. ]] SLAMing on 51.57463044 meters Centerline goodness : 0.437279 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99844007 -0.00200006 -0.05579807 -0.04701649] [ 0.00184332 0.99999421 -0.00286053 -0.12196938] [ 0.05580346 0.00275321 0.99843798 -0.18784899] [ 0. 0. 0. 1. ]] SLAMing on 51.60463044 meters Centerline goodness : 0.095609 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99842958 -0.00211531 -0.05598116 -0.0464154 ] [ 0.00196154 0.99999415 -0.00280153 -0.12265463] [ 0.05598676 0.00268732 0.99842789 -0.18808463] [ 0. 0. 0. 1. ]] SLAMing on 51.634630439999995 meters Centerline goodness : 0.101181 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99844182 -0.00218333 -0.05575991 -0.0469389 ] [ 0.00203638 0.9999943 -0.00269215 -0.12323994] [ 0.05576547 0.00257441 0.99844058 -0.18808925] [ 0. 0. 0. 1. ]] SLAMing on 51.664630439999996 meters Centerline goodness : 0.238553 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99845903 -0.00271781 -0.05542731 -0.0479759 ] [ 0.00256739 0.99999283 -0.00278487 -0.12397237] [ 0.05543448 0.00263828 0.99845884 -0.18778114] [ 0. 0. 0. 1. ]] SLAMing on 51.69463044 meters Centerline goodness : 0.092190 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:-0.19 [[ 0.99843722 0.00412064 -0.05573274 -0.06544437] [-0.0043857 0.99997964 -0.00463455 -0.13003803] [ 0.05571251 0.00487173 0.99843497 -0.19059257] [ 0. 0. 0. 1. ]] SLAMing on 51.72463044 meters Centerline goodness : 0.103269 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:-0.19 [[ 0.99838674 -0.00447158 -0.05660327 -0.04482764] [ 0.00424408 0.99998243 -0.00413876 -0.12735433] [ 0.05662078 0.00389185 0.99838817 -0.18840414] [ 0. 0. 0. 1. ]] SLAMing on 51.75463044 meters Centerline goodness : 0.419447 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:-0.19 [[ 0.9983718 -0.00460793 -0.05685523 -0.04428483] [ 0.00438452 0.99998217 -0.0040535 -0.12850189] [ 0.05687289 0.00379762 0.9983742 -0.18831954] [ 0. 0. 0. 1. ]] SLAMing on 51.78463044 meters Centerline goodness : 0.456720 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.99839479 -0.00507704 -0.05640987 -0.04563979] [ 0.00486304 0.99998045 -0.00393017 -0.13100522] [ 0.05642872 0.00364954 0.99839996 -0.18785883] [ 0. 0. 0. 1. ]] SLAMing on 51.814630439999995 meters Centerline goodness : 0.090608 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.99840171 -0.00509872 -0.05628517 -0.04591249] [ 0.00489829 0.99998116 -0.00369842 -0.13257425] [ 0.05630296 0.00341681 0.99840788 -0.18787445] [ 0. 0. 0. 1. ]] SLAMing on 51.844630439999996 meters Centerline goodness : 0.132944 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.99839554 -0.00514081 -0.05639082 -0.04557418] [ 0.004948 0.99998143 -0.00355827 -0.13378395] [ 0.05640806 0.00327354 0.99840243 -0.1880021 ] [ 0. 0. 0. 1. ]] SLAMing on 51.87463044 meters Centerline goodness : 0.087618 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.99839018 -0.0051608 -0.05648368 -0.04538293] [ 0.00497318 0.99998164 -0.00346163 -0.1346334 ] [ 0.0565005 0.00317515 0.99839752 -0.18795078] [ 0. 0. 0. 1. ]] SLAMing on 51.90463044 meters Centerline goodness : 0.452349 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.99838547 -0.00503768 -0.05657813 -0.04561678] [ 0.00485086 0.99998232 -0.00343879 -0.13398307] [ 0.05659445 0.00315878 0.99839225 -0.18728414] [ 0. 0. 0. 1. ]] SLAMing on 51.93463044 meters Centerline goodness : 0.199545 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.998387 -0.00503697 -0.05655114 -0.04593636] [ 0.0048387 0.99998166 -0.00364237 -0.13254998] [ 0.05656845 0.00336286 0.99839306 -0.18691097] [ 0. 0. 0. 1. ]] SLAMing on 51.96463044 meters Centerline goodness : 0.112346 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:-0.18 [[ 0.9984213 0.0027788 -0.05609972 -0.02731518] [-0.00306677 0.99998256 -0.00504778 -0.13449451] [ 0.05608472 0.00521185 0.99841241 -0.18434891] [ 0. 0. 0. 1. ]] SLAMing on 51.994630439999995 meters Centerline goodness : 0.101542 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:-0.18 [[ 0.99843098 0.00266063 -0.05593298 -0.02790295] [-0.00297006 0.99998074 -0.00544968 -0.13240489] [ 0.0559174 0.00560725 0.99841965 -0.18408375] [ 0. 0. 0. 1. ]] SLAMing on 52.024630439999996 meters Centerline goodness : 0.107849 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:-0.18 [[ 0.99844002 0.00262671 -0.05577304 -0.02839783] [-0.00296538 0.99997766 -0.00599053 -0.12865245] [ 0.05575606 0.00614658 0.9984255 -0.18391115] [ 0. 0. 0. 1. ]] SLAMing on 52.05463044 meters Centerline goodness : 0.454627 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99843121 -0.00488042 -0.05577904 -0.04726041] [ 0.00462205 0.99997799 -0.00476001 -0.12171763] [ 0.05580104 0.00449473 0.99843179 -0.1865141 ] [ 0. 0. 0. 1. ]] SLAMing on 52.08463044 meters Centerline goodness : 0.415729 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99847683 0.00295115 -0.05509362 -0.02781772] [-0.0032853 0.99997675 -0.00597561 -0.1236415 ] [ 0.0550747 0.00614751 0.99846331 -0.18436826] [ 0. 0. 0. 1. ]] SLAMing on 52.11463044 meters Centerline goodness : 0.451711 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99848837 0.00291966 -0.05488577 -0.02859196] [-0.00325793 0.99997624 -0.00607471 -0.12295425] [ 0.05486673 0.00624434 0.99847416 -0.18396153] [ 0. 0. 0. 1. ]] SLAMing on 52.14463044 meters Centerline goodness : 0.192899 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99850487 0.00281756 -0.05459012 -0.02938299] [-0.00316 0.99997586 -0.00618771 -0.12262166] [ 0.05457137 0.00635096 0.99848967 -0.18380327] [ 0. 0. 0. 1. ]] SLAMing on 52.174630439999994 meters Centerline goodness : 0.455595 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99850429 0.00222711 -0.05462795 -0.0289578 ] [-0.00259366 0.99997459 -0.0066399 -0.12199928] [ 0.05461178 0.00677166 0.9984847 -0.1843047 ] [ 0. 0. 0. 1. ]] SLAMing on 52.204630439999995 meters Centerline goodness : 0.414352 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99849837 0.00202611 -0.05474391 -0.02842692] [-0.00240011 0.99997422 -0.00676682 -0.12184499] [ 0.05472879 0.00688805 0.9984775 -0.18469601] [ 0. 0. 0. 1. ]] SLAMing on 52.23463044 meters Centerline goodness : 0.127518 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99846948 -0.00624342 -0.05495197 -0.04831089] [ 0.00592786 0.999965 -0.00590351 -0.11713463] [ 0.0549869 0.00556873 0.99847155 -0.18697842] [ 0. 0. 0. 1. ]] SLAMing on 52.26463044 meters Centerline goodness : 0.102330 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99847043 -0.0062726 -0.05493143 -0.04845598] [ 0.005957 0.99996481 -0.00590717 -0.11701759] [ 0.05496656 0.00557091 0.99847266 -0.18689593] [ 0. 0. 0. 1. ]] SLAMing on 52.29463044 meters Centerline goodness : 0.098919 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99847337 -0.0063556 -0.05486843 -0.04869042] [ 0.0060374 0.99996399 -0.0059632 -0.11646323] [ 0.05490435 0.00562283 0.99847579 -0.1867188 ] [ 0. 0. 0. 1. ]] SLAMing on 52.32463044 meters Centerline goodness : 0.098092 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.9984625 -0.00638542 -0.05506242 -0.04804663] [ 0.00606627 0.99996383 -0.00596142 -0.1165036 ] [ 0.05509849 0.00561823 0.99846512 -0.18697672] [ 0. 0. 0. 1. ]] SLAMing on 52.35463044 meters Centerline goodness : 0.095619 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 9.98401182e-01 4.94850157e-04 -5.65228660e-02 -2.96740179e-02] [-8.84100412e-04 9.99976067e-01 -6.86179966e-03 -1.21482536e-01] [ 5.65181177e-02 6.90080078e-03 9.98377725e-01 -1.84502249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384630439999995 meters Centerline goodness : 0.095619 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 9.98401182e-01 4.94850157e-04 -5.65228660e-02 -2.96740179e-02] [-8.84100412e-04 9.99976067e-01 -6.86179966e-03 -1.21482536e-01] [ 5.65181177e-02 6.90080078e-03 9.98377725e-01 -1.84502249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414630439999996 meters Centerline goodness : 0.155844 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 9.98393508e-01 4.65966455e-04 -5.66585096e-02 -2.90353693e-02] [-8.58229707e-04 9.99975832e-01 -6.89915383e-03 -1.21306413e-01] [ 5.66539255e-02 6.93669641e-03 9.98369779e-01 -1.84974594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44463044 meters Centerline goodness : 0.094669 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.19 [[ 9.98358318e-01 3.06464751e-04 -5.72762996e-02 -2.68253793e-02] [-7.14291647e-04 9.99974540e-01 -7.10000579e-03 -1.20399984e-01] [ 5.72726654e-02 7.12926182e-03 9.98333118e-01 -1.85973226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47463044 meters Centerline goodness : 0.097467 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.19 [[ 0.99826116 -0.00773434 -0.0584366 -0.04586655] [ 0.00738594 0.99995365 -0.0061758 -0.11563185] [ 0.05848166 0.00573345 0.99827202 -0.18808772] [ 0. 0. 0. 1. ]] SLAMing on 52.50463044 meters Centerline goodness : 0.097875 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:-0.19 [[ 0.99824403 -0.00775094 -0.0587263 -0.04497217] [ 0.0074019 0.99995364 -0.00615879 -0.1158473 ] [ 0.05877131 0.00571329 0.99825512 -0.18837636] [ 0. 0. 0. 1. ]] SLAMing on 52.53463044 meters Centerline goodness : 0.098495 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:-0.19 [[ 0.99819985 -0.00754917 -0.05949845 -0.0426265 ] [ 0.00721716 0.99995718 -0.00579315 -0.1171002 ] [ 0.05953964 0.00535331 0.99821159 -0.18902214] [ 0. 0. 0. 1. ]] SLAMing on 52.564630439999995 meters Centerline goodness : 0.098749 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:-0.19 [[ 0.99818801 -0.00747967 -0.05970549 -0.04172914] [ 0.00715327 0.99995829 -0.0056787 -0.11767574] [ 0.05974547 0.00524132 0.99819988 -0.18955957] [ 0. 0. 0. 1. ]] SLAMing on 52.594630439999996 meters Centerline goodness : 0.108704 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:-0.19 [[ 0.99817465 -0.00744813 -0.05993233 -0.04096071] [ 0.00712124 0.99995859 -0.00566603 -0.11780142] [ 0.05997205 0.0052289 0.99818636 -0.18985109] [ 0. 0. 0. 1. ]] SLAMing on 52.62463044 meters Centerline goodness : 0.103244 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:-0.19 [[ 0.99816145 -0.00732228 -0.06016728 -0.0404354 ] [ 0.00699715 0.99995977 -0.00561276 -0.11773689] [ 0.06020595 0.00518144 0.99817253 -0.18977239] [ 0. 0. 0. 1. ]] SLAMing on 52.65463044 meters Centerline goodness : 0.109503 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:-0.19 [[ 0.99816764 -0.00707639 -0.06009405 -0.04083855] [ 0.00675328 0.99996164 -0.0055781 -0.1170105 ] [ 0.06013122 0.00516204 0.99817713 -0.18941989] [ 0. 0. 0. 1. ]] SLAMing on 52.68463044 meters Centerline goodness : 0.106070 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:-0.19 [[ 0.99819866 -0.00309848 -0.0599152 -0.04219209] [ 0.00297076 0.99999312 -0.00222071 -0.11488137] [ 0.05992167 0.00203872 0.998201 -0.18832488] [ 0. 0. 0. 1. ]] SLAMing on 52.71463044 meters Centerline goodness : 0.103841 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:-0.19 [[ 0.99819496 -0.00290958 -0.05998628 -0.04203447] [ 0.00276859 0.99999321 -0.00243332 -0.11294238] [ 0.05999295 0.00226285 0.99819624 -0.18829622] [ 0. 0. 0. 1. ]] SLAMing on 52.744630439999995 meters Centerline goodness : 0.044027 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.19 [[ 0.99821866 0.00543438 -0.05941359 -0.02190371] [-0.00565395 0.99997779 -0.0035281 -0.11421311] [ 0.0593931 0.00385774 0.99822722 -0.18629522] [ 0. 0. 0. 1. ]] SLAMing on 52.774630439999996 meters Centerline goodness : 0.112628 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.19 [[ 0.99823055 0.00565436 -0.05919283 -0.02267758] [-0.00588519 0.99997574 -0.00372595 -0.11234972] [ 0.05917033 0.00406772 0.99823961 -0.18604599] [ 0. 0. 0. 1. ]] SLAMing on 52.80463044 meters Centerline goodness : 0.255965 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.19 [[ 0.99824527 0.00592678 -0.05891736 -0.02359823] [-0.00616484 0.99997355 -0.00385968 -0.11033058] [ 0.05889292 0.00421613 0.9982554 -0.18577354] [ 0. 0. 0. 1. ]] SLAMing on 52.83463044 meters Centerline goodness : 0.112473 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.19 [[ 0.99824914 0.0067258 -0.05876573 -0.02434097] [-0.00695882 0.99996871 -0.00376154 -0.10738549] [ 0.05873859 0.00416389 0.99826471 -0.18548002] [ 0. 0. 0. 1. ]] SLAMing on 52.86463044 meters Centerline goodness : 0.457209 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.19 [[ 0.9982546 0.00667918 -0.05867824 -0.02459384] [-0.00693135 0.99996759 -0.00409486 -0.10554103] [ 0.05864899 0.00449443 0.99826855 -0.18548526] [ 0. 0. 0. 1. ]] SLAMing on 52.89463044 meters Centerline goodness : 0.317154 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:-0.19 [[ 0.99826162 0.00654861 -0.05857356 -0.0250952 ] [-0.00681909 0.99996698 -0.00441918 -0.10413171] [ 0.05854269 0.00481091 0.99827331 -0.18517842] [ 0. 0. 0. 1. ]] SLAMing on 52.924630439999994 meters Centerline goodness : 0.128180 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:-0.18 [[ 0.99828068 0.00650702 -0.05825236 -0.02677032] [-0.00678838 0.99996622 -0.00463339 -0.1026751 ] [ 0.05822024 0.00502087 0.99829114 -0.1839495 ] [ 0. 0. 0. 1. ]] SLAMing on 52.954630439999995 meters Centerline goodness : 0.292507 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:-0.18 [[ 0.99829551 0.00657165 -0.05799035 -0.02779112] [-0.00684288 0.99996655 -0.00447974 -0.10324089] [ 0.05795897 0.00486893 0.99830709 -0.18343008] [ 0. 0. 0. 1. ]] SLAMing on 52.98463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.01463044 meters Centerline goodness : 0.178104 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.11, Z:-0.18 [[ 0.99838184 0.00434937 -0.05669911 -0.03219647] [-0.00470324 0.99997028 -0.0061093 -0.10772823] [ 0.05667085 0.00636608 0.99837262 -0.18209809] [ 0. 0. 0. 1. ]] SLAMing on 53.04463044 meters Centerline goodness : 0.442720 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.11, Z:-0.18 [[ 9.98412630e-01 5.74868400e-04 -5.63195257e-02 -3.33852494e-02] [-1.10636400e-03 9.99955147e-01 -9.40642114e-03 -1.09952420e-01] [ 5.63115921e-02 9.45379956e-03 9.98368484e-01 -1.81770370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07463044 meters Centerline goodness : 0.242491 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99840476 -0.00284046 -0.05639038 -0.03333762] [ 0.00217824 0.99992799 -0.01180157 -0.11625217] [ 0.05641984 0.01165992 0.99833904 -0.18167193] [ 0. 0. 0. 1. ]] SLAMing on 53.10463044 meters Centerline goodness : 0.234720 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99839131 -0.00253303 -0.05664248 -0.03245139] [ 0.00191135 0.99993737 -0.01102703 -0.11997958] [ 0.05666687 0.01090103 0.99833363 -0.18208058] [ 0. 0. 0. 1. ]] SLAMing on 53.134630439999995 meters Centerline goodness : 0.090872 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99837982 -0.00231662 -0.05685388 -0.03152946] [ 0.00172624 0.9999441 -0.01043124 -0.12330359] [ 0.05687486 0.0103162 0.99832802 -0.18262647] [ 0. 0. 0. 1. ]] SLAMing on 53.164630439999996 meters Centerline goodness : 0.262345 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.99839771 0.00504095 -0.05636143 -0.04917376] [-0.00571143 0.99991476 -0.01174139 -0.13168057] [ 0.05629743 0.01204448 0.99834139 -0.18623093] [ 0. 0. 0. 1. ]] SLAMing on 53.19463044 meters Centerline goodness : 0.452075 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.19 [[ 0.99836799 0.00547232 -0.05684542 -0.04768504] [-0.00612364 0.99991752 -0.01128977 -0.13411747] [ 0.05677895 0.01161945 0.99831916 -0.18679437] [ 0. 0. 0. 1. ]] SLAMing on 53.22463044 meters Centerline goodness : 0.094362 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:-0.19 [[ 0.99825389 -0.00179825 -0.05904174 -0.06523592] [ 0.0012307 0.9999527 -0.0096477 -0.13120148] [ 0.0590563 0.00955819 0.99820889 -0.18894456] [ 0. 0. 0. 1. ]] SLAMing on 53.25463044 meters Centerline goodness : 0.449027 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98210480e-01 -1.30734352e-03 -5.97840141e-02 -6.32518294e-02] [ 7.44641202e-04 9.99955226e-01 -9.43356422e-03 -1.30980545e-01] [ 5.97936703e-02 9.37216503e-03 9.98166759e-01 -1.89274744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28463044 meters Centerline goodness : 0.097213 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98218686e-01 -1.00359280e-03 -5.96527251e-02 -6.35335236e-02] [ 4.47297946e-04 9.99956298e-01 -9.33817814e-03 -1.30533520e-01] [ 5.96594899e-02 9.29486138e-03 9.98175511e-01 -1.89375797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314630439999995 meters Centerline goodness : 0.449862 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98233929e-01 -8.04453744e-04 -5.94001414e-02 -6.41315939e-02] [ 2.48417194e-04 9.99956092e-01 -9.36765363e-03 -1.29746092e-01] [ 5.94050691e-02 9.33635367e-03 9.98190298e-01 -1.89389906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344630439999996 meters Centerline goodness : 0.098556 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98239191e-01 -3.27048214e-04 -5.93161993e-02 -6.39447500e-02] [-2.25099963e-04 9.99956714e-01 -9.30163545e-03 -1.28443609e-01] [ 5.93166738e-02 9.29860912e-03 9.98195907e-01 -1.90023263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37463044 meters Centerline goodness : 0.352951 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98214501e-01 -3.09410011e-04 -5.97303407e-02 -6.24826293e-02] [-2.55766772e-04 9.99955275e-01 -9.45426172e-03 -1.27406809e-01] [ 5.97305945e-02 9.45265818e-03 9.98169777e-01 -1.90768096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40463044 meters Centerline goodness : 0.090799 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98183498e-01 -2.72659623e-04 -6.02464032e-02 -6.08272200e-02] [-3.00873761e-04 9.99954729e-01 -9.51051802e-03 -1.26871318e-01] [ 6.02462689e-02 9.51136871e-03 9.98138227e-01 -1.91405212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43463044 meters Centerline goodness : 0.452495 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98159295e-01 -2.21770851e-04 -6.06462837e-02 -5.95187739e-02] [-3.51742018e-04 9.99955325e-01 -9.44584686e-03 -1.26990033e-01] [ 6.06456691e-02 9.44979169e-03 9.98114625e-01 -1.91934491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46463044 meters Centerline goodness : 0.233548 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98143339e-01 -2.14649770e-04 -6.09083639e-02 -5.87505616e-02] [-3.58695972e-04 9.99955734e-01 -9.40216134e-03 -1.27181333e-01] [ 6.09076859e-02 9.40655230e-03 9.98099079e-01 -1.92136876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494630439999995 meters Centerline goodness : 0.449172 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98145194e-01 -1.73909300e-04 -6.08780933e-02 -5.90096076e-02] [-3.92210476e-04 9.99956796e-01 -9.28716319e-03 -1.27653609e-01] [ 6.08770783e-02 9.29381433e-03 9.98102002e-01 -1.91874842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524630439999996 meters Centerline goodness : 0.231958 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98164384e-01 -7.93892437e-05 -6.05628238e-02 -6.00949615e-02] [-4.60570807e-04 9.99960273e-01 -8.90168971e-03 -1.29475453e-01] [ 6.05611246e-02 8.91324310e-03 9.98124694e-01 -1.91360609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55463044 meters Centerline goodness : 0.243763 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98170520e-01 1.74900003e-06 -6.04616697e-02 -6.04395185e-02] [-5.28983790e-04 9.99961978e-01 -8.70414419e-03 -1.30342065e-01] [ 6.04593556e-02 8.72020337e-03 9.98132569e-01 -1.91196687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58463044 meters Centerline goodness : 0.432303 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98171729e-01 -1.16332583e-04 -6.04415951e-02 -6.08628506e-02] [-4.03100086e-04 9.99963095e-01 -8.58169608e-03 -1.32207947e-01] [ 6.04403628e-02 8.59037043e-03 9.98134845e-01 -1.90644988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61463044 meters Centerline goodness : 0.454261 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98182684e-01 -8.56476222e-05 -6.02604545e-02 -6.16062268e-02] [-4.25043472e-04 9.99964107e-01 -8.46186086e-03 -1.32910766e-01] [ 6.02590164e-02 8.47209630e-03 9.98146820e-01 -1.90238053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64463044 meters Centerline goodness : 0.329461 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98190510e-01 -2.65692411e-05 -6.01307404e-02 -6.22354613e-02] [-4.82082408e-04 9.99964228e-01 -8.44457214e-03 -1.32628586e-01] [ 6.01288138e-02 8.45827974e-03 9.98154789e-01 -1.89812197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.674630439999994 meters Centerline goodness : 0.096622 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98192072e-01 1.20898910e-04 -6.01046845e-02 -6.24300276e-02] [-6.26848331e-04 9.99964531e-01 -8.39901943e-03 -1.32043784e-01] [ 6.01015372e-02 8.42151113e-03 9.98156743e-01 -1.89656620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704630439999995 meters Centerline goodness : 0.090682 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98205673e-01 6.73825993e-04 -5.98747017e-02 -6.30608764e-02] [-1.16756204e-03 9.99965603e-01 -8.21155209e-03 -1.30795203e-01] [ 5.98671090e-02 8.26672532e-03 9.98172125e-01 -1.89580877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73463044 meters Centerline goodness : 0.197246 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98194720e-01 6.23112916e-04 -6.00575823e-02 -6.26855622e-02] [-1.13154171e-03 9.99963809e-01 -8.43205102e-03 -1.29831234e-01] [ 6.00501547e-02 8.48478647e-03 9.98159300e-01 -1.89561167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76463044 meters Centerline goodness : 0.200650 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98182319e-01 5.47604324e-04 -6.02640769e-02 -6.22880342e-02] [-1.06522144e-03 9.99962818e-01 -8.55735746e-03 -1.29628110e-01] [ 6.02571501e-02 8.60599750e-03 9.98145787e-01 -1.89478712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79463044 meters Centerline goodness : 0.100117 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98178345e-01 5.66804151e-04 -6.03296866e-02 -6.23373919e-02] [-1.07920758e-03 9.99963622e-01 -8.46114291e-03 -1.30254711e-01] [ 6.03226961e-02 8.51083788e-03 9.98142644e-01 -1.89215965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82463044 meters Centerline goodness : 0.175873 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98189079e-01 7.73674464e-04 -6.01495146e-02 -6.29094662e-02] [-1.25980924e-03 9.99966848e-01 -8.04460377e-03 -1.31802396e-01] [ 6.01412966e-02 8.10581254e-03 9.98156962e-01 -1.89030298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85463044 meters Centerline goodness : 0.448243 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:-0.19 [[ 9.98245389e-01 6.06642509e-04 -5.92095865e-02 -6.52725218e-02] [-1.06667854e-03 9.99969490e-01 -7.73832357e-03 -1.34471610e-01] [ 5.92030856e-02 7.78790342e-03 9.98215580e-01 -1.88729993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884630439999995 meters Centerline goodness : 0.093393 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 9.98255939e-01 4.77371402e-04 -5.90326415e-02 -6.58584999e-02] [-9.34029641e-04 9.99969854e-01 -7.70833920e-03 -1.35605062e-01] [ 5.90271822e-02 7.75003362e-03 9.98226291e-01 -1.88480606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914630439999996 meters Centerline goodness : 0.469092 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 9.98247874e-01 4.09393150e-04 -5.91693689e-02 -6.56075617e-02] [-8.64076271e-04 9.99970296e-01 -7.65905264e-03 -1.36459190e-01] [ 5.91644757e-02 7.69675987e-03 9.98218576e-01 -1.88365836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.97463044 meters Centerline goodness : 0.225274 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 9.98200959e-01 6.24432139e-04 -5.99537845e-02 -6.32291700e-02] [-1.07759810e-03 9.99971094e-01 -7.52655341e-03 -1.35892084e-01] [ 5.99473517e-02 7.57761892e-03 9.98172778e-01 -1.89077227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00463044 meters Centerline goodness : 0.204538 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98180709e-01 9.50663410e-04 -6.02857255e-02 -6.19194263e-02] [-1.40977122e-03 9.99970327e-01 -7.57345505e-03 -1.34007993e-01] [ 6.02767368e-02 7.64466581e-03 9.98152430e-01 -1.89783467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03463044 meters Centerline goodness : 0.174654 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98189032e-01 8.67665797e-04 -6.01490073e-02 -6.22902148e-02] [-1.33671767e-03 9.99969010e-01 -7.75836590e-03 -1.33303806e-01] [ 6.01404116e-02 7.82471799e-03 9.98159258e-01 -1.89754726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064630439999995 meters Centerline goodness : 0.366255 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98183473e-01 7.82774670e-04 -6.02423494e-02 -6.20086434e-02] [-1.26147750e-03 9.99967930e-01 -7.90866281e-03 -1.32834581e-01] [ 6.02342267e-02 7.97029088e-03 9.98152449e-01 -1.89852366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094630439999996 meters Centerline goodness : 0.451209 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:-0.19 [[ 9.98160043e-01 9.54259178e-04 -6.06268745e-02 -6.07333207e-02] [-1.41615949e-03 9.99970297e-01 -7.57622729e-03 -1.34047198e-01] [ 6.06178440e-02 7.64814468e-03 9.98131746e-01 -1.90365179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12463044 meters Centerline goodness : 0.166137 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99814029 0.00100567 -0.06095044 -0.05971662] [-0.00145744 0.99997179 -0.00736815 -0.13520149] [ 0.06094131 0.00744328 0.9981136 -0.19066031] [ 0. 0. 0. 1. ]] SLAMing on 54.15463044 meters Centerline goodness : 0.187729 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:-0.19 [[ 9.98002658e-01 -1.36816578e-04 -6.31718043e-02 -1.04911757e-01] [-3.71898791e-04 9.99967601e-01 -8.04105777e-03 -1.39045360e-01] [ 6.31708577e-02 8.04849054e-03 9.97970272e-01 -1.92435290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18463044 meters Centerline goodness : 0.448363 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:-0.19 [[ 9.98017768e-01 -1.91640427e-04 -6.29324857e-02 -1.05855453e-01] [-3.04485025e-04 9.99968955e-01 -7.87377038e-03 -1.40662152e-01] [ 6.29320409e-02 7.87732475e-03 9.97986726e-01 -1.91885561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21463044 meters Centerline goodness : 0.430046 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:-0.19 [[ 0.99805432 -0.0080678 -0.06182623 -0.08656839] [ 0.00765975 0.99994731 -0.00683413 -0.13825981] [ 0.06187811 0.00634726 0.99806353 -0.18961245] [ 0. 0. 0. 1. ]] SLAMing on 54.244630439999995 meters Centerline goodness : 0.330697 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 9.98105644e-01 7.24614684e-06 -6.15233609e-02 -1.06391358e-01] [-4.50679042e-04 9.99974024e-01 -7.19367945e-03 -1.45893678e-01] [ 6.15217106e-02 7.20777935e-03 9.98079720e-01 -1.91580849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.274630439999996 meters Centerline goodness : 0.393040 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 9.98094681e-01 3.61449451e-04 -6.16998880e-02 -1.05502820e-01] [-7.65067007e-04 9.99978464e-01 -6.51812601e-03 -1.48747454e-01] [ 6.16962032e-02 6.55291145e-03 9.98073463e-01 -1.92176229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30463044 meters Centerline goodness : 0.393040 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 9.98094681e-01 3.61449451e-04 -6.16998880e-02 -1.05502820e-01] [-7.65067007e-04 9.99978464e-01 -6.51812601e-03 -1.48747454e-01] [ 6.16962032e-02 6.55291145e-03 9.98073463e-01 -1.92176229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33463044 meters Centerline goodness : 0.479590 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 9.98094175e-01 4.82075279e-04 -6.17072622e-02 -1.05405086e-01] [-8.66902901e-04 9.99980344e-01 -6.20972181e-03 -1.50516907e-01] [ 6.17030557e-02 6.25138137e-03 9.98074974e-01 -1.92257072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36463044 meters Centerline goodness : 0.102615 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 9.98094782e-01 6.18397939e-04 -6.16962177e-02 -1.05450801e-01] [-9.83494179e-04 9.99982185e-01 -5.88745145e-03 -1.52253761e-01] [ 6.16914778e-02 5.93691245e-03 9.98077610e-01 -1.92218164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39463044 meters Centerline goodness : 0.270709 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99808383 0.00114076 -0.06186575 -0.10534849] [-0.00145536 0.99998624 -0.00504043 -0.15551429] [ 0.06185915 0.00512081 0.99807175 -0.19181942] [ 0. 0. 0. 1. ]] SLAMing on 54.424630439999994 meters Centerline goodness : 0.104029 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:-0.19 [[ 0.99807079 0.00134287 -0.06207163 -0.10466164] [-0.00163759 0.99998763 -0.00469748 -0.15689199] [ 0.06206455 0.00479006 0.99806064 -0.19209058] [ 0. 0. 0. 1. ]] SLAMing on 54.454630439999995 meters Centerline goodness : 0.103437 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:-0.19 [[ 0.99805843 0.00140479 -0.06226873 -0.10398365] [-0.00169144 0.99998821 -0.00455092 -0.15785011] [ 0.0622616 0.0046474 0.99804904 -0.19236992] [ 0. 0. 0. 1. ]] SLAMing on 54.48463044 meters Centerline goodness : 0.103468 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:-0.19 [[ 0.9980531 0.00141401 -0.06235394 -0.10378622] [-0.00169704 0.9999885 -0.00448643 -0.15854138] [ 0.06234688 0.00458351 0.99804402 -0.19238015] [ 0. 0. 0. 1. ]] SLAMing on 54.51463044 meters Centerline goodness : 0.107497 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:-0.19 [[ 0.99806404 0.00152236 -0.06217605 -0.10433344] [-0.00179632 0.99998892 -0.00435046 -0.15898393] [ 0.06216873 0.00445373 0.99805572 -0.19225723] [ 0. 0. 0. 1. ]] SLAMing on 54.54463044 meters Centerline goodness : 0.107743 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99810577 0.00207657 -0.06148624 -0.1061288 ] [-0.00231638 0.99998999 -0.00382921 -0.15957263] [ 0.06147767 0.00396438 0.99810059 -0.19203344] [ 0. 0. 0. 1. ]] SLAMing on 54.57463044 meters Centerline goodness : 0.167678 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99810649 0.00206301 -0.06147504 -0.10614549] [-0.00230929 0.99998959 -0.00393542 -0.1590439 ] [ 0.06146628 0.00406994 0.99810086 -0.19205645] [ 0. 0. 0. 1. ]] SLAMing on 54.60463044 meters Centerline goodness : 0.104613 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99810555 0.00192585 -0.06149467 -0.10597171] [-0.00218562 0.99998897 -0.00415731 -0.15855876] [ 0.06148599 0.00428384 0.99809875 -0.19227038] [ 0. 0. 0. 1. ]] SLAMing on 54.634630439999995 meters Centerline goodness : 0.106624 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99809317 0.00176745 -0.06170001 -0.10549034] [-0.00204474 0.99998809 -0.00443133 -0.15785476] [ 0.06169144 0.00454904 0.9980849 -0.19231176] [ 0. 0. 0. 1. ]] SLAMing on 54.664630439999996 meters Centerline goodness : 0.106972 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99808638 0.00172878 -0.06181092 -0.10519501] [-0.00201535 0.99998751 -0.00457428 -0.15707579] [ 0.06180224 0.00469009 0.99807739 -0.19240677] [ 0. 0. 0. 1. ]] SLAMing on 54.69463044 meters Centerline goodness : 0.108406 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.19 [[ 0.99807678 0.00202202 -0.06195686 -0.10428599] [-0.00231026 0.99998684 -0.00458094 -0.15484272] [ 0.06194678 0.00471526 0.99806832 -0.19321299] [ 0. 0. 0. 1. ]] SLAMing on 54.72463044 meters Centerline goodness : 0.108385 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.19 [[ 0.99808324 0.00191453 -0.06185614 -0.10443898] [-0.0022178 0.99998585 -0.00483461 -0.1535715 ] [ 0.06184601 0.00496252 0.99807337 -0.19335154] [ 0. 0. 0. 1. ]] SLAMing on 54.75463044 meters Centerline goodness : 0.106921 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.19 [[ 0.99808473 0.00174343 -0.06183715 -0.10461408] [-0.00206295 0.99998485 -0.00510366 -0.15272271] [ 0.06182731 0.00522145 0.9980732 -0.19317244] [ 0. 0. 0. 1. ]] SLAMing on 54.78463044 meters Centerline goodness : 0.114291 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 0.99809942 0.00140756 -0.06160821 -0.10559096] [-0.00175233 0.99998311 -0.00554242 -0.1514584 ] [ 0.06159936 0.00563985 0.99808502 -0.19260527] [ 0. 0. 0. 1. ]] SLAMing on 54.814630439999995 meters Centerline goodness : 0.104663 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 0.9981119 0.00134494 -0.06140708 -0.10627325] [-0.00169228 0.99998286 -0.00560469 -0.15115558] [ 0.06139849 0.00569803 0.99809707 -0.19233232] [ 0. 0. 0. 1. ]] SLAMing on 54.844630439999996 meters Centerline goodness : 0.104681 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 0.99813192 0.00125161 -0.06108271 -0.1071745 ] [-0.00160199 0.99998254 -0.00568744 -0.15078419] [ 0.06107453 0.00577467 0.9981165 -0.1921504 ] [ 0. 0. 0. 1. ]] SLAMing on 54.87463044 meters Centerline goodness : 0.110070 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 0.99813773 0.00120822 -0.06098865 -0.10753479] [-0.00155793 0.99998262 -0.00568673 -0.1508857 ] [ 0.06098072 0.00577115 0.99812226 -0.19195304] [ 0. 0. 0. 1. ]] SLAMing on 54.90463044 meters Centerline goodness : 0.106245 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 0.99812455 0.00112299 -0.06120558 -0.1071009 ] [-0.00147572 0.99998256 -0.00571811 -0.15092033] [ 0.06119809 0.00579771 0.9981088 -0.19178452] [ 0. 0. 0. 1. ]] SLAMing on 54.93463044 meters Centerline goodness : 0.108126 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.19 [[ 0.99809756 0.00109253 -0.06164474 -0.1059094 ] [-0.00144427 0.99998293 -0.00566157 -0.15136012] [ 0.0616375 0.00573984 0.9980821 -0.1919743 ] [ 0. 0. 0. 1. ]] SLAMing on 54.96463044 meters Centerline goodness : 0.109357 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:-0.19 [[ 0.9980108 -0.00667381 -0.06268894 -0.08464548] [ 0.00641223 0.99996988 -0.00437285 -0.14789253] [ 0.06271623 0.00396217 0.99802353 -0.18963259] [ 0. 0. 0. 1. ]] SLAMing on 54.994630439999995 meters Centerline goodness : 0.106614 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.19 [[ 0.99801809 -0.00654477 -0.06258639 -0.08531377] [ 0.0063023 0.99997185 -0.00407069 -0.1491952 ] [ 0.06261127 0.00366818 0.99803125 -0.18896958] [ 0. 0. 0. 1. ]] SLAMing on 55.024630439999996 meters Centerline goodness : 0.111205 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.19 [[ 0.99803999 -0.00649048 -0.06224193 -0.08657883] [ 0.00626 0.99997281 -0.00389724 -0.15014682] [ 0.06226553 0.00349997 0.99805348 -0.18833258] [ 0. 0. 0. 1. ]] SLAMing on 55.05463044 meters Centerline goodness : 0.110205 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.19 [[ 0.99804582 -0.00648499 -0.06214892 -0.08716218] [ 0.00625614 0.99997292 -0.00387621 -0.15032428] [ 0.06217237 0.00347982 0.99805936 -0.18781185] [ 0. 0. 0. 1. ]] SLAMing on 55.08463044 meters Centerline goodness : 0.176540 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:-0.19 [[ 0.99798928 -0.00626957 -0.06307202 -0.08438574] [ 0.00602874 0.99997379 -0.00400797 -0.14890502] [ 0.0630955 0.00361966 0.99800093 -0.18870401] [ 0. 0. 0. 1. ]] SLAMing on 55.11463044 meters Centerline goodness : 0.105263 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:-0.19 [[ 0.9979572 -0.00625099 -0.0635795 -0.08272803] [ 0.00599408 0.99997309 -0.00423071 -0.14745215] [ 0.06360424 0.00384097 0.99796781 -0.18940742] [ 0. 0. 0. 1. ]] SLAMing on 55.14463044 meters Centerline goodness : 0.106473 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:-0.19 [[ 0.99793566 -0.00619346 -0.06392229 -0.08186222] [ 0.00592474 0.9999728 -0.00439252 -0.14620904] [ 0.06394776 0.00400473 0.99794521 -0.18953887] [ 0. 0. 0. 1. ]] SLAMing on 55.174630439999994 meters Centerline goodness : 0.105388 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:-0.19 [[ 0.99797082 0.00203788 -0.06364038 -0.06250199] [-0.00240912 0.99998053 -0.00575709 -0.14654893] [ 0.06362741 0.00589873 0.99795629 -0.18679447] [ 0. 0. 0. 1. ]] SLAMing on 55.204630439999995 meters Centerline goodness : 0.143140 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99802612 0.00237433 -0.06275534 -0.06509049] [-0.00274549 0.99997924 -0.00582875 -0.14416141] [ 0.06274019 0.00598954 0.99801192 -0.18626933] [ 0. 0. 0. 1. ]] SLAMing on 55.23463044 meters Centerline goodness : 0.111981 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99804233 0.00232856 -0.0624987 -0.06586248] [-0.0027092 0.99997829 -0.00600644 -0.14304462] [ 0.06248336 0.006164 0.99802697 -0.18608986] [ 0. 0. 0. 1. ]] SLAMing on 55.26463044 meters Centerline goodness : 0.113207 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99805943 0.00225739 -0.06222762 -0.06669102] [-0.00264661 0.99997744 -0.00617304 -0.14223067] [ 0.06221228 0.00632576 0.99804289 -0.18584871] [ 0. 0. 0. 1. ]] SLAMing on 55.29463044 meters Centerline goodness : 0.116658 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99806242 0.00212159 -0.06218438 -0.06687937] [-0.00252604 0.99997616 -0.00642619 -0.14122873] [ 0.06216927 0.00657082 0.99804399 -0.18572952] [ 0. 0. 0. 1. ]] SLAMing on 55.32463044 meters Centerline goodness : 0.118478 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99805358 0.00199733 -0.06233029 -0.06638651] [-0.0024165 0.99997497 -0.00665031 -0.1403525 ] [ 0.06231544 0.00678799 0.99803342 -0.18595079] [ 0. 0. 0. 1. ]] SLAMing on 55.35463044 meters Centerline goodness : 0.103951 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99804383 0.00188748 -0.06248963 -0.06568193] [-0.00232089 0.99997375 -0.00686396 -0.13950755] [ 0.06247504 0.00699557 0.99802201 -0.18640267] [ 0. 0. 0. 1. ]] SLAMing on 55.384630439999995 meters Centerline goodness : 0.105639 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99804301 0.00171966 -0.06250757 -0.065503 ] [-0.00217493 0.9999716 -0.0072161 -0.13769123] [ 0.06249339 0.00733793 0.9980184 -0.18662478] [ 0. 0. 0. 1. ]] SLAMing on 55.414630439999996 meters Centerline goodness : 0.156478 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:-0.19 [[ 0.99804829 0.00173495 -0.06242277 -0.06579032] [-0.00219028 0.99997149 -0.00722656 -0.13731637] [ 0.06240845 0.00734918 0.99802363 -0.18650298] [ 0. 0. 0. 1. ]] SLAMing on 55.44463044 meters Centerline goodness : 0.112156 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99801735 0.00166322 -0.06291735 -0.06433611] [-0.00212847 0.99997088 -0.00732827 -0.13678257] [ 0.06290333 0.00744766 0.99799184 -0.18685443] [ 0. 0. 0. 1. ]] SLAMing on 55.47463044 meters Centerline goodness : 0.209024 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99798278 0.00153777 -0.0634666 -0.06271973] [-0.00201238 0.99997048 -0.00741496 -0.1370329 ] [ 0.06345332 0.00752772 0.99795642 -0.18729528] [ 0. 0. 0. 1. ]] SLAMing on 55.50463044 meters Centerline goodness : 0.110143 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99794693 0.00141586 -0.06403065 -0.06109523] [-0.00189416 0.99997075 -0.0074098 -0.13779229] [ 0.06401828 0.00751587 0.99792042 -0.18763506] [ 0. 0. 0. 1. ]] SLAMing on 55.53463044 meters Centerline goodness : 0.112676 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99792857 0.00139645 -0.0643165 -0.06042469] [-0.00186987 0.9999716 -0.00730113 -0.13869315] [ 0.06430448 0.00740627 0.99790284 -0.18759237] [ 0. 0. 0. 1. ]] SLAMing on 55.564630439999995 meters Centerline goodness : 0.109470 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99793355 0.00140831 -0.06423898 -0.06080965] [-0.00187062 0.99997278 -0.00713714 -0.13978694] [ 0.06422718 0.00724256 0.99790902 -0.18729403] [ 0. 0. 0. 1. ]] SLAMing on 55.594630439999996 meters Centerline goodness : 0.110300 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99795225 0.00142772 -0.06394745 -0.0618899 ] [-0.00187777 0.99997389 -0.00697825 -0.1407936 ] [ 0.06393582 0.00708404 0.99792887 -0.18672873] [ 0. 0. 0. 1. ]] SLAMing on 55.62463044 meters Centerline goodness : 0.106642 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99796799 0.00145477 -0.0637007 -0.06284672] [-0.00189472 0.99997477 -0.00684669 -0.14165183] [ 0.06368914 0.00695347 0.99794556 -0.18620299] [ 0. 0. 0. 1. ]] SLAMing on 55.65463044 meters Centerline goodness : 0.111188 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99793792 0.00156719 -0.06416743 -0.06156421] [-0.00200181 0.99997549 -0.00670956 -0.14184206] [ 0.06415535 0.00682417 0.99791659 -0.18646448] [ 0. 0. 0. 1. ]] SLAMing on 55.68463044 meters Centerline goodness : 0.109755 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99791806 0.00163535 -0.06447378 -0.06052191] [-0.0020725 0.99997531 -0.00671396 -0.14134871] [ 0.0644612 0.00683361 0.99789682 -0.18688237] [ 0. 0. 0. 1. ]] SLAMing on 55.71463044 meters Centerline goodness : 0.111053 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99790666 0.00156875 -0.06465168 -0.05982805] [-0.00201676 0.9999744 -0.00686486 -0.14076971] [ 0.06463925 0.00698088 0.99788428 -0.18723625] [ 0. 0. 0. 1. ]] SLAMing on 55.744630439999995 meters Centerline goodness : 0.111056 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99791522 0.00137306 -0.06452392 -0.06041592] [-0.00184607 0.99997186 -0.00727162 -0.13943061] [ 0.06451212 0.00737558 0.99788967 -0.18690027] [ 0. 0. 0. 1. ]] SLAMing on 55.774630439999996 meters Centerline goodness : 0.109473 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 0.99794026 0.00139483 -0.06413489 -0.06161588] [-0.00187128 0.9999711 -0.00736936 -0.13862086] [ 0.06412275 0.0074742 0.99791403 -0.18658373] [ 0. 0. 0. 1. ]] SLAMing on 55.80463044 meters Centerline goodness : 0.110133 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:-0.18 [[ 0.99797182 -0.00550765 -0.06341848 -0.0442788 ] [ 0.00515103 0.99997 -0.00578544 -0.13214979] [ 0.06344844 0.00544704 0.99797025 -0.18384354] [ 0. 0. 0. 1. ]] SLAMing on 55.83463044 meters Centerline goodness : 0.109782 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.18 [[ 0.9979843 -0.00544891 -0.06322693 -0.04507202] [ 0.00508776 0.99996982 -0.00587144 -0.13115689] [ 0.06325701 0.00553792 0.9979819 -0.18344345] [ 0. 0. 0. 1. ]] SLAMing on 55.86463044 meters Centerline goodness : 0.112639 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.18 [[ 0.99799001 -0.00545341 -0.06313641 -0.04548807] [ 0.00508267 0.9999689 -0.00603116 -0.12999446] [ 0.06316733 0.00569813 0.99798668 -0.18318958] [ 0. 0. 0. 1. ]] SLAMing on 55.89463044 meters Centerline goodness : 0.189408 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.18 [[ 0.99798802 -0.00154332 -0.06338407 -0.04545253] [ 0.00138286 0.99999573 -0.00257537 -0.12843195] [ 0.06338777 0.00248254 0.99798589 -0.1825664 ] [ 0. 0. 0. 1. ]] SLAMing on 55.924630439999994 meters Centerline goodness : 0.110603 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.18 [[ 0.99800857 -0.00152917 -0.06305986 -0.04637629] [ 0.00135478 0.99999514 -0.0028081 -0.12670283] [ 0.06306385 0.00271707 0.9980058 -0.18242185] [ 0. 0. 0. 1. ]] SLAMing on 55.954630439999995 meters Centerline goodness : 0.109208 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:-0.18 [[ 0.9980262 -0.00158568 -0.06277887 -0.04722536] [ 0.00139428 0.99999425 -0.00309243 -0.12507643] [ 0.06278341 0.0029988 0.99802267 -0.18223826] [ 0. 0. 0. 1. ]] SLAMing on 55.98463044 meters Centerline goodness : 0.105373 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:-0.18 [[ 0.99809562 0.00651159 -0.06134119 -0.0277515 ] [-0.00679751 0.99996698 -0.00445354 -0.12503801] [ 0.06131017 0.00486202 0.99810692 -0.18016188] [ 0. 0. 0. 1. ]] SLAMing on 56.01463044 meters Centerline goodness : 0.111283 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99810246 0.0064911 -0.06123194 -0.02803276] [-0.00680246 0.99996497 -0.00487785 -0.12193899] [ 0.06119813 0.00528513 0.99811164 -0.18025443] [ 0. 0. 0. 1. ]] SLAMing on 56.04463044 meters Centerline goodness : 0.194271 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99808922 0.00641695 -0.06145513 -0.02721058] [-0.00674471 0.99996411 -0.00512747 -0.12041549] [ 0.06142002 0.00553217 0.99809668 -0.18067738] [ 0. 0. 0. 1. ]] SLAMing on 56.07463044 meters Centerline goodness : 0.090826 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99807433 0.0063003 -0.06170847 -0.02627602] [-0.00664553 0.99996339 -0.00539075 -0.11914013] [ 0.06167224 0.00579046 0.99807966 -0.18116356] [ 0. 0. 0. 1. ]] SLAMing on 56.10463044 meters Centerline goodness : 0.112004 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99805538 0.00615468 -0.06202881 -0.02537997] [-0.00651161 0.99996338 -0.00555383 -0.11870229] [ 0.06199236 0.00594694 0.99805891 -0.18131949] [ 0. 0. 0. 1. ]] SLAMing on 56.134630439999995 meters Centerline goodness : 0.192092 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99808696 0.00561497 -0.06157027 -0.02689564] [-0.00598679 0.99996493 -0.00585614 -0.11897462] [ 0.06153522 0.00621354 0.99808557 -0.18068308] [ 0. 0. 0. 1. ]] SLAMing on 56.164630439999996 meters Centerline goodness : 0.114707 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99810511 0.00550657 -0.06128521 -0.02789376] [-0.00587537 0.99996569 -0.00583919 -0.11949609] [ 0.06125095 0.0061882 0.99810321 -0.18018528] [ 0. 0. 0. 1. ]] SLAMing on 56.19463044 meters Centerline goodness : 0.114707 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99810511 0.00550657 -0.06128521 -0.02789376] [-0.00587537 0.99996569 -0.00583919 -0.11949609] [ 0.06125095 0.0061882 0.99810321 -0.18018528] [ 0. 0. 0. 1. ]] SLAMing on 56.22463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.25463044 meters Centerline goodness : 0.125648 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99812065 0.00515873 -0.0610619 -0.02869241] [-0.00554686 0.99996547 -0.00618849 -0.11909421] [ 0.06102786 0.00651556 0.9981148 -0.17971782] [ 0. 0. 0. 1. ]] SLAMing on 56.28463044 meters Centerline goodness : 0.112014 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99811433 0.00500139 -0.06117813 -0.02836035] [-0.00541033 0.9999641 -0.00652053 -0.11778111] [ 0.06114332 0.00683923 0.99810557 -0.17982776] [ 0. 0. 0. 1. ]] SLAMing on 56.314630439999995 meters Centerline goodness : 0.145175 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.18 [[ 0.99810139 0.00494628 -0.06139346 -0.02765893] [-0.00537556 0.99996223 -0.00682908 -0.11592184] [ 0.06135736 0.00714613 0.99809028 -0.18013407] [ 0. 0. 0. 1. ]] SLAMing on 56.344630439999996 meters Centerline goodness : 0.158152 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.11, Z:-0.18 [[ 0.99805877 0.00596849 -0.06199247 -0.02559554] [-0.00637635 0.9999593 -0.0063834 -0.11253292] [ 0.06195185 0.00676629 0.9980562 -0.18102077] [ 0. 0. 0. 1. ]] SLAMing on 56.37463044 meters Centerline goodness : 0.172235 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.11, Z:-0.18 [[ 0.99805516 0.00594793 -0.06205255 -0.02520236] [-0.00637483 0.99995734 -0.00668409 -0.11069048] [ 0.06201015 0.00706666 0.9980505 -0.1814034 ] [ 0. 0. 0. 1. ]] SLAMing on 56.40463044 meters Centerline goodness : 0.120640 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.18 [[ 0.99804894 0.00578502 -0.06216789 -0.02485172] [-0.00624007 0.99995512 -0.00712812 -0.1087925 ] [ 0.06212387 0.00750214 0.99804025 -0.18159036] [ 0. 0. 0. 1. ]] SLAMing on 56.43463044 meters Centerline goodness : 0.121531 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.18 [[ 0.99803035 0.00578652 -0.06246542 -0.02421014] [-0.00628376 0.99995009 -0.00776673 -0.10520335] [ 0.06241736 0.00814395 0.99801691 -0.18173316] [ 0. 0. 0. 1. ]] SLAMing on 56.46463044 meters Centerline goodness : 0.120840 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:-0.18 [[ 9.97984944e-01 9.83333758e-04 -6.34435618e-02 -2.73611716e-03] [-1.28973638e-03 9.99987702e-01 -4.78875743e-03 -9.87330682e-02] [ 6.34380726e-02 4.86093328e-03 9.97973939e-01 -1.80342867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494630439999995 meters Centerline goodness : 0.123399 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:-0.18 [[ 0.99798777 -0.0043386 -0.06325806 -0.02291801] [ 0.00425232 0.99998984 -0.00149856 -0.09481253] [ 0.06326391 0.00122655 0.99799608 -0.18302262] [ 0. 0. 0. 1. ]] SLAMing on 56.524630439999996 meters Centerline goodness : 0.124634 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:-0.18 [[ 0.99798536 -0.00422387 -0.06330382 -0.0226578 ] [ 0.00412836 0.99999013 -0.00163943 -0.09292996] [ 0.06331012 0.00137479 0.99799296 -0.18332106] [ 0. 0. 0. 1. ]] SLAMing on 56.55463044 meters Centerline goodness : 0.126584 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:-0.18 [[ 0.99798576 -0.00428138 -0.06329364 -0.02282219] [ 0.004168 0.99998946 -0.00192323 -0.09113688] [ 0.06330121 0.00165555 0.99799309 -0.18321599] [ 0. 0. 0. 1. ]] SLAMing on 56.58463044 meters Centerline goodness : 0.097522 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:-0.18 [[ 0.99799634 -0.00466107 -0.06309969 -0.02390837] [ 0.00451065 0.99998664 -0.00252617 -0.08907236] [ 0.06311062 0.00223649 0.99800403 -0.18243247] [ 0. 0. 0. 1. ]] SLAMing on 56.61463044 meters Centerline goodness : 0.129782 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:-0.18 [[ 0.99799741 -0.00474837 -0.06307631 -0.02423672] [ 0.00458833 0.99998588 -0.00268184 -0.08819014] [ 0.06308816 0.00238705 0.9980051 -0.18206872] [ 0. 0. 0. 1. ]] SLAMing on 56.64463044 meters Centerline goodness : 0.103126 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:-0.18 [[ 0.99799994 -0.00472982 -0.06303771 -0.02448431] [ 0.0045688 0.99998592 -0.00269836 -0.0876031 ] [ 0.06304958 0.00240495 0.9980075 -0.18186186] [ 0. 0. 0. 1. ]] SLAMing on 56.674630439999994 meters Centerline goodness : 0.151119 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-0.18 [[ 0.99800802 -0.00469066 -0.06291258 -0.02508883] [ 0.00453091 0.99998614 -0.00268173 -0.08712114] [ 0.06292429 0.00239134 0.99801544 -0.18143278] [ 0. 0. 0. 1. ]] SLAMing on 56.704630439999995 meters Centerline goodness : 0.128378 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-0.18 [[ 0.99802366 -0.00474443 -0.06265999 -0.026095 ] [ 0.00458495 0.99998587 -0.00268867 -0.08696953] [ 0.06267186 0.00239606 0.99803131 -0.18081542] [ 0. 0. 0. 1. ]] SLAMing on 56.73463044 meters Centerline goodness : 0.437516 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-0.18 [[ 0.99802543 -0.00870033 -0.0622056 -0.02817274] [ 0.00832681 0.99994573 -0.00626119 -0.08738469] [ 0.0622567 0.00573085 0.99804372 -0.17947239] [ 0. 0. 0. 1. ]] SLAMing on 56.76463044 meters Centerline goodness : 0.413268 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-0.18 [[ 0.9980113 -0.00887224 -0.06240772 -0.02797295] [ 0.008504 0.99994484 -0.00616365 -0.08873871] [ 0.06245896 0.00562068 0.99803171 -0.17900063] [ 0. 0. 0. 1. ]] SLAMing on 56.79463044 meters Centerline goodness : 0.101722 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:-0.18 [[ 0.99799874 -0.00891413 -0.06260236 -0.02752347] [ 0.00856106 0.99994591 -0.00590581 -0.09038992] [ 0.06265162 0.00535804 0.99802107 -0.17884007] [ 0. 0. 0. 1. ]] SLAMing on 56.82463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.85463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.884630439999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.914630439999996 meters Centerline goodness : 0.132976 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:-0.18 [[ 0.9979338 -0.01506745 -0.06245875 -0.02752172] [ 0.01451266 0.99985119 -0.00932673 -0.10370675] [ 0.06258998 0.00840101 0.99800397 -0.17861837] [ 0. 0. 0. 1. ]] SLAMing on 56.94463044 meters Centerline goodness : 0.273088 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-0.18 [[ 0.99800477 -0.00722304 -0.0627241 -0.04562577] [ 0.0066118 0.99992867 -0.00994708 -0.11219393] [ 0.06279148 0.00951251 0.99798133 -0.18107494] [ 0. 0. 0. 1. ]] SLAMing on 56.97463044 meters Centerline goodness : 0.340564 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-0.18 [[ 0.99800055 -0.00709115 -0.06280623 -0.04541804] [ 0.00650803 0.99993385 -0.00948426 -0.11462042] [ 0.06286933 0.00905655 0.99798067 -0.18102568] [ 0. 0. 0. 1. ]] SLAMing on 57.00463044 meters Centerline goodness : 0.456536 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.18 [[ 0.99807986 -0.00941711 -0.06122011 -0.05072577] [ 0.00875635 0.99990058 -0.01105247 -0.12038032] [ 0.06131811 0.01049518 0.99806309 -0.1793022 ] [ 0. 0. 0. 1. ]] SLAMing on 57.03463044 meters Centerline goodness : 0.459709 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:-0.18 [[ 0.99809711 -0.00933288 -0.06095129 -0.05138586] [ 0.00869801 0.99990521 -0.01067309 -0.1227082 ] [ 0.06104512 0.01012263 0.99808368 -0.1792407 ] [ 0. 0. 0. 1. ]] SLAMing on 57.064630439999995 meters Centerline goodness : 0.449495 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:-0.18 [[ 9.98168342e-01 -1.69349125e-03 -6.04739074e-02 -6.91822752e-02] [ 9.96376927e-04 9.99932733e-01 -1.15558174e-02 -1.30605702e-01] [ 6.04894092e-02 1.14743963e-02 9.98102885e-01 -1.82399613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094630439999996 meters Centerline goodness : 0.105208 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:-0.18 [[ 9.98145196e-01 -1.49467181e-03 -6.08599584e-02 -6.79554061e-02] [ 8.18096817e-04 9.99937610e-01 -1.11403156e-02 -1.32451655e-01] [ 6.08728125e-02 1.10698632e-02 9.98084144e-01 -1.82868803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12463044 meters Centerline goodness : 0.095861 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:-0.18 [[ 9.98091183e-01 -1.32389695e-03 -6.17433225e-02 -6.50300508e-02] [ 6.64747474e-04 9.99942586e-01 -1.06949598e-02 -1.34995107e-01] [ 6.17539366e-02 1.06335013e-02 9.98034759e-01 -1.83999795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15463044 meters Centerline goodness : 0.449796 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.18 [[ 9.98082030e-01 -1.26409801e-03 -6.18923509e-02 -6.44165366e-02] [ 6.11643387e-04 9.99944059e-01 -1.05595767e-02 -1.35804087e-01] [ 6.19022369e-02 1.05014677e-02 9.98026970e-01 -1.84397302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18463044 meters Centerline goodness : 0.400220 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.18 [[ 9.98075257e-01 -1.13715616e-03 -6.20039395e-02 -6.39822043e-02] [ 4.94477113e-04 9.99946009e-01 -1.03794920e-02 -1.36488248e-01] [ 6.20123950e-02 1.03288546e-02 9.98021932e-01 -1.84665328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21463044 meters Centerline goodness : 0.199741 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.18 [[ 9.98078137e-01 -9.92105624e-04 -6.19600538e-02 -6.39811434e-02] [ 3.61276730e-04 9.99947999e-01 -1.01915926e-02 -1.37070985e-01] [ 6.19669429e-02 1.01496211e-02 9.98026594e-01 -1.84819066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244630439999995 meters Centerline goodness : 0.189949 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 9.98093273e-01 -7.84929271e-04 -6.17187302e-02 -6.43524981e-02] [ 1.77698229e-04 9.99951535e-01 -9.84355674e-03 -1.38685298e-01] [ 6.17234656e-02 9.81382046e-03 9.98045040e-01 -1.85134381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.274630439999996 meters Centerline goodness : 0.145496 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:-0.19 [[ 9.98093195e-01 -7.11640869e-04 -6.17208821e-02 -6.43228186e-02] [ 1.17149345e-04 9.99953575e-01 -9.63501892e-03 -1.39977786e-01] [ 6.17248734e-02 9.60941626e-03 9.98046942e-01 -1.85162927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30463044 meters Centerline goodness : 0.130726 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:-0.18 [[ 0.9980691 -0.00853382 -0.06152442 -0.04466449] [ 0.00801543 0.99993031 -0.00866762 -0.1370045 ] [ 0.0615941 0.00815774 0.99806794 -0.18320054] [ 0. 0. 0. 1. ]] SLAMing on 57.33463044 meters Centerline goodness : 0.158340 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:-0.18 [[ 0.99806786 -0.00838485 -0.06156494 -0.04466133] [ 0.00788463 0.99993394 -0.00836348 -0.13840918] [ 0.061631 0.00786191 0.99806804 -0.18309018] [ 0. 0. 0. 1. ]] SLAMing on 57.36463044 meters Centerline goodness : 0.172491 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:-0.18 [[ 0.99807042 -0.00820163 -0.06154817 -0.04471818] [ 0.00772499 0.99993834 -0.00797812 -0.14009015] [ 0.06160981 0.00748727 0.99807223 -0.18303971] [ 0. 0. 0. 1. ]] SLAMing on 57.39463044 meters Centerline goodness : 0.113149 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:-0.18 [[ 0.99809092 -0.00804648 -0.06123542 -0.04560292] [ 0.00760718 0.99994366 -0.00740381 -0.14355107] [ 0.06129154 0.00692385 0.99809589 -0.18275719] [ 0. 0. 0. 1. ]] SLAMing on 57.424630439999994 meters Centerline goodness : 0.116732 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:-0.18 [[ 0.99809662 -0.00799958 -0.06114851 -0.04596345] [ 0.00757166 0.99994522 -0.00722671 -0.14480617] [ 0.06120297 0.00674996 0.99810252 -0.18253633] [ 0. 0. 0. 1. ]] SLAMing on 57.454630439999995 meters Centerline goodness : 0.116000 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:-0.18 [[ 0.99809315 -0.00790672 -0.06121716 -0.04573836] [ 0.00749211 0.99994744 -0.0069994 -0.14595581] [ 0.06126928 0.0065274 0.99809993 -0.18263601] [ 0. 0. 0. 1. ]] SLAMing on 57.48463044 meters Centerline goodness : 0.115329 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99808141 -0.00773776 -0.0614298 -0.04488383] [ 0.00733798 0.99995042 -0.00673088 -0.14692342] [ 0.06147884 0.0062672 0.99808871 -0.18314489] [ 0. 0. 0. 1. ]] SLAMing on 57.51463044 meters Centerline goodness : 0.122708 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99808098 -0.0075122 -0.0614648 -0.04428233] [ 0.00713531 0.99995439 -0.00634903 -0.1483753 ] [ 0.06150969 0.00589828 0.99808906 -0.1838484 ] [ 0. 0. 0. 1. ]] SLAMing on 57.54463044 meters Centerline goodness : 0.121044 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99808436 -0.00752118 -0.06140881 -0.0446435 ] [ 0.00714882 0.99995472 -0.00628106 -0.14906579] [ 0.06145327 0.00583003 0.99809293 -0.18352863] [ 0. 0. 0. 1. ]] SLAMing on 57.57463044 meters Centerline goodness : 0.123356 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:-0.18 [[ 0.99809072 -0.00748809 -0.06130941 -0.04511312] [ 0.00712192 0.99995549 -0.00618884 -0.14957169] [ 0.06135302 0.00574038 0.99809962 -0.18317777] [ 0. 0. 0. 1. ]] SLAMing on 57.604630439999994 meters Centerline goodness : 0.125893 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99808713 -0.00741362 -0.06137692 -0.0449346 ] [ 0.00705104 0.9999564 -0.00612185 -0.14953133] [ 0.06141963 0.00567737 0.99809589 -0.18323178] [ 0. 0. 0. 1. ]] SLAMing on 57.634630439999995 meters Centerline goodness : 0.112703 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99807903 -0.00732886 -0.06151853 -0.0443493 ] [ 0.00696997 0.99995743 -0.00604651 -0.14948528] [ 0.06156023 0.00560611 0.99808763 -0.18356909] [ 0. 0. 0. 1. ]] SLAMing on 57.664630439999996 meters Centerline goodness : 0.129662 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99807158 -0.00732752 -0.06163945 -0.04385011] [ 0.00697681 0.99995824 -0.00590304 -0.15053439] [ 0.06168013 0.00546161 0.99808102 -0.18382913] [ 0. 0. 0. 1. ]] SLAMing on 57.69463044 meters Centerline goodness : 0.110626 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99807919 -0.00732687 -0.06151629 -0.04450403] [ 0.00699032 0.99995941 -0.00568448 -0.15197238] [ 0.06155544 0.00524354 0.99808989 -0.18331989] [ 0. 0. 0. 1. ]] SLAMing on 57.72463044 meters Centerline goodness : 0.112367 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:-0.18 [[ 0.99808399 -0.00729482 -0.06144207 -0.04499062] [ 0.00697922 0.99996134 -0.00534962 -0.15395051] [ 0.06147872 0.00491055 0.99809632 -0.18282002] [ 0. 0. 0. 1. ]] SLAMing on 57.75463044 meters Centerline goodness : 0.115117 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:-0.18 [[ 0.9980632 -0.00759382 -0.06174295 -0.04380428] [ 0.00730552 0.99996134 -0.00489379 -0.15832657] [ 0.06177772 0.00443324 0.99808009 -0.18329992] [ 0. 0. 0. 1. ]] SLAMing on 57.78463044 meters Centerline goodness : 0.114034 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:-0.18 [[ 0.99805157 -0.00751929 -0.06193968 -0.04292018] [ 0.0072517 0.99996338 -0.00454383 -0.16044746] [ 0.06197158 0.00408581 0.99806955 -0.18381965] [ 0. 0. 0. 1. ]] SLAMing on 57.814630439999995 meters Centerline goodness : 0.111159 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:-0.18 [[ 0.99803818 -0.00745539 -0.06216281 -0.04215911] [ 0.00720123 0.99996478 -0.00431167 -0.16191197] [ 0.06219276 0.00385556 0.99805671 -0.18408243] [ 0. 0. 0. 1. ]] SLAMing on 57.844630439999996 meters Centerline goodness : 0.109911 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:-0.18 [[ 0.99802383 -0.00741391 -0.06239764 -0.04153581] [ 0.00716374 0.99996538 -0.00423209 -0.16245401] [ 0.06242685 0.00377672 0.9980424 -0.18413372] [ 0. 0. 0. 1. ]] SLAMing on 57.87463044 meters Centerline goodness : 0.116056 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:-0.19 [[ 0.99794132 0.00125036 -0.06412144 -0.06063075] [-0.00157474 0.99998622 -0.00500857 -0.16518765] [ 0.06411429 0.00509923 0.99792953 -0.18634862] [ 0. 0. 0. 1. ]] SLAMing on 57.90463044 meters Centerline goodness : 0.113923 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99792452 0.00140772 -0.06437912 -0.05979439] [-0.00173826 0.99998559 -0.00507856 -0.16396991] [ 0.06437104 0.00517993 0.99791259 -0.18671297] [ 0. 0. 0. 1. ]] SLAMing on 57.93463044 meters Centerline goodness : 0.113401 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99792463 0.00149725 -0.06437545 -0.05985895] [-0.0018339 0.99998495 -0.00517067 -0.16280337] [ 0.06436674 0.005278 0.99791235 -0.18664915] [ 0. 0. 0. 1. ]] SLAMing on 57.96463044 meters Centerline goodness : 0.112285 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99793062 0.00147897 -0.06428297 -0.06020825] [-0.00182489 0.99998417 -0.00532292 -0.16186658] [ 0.06427408 0.00542921 0.99791752 -0.18650895] [ 0. 0. 0. 1. ]] SLAMing on 57.994630439999995 meters Centerline goodness : 0.210185 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99794205 0.00140495 -0.06410681 -0.06084145] [-0.00175832 0.99998357 -0.0054561 -0.16141651] [ 0.06409809 0.00555759 0.99792813 -0.18621665] [ 0. 0. 0. 1. ]] SLAMing on 58.024630439999996 meters Centerline goodness : 0.113749 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99794578 0.00135871 -0.0640498 -0.06125178] [-0.00171548 0.99998332 -0.00551567 -0.16137592] [ 0.06404124 0.00561421 0.99793146 -0.1858507 ] [ 0. 0. 0. 1. ]] SLAMing on 58.05463044 meters Centerline goodness : 0.112887 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99795875 0.00141961 -0.06384604 -0.06212241] [-0.00176919 0.99998375 -0.00541907 -0.16164413] [ 0.06383731 0.00552097 0.99794505 -0.18534947] [ 0. 0. 0. 1. ]] SLAMing on 58.08463044 meters Centerline goodness : 0.112112 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99796609 0.00145057 -0.0637305 -0.06255252] [-0.0017966 0.99998395 -0.00537254 -0.16182136] [ 0.06372169 0.00547611 0.99795268 -0.18515381] [ 0. 0. 0. 1. ]] SLAMing on 58.11463044 meters Centerline goodness : 0.112112 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.19 [[ 0.99796609 0.00145057 -0.0637305 -0.06255252] [-0.0017966 0.99998395 -0.00537254 -0.16182136] [ 0.06372169 0.00547611 0.99795268 -0.18515381] [ 0. 0. 0. 1. ]] SLAMing on 58.14463044 meters Centerline goodness : 0.112721 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.18 [[ 0.9979717 0.00143926 -0.06364284 -0.06298842] [-0.00178386 0.99998405 -0.00535803 -0.16208459] [ 0.06363411 0.00546069 0.99795836 -0.18482752] [ 0. 0. 0. 1. ]] SLAMing on 58.174630439999994 meters Centerline goodness : 0.116182 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 9.97861508e-01 7.96980119e-04 -6.53588298e-02 -1.09401293e-01] [-1.16417728e-03 9.99983752e-01 -5.58027931e-03 -1.64590051e-01] [ 6.53533205e-02 5.64443519e-03 9.97846223e-01 -1.86457862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204630439999995 meters Centerline goodness : 0.115209 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 9.97854980e-01 9.80248367e-04 -6.54559192e-02 -1.09218622e-01] [-1.33597683e-03 9.99984576e-01 -5.39107678e-03 -1.64821566e-01] [ 6.54496250e-02 5.46696041e-03 9.97840899e-01 -1.86416311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23463044 meters Centerline goodness : 0.110601 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99784164 0.00112909 -0.06565652 -0.10837152] [-0.00148044 0.99998484 -0.00530286 -0.16455703] [ 0.06564954 0.00538861 0.99782819 -0.18693861] [ 0. 0. 0. 1. ]] SLAMing on 58.26463044 meters Centerline goodness : 0.102493 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99781612 0.00122958 -0.06604143 -0.10720364] [-0.00158345 0.99998467 -0.00530625 -0.16416081] [ 0.0660339 0.00539923 0.99780277 -0.18730286] [ 0. 0. 0. 1. ]] SLAMing on 58.29463044 meters Centerline goodness : 0.110212 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.9978114 0.00117665 -0.06611377 -0.10706471] [-0.00154351 0.99998369 -0.00549816 -0.16345529] [ 0.06610623 0.00558817 0.99779694 -0.18730243] [ 0. 0. 0. 1. ]] SLAMing on 58.32463044 meters Centerline goodness : 0.122749 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99782774 0.0011063 -0.06586789 -0.10806376] [-0.00148186 0.99998292 -0.0056532 -0.16312317] [ 0.06586051 0.00573853 0.99781234 -0.18677252] [ 0. 0. 0. 1. ]] SLAMing on 58.354630439999994 meters Centerline goodness : 0.103338 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99786697 0.00142852 -0.06526465 -0.11010765] [-0.00178595 0.99998372 -0.00541854 -0.16344738] [ 0.06525585 0.00552354 0.99785328 -0.18597918] [ 0. 0. 0. 1. ]] SLAMing on 58.384630439999995 meters Centerline goodness : 0.104066 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99787097 0.00154575 -0.0652008 -0.11021904] [-0.00189885 0.99998386 -0.00535394 -0.16324037] [ 0.06519147 0.00546635 0.9978578 -0.18607556] [ 0. 0. 0. 1. ]] SLAMing on 58.414630439999996 meters Centerline goodness : 0.108579 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99786502 0.00161912 -0.06529001 -0.1097233 ] [-0.00197332 0.99998368 -0.00536093 -0.16290154] [ 0.06528026 0.00547832 0.99785193 -0.18651224] [ 0. 0. 0. 1. ]] SLAMing on 58.44463044 meters Centerline goodness : 0.116084 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99785308 0.00157635 -0.06547326 -0.10905608] [-0.00194304 0.99998278 -0.0055374 -0.1620914 ] [ 0.0654634 0.00565273 0.99783896 -0.18685496] [ 0. 0. 0. 1. ]] SLAMing on 58.47463044 meters Centerline goodness : 0.109490 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99785169 0.00175063 -0.06549 -0.10931368] [-0.00212512 0.99998179 -0.00564905 -0.1606109 ] [ 0.06547892 0.00577608 0.99783724 -0.18655427] [ 0. 0. 0. 1. ]] SLAMing on 58.50463044 meters Centerline goodness : 0.106501 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99787513 0.00191684 -0.06512723 -0.11045006] [-0.00228428 0.99998189 -0.00556788 -0.16012433] [ 0.06511538 0.00570482 0.99786143 -0.18624317] [ 0. 0. 0. 1. ]] SLAMing on 58.53463044 meters Centerline goodness : 0.123263 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99789046 0.00201328 -0.06488889 -0.11103021] [-0.00237805 0.9999818 -0.00554461 -0.15971911] [ 0.06487654 0.00568723 0.99787709 -0.18628249] [ 0. 0. 0. 1. ]] SLAMing on 58.564630439999995 meters Centerline goodness : 0.109487 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99790306 0.00197595 -0.06469599 -0.11104297] [-0.00234828 0.99998111 -0.00567953 -0.15934757] [ 0.06468354 0.00581955 0.99788886 -0.18689228] [ 0. 0. 0. 1. ]] SLAMing on 58.594630439999996 meters Centerline goodness : 0.122019 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:-0.19 [[ 0.99790376 0.00195358 -0.06468599 -0.11101601] [-0.00232662 0.99998109 -0.00569207 -0.15959201] [ 0.06467364 0.00583063 0.99788943 -0.18698879] [ 0. 0. 0. 1. ]] SLAMing on 58.62463044 meters Centerline goodness : 0.108639 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.16, Z:-0.19 [[ 0.99777554 0.00119953 -0.06665233 -0.15660537] [-0.00159156 0.99998175 -0.0058288 -0.1637545 ] [ 0.06664412 0.00592191 0.99775924 -0.18888323] [ 0. 0. 0. 1. ]] SLAMing on 58.65463044 meters Centerline goodness : 0.114829 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:-0.19 [[ 0.99781576 -0.00633474 -0.06575387 -0.13806477] [ 0.00604903 0.99997138 -0.00454335 -0.15964592] [ 0.06578077 0.00413568 0.99782553 -0.18627955] [ 0. 0. 0. 1. ]] SLAMing on 58.68463044 meters Centerline goodness : 0.161477 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:-0.19 [[ 0.99783676 -0.00625485 -0.06544215 -0.13914976] [ 0.00598702 0.99997288 -0.00428788 -0.16094105] [ 0.0654672 0.0038868 0.99784715 -0.18576618] [ 0. 0. 0. 1. ]] SLAMing on 58.71463044 meters Centerline goodness : 0.125199 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-0.18 [[ 0.99793287 0.00129065 -0.06425198 -0.12072526] [-0.00165992 0.99998241 -0.00569409 -0.16506791] [ 0.0642435 0.00578898 0.99791746 -0.18315804] [ 0. 0. 0. 1. ]] SLAMing on 58.744630439999995 meters Centerline goodness : 0.123572 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-0.18 [[ 0.9979073 0.00125209 -0.06464863 -0.11942691] [-0.00159877 0.99998462 -0.00531103 -0.16795935] [ 0.06464099 0.00540327 0.99789396 -0.1835185 ] [ 0. 0. 0. 1. ]] SLAMing on 58.774630439999996 meters Centerline goodness : 0.124550 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-0.18 [[ 0.9978881 0.00139804 -0.06494144 -0.11833509] [-0.00172551 0.99998608 -0.00498686 -0.16940036] [ 0.06493356 0.00508838 0.99787662 -0.18401927] [ 0. 0. 0. 1. ]] SLAMing on 58.80463044 meters Centerline goodness : 0.125108 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-0.18 [[ 0.99786263 0.00151676 -0.06532891 -0.11700149] [-0.0018302 0.9999871 -0.00473844 -0.17049646] [ 0.06532088 0.00484788 0.99785253 -0.1845207 ] [ 0. 0. 0. 1. ]] SLAMing on 58.83463044 meters Centerline goodness : 0.160317 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-0.18 [[ 0.9978423 0.00155421 -0.06563791 -0.11594509] [-0.00186398 0.99998741 -0.00465843 -0.17092004] [ 0.06562985 0.00477073 0.99783263 -0.18491484] [ 0. 0. 0. 1. ]] SLAMing on 58.86463044 meters Centerline goodness : 0.118645 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:-0.18 [[ 0.99782132 0.00145138 -0.06595833 -0.11518461] [-0.00176242 0.9999876 -0.00465774 -0.17193797] [ 0.06595076 0.00476383 0.99781151 -0.18490161] [ 0. 0. 0. 1. ]] SLAMing on 58.89463044 meters Centerline goodness : 0.135664 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:-0.18 [[ 0.99781262 0.00142862 -0.06609032 -0.11489803] [-0.00173739 0.99998784 -0.00461456 -0.17250409] [ 0.06608292 0.00471929 0.99780297 -0.1848663 ] [ 0. 0. 0. 1. ]] SLAMing on 58.924630439999994 meters Centerline goodness : 0.104583 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:-0.19 [[ 0.99780105 0.00150129 -0.06626326 -0.11426906] [-0.00179659 0.99998872 -0.00439707 -0.17364693] [ 0.06625592 0.00450645 0.99779249 -0.1851572 ] [ 0. 0. 0. 1. ]] SLAMing on 58.954630439999995 meters Centerline goodness : 0.109954 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.19 [[ 0.99778532 0.00160115 -0.06649729 -0.11355862] [-0.0018764 0.99998993 -0.00407703 -0.17528832] [ 0.06649009 0.00419277 0.99777828 -0.1853368 ] [ 0. 0. 0. 1. ]] SLAMing on 58.98463044 meters Centerline goodness : 0.172897 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.19 [[ 0.99776563 0.00163039 -0.06679141 -0.11274815] [-0.0018649 0.99999231 -0.00344898 -0.17955027] [ 0.06678527 0.00356584 0.997761 -0.18532432] [ 0. 0. 0. 1. ]] SLAMing on 59.01463044 meters Centerline goodness : 0.119466 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.18 [[ 0.99777229 0.00162995 -0.06669189 -0.11322776] [-0.0018496 0.99999307 -0.00323181 -0.18122371] [ 0.06668616 0.00334796 0.99776838 -0.18492539] [ 0. 0. 0. 1. ]] SLAMing on 59.04463044 meters Centerline goodness : 0.115802 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.18 [[ 0.99777977 0.00164618 -0.06657943 -0.11383298] [-0.00185599 0.99999351 -0.00308951 -0.18225719] [ 0.06657391 0.00320623 0.99777635 -0.18443243] [ 0. 0. 0. 1. ]] SLAMing on 59.07463044 meters Centerline goodness : 0.115204 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.18 [[ 0.99778363 0.00167799 -0.06652081 -0.11425696] [-0.00188558 0.99999355 -0.00305805 -0.18227766] [ 0.06651525 0.0031767 0.99778035 -0.18401766] [ 0. 0. 0. 1. ]] SLAMing on 59.104630439999994 meters Centerline goodness : 0.123338 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.18 [[ 0.99778416 0.00174669 -0.06651101 -0.11424155] [-0.00195661 0.99999331 -0.00309115 -0.18158132] [ 0.06650517 0.00321443 0.9977809 -0.1840998 ] [ 0. 0. 0. 1. ]] SLAMing on 59.134630439999995 meters Centerline goodness : 0.120817 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.18 [[ 0.99773593 0.00207422 -0.06722137 -0.11221575] [-0.00230238 0.99999185 -0.0033169 -0.17856703] [ 0.06721394 0.00346416 0.99773257 -0.18465143] [ 0. 0. 0. 1. ]] SLAMing on 59.164630439999996 meters Centerline goodness : 0.123724 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.19 [[ 0.99772177 0.00193658 -0.06743532 -0.11151461] [-0.00219443 0.99999056 -0.00374982 -0.17638226] [ 0.06742742 0.00388926 0.9977166 -0.18500226] [ 0. 0. 0. 1. ]] SLAMing on 59.19463044 meters Centerline goodness : 0.116993 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:-0.19 [[ 0.99771305 0.00182962 -0.06756716 -0.1112159 ] [-0.00211736 0.99998899 -0.00418713 -0.17392075] [ 0.06755876 0.00432062 0.99770594 -0.18507897] [ 0. 0. 0. 1. ]] SLAMing on 59.22463044 meters Centerline goodness : 0.117856 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:-0.18 [[ 0.99773389 0.00179198 -0.06725975 -0.11238577] [-0.00211456 0.9999866 -0.00472519 -0.1694143 ] [ 0.06725038 0.00485671 0.99772431 -0.18465528] [ 0. 0. 0. 1. ]] SLAMing on 59.25463044 meters Centerline goodness : 0.108284 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:-0.18 [[ 0.997741 0.00161407 -0.06715865 -0.1127567 ] [-0.0019607 0.99998509 -0.00509582 -0.16771889] [ 0.06714942 0.00521599 0.9977293 -0.18450477] [ 0. 0. 0. 1. ]] SLAMing on 59.28463044 meters Centerline goodness : 0.107680 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:-0.18 [[ 0.99773612 0.00142024 -0.06723549 -0.11260213] [-0.00178915 0.99998367 -0.00542687 -0.16647853] [ 0.06722668 0.00553488 0.99772238 -0.18446084] [ 0. 0. 0. 1. ]] SLAMing on 59.314630439999995 meters Centerline goodness : 0.105712 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99769689 -0.00615502 -0.06755025 -0.0936056 ] [ 0.00585484 0.99997209 -0.0046409 -0.15934368] [ 0.06757693 0.00423472 0.99770508 -0.1819153 ] [ 0. 0. 0. 1. ]] SLAMing on 59.344630439999996 meters Centerline goodness : 0.158810 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99769481 -0.00619168 -0.0675776 -0.09353468] [ 0.00588561 0.99997151 -0.00472734 -0.15862878] [ 0.06760494 0.00431871 0.99770282 -0.18193621] [ 0. 0. 0. 1. ]] SLAMing on 59.37463044 meters Centerline goodness : 0.369875 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99768932 -0.00616994 -0.06766061 -0.09338078] [ 0.0058677 0.9999719 -0.0046649 -0.15857424] [ 0.06768749 0.00425711 0.99769749 -0.18182724] [ 0. 0. 0. 1. ]] SLAMing on 59.40463044 meters Centerline goodness : 0.110038 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99768408 -0.00621293 -0.0677338 -0.09332899] [ 0.0059139 0.99997187 -0.00461448 -0.15900311] [ 0.06776057 0.00420322 0.99769276 -0.18161462] [ 0. 0. 0. 1. ]] SLAMing on 59.43463044 meters Centerline goodness : 0.105380 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99768414 -0.00663508 -0.06769288 -0.09365491] [ 0.0063316 0.99996893 -0.00469673 -0.16021771] [ 0.06772194 0.00425725 0.99769515 -0.18114196] [ 0. 0. 0. 1. ]] SLAMing on 59.46463044 meters Centerline goodness : 0.110610 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99766855 -0.00661692 -0.06792407 -0.09295014] [ 0.0063239 0.99996975 -0.0045281 -0.16132364] [ 0.06795197 0.004088 0.99768022 -0.18125366] [ 0. 0. 0. 1. ]] SLAMing on 59.494630439999995 meters Centerline goodness : 0.105482 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99764997 -0.00663245 -0.06819494 -0.09212155] [ 0.00634217 0.99996989 -0.00447212 -0.16186565] [ 0.06822255 0.00402911 0.99766199 -0.18146912] [ 0. 0. 0. 1. ]] SLAMing on 59.524630439999996 meters Centerline goodness : 0.114982 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99763631 -0.00663305 -0.06839439 -0.09149386] [ 0.00633949 0.99996974 -0.00450831 -0.16168631] [ 0.06842222 0.00406407 0.99764818 -0.18164326] [ 0. 0. 0. 1. ]] SLAMing on 59.55463044 meters Centerline goodness : 0.100429 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99760633 -0.00629803 -0.06886184 -0.09022814] [ 0.0059887 0.99997103 -0.00469756 -0.15912179] [ 0.06888943 0.00427392 0.99761515 -0.18196892] [ 0. 0. 0. 1. ]] SLAMing on 59.58463044 meters Centerline goodness : 0.128535 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99760757 -0.00612971 -0.06885906 -0.09009822] [ 0.00580667 0.99997118 -0.00489047 -0.15702087] [ 0.06888706 0.00447893 0.99761441 -0.18222562] [ 0. 0. 0. 1. ]] SLAMing on 59.61463044 meters Centerline goodness : 0.107498 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:-0.18 [[ 0.99762 -0.00229424 -0.06891358 -0.08977923] [ 0.00219391 0.99999642 -0.00153164 -0.15541458] [ 0.06891685 0.00137681 0.99762146 -0.18244146] [ 0. 0. 0. 1. ]] SLAMing on 59.64463044 meters Centerline goodness : 0.116284 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.18 [[ 0.99765009 -0.00212943 -0.06848182 -0.09082971] [ 0.00201391 0.99999643 -0.00175594 -0.15302759] [ 0.06848531 0.0016139 0.99765082 -0.18253233] [ 0. 0. 0. 1. ]] SLAMing on 59.674630439999994 meters Centerline goodness : 0.108811 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.18 [[ 0.99765836 -0.00220942 -0.06835877 -0.09126368] [ 0.00206266 0.99999541 -0.0022175 -0.1502825 ] [ 0.06836335 0.00207131 0.99765834 -0.18245142] [ 0. 0. 0. 1. ]] SLAMing on 59.704630439999995 meters Centerline goodness : 0.107790 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:-0.18 [[ 0.99765045 -0.00240991 -0.06846725 -0.09136389] [ 0.00221025 0.99999308 -0.00299187 -0.14615153] [ 0.06847398 0.00283351 0.99764888 -0.18216541] [ 0. 0. 0. 1. ]] SLAMing on 59.73463044 meters Centerline goodness : 0.121933 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:-0.18 [[ 0.99766573 0.00511164 -0.06809522 -0.07222031] [-0.0054478 0.99997387 -0.00475193 -0.14669334] [ 0.06806915 0.00511181 0.99766751 -0.17930125] [ 0. 0. 0. 1. ]] SLAMing on 59.76463044 meters Centerline goodness : 0.100907 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:-0.18 [[ 0.99766822 0.00500324 -0.06806683 -0.07247093] [-0.00534966 0.99997365 -0.00490794 -0.14606401] [ 0.06804048 0.00526063 0.99766869 -0.17908409] [ 0. 0. 0. 1. ]] SLAMing on 59.79463044 meters Centerline goodness : 0.114304 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:-0.18 [[ 0.99768436 0.00452011 -0.06786372 -0.07303709] [-0.00487586 0.99997522 -0.00507739 -0.1464084 ] [ 0.06783908 0.00539653 0.99768168 -0.1788296 ] [ 0. 0. 0. 1. ]] SLAMing on 59.82463044 meters Centerline goodness : 0.172774 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:-0.18 [[ 0.99768133 0.00440486 -0.06791579 -0.07311811] [-0.00475397 0.9999763 -0.00497957 -0.14728224] [ 0.06789224 0.00529089 0.99767863 -0.17842895] [ 0. 0. 0. 1. ]] SLAMing on 59.854630439999994 meters Centerline goodness : 0.103738 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:-0.18 [[ 0.99766883 0.00433334 -0.06810374 -0.0728697 ] [-0.00467558 0.99997723 -0.00486669 -0.14815205] [ 0.0680811 0.00517376 0.99766638 -0.17804331] [ 0. 0. 0. 1. ]] SLAMing on 59.884630439999995 meters Centerline goodness : 0.104947 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:-0.17 [[ 0.99763457 -0.00339675 -0.06865659 -0.05377416] [ 0.00314304 0.99998783 -0.00380314 -0.14399297] [ 0.06866867 0.00357836 0.9976331 -0.1749865 ] [ 0. 0. 0. 1. ]] SLAMing on 59.914630439999996 meters Centerline goodness : 0.107692 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.18 [[ 0.99744418 -0.00455146 -0.07130492 -0.09797902] [ 0.00423983 0.99998079 -0.0045211 -0.14724396] [ 0.07132413 0.00420723 0.99744432 -0.1768147 ] [ 0. 0. 0. 1. ]] SLAMing on 59.94463044 meters Centerline goodness : 0.106784 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.18 [[ 0.99742906 -0.00462755 -0.07151126 -0.0976295 ] [ 0.00431605 0.99998052 -0.00450994 -0.14777578] [ 0.07153074 0.0041897 0.9974296 -0.17656619] [ 0. 0. 0. 1. ]] SLAMing on 59.97463044 meters Centerline goodness : 0.107910 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.18 [[ 0.99742259 -0.00460026 -0.07160314 -0.0980522 ] [ 0.00430183 0.99998141 -0.00432162 -0.14856576] [ 0.07162169 0.00400246 0.99742384 -0.17566821] [ 0. 0. 0. 1. ]] SLAMing on 60.00463044 meters Centerline goodness : 0.107910 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.18 [[ 0.99742259 -0.00460026 -0.07160314 -0.0980522 ] [ 0.00430183 0.99998141 -0.00432162 -0.14856576] [ 0.07162169 0.00400246 0.99742384 -0.17566821] [ 0. 0. 0. 1. ]] SLAMing on 60.03463044 meters Centerline goodness : 0.113761 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.18 [[ 0.99740281 -0.00452554 -0.07188298 -0.09756299] [ 0.00423618 0.9999823 -0.00417736 -0.14887357] [ 0.07190061 0.003862 0.99740432 -0.1753888 ] [ 0. 0. 0. 1. ]] SLAMing on 60.064630439999995 meters Centerline goodness : 0.113680 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.18 [[ 0.99737337 -0.00452112 -0.07229053 -0.09662883] [ 0.00423487 0.99998258 -0.00411246 -0.14926107] [ 0.07230786 0.00379552 0.99737514 -0.17526679] [ 0. 0. 0. 1. ]] SLAMing on 60.094630439999996 meters Centerline goodness : 0.103390 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.18 [[ 0.99735501 -0.00460849 -0.07253787 -0.09594018] [ 0.00431884 0.99998207 -0.00414934 -0.14955654] [ 0.07255569 0.00382508 0.99735703 -0.17534427] [ 0. 0. 0. 1. ]] SLAMing on 60.12463044 meters Centerline goodness : 0.112919 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.17 [[ 0.99738864 -0.00471957 -0.07206675 -0.09764582] [ 0.00443426 0.99998169 -0.00411839 -0.15034134] [ 0.07208487 0.00378808 0.99739131 -0.1745115 ] [ 0. 0. 0. 1. ]] SLAMing on 60.15463044 meters Centerline goodness : 0.112731 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.17 [[ 0.99742462 -0.00458829 -0.07157563 -0.09939473] [ 0.00432119 0.99998311 -0.00388613 -0.15103067] [ 0.07159225 0.00356683 0.99742761 -0.17373812] [ 0. 0. 0. 1. ]] SLAMing on 60.18463044 meters Centerline goodness : 0.116781 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:-0.17 [[ 0.99744765 -0.00454257 -0.07125698 -0.10059948] [ 0.00428688 0.99998381 -0.00374088 -0.15178525] [ 0.07127282 0.00342586 0.99745098 -0.17311566] [ 0. 0. 0. 1. ]] SLAMing on 60.21463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.244630439999995 meters Centerline goodness : 0.105826 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:-0.17 [[ 0.99750446 0.00236609 -0.07056385 -0.08370308] [-0.00277995 0.9999795 -0.0057673 -0.15804891] [ 0.07054876 0.00594907 0.99749059 -0.16914871] [ 0. 0. 0. 1. ]] SLAMing on 60.274630439999996 meters Centerline goodness : 0.108885 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:-0.17 [[ 0.99750671 0.00248798 -0.07052775 -0.0838358 ] [-0.00288786 0.99998033 -0.00556835 -0.15874247] [ 0.07051251 0.00575814 0.99749428 -0.16906092] [ 0. 0. 0. 1. ]] SLAMing on 60.30463044 meters Centerline goodness : 0.125551 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:-0.17 [[ 0.99750607 0.00259955 -0.07053283 -0.08395203] [-0.00298441 0.99998123 -0.00535169 -0.15960209] [ 0.07051759 0.00554884 0.9974951 -0.16890959] [ 0. 0. 0. 1. ]] SLAMing on 60.33463044 meters Centerline goodness : 0.107218 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:-0.17 [[ 0.9975102 0.00268439 -0.07047119 -0.08411137] [-0.00305036 0.99998241 -0.00508603 -0.16117632] [ 0.0704563 0.00528833 0.99750085 -0.16884589] [ 0. 0. 0. 1. ]] SLAMing on 60.36463044 meters Centerline goodness : 0.109426 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:-0.17 [[ 0.99750513 0.0027151 -0.07054177 -0.08407432] [-0.00305974 0.9999839 -0.004778 -0.16348321] [ 0.07052766 0.00498192 0.99749738 -0.16861665] [ 0. 0. 0. 1. ]] SLAMing on 60.39463044 meters Centerline goodness : 0.111307 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.17, Z:-0.17 [[ 0.99748027 0.00199365 -0.07091642 -0.08296301] [-0.00233261 0.99998625 -0.00469735 -0.17205918] [ 0.07090608 0.00485093 0.9974712 -0.16883724] [ 0. 0. 0. 1. ]] SLAMing on 60.424630439999994 meters Centerline goodness : 0.122190 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:-0.17 [[ 0.99746001 0.00225086 -0.07119318 -0.08201497] [-0.00254712 0.99998847 -0.00407086 -0.17518937] [ 0.0711832 0.00424186 0.99745424 -0.16914691] [ 0. 0. 0. 1. ]] SLAMing on 60.454630439999995 meters Centerline goodness : 0.388492 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:-0.17 [[ 0.99745097 0.00246806 -0.07131253 -0.08149518] [-0.00272489 0.99999015 -0.00350446 -0.17818472] [ 0.07130318 0.00368984 0.99744786 -0.16941335] [ 0. 0. 0. 1. ]] SLAMing on 60.48463044 meters Centerline goodness : 0.101464 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:-0.17 [[ 0.99744007 0.00256185 -0.0714615 -0.0810083 ] [-0.0027879 0.99999142 -0.00306377 -0.1811705 ] [ 0.07145304 0.00325515 0.99743865 -0.1694864 ] [ 0. 0. 0. 1. ]] SLAMing on 60.51463044 meters Centerline goodness : 0.106144 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:-0.17 [[ 9.97473849e-01 -8.97546930e-04 -7.10289677e-02 -8.24015058e-02] [ 4.89483262e-04 9.99983278e-01 -5.76222888e-03 -1.86274872e-01] [ 7.10329518e-02 5.71290513e-03 9.97457609e-01 -1.69042178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54463044 meters Centerline goodness : 0.106021 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:-0.17 [[ 9.97472769e-01 -6.48113433e-04 -7.10468473e-02 -8.25226951e-02] [ 2.76750066e-04 9.99986250e-01 -5.23674000e-03 -1.88771543e-01] [ 7.10492644e-02 5.20384333e-03 9.97459233e-01 -1.68792324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57463044 meters Centerline goodness : 0.098866 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:-0.17 [[ 9.97459085e-01 -4.24460148e-04 -7.12403878e-02 -8.18753292e-02] [ 8.23693273e-05 9.99988454e-01 -4.80479155e-03 -1.90693387e-01] [ 7.12416046e-02 4.78671496e-03 9.97447603e-01 -1.69014780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604630439999994 meters Centerline goodness : 0.098515 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:-0.17 [[ 9.97432917e-01 -3.24641335e-04 -7.16063640e-02 -8.05363445e-02] [-1.88598894e-07 9.99989711e-01 -4.53627432e-03 -1.92301801e-01] [ 7.16070999e-02 4.52464283e-03 9.97422654e-01 -1.69589489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.634630439999995 meters Centerline goodness : 0.138092 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:-0.17 [[ 9.97404387e-01 -3.30291689e-04 -7.20026381e-02 -7.90094726e-02] [ 1.26087909e-05 9.99990265e-01 -4.41251069e-03 -1.93598620e-01] [ 7.20033946e-02 4.40014965e-03 9.97394681e-01 -1.70334945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664630439999996 meters Centerline goodness : 0.204756 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:-0.17 [[ 9.97369026e-01 -1.63767672e-04 -7.24913792e-02 -7.75509379e-02] [-1.23552061e-04 9.99992155e-01 -3.95900022e-03 -1.96215226e-01] [ 7.24914589e-02 3.95754065e-03 9.97361181e-01 -1.70700410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69463044 meters Centerline goodness : 0.243761 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:-0.17 [[ 9.97373178e-01 1.02026339e-05 -7.24344147e-02 -7.78398140e-02] [-2.68970854e-04 9.99993617e-01 -3.56269526e-03 -1.97953504e-01] [ 7.24339161e-02 3.57281944e-03 9.97366815e-01 -1.70472867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72463044 meters Centerline goodness : 0.263866 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:-0.17 [[ 9.97385689e-01 1.27040331e-04 -7.22618225e-02 -7.84777604e-02] [-3.54621066e-04 9.99995018e-01 -3.13657019e-03 -2.00239576e-01] [ 7.22610640e-02 3.15399578e-03 9.97380765e-01 -1.70119884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75463044 meters Centerline goodness : 0.104627 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:-0.17 [[ 9.97401850e-01 1.33603604e-04 -7.20384059e-02 -7.93429914e-02] [-3.33144477e-04 9.99996141e-01 -2.75791540e-03 -2.02757718e-01] [ 7.20377595e-02 2.77474912e-03 9.97398046e-01 -1.69613536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78463044 meters Centerline goodness : 0.106430 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.21, Z:-0.17 [[ 0.99742891 -0.00314065 -0.07159405 -0.08111885] [ 0.00280337 0.9999845 -0.00481106 -0.20973645] [ 0.07160805 0.00459798 0.99742225 -0.16863425] [ 0. 0. 0. 1. ]] SLAMing on 60.814630439999995 meters Centerline goodness : 0.110218 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.21, Z:-0.17 [[ 0.99739462 -0.00325551 -0.07206513 -0.07999232] [ 0.00295149 0.99998629 -0.0043247 -0.21344844] [ 0.07207822 0.00410074 0.99739055 -0.16856743] [ 0. 0. 0. 1. ]] SLAMing on 60.844630439999996 meters Centerline goodness : 0.107819 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:-0.17 [[ 0.99735056 -0.00348852 -0.07266142 -0.07850911] [ 0.00320845 0.99998697 -0.00397081 -0.21702874] [ 0.07267433 0.00372716 0.99734876 -0.16855794] [ 0. 0. 0. 1. ]] SLAMing on 60.87463044 meters Centerline goodness : 0.125993 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:-0.17 [[ 0.99729254 -0.00368721 -0.07344387 -0.07648102] [ 0.0034305 0.99998756 -0.0036211 -0.2204475 ] [ 0.0734563 0.00335935 0.99729278 -0.16870428] [ 0. 0. 0. 1. ]] SLAMing on 60.90463044 meters Centerline goodness : 0.111324 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.23, Z:-0.17 [[ 0.99721867 -0.00570997 -0.07431236 -0.07289152] [ 0.00539222 0.99997545 -0.00447578 -0.22880108] [ 0.0743361 0.00406262 0.99722497 -0.17014476] [ 0. 0. 0. 1. ]] SLAMing on 60.93463044 meters Centerline goodness : 0.152475 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.23, Z:-0.17 [[ 0.99722834 -0.00564101 -0.07418773 -0.0733749 ] [ 0.00536335 0.99997785 -0.0039414 -0.23173968] [ 0.07420832 0.00353258 0.9972365 -0.17000206] [ 0. 0. 0. 1. ]] SLAMing on 60.96463044 meters Centerline goodness : 0.110464 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.23, Z:-0.17 [[ 0.99724136 -0.00559007 -0.0740164 -0.07409428] [ 0.00534715 0.99997965 -0.00347974 -0.23447686] [ 0.07403435 0.00307436 0.99725095 -0.16967147] [ 0. 0. 0. 1. ]] SLAMing on 60.994630439999995 meters Centerline goodness : 0.109858 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.24, Z:-0.17 [[ 0.99724222 -0.00554635 -0.07400801 -0.07446243] [ 0.00533162 0.99998099 -0.00309868 -0.23682333] [ 0.07402379 0.00269555 0.99725283 -0.16928248] [ 0. 0. 0. 1. ]] SLAMing on 61.024630439999996 meters Centerline goodness : 0.114487 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.25, Z:-0.17 [[ 0.99739354 0.00162646 -0.07213515 -0.09104211] [-0.0019163 0.99999037 -0.00394892 -0.24600404] [ 0.07212804 0.00407686 0.99738705 -0.17258315] [ 0. 0. 0. 1. ]] SLAMing on 61.05463044 meters Centerline goodness : 0.112306 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.25, Z:-0.17 [[ 0.99737237 0.00169343 -0.0724257 -0.0902422 ] [-0.00195532 0.9999918 -0.00354521 -0.24858799] [ 0.07241911 0.00367751 0.99736751 -0.17271706] [ 0. 0. 0. 1. ]] SLAMing on 61.08463044 meters Centerline goodness : 0.113049 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.17 [[ 0.99737676 -0.00652019 -0.07209081 -0.0686672 ] [ 0.00633947 0.99997616 -0.00273533 -0.25174529] [ 0.07210693 0.00227113 0.99739432 -0.17080284] [ 0. 0. 0. 1. ]] SLAMing on 61.11463044 meters Centerline goodness : 0.159347 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.17 [[ 0.99739671 -0.00651101 -0.07181507 -0.06958164] [ 0.00635603 0.99997695 -0.00238637 -0.25377709] [ 0.07182895 0.0019237 0.99741511 -0.17056784] [ 0. 0. 0. 1. ]] SLAMing on 61.14463044 meters Centerline goodness : 0.105680 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.26, Z:-0.17 [[ 0.99741503 -0.00643033 -0.07156756 -0.07038118] [ 0.00630182 0.9999781 -0.00202121 -0.25543411] [ 0.07157899 0.00156497 0.99743371 -0.17038534] [ 0. 0. 0. 1. ]] SLAMing on 61.174630439999994 meters Centerline goodness : 0.111268 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.26, Z:-0.17 [[ 9.97759018e-01 -5.54802703e-04 -6.69076582e-02 -8.82401866e-02] [ 4.04740679e-04 9.99997373e-01 -2.25635731e-03 -2.64426242e-01] [ 6.69087342e-02 2.22422060e-03 9.97756621e-01 -1.73442493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204630439999995 meters Centerline goodness : 0.102498 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.27, Z:-0.17 [[ 9.97755103e-01 -4.52452405e-04 -6.69667797e-02 -8.84523825e-02] [ 3.19774388e-04 9.99997965e-01 -1.99195716e-03 -2.66041184e-01] [ 6.69675446e-02 1.96607116e-03 9.97753217e-01 -1.72901495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23463044 meters Centerline goodness : 0.159244 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.27, Z:-0.17 [[ 9.97743457e-01 -3.43285718e-04 -6.71407175e-02 -8.81021980e-02] [ 2.27282047e-04 9.99998468e-01 -1.73540023e-03 -2.67482235e-01] [ 6.71412105e-02 1.71622435e-03 9.97742007e-01 -1.72831945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 61.29463044 meters Centerline goodness : 0.100620 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.27, Z:-0.17 [[ 9.97731747e-01 8.26475476e-05 -6.73153271e-02 -8.76361986e-02] [-1.45515750e-04 9.99999558e-01 -9.29033177e-04 -2.70882801e-01] [ 6.73152205e-02 9.36721336e-04 9.97731318e-01 -1.72860975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32463044 meters Centerline goodness : 0.098526 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.27, Z:-0.17 [[ 9.97737217e-01 2.35228132e-04 -6.72338456e-02 -8.79993975e-02] [-2.71976596e-04 9.99999819e-01 -5.37424009e-04 -2.72897591e-01] [ 6.72337070e-02 5.54493968e-04 9.97737100e-01 -1.72633603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.354630439999994 meters Centerline goodness : 0.066580 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.28, Z:-0.17 [[ 0.99776444 -0.00346491 -0.06673914 -0.08971465] [ 0.00324107 0.99998876 -0.00346193 -0.27725544] [ 0.06675038 0.00323789 0.99776445 -0.17191771] [ 0. 0. 0. 1. ]] SLAMing on 61.384630439999995 meters Centerline goodness : 0.205430 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.28, Z:-0.17 [[ 0.99776288 -0.00364826 -0.06675271 -0.09018775] [ 0.00344171 0.99998893 -0.00320889 -0.27919061] [ 0.06676368 0.00297197 0.99776439 -0.17160093] [ 0. 0. 0. 1. ]] SLAMing on 61.414630439999996 meters Centerline goodness : 0.098506 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.28, Z:-0.17 [[ 0.99774319 -0.00356636 -0.06705082 -0.08990587] [ 0.0033914 0.99999054 -0.00272301 -0.28189407] [ 0.0670599 0.00248946 0.99774585 -0.17103491] [ 0. 0. 0. 1. ]] SLAMing on 61.44463044 meters Centerline goodness : 0.128698 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.28, Z:-0.17 [[ 0.99776311 -0.00344039 -0.06676037 -0.09098964] [ 0.00331253 0.99999246 -0.00202582 -0.28444074] [ 0.06676684 0.00180014 0.99776698 -0.17100285] [ 0. 0. 0. 1. ]] SLAMing on 61.47463044 meters Centerline goodness : 0.100828 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.29, Z:-0.17 [[ 0.99781983 -0.00375832 -0.06588983 -0.09323103] [ 0.003664 0.99999208 -0.00155225 -0.28918508] [ 0.06589514 0.00130745 0.9978257 -0.17065712] [ 0. 0. 0. 1. ]] SLAMing on 61.50463044 meters Centerline goodness : 0.094813 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.29, Z:-0.17 [[ 0.99795633 -0.00407155 -0.06376987 -0.05118763] [ 0.00393886 0.99998981 -0.00220647 -0.29229891] [ 0.0637782 0.00195078 0.99796219 -0.16787487] [ 0. 0. 0. 1. ]] SLAMing on 61.53463044 meters Centerline goodness : 0.096198 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.29, Z:-0.17 [[ 0.99794608 -0.00408023 -0.06392945 -0.05080335] [ 0.00397238 0.99999046 -0.001814 -0.29484607] [ 0.06393624 0.00155632 0.99795277 -0.16790692] [ 0. 0. 0. 1. ]] SLAMing on 61.564630439999995 meters Centerline goodness : 0.149788 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.30, Z:-0.17 [[ 0.99792861 -0.00400114 -0.06420654 -0.05025308] [ 0.0039261 0.99999145 -0.00129474 -0.2977574 ] [ 0.06421117 0.00103997 0.99793579 -0.16778493] [ 0. 0. 0. 1. ]] SLAMing on 61.594630439999996 meters Centerline goodness : 0.102755 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.30, Z:-0.17 [[ 9.97910821e-01 -3.94118711e-03 -6.44861318e-02 -4.96139898e-02] [ 3.89697689e-03 9.99992078e-01 -8.11344747e-04 -3.00601164e-01] [ 6.44888186e-02 5.58348737e-04 9.97918273e-01 -1.67799082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62463044 meters Centerline goodness : 0.104483 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.31, Z:-0.17 [[ 0.99787767 -0.0077204 -0.06465717 -0.04888604] [ 0.00749534 0.99996498 -0.00372263 -0.30518868] [ 0.06468365 0.0032301 0.99790059 -0.1681372 ] [ 0. 0. 0. 1. ]] SLAMing on 61.65463044 meters Centerline goodness : 0.104460 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.31, Z:-0.17 [[ 0.99786925 -0.00775171 -0.06478326 -0.0486097 ] [ 0.00754188 0.99996549 -0.00348294 -0.30696059] [ 0.06480802 0.00298693 0.99789328 -0.16813064] [ 0. 0. 0. 1. ]] SLAMing on 61.68463044 meters Centerline goodness : 0.104272 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.31, Z:-0.17 [[ 0.99786506 -0.00769983 -0.06485395 -0.04844201] [ 0.00750293 0.99996648 -0.00327906 -0.30786388] [ 0.06487703 0.00278546 0.99788938 -0.16815526] [ 0. 0. 0. 1. ]] SLAMing on 61.71463044 meters Centerline goodness : 0.107010 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.31, Z:-0.17 [[ 0.99786517 -0.00755865 -0.06486881 -0.04841852] [ 0.00737073 0.99996792 -0.00313576 -0.30792623] [ 0.06489043 0.00265093 0.99788887 -0.16816551] [ 0. 0. 0. 1. ]] SLAMing on 61.744630439999995 meters Centerline goodness : 0.108361 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.31, Z:-0.17 [[ 0.99793901 0.0021447 -0.06413369 -0.02711064] [-0.00235665 0.99999201 -0.00322938 -0.30790358] [ 0.06412625 0.00337386 0.99793609 -0.16690186] [ 0. 0. 0. 1. ]] SLAMing on 61.774630439999996 meters Centerline goodness : 0.113887 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.31, Z:-0.17 [[ 0.99794161 0.00205764 -0.06409614 -0.02713199] [-0.00229482 0.99999079 -0.00362688 -0.30573889] [ 0.06408809 0.0037665 0.99793714 -0.16693226] [ 0. 0. 0. 1. ]] SLAMing on 61.80463044 meters Centerline goodness : 0.102228 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.30, Z:-0.17 [[ 0.9979392 0.00193967 -0.06413732 -0.02688269] [-0.00220403 0.99998936 -0.0040514 -0.30342902] [ 0.06412878 0.00418442 0.99793286 -0.16711341] [ 0. 0. 0. 1. ]] SLAMing on 61.83463044 meters Centerline goodness : 0.135988 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.30, Z:-0.17 [[ 0.99793948 0.00186339 -0.06413516 -0.02658035] [-0.00215042 0.99998798 -0.00440672 -0.30125863] [ 0.06412618 0.00453556 0.99793149 -0.16752372] [ 0. 0. 0. 1. ]] SLAMing on 61.86463044 meters Centerline goodness : 0.121535 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.17 [[ 0.99772801 -0.00207151 -0.06733892 -0.00467271] [ 0.00194446 0.9999962 -0.00195218 -0.29361341] [ 0.06734271 0.0018168 0.99772825 -0.16554156] [ 0. 0. 0. 1. ]] SLAMing on 61.89463044 meters Centerline goodness : 0.103815 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.17 [[ 0.99770899 -0.0022758 -0.06761354 -0.00371673] [ 0.00212277 0.99999502 -0.00233509 -0.29191902] [ 0.06761852 0.00218621 0.99770885 -0.1660039 ] [ 0. 0. 0. 1. ]] SLAMing on 61.924630439999994 meters Centerline goodness : 0.103815 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.17 [[ 0.99770915 -0.00225693 -0.06761175 -0.00375301] [ 0.00210488 0.99999509 -0.00232001 -0.29191228] [ 0.06761665 0.00217238 0.99770901 -0.16598793] [ 0. 0. 0. 1. ]] SLAMing on 61.954630439999995 meters Centerline goodness : 0.118458 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.17 [[ 0.99768361 -0.00244033 -0.06798137 -0.00277564] [ 0.00226832 0.99999403 -0.0026073 -0.29066578] [ 0.06798733 0.00244706 0.99768318 -0.16614173] [ 0. 0. 0. 1. ]] SLAMing on 61.98463044 meters Centerline goodness : 0.104293 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.17 [[ 0.99767379 -0.0025601 -0.06812092 -0.00233676] [ 0.00237167 0.99999314 -0.00284685 -0.28939076] [ 0.06812774 0.00267867 0.99767301 -0.16630713] [ 0. 0. 0. 1. ]] SLAMing on 62.01463044 meters Centerline goodness : 0.105034 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.17 [[ 0.99767474 -0.00262464 -0.06810447 -0.00236008] [ 0.0024228 0.99999243 -0.00304601 -0.28797627] [ 0.06811195 0.00287392 0.99767355 -0.16636424] [ 0. 0. 0. 1. ]] SLAMing on 62.04463044 meters Centerline goodness : 0.104672 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.17 [[ 0.99768206 -0.00271589 -0.06799363 -0.00269442] [ 0.00250014 0.99999157 -0.00325793 -0.28651627] [ 0.0680019 0.00308038 0.99768044 -0.16626769] [ 0. 0. 0. 1. ]] SLAMing on 62.07463044 meters Centerline goodness : 0.103753 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.28, Z:-0.17 [[ 0.99770209 -0.00299396 -0.06768729 -0.00365635] [ 0.00273699 0.99998869 -0.00388891 -0.28348454] [ 0.06769817 0.00369472 0.99769901 -0.1659159 ] [ 0. 0. 0. 1. ]] SLAMing on 62.104630439999994 meters Centerline goodness : 0.104074 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.28, Z:-0.17 [[ 0.99769998 -0.003119 -0.06771273 -0.00355432] [ 0.00283511 0.99998679 -0.0042883 -0.28128822] [ 0.06772521 0.00408647 0.99769564 -0.16593693] [ 0. 0. 0. 1. ]] SLAMing on 62.134630439999995 meters Centerline goodness : 0.105763 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.28, Z:-0.17 [[ 9.97680907e-01 5.63717273e-04 -6.80624048e-02 -2.78938332e-03] [-6.50828343e-04 9.99998997e-01 -1.25770318e-03 -2.77998419e-01] [ 6.80616275e-02 1.29908339e-03 9.97680273e-01 -1.65847192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164630439999996 meters Centerline goodness : 0.108458 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.28, Z:-0.17 [[ 9.97664762e-01 4.69445591e-04 -6.82993523e-02 -2.19419598e-03] [-5.83203332e-04 9.99998476e-01 -1.64564575e-03 -2.75686949e-01] [ 6.82984757e-02 1.68163518e-03 9.97663516e-01 -1.65880748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19463044 meters Centerline goodness : 0.116575 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.27, Z:-0.17 [[ 9.97656591e-01 3.14928566e-04 -6.84194998e-02 -2.00309148e-03] [-4.59060372e-04 9.99997709e-01 -2.09087704e-03 -2.73447262e-01] [ 6.84186845e-02 2.11738594e-03 9.97654449e-01 -1.65740114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22463044 meters Centerline goodness : 0.118421 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.27, Z:-0.17 [[ 9.97659395e-01 1.56619683e-04 -6.83791441e-02 -2.19890836e-03] [-3.31186560e-04 9.99996715e-01 -2.54159680e-03 -2.71063850e-01] [ 6.83785214e-02 2.55829417e-03 9.97656170e-01 -1.65603176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25463044 meters Centerline goodness : 0.143640 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.27, Z:-0.17 [[ 9.97666850e-01 9.35896907e-05 -6.82704065e-02 -2.59725598e-03] [-2.92021492e-04 9.99995762e-01 -2.89658254e-03 -2.68597439e-01] [ 6.82698461e-02 2.90976080e-03 9.97662649e-01 -1.65412936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28463044 meters Centerline goodness : 0.118679 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.27, Z:-0.17 [[ 9.97679601e-01 7.18850192e-05 -6.80838403e-02 -3.07542320e-03] [-2.87001109e-04 9.99994998e-01 -3.14980018e-03 -2.66629238e-01] [ 6.80832733e-02 3.16203153e-03 9.97674631e-01 -1.65392146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.314630439999995 meters Centerline goodness : 0.109881 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.26, Z:-0.17 [[ 9.97692780e-01 -8.89608941e-05 -6.78904248e-02 -3.47370452e-03] [-1.53789314e-04 9.99993614e-01 -3.57038293e-03 -2.64237598e-01] [ 6.78903089e-02 3.57258609e-03 9.97686395e-01 -1.65467529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344630439999996 meters Centerline goodness : 0.103902 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.26, Z:-0.17 [[ 9.97685790e-01 -1.57867059e-04 -6.79929376e-02 -3.31739909e-03] [-9.06314550e-05 9.99993329e-01 -3.65166927e-03 -2.63936891e-01] [ 6.79930604e-02 3.64938084e-03 9.97679120e-01 -1.65423624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37463044 meters Centerline goodness : 0.144938 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:-0.16 [[ 0.99762672 -0.00736635 -0.06845929 0.0156928 ] [ 0.00721691 0.99997101 -0.00242993 -0.25980805] [ 0.0684752 0.0019301 0.99765095 -0.16243697] [ 0. 0. 0. 1. ]] SLAMing on 62.40463044 meters Centerline goodness : 0.107848 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:-0.16 [[ 0.99763256 -0.00725659 -0.06838573 0.01542918] [ 0.00712152 0.99997218 -0.0022188 -0.2604355 ] [ 0.06839993 0.00172654 0.99765649 -0.16235628] [ 0. 0. 0. 1. ]] SLAMing on 62.43463044 meters Centerline goodness : 0.107957 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.26, Z:-0.16 [[ 0.99765972 -0.00740546 -0.06797242 0.01420612] [ 0.00726642 0.99997097 -0.0022925 -0.26060854] [ 0.06798742 0.00179322 0.99768457 -0.16201362] [ 0. 0. 0. 1. ]] SLAMing on 62.46463044 meters Centerline goodness : 0.105542 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.26, Z:-0.16 [[ 0.99765497 -0.00757771 -0.06802311 0.01423913] [ 0.00741906 0.99996914 -0.00258472 -0.25959181] [ 0.0680406 0.00207399 0.9976804 -0.16189109] [ 0. 0. 0. 1. ]] SLAMing on 62.494630439999995 meters Centerline goodness : 0.096549 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.26, Z:-0.16 [[ 0.99763717 -0.00773594 -0.06826595 0.0148089 ] [ 0.00754898 0.99996702 -0.00299631 -0.25757113] [ 0.06828687 0.00247389 0.99766266 -0.16184876] [ 0. 0. 0. 1. ]] SLAMing on 62.524630439999996 meters Centerline goodness : 0.097802 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.26, Z:-0.16 [[ 9.97655872e-01 7.98241960e-04 -6.84260510e-02 3.45376707e-02] [-1.07861029e-03 9.99991174e-01 -4.06054381e-03 -2.57859998e-01] [ 6.84222058e-02 4.12483042e-03 9.97647928e-01 -1.59669115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55463044 meters Centerline goodness : 0.099101 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.26, Z:-0.16 [[ 9.97627520e-01 4.54881940e-03 -6.86923580e-02 3.52548767e-02] [-4.61616678e-03 9.99989008e-01 -8.21716148e-04 -2.55551252e-01] [ 6.86878651e-02 1.13686202e-03 9.97637552e-01 -1.59750764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58463044 meters Centerline goodness : 0.096223 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:-0.16 [[ 0.99760826 0.00452484 -0.06897308 0.03620757] [-0.00462669 0.99998843 -0.00131698 -0.25201118] [ 0.06896632 0.00163295 0.99761765 -0.16007008] [ 0. 0. 0. 1. ]] SLAMing on 62.61463044 meters Centerline goodness : 0.173797 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.16 [[ 0.99763896 0.00512077 -0.06848564 0.0349078 ] [-0.00524977 0.99998477 -0.00170384 -0.24341177] [ 0.06847587 0.00205935 0.99765065 -0.15981631] [ 0. 0. 0. 1. ]] SLAMing on 62.64463044 meters Centerline goodness : 0.102109 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.16 [[ 9.97691544e-01 -1.66535740e-03 -6.78882129e-02 5.19535812e-02] [ 1.63884715e-03 9.99998558e-01 -4.46190274e-04 -2.36099167e-01] [ 6.78888580e-02 3.33901859e-04 9.97692834e-01 -1.56479977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.674630439999994 meters Centerline goodness : 0.104612 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:-0.16 [[ 9.97709604e-01 -1.72306560e-03 -6.76208335e-02 5.11131775e-02] [ 1.67833755e-03 9.99998334e-01 -7.18258414e-04 -2.34208359e-01] [ 6.76219584e-02 6.03122734e-04 9.97710833e-01 -1.56248037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704630439999995 meters Centerline goodness : 0.128546 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:-0.16 [[ 9.97712929e-01 -1.88805914e-03 -6.75673482e-02 5.10446355e-02] [ 1.82553609e-03 9.99997847e-01 -9.87076090e-04 -2.32956737e-01] [ 6.75690663e-02 8.61471945e-04 9.97714227e-01 -1.56352748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 62.76463044 meters Centerline goodness : 0.112413 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.23, Z:-0.16 [[ 0.99762116 -0.00497448 -0.06875513 0.05566248] [ 0.0047189 0.99998134 -0.0038792 -0.2296331 ] [ 0.06877315 0.00354552 0.99762602 -0.15827762] [ 0. 0. 0. 1. ]] SLAMing on 62.79463044 meters Centerline goodness : 0.111070 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.23, Z:-0.16 [[ 0.99761304 -0.00498995 -0.06887185 0.05558045] [ 0.00472741 0.99998093 -0.00397449 -0.22853227] [ 0.06889037 0.00363942 0.9976176 -0.15786238] [ 0. 0. 0. 1. ]] SLAMing on 62.82463044 meters Centerline goodness : 0.109029 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:-0.16 [[ 0.99770874 -0.00242502 -0.06761203 0.05093411] [ 0.00229234 0.99999529 -0.00203996 -0.22280704] [ 0.06761666 0.00188029 0.9977096 -0.15595879] [ 0. 0. 0. 1. ]] SLAMing on 62.854630439999994 meters Centerline goodness : 0.113975 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:-0.16 [[ 0.99772034 -0.00268183 -0.06743094 0.05042633] [ 0.00250455 0.99999318 -0.00271337 -0.21921181] [ 0.06743776 0.0025383 0.99772025 -0.15579312] [ 0. 0. 0. 1. ]] SLAMing on 62.884630439999995 meters Centerline goodness : 0.118727 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 0.9975718 -0.00289987 -0.06958522 0.00604333] [ 0.00268357 0.99999127 -0.0032017 -0.21288928] [ 0.06959389 0.00300719 0.99757087 -0.15833059] [ 0. 0. 0. 1. ]] SLAMing on 62.914630439999996 meters Centerline goodness : 0.454738 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 0.99755862 -0.00307672 -0.06976633 0.00671584] [ 0.00281463 0.99998861 -0.0038546 -0.20894907] [ 0.06977739 0.00364883 0.99755591 -0.15866424] [ 0. 0. 0. 1. ]] SLAMing on 62.94463044 meters Centerline goodness : 0.102468 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.16 [[ 9.97597264e-01 -8.37913976e-04 -6.92747947e-02 4.77253434e-03] [ 6.87932148e-04 9.99997368e-01 -2.18885589e-03 -2.03878627e-01] [ 6.92764464e-02 2.13594029e-03 9.97595214e-01 -1.57979717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97463044 meters Centerline goodness : 0.427028 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.16 [[ 9.97599901e-01 -9.52028719e-04 -6.92353274e-02 4.67739559e-03] [ 7.68831770e-04 9.99996133e-01 -2.67260294e-03 -2.00663498e-01] [ 6.92376040e-02 2.61295811e-03 9.97596776e-01 -1.57958608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00463044 meters Centerline goodness : 0.247686 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99758565 -0.00144431 -0.06943188 0.00531721] [ 0.00119912 0.9999929 -0.003573 -0.19667805] [ 0.06943655 0.00348111 0.9975803 -0.15819593] [ 0. 0. 0. 1. ]] SLAMing on 63.03463044 meters Centerline goodness : 0.243709 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99757374 -0.00157634 -0.06959998 0.00584331] [ 0.00132145 0.99999225 -0.00370813 -0.19621766] [ 0.06960529 0.00360716 0.99756809 -0.15840742] [ 0. 0. 0. 1. ]] SLAMing on 63.064630439999995 meters Centerline goodness : 0.454725 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99756611 -0.00167167 -0.06970692 0.00601295] [ 0.00141549 0.99999206 -0.00372435 -0.19622484] [ 0.06971259 0.00361662 0.99756056 -0.15837608] [ 0. 0. 0. 1. ]] SLAMing on 63.094630439999996 meters Centerline goodness : 0.102274 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99757164 -0.00212296 -0.06961552 0.00598827] [ 0.00185136 0.99999042 -0.00396564 -0.19617869] [ 0.06962327 0.00382712 0.99756601 -0.1586883 ] [ 0. 0. 0. 1. ]] SLAMing on 63.12463044 meters Centerline goodness : 0.454277 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99757141 -0.0023185 -0.06961248 0.00615354] [ 0.00204138 0.99998971 -0.00405182 -0.19654971] [ 0.06962116 0.00389988 0.99756588 -0.15896177] [ 0. 0. 0. 1. ]] SLAMing on 63.15463044 meters Centerline goodness : 0.259009 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99757326 -0.00244331 -0.06958177 0.00596946] [ 0.00216033 0.99998909 -0.00414193 -0.19654985] [ 0.06959113 0.00398156 0.99756765 -0.15884126] [ 0. 0. 0. 1. ]] SLAMing on 63.18463044 meters Centerline goodness : 0.454904 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99756714 -0.002446 -0.06966931 0.00600232] [ 0.00215877 0.99998886 -0.00419778 -0.19608237] [ 0.0696788 0.00403717 0.99756131 -0.15858592] [ 0. 0. 0. 1. ]] SLAMing on 63.21463044 meters Centerline goodness : 0.089561 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97593164e-01 3.95622342e-04 -6.93377405e-02 3.93069367e-03] [-5.29731060e-04 9.99998025e-01 -1.91576079e-03 -1.92433205e-01] [ 6.93368456e-02 1.94788022e-03 9.97591403e-01 -1.57214430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244630439999995 meters Centerline goodness : 0.454904 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97588590e-01 2.69750778e-04 -6.94041249e-02 3.97989067e-03] [-4.32645037e-04 9.99997187e-01 -2.33201894e-03 -1.90257184e-01] [ 6.94033006e-02 2.35642283e-03 9.97585901e-01 -1.57020208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.274630439999996 meters Centerline goodness : 0.459906 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97580708e-01 1.60269824e-04 -6.95176687e-02 4.54182116e-03] [-3.48693309e-04 9.99996299e-01 -2.69831383e-03 -1.88361433e-01] [ 6.95169790e-02 2.71602617e-03 9.97577071e-01 -1.57383513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30463044 meters Centerline goodness : 0.428593 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97554548e-01 1.42280122e-04 -6.98920847e-02 5.93750587e-03] [-3.48684533e-04 9.99995614e-01 -2.94099603e-03 -1.86606774e-01] [ 6.98913597e-02 2.95817425e-03 9.97550223e-01 -1.58072493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33463044 meters Centerline goodness : 0.135525 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97510426e-01 3.32876634e-04 -7.05183615e-02 8.40048425e-03] [-5.41182523e-04 9.99995547e-01 -2.93483928e-03 -1.85190093e-01] [ 7.05170705e-02 2.96569609e-03 9.97506164e-01 -1.59363952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36463044 meters Centerline goodness : 0.095110 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97512431e-01 2.13767006e-04 -7.04904517e-02 8.26227271e-03] [-4.25536094e-04 9.99995442e-01 -2.98922063e-03 -1.85437753e-01] [ 7.04894914e-02 3.01178097e-03 9.97507975e-01 -1.59283721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39463044 meters Centerline goodness : 0.451046 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97519839e-01 2.56074668e-05 -7.03858652e-02 7.53283744e-03] [-2.37240559e-04 9.99995477e-01 -2.99839766e-03 -1.86411889e-01] [ 7.03854700e-02 3.00765953e-03 9.97515333e-01 -1.58723054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424630439999994 meters Centerline goodness : 0.452999 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97525337e-01 -1.31583546e-04 -7.03077823e-02 6.96326967e-03] [-7.25923405e-05 9.99995788e-01 -2.90146672e-03 -1.87805339e-01] [ 7.03078680e-02 2.89939037e-03 9.97521126e-01 -1.58266368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.454630439999995 meters Centerline goodness : 0.242814 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97513227e-01 -1.78848883e-04 -7.04792914e-02 7.37202586e-03] [-1.22537428e-05 9.99996325e-01 -2.71103033e-03 -1.89160193e-01] [ 7.04795173e-02 2.70515224e-03 9.97509559e-01 -1.58341690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48463044 meters Centerline goodness : 0.432319 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97467346e-01 -2.82521372e-04 -7.11253457e-02 9.63388951e-03] [ 1.05824479e-04 9.99996899e-01 -2.48805869e-03 -1.90856249e-01] [ 7.11258281e-02 2.47423049e-03 9.97464282e-01 -1.59373047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51463044 meters Centerline goodness : 0.098079 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97461988e-01 -2.61991594e-04 -7.12005248e-02 1.00049064e-02] [ 8.44167428e-05 9.99996879e-01 -2.49700806e-03 -1.90712459e-01] [ 7.12009567e-02 2.48466011e-03 9.97458897e-01 -1.59605203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54463044 meters Centerline goodness : 0.453151 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97475089e-01 -1.86439706e-04 -7.10169822e-02 9.45096560e-03] [ 2.18603699e-06 9.99996634e-01 -2.59457042e-03 -1.89742979e-01] [ 7.10172269e-02 2.58786411e-03 9.97471732e-01 -1.59399975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57463044 meters Centerline goodness : 0.454463 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97524245e-01 5.32812648e-05 -7.03233760e-02 7.55086963e-03] [-2.42108011e-04 9.99996389e-01 -2.67659987e-03 -1.88233456e-01] [ 7.03229794e-02 2.68699911e-03 9.97520656e-01 -1.58998096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604630439999994 meters Centerline goodness : 0.453628 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.16 [[ 9.97606796e-01 2.53604441e-03 -6.90959352e-02 2.84637669e-03] [-2.60147668e-03 9.99996249e-01 -8.57010062e-04 -1.84123283e-01] [ 6.90935026e-02 1.03471053e-03 9.97609652e-01 -1.57150665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.634630439999995 meters Centerline goodness : 0.094090 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.16 [[ 9.97618416e-01 2.51607566e-03 -6.89286950e-02 2.38595265e-03] [-2.58786681e-03 9.99996198e-01 -9.52252165e-04 -1.83586066e-01] [ 6.89260370e-02 1.12836258e-03 9.97621135e-01 -1.57093698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664630439999996 meters Centerline goodness : 0.447051 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.16 [[ 9.97617740e-01 2.46435922e-03 -6.89403517e-02 2.38550289e-03] [-2.53880663e-03 9.99996285e-01 -9.92284790e-04 -1.83665932e-01] [ 6.89376502e-02 1.16494713e-03 9.97620290e-01 -1.57067621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69463044 meters Centerline goodness : 0.100154 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.16 [[ 9.97601375e-01 2.42822218e-03 -6.91780320e-02 2.97926376e-03] [-2.49667273e-03 9.99996476e-01 -9.03039989e-04 -1.84456809e-01] [ 6.91755954e-02 1.07358884e-03 9.97603922e-01 -1.57182843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72463044 meters Centerline goodness : 0.450118 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97558053e-01 2.32341405e-03 -6.98035298e-02 4.79823227e-03] [-2.36512400e-03 9.99997071e-01 -5.14891591e-04 -1.86981534e-01] [ 6.98021290e-02 6.78728256e-04 9.97560626e-01 -1.57837985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75463044 meters Centerline goodness : 0.424134 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97558332e-01 2.35373221e-03 -6.97985187e-02 4.77347082e-03] [-2.37120745e-03 9.99997175e-01 -1.67513451e-04 -1.89021186e-01] [ 6.97979272e-02 3.32611206e-04 9.97561095e-01 -1.57932696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78463044 meters Centerline goodness : 0.453957 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97567581e-01 2.21760079e-03 -6.96706771e-02 4.18217375e-03] [-2.22177604e-03 9.99997532e-01 1.75622470e-05 -1.90834258e-01] [ 6.96705441e-02 1.37273113e-04 9.97570046e-01 -1.57645787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.814630439999995 meters Centerline goodness : 0.453957 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97567581e-01 2.21760079e-03 -6.96706771e-02 4.18217375e-03] [-2.22177604e-03 9.99997532e-01 1.75622470e-05 -1.90834258e-01] [ 6.96705441e-02 1.37273113e-04 9.97570046e-01 -1.57645787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844630439999996 meters Centerline goodness : 0.349736 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97583540e-01 2.11852564e-03 -6.94448939e-02 3.38868552e-03] [-2.10789643e-03 9.99997753e-01 2.26339127e-04 -1.92694348e-01] [ 6.94452173e-02 -7.94095436e-05 9.97585763e-01 -1.57379704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87463044 meters Centerline goodness : 0.208337 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.97584339e-01 2.15817757e-03 -6.94321920e-02 3.18987361e-03] [-2.12404552e-03 9.99997584e-01 5.65412112e-04 -1.94708424e-01] [ 6.94332446e-02 -4.16569131e-04 9.97586513e-01 -1.57248444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90463044 meters Centerline goodness : 0.454528 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.16 [[ 9.97576848e-01 2.21979206e-03 -6.95377922e-02 3.64512828e-03] [-2.16114920e-03 9.99997243e-01 9.18544238e-04 -1.96710855e-01] [ 6.95396395e-02 -7.66036922e-04 9.97578895e-01 -1.57600445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93463044 meters Centerline goodness : 0.143299 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.16 [[ 0.99756981 0.00194216 -0.06964695 0.00421677] [-0.00185627 0.99999743 0.00129798 -0.20047292] [ 0.06964929 -0.00116555 0.99757086 -0.15816803] [ 0. 0. 0. 1. ]] SLAMing on 63.96463044 meters Centerline goodness : 0.160859 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.16 [[ 0.99756484 0.00199873 -0.06971649 0.00447238] [-0.00188675 0.99999682 0.00167194 -0.20280605] [ 0.06971961 -0.00153633 0.99756544 -0.15836234] [ 0. 0. 0. 1. ]] SLAMing on 63.994630439999995 meters Centerline goodness : 0.278659 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.9975738 0.00209964 -0.06958523 0.00412682] [-0.00194299 0.99999542 0.0023188 -0.20689838] [ 0.06958978 -0.00217797 0.99757331 -0.15845569] [ 0. 0. 0. 1. ]] SLAMing on 64.02463044 meters Centerline goodness : 0.173881 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99758245 0.0021904 -0.06945827 0.00367174] [-0.0020165 0.99999466 0.00257361 -0.20830946] [ 0.06946354 -0.00242732 0.99758154 -0.15826091] [ 0. 0. 0. 1. ]] SLAMing on 64.05463044 meters Centerline goodness : 0.453438 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99758424 0.00224803 -0.06943071 0.003419 ] [-0.00206207 0.99999409 0.00274996 -0.20936936] [ 0.06943648 -0.00260014 0.99758299 -0.15807398] [ 0. 0. 0. 1. ]] SLAMing on 64.08463044 meters Centerline goodness : 0.157927 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99758 0.00229242 -0.06949016 0.00357335] [-0.00209873 0.99999371 0.00286012 -0.21001694] [ 0.06949628 -0.00270736 0.99757854 -0.15810692] [ 0. 0. 0. 1. ]] SLAMing on 64.11463044 meters Centerline goodness : 0.280758 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99756718 0.00234654 -0.0696722 0.0040874 ] [-0.00214741 0.99999339 0.00293279 -0.21021479] [ 0.06967862 -0.00277604 0.99756563 -0.15821555] [ 0. 0. 0. 1. ]] SLAMing on 64.14463044 meters Centerline goodness : 0.099719 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99755058 0.00251642 -0.06990354 0.00483093] [-0.00230644 0.99999258 0.0030845 -0.21044792] [ 0.06991079 -0.00291572 0.99754899 -0.15845544] [ 0. 0. 0. 1. ]] SLAMing on 64.17463044 meters Centerline goodness : 0.053360 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 0.99754425 0.0024796 -0.06999509 0.00507517] [-0.00227377 0.99999285 0.00302016 -0.21036168] [ 0.07000207 -0.00285359 0.99754276 -0.15846787] [ 0. 0. 0. 1. ]] SLAMing on 64.20463044 meters Centerline goodness : 0.098154 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99754774 0.002483 -0.06994525 0.00486095] [-0.00228146 0.99999301 0.00296114 -0.21000379] [ 0.06995211 -0.0027943 0.99754644 -0.15834608] [ 0. 0. 0. 1. ]] SLAMing on 64.23463044 meters Centerline goodness : 0.112811 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.997563 0.0025335 -0.06972543 0.00399624] [-0.00233526 0.999993 0.00292452 -0.20937449] [ 0.06973235 -0.00275457 0.99756193 -0.15788992] [ 0. 0. 0. 1. ]] SLAMing on 64.26463043999999 meters Centerline goodness : 0.455348 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99756942 0.00258773 -0.06963162 0.00349916] [-0.00239442 0.99999305 0.00285942 -0.20842021] [ 0.06963854 -0.00268575 0.99756867 -0.1574845 ] [ 0. 0. 0. 1. ]] SLAMing on 64.29463043999999 meters Centerline goodness : 0.117917 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99753749 0.00258178 -0.0700878 0.00464758] [-0.00240301 0.99999364 0.00263485 -0.20670113] [ 0.07009416 -0.00245994 0.99753735 -0.15754777] [ 0. 0. 0. 1. ]] SLAMing on 64.32463043999999 meters Centerline goodness : 0.279782 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 0.99750818 0.00247407 -0.07050751 0.00607136] [-0.00231048 0.99999445 0.00240162 -0.20567215] [ 0.07051306 -0.00223273 0.99750836 -0.15813765] [ 0. 0. 0. 1. ]] SLAMing on 64.35463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 64.38463044 meters Centerline goodness : 0.096140 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 0.99748621 0.00238096 -0.07082087 0.00705368] [-0.00224263 0.99999542 0.00203269 -0.20351753] [ 0.07082539 -0.00186875 0.99748698 -0.15842791] [ 0. 0. 0. 1. ]] SLAMing on 64.41463044 meters Centerline goodness : 0.116906 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:-0.16 [[ 9.97664690e-01 1.02027116e-02 -6.75356970e-02 2.53534459e-02] [-1.01888279e-02 9.99947941e-01 5.50029761e-04 -2.01969954e-01] [ 6.75377930e-02 1.39364323e-04 9.97716707e-01 -1.56482993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44463044 meters Centerline goodness : 0.236982 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 0.99780765 0.00271792 -0.06612499 0.00538384] [-0.00264376 0.99999577 0.00120892 -0.19269953] [ 0.06612799 -0.00103145 0.99781062 -0.15882342] [ 0. 0. 0. 1. ]] SLAMing on 64.47463044 meters Centerline goodness : 0.094795 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 9.97805432e-01 2.54596228e-03 -6.61652357e-02 5.53826948e-03] [-2.50472255e-03 9.99996614e-01 7.06230277e-04 -1.90000752e-01] [ 6.61668097e-02 -5.38954849e-04 9.97808430e-01 -1.58837050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50463044 meters Centerline goodness : 0.133420 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:-0.16 [[ 9.97737900e-01 2.61329764e-03 -6.71733117e-02 9.04265455e-03] [-2.60490909e-03 9.99996585e-01 2.12468165e-04 -1.82696064e-01] [ 6.71736375e-02 -3.70071703e-05 9.97741300e-01 -1.60080162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 64.56463044 meters Centerline goodness : 0.111957 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:-0.16 [[ 9.97711569e-01 2.20526028e-03 -6.75778258e-02 1.02481511e-02] [-2.25818775e-03 9.99997200e-01 -7.06828596e-04 -1.76978091e-01] [ 6.75760778e-02 8.57814486e-04 9.97713755e-01 -1.60333703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59463044 meters Centerline goodness : 0.170293 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.99772013 0.00202174 -0.06745701 0.00970062] [-0.00210304 0.99999715 -0.00113424 -0.17474218] [ 0.06745452 0.00127352 0.99772154 -0.15995899] [ 0. 0. 0. 1. ]] SLAMing on 64.62463044 meters Centerline goodness : 0.106622 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.9977392 0.00188246 -0.0671785 0.00878476] [-0.00198598 0.99999694 -0.00147428 -0.17281188] [ 0.06717552 0.00160436 0.99773988 -0.15961549] [ 0. 0. 0. 1. ]] SLAMing on 64.65463043999999 meters Centerline goodness : 0.112705 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.99774585 0.00174923 -0.06708318 0.00863121] [-0.00187222 0.99999668 -0.00177056 -0.17105857] [ 0.06707986 0.00189216 0.99774582 -0.15968849] [ 0. 0. 0. 1. ]] SLAMing on 64.68463043999999 meters Centerline goodness : 0.121009 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.99774172 0.00147629 -0.06715122 0.00973022] [-0.00163298 0.99999607 -0.00227858 -0.16852699] [ 0.06714759 0.00238309 0.99774021 -0.16091006] [ 0. 0. 0. 1. ]] SLAMing on 64.71463044 meters Centerline goodness : 0.136868 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.99774221 0.0012327 -0.06714876 0.01003311] [-0.00141495 0.99999544 -0.00266656 -0.16719663] [ 0.06714517 0.00275555 0.99773941 -0.16129488] [ 0. 0. 0. 1. ]] SLAMing on 64.74463044 meters Centerline goodness : 0.120956 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.99774635 0.00103724 -0.06709052 0.00988571] [-0.00124362 0.99999462 -0.00303448 -0.16567592] [ 0.06708702 0.00311107 0.99774228 -0.16124122] [ 0. 0. 0. 1. ]] SLAMing on 64.77463044 meters Centerline goodness : 0.126149 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:-0.16 [[ 9.97720859e-01 9.68511656e-04 -6.74696125e-02 1.08476939e-02] [-1.21450611e-03 9.99992764e-01 -3.60508126e-03 -1.61694682e-01] [ 6.74656327e-02 3.67880703e-03 9.97714816e-01 -1.61194385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80463044 meters Centerline goodness : 0.101162 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:-0.16 [[ 0.997702 0.00102568 -0.06774701 0.01175237] [-0.00129192 0.99999161 -0.0038862 -0.15932428] [ 0.06774245 0.00396479 0.99769496 -0.16143217] [ 0. 0. 0. 1. ]] SLAMing on 64.83463044 meters Centerline goodness : 0.127550 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:-0.16 [[ 0.99768052 0.00100404 -0.06806307 0.01256672] [-0.00129874 0.99998997 -0.00428581 -0.15662839] [ 0.06805808 0.00436426 0.99767182 -0.16139311] [ 0. 0. 0. 1. ]] SLAMing on 64.86463044 meters Centerline goodness : 0.116844 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:-0.16 [[ 9.97680172e-01 8.64657874e-04 -6.80700109e-02 1.24381513e-02] [-1.19382423e-03 9.99987790e-01 -4.79517257e-03 -1.53952365e-01] [ 6.80650336e-02 4.86531223e-03 9.97669023e-01 -1.61090563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89463044 meters Centerline goodness : 0.116561 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:-0.16 [[ 0.99774292 0.00271535 -0.06709467 0.00830127] [-0.00297714 0.99998834 -0.00380214 -0.1477105 ] [ 0.06708356 0.00399331 0.99773937 -0.15914126] [ 0. 0. 0. 1. ]] SLAMing on 64.92463044 meters Centerline goodness : 0.109850 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:-0.16 [[ 0.99774908 0.00261138 -0.06700715 0.00784607] [-0.00290184 0.99998681 -0.00423789 -0.14514399] [ 0.06699519 0.00442279 0.9977435 -0.15874652] [ 0. 0. 0. 1. ]] SLAMing on 64.95463044 meters Centerline goodness : 0.111981 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99776069 0.00251738 -0.06683766 0.00738361] [-0.00282936 0.99998554 -0.00457342 -0.14324711] [ 0.06682518 0.00475229 0.99775338 -0.15860862] [ 0. 0. 0. 1. ]] SLAMing on 64.98463044 meters Centerline goodness : 0.110303 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.997765 0.00241785 -0.0667769 0.00722937] [-0.00274393 0.99998475 -0.00479191 -0.14218138] [ 0.0667643 0.00496443 0.99775642 -0.15864522] [ 0. 0. 0. 1. ]] SLAMing on 65.01463043999999 meters Centerline goodness : 0.118078 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99775881 0.00235615 -0.06687151 0.00756131] [-0.00268977 0.99998438 -0.00489941 -0.14165689] [ 0.06685892 0.00506829 0.99774957 -0.15878676] [ 0. 0. 0. 1. ]] SLAMing on 65.04463043999999 meters Centerline goodness : 0.122890 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99774957 0.00231666 -0.0670106 0.00824146] [-0.00265257 0.99998436 -0.00492434 -0.14156261] [ 0.06699815 0.00509101 0.99774011 -0.15930453] [ 0. 0. 0. 1. ]] SLAMing on 65.07463043999999 meters Centerline goodness : 0.104046 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99772291 0.00236063 -0.06740485 0.00969261] [-0.00269787 0.99998429 -0.00491253 -0.14106045] [ 0.0673922 0.00508319 0.99771361 -0.15998507] [ 0. 0. 0. 1. ]] SLAMing on 65.10463044 meters Centerline goodness : 0.120289 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99771854 0.00238702 -0.06746865 0.00980039] [-0.00272322 0.99998433 -0.00489149 -0.14092974] [ 0.06745591 0.00506406 0.9977094 -0.15993009] [ 0. 0. 0. 1. ]] SLAMing on 65.13463044 meters Centerline goodness : 0.131234 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99772118 0.00234338 -0.06743108 0.00951368] [-0.0026849 0.99998402 -0.00497451 -0.14056051] [ 0.06741835 0.00514422 0.99771153 -0.15965792] [ 0. 0. 0. 1. ]] SLAMing on 65.16463044 meters Centerline goodness : 0.129944 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99772336 0.00223163 -0.06740266 0.00920965] [-0.0025851 0.99998336 -0.00515739 -0.14001621] [ 0.06739003 0.00531989 0.99771253 -0.15930633] [ 0. 0. 0. 1. ]] SLAMing on 65.19463044 meters Centerline goodness : 0.106843 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.16 [[ 0.99772628 0.00205324 -0.06736501 0.00881617] [-0.00243285 0.99998162 -0.00555347 -0.13843581] [ 0.06735237 0.00570474 0.99771294 -0.15888202] [ 0. 0. 0. 1. ]] SLAMing on 65.22463044 meters Centerline goodness : 0.108298 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.16 [[ 0.99777983 -0.00525087 -0.06639161 0.02683166] [ 0.00500145 0.9999798 -0.00392243 -0.13412612] [ 0.06641087 0.00358167 0.99778593 -0.15603265] [ 0. 0. 0. 1. ]] SLAMing on 65.25463044 meters Centerline goodness : 0.105780 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.14, Z:-0.16 [[ 0.99785795 0.00340487 -0.06532936 0.00498494] [-0.00369439 0.99998388 -0.00431139 -0.13652962] [ 0.06531363 0.00454351 0.99785444 -0.15819609] [ 0. 0. 0. 1. ]] SLAMing on 65.28463044 meters Centerline goodness : 0.113090 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.16 [[ 0.99788615 -0.00419481 -0.06485093 0.02305788] [ 0.00400793 0.99998743 -0.00301142 -0.13302847] [ 0.06486274 0.00274514 0.99789042 -0.15529177] [ 0. 0. 0. 1. ]] SLAMing on 65.31463044 meters Centerline goodness : 0.108105 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.16 [[ 0.99787993 -0.00434223 -0.06493682 0.02332377] [ 0.00414586 0.99998642 -0.00315846 -0.13296429] [ 0.06494965 0.00288254 0.99788438 -0.15540459] [ 0. 0. 0. 1. ]] SLAMing on 65.34463044 meters Centerline goodness : 0.107967 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.16 [[ 0.99782861 -0.0048291 -0.06568675 0.02533137] [ 0.0046111 0.99998335 -0.00346998 -0.1335588 ] [ 0.06570241 0.00315955 0.99783426 -0.15586053] [ 0. 0. 0. 1. ]] SLAMing on 65.37463044 meters Centerline goodness : 0.106967 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.16 [[ 0.99782405 -0.00473158 -0.06576308 0.02537025] [ 0.00452559 0.99998438 -0.00328088 -0.13409841] [ 0.06577758 0.00297612 0.99782987 -0.15572166] [ 0. 0. 0. 1. ]] SLAMing on 65.40463043999999 meters Centerline goodness : 0.169377 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.16 [[ 0.99782896 -0.00462279 -0.06569621 0.02503894] [ 0.00442794 0.99998536 -0.00311125 -0.13432141] [ 0.06570963 0.0028136 0.99783482 -0.15553099] [ 0. 0. 0. 1. ]] SLAMing on 65.43463043999999 meters Centerline goodness : 0.142613 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.16 [[ 0.99783759 -0.00456406 -0.06556921 0.02463427] [ 0.00437611 0.9999859 -0.00300983 -0.13457228] [ 0.06558203 0.00271638 0.99784348 -0.15538887] [ 0. 0. 0. 1. ]] SLAMing on 65.46463044 meters Centerline goodness : 0.112530 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.16 [[ 0.99784219 -0.00464368 -0.06549356 0.02425259] [ 0.0044538 0.99998545 -0.00304504 -0.13484016] [ 0.06550675 0.00274677 0.99784835 -0.15515659] [ 0. 0. 0. 1. ]] SLAMing on 65.49463044 meters Centerline goodness : 0.104082 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.16 [[ 0.99784145 -0.0047448 -0.0654976 0.02421006] [ 0.00455672 0.99998506 -0.00302066 -0.13559551] [ 0.06551096 0.00271568 0.99784815 -0.15514431] [ 0. 0. 0. 1. ]] SLAMing on 65.52463044 meters Centerline goodness : 0.117095 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.16 [[ 0.99783205 -0.00474199 -0.06564079 0.02458507] [ 0.00457865 0.99998604 -0.0026386 -0.13774112] [ 0.06565238 0.00233233 0.99783983 -0.15531191] [ 0. 0. 0. 1. ]] SLAMing on 65.55463044 meters Centerline goodness : 0.109839 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.99782287 -0.00465185 -0.06578659 0.02531014] [ 0.00450548 0.99998703 -0.0023732 -0.13894507] [ 0.06579677 0.00207163 0.99783089 -0.15587895] [ 0. 0. 0. 1. ]] SLAMing on 65.58463044 meters Centerline goodness : 0.121506 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.99781678 -0.0045996 -0.06588253 0.02575629] [ 0.00446855 0.99998773 -0.0021363 -0.14032098] [ 0.06589155 0.00183723 0.9978251 -0.15622307] [ 0. 0. 0. 1. ]] SLAMing on 65.61463044 meters Centerline goodness : 0.123913 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.99781295 -0.00460557 -0.06594016 0.02596358] [ 0.0044821 0.99998791 -0.00202036 -0.14122413] [ 0.06594867 0.00172039 0.99782153 -0.15635963] [ 0. 0. 0. 1. ]] SLAMing on 65.64463044 meters Centerline goodness : 0.121397 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.99780612 -0.00451502 -0.06604966 0.02605026] [ 0.00439214 0.99998834 -0.00200552 -0.14075528] [ 0.06605795 0.00171102 0.99781432 -0.15611442] [ 0. 0. 0. 1. ]] SLAMing on 65.67463044 meters Centerline goodness : 0.132926 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.15 [[ 0.99784054 0.00361568 -0.06558347 0.04611476] [-0.00380425 0.99998898 -0.00275064 -0.14350821] [ 0.06557281 0.0029942 0.9978433 -0.15410684] [ 0. 0. 0. 1. ]] SLAMing on 65.70463044 meters Centerline goodness : 0.147628 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.15 [[ 0.9978425 0.00364353 -0.0655521 0.0460522 ] [-0.0038471 0.99998816 -0.00297953 -0.14176779] [ 0.06554047 0.00322529 0.9978447 -0.15404546] [ 0. 0. 0. 1. ]] SLAMing on 65.73463044 meters Centerline goodness : 0.105767 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.15 [[ 0.99784135 0.00356655 -0.06557375 0.04605763] [-0.00379558 0.99998712 -0.00336845 -0.13967911] [ 0.06556089 0.00361007 0.99784204 -0.15393231] [ 0. 0. 0. 1. ]] SLAMing on 65.76463043999999 meters Centerline goodness : 0.105767 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.15 [[ 0.99784135 0.00356655 -0.06557375 0.04605763] [-0.00379558 0.99998712 -0.00336845 -0.13967911] [ 0.06556089 0.00361007 0.99784204 -0.15393231] [ 0. 0. 0. 1. ]] SLAMing on 65.79463043999999 meters Centerline goodness : 0.104616 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.15 [[ 0.99784722 0.00346138 -0.06549 0.04571323] [-0.0037152 0.99998605 -0.00375429 -0.13779808] [ 0.0654761 0.00398951 0.99784616 -0.15366113] [ 0. 0. 0. 1. ]] SLAMing on 65.82463043999999 meters Centerline goodness : 0.103287 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.99785822 0.0034384 -0.0653234 0.04496477] [-0.00370339 0.9999854 -0.00393596 -0.1367732 ] [ 0.06530891 0.00416945 0.99785638 -0.15318015] [ 0. 0. 0. 1. ]] SLAMing on 65.85463044 meters Centerline goodness : 0.104695 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.99789364 0.00352582 -0.06477547 0.04316864] [-0.00379037 0.99998497 -0.00396169 -0.1364135 ] [ 0.06476052 0.00419886 0.997892 -0.15251365] [ 0. 0. 0. 1. ]] SLAMing on 65.88463044 meters Centerline goodness : 0.104972 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.99790051 0.0034958 -0.06467115 0.04298101] [-0.00376282 0.99998489 -0.00400756 -0.136402 ] [ 0.06465617 0.0042425 0.99789858 -0.15260243] [ 0. 0. 0. 1. ]] SLAMing on 65.91463044 meters Centerline goodness : 0.102265 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.9978953 0.00345875 -0.0647535 0.04335617] [-0.00373006 0.99998476 -0.00406941 -0.13628389] [ 0.06473844 0.00430238 0.99789299 -0.15283937] [ 0. 0. 0. 1. ]] SLAMing on 65.94463044 meters Centerline goodness : 0.104752 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.99789063 0.00350405 -0.06482289 0.04361902] [-0.00377479 0.99998466 -0.00405467 -0.13630627] [ 0.06480768 0.00429081 0.99788855 -0.15296282] [ 0. 0. 0. 1. ]] SLAMing on 65.97463044 meters Centerline goodness : 0.109965 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.99786673 0.0040819 -0.06515617 0.04416213] [-0.00433526 0.99998358 -0.00374763 -0.13577656] [ 0.06513981 0.0040221 0.99786804 -0.15254172] [ 0. 0. 0. 1. ]] SLAMing on 66.00463044 meters Centerline goodness : 0.114272 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.15 [[ 0.99785907 0.00439651 -0.06525295 0.04438866] [-0.00464736 0.99998238 -0.00369303 -0.13486753] [ 0.06523557 0.00398838 0.99786192 -0.15242935] [ 0. 0. 0. 1. ]] SLAMing on 66.03463044 meters Centerline goodness : 0.113534 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.15 [[ 0.99785392 0.00458367 -0.0653188 0.04453278] [-0.00484472 0.9999809 -0.00383867 -0.13347607] [ 0.06529996 0.00414689 0.99785706 -0.1523396 ] [ 0. 0. 0. 1. ]] SLAMing on 66.06463044 meters Centerline goodness : 0.122290 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.15 [[ 0.99791457 0.00506494 -0.06434954 0.04223019] [-0.00533882 0.9999774 -0.00408493 -0.13070435] [ 0.0643274 0.00441997 0.99791906 -0.15224036] [ 0. 0. 0. 1. ]] SLAMing on 66.09463044 meters Centerline goodness : 0.122964 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.15 [[ 0.99792335 0.00519142 -0.06420308 0.04179109] [-0.00547507 0.99997601 -0.00424278 -0.1292026 ] [ 0.06417951 0.00458549 0.99792783 -0.15210621] [ 0. 0. 0. 1. ]] SLAMing on 66.12463044 meters Centerline goodness : 0.127319 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.15 [[ 9.98028144e-01 3.55778342e-04 -6.27670062e-02 2.05314922e-02] [-4.27488126e-04 9.99999271e-01 -1.12905016e-03 -1.23353505e-01] [ 6.27665587e-02 1.15365599e-03 9.98027569e-01 -1.54143017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15463043999999 meters Centerline goodness : 0.124922 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.15 [[ 9.98016902e-01 5.48836477e-04 -6.29441155e-02 2.06855575e-02] [-6.26234451e-04 9.99999072e-01 -1.20990818e-03 -1.21787890e-01] [ 6.29433931e-02 1.24692658e-03 9.98016320e-01 -1.53767996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18463043999999 meters Centerline goodness : 0.223593 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.16 [[ 9.98081962e-01 -5.51773426e-03 -6.16599634e-02 4.19451907e-03] [ 5.54048406e-03 9.99984632e-01 1.97984779e-04 -1.14167972e-01] [ 6.16579233e-02 -5.39231080e-04 9.98097195e-01 -1.56854847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21463044 meters Centerline goodness : 0.100772 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.16 [[ 0.99809531 -0.00248314 -0.0616408 0.00405135] [ 0.00264257 0.99999337 0.00250507 -0.1102308 ] [ 0.06163417 -0.00266319 0.99809525 -0.15677935] [ 0. 0. 0. 1. ]] SLAMing on 66.24463044 meters Centerline goodness : 0.386287 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:-0.16 [[ 0.99808627 0.00587632 -0.06155702 -0.01573707] [-0.00580293 0.99998222 0.00137093 -0.11163588] [ 0.06156398 -0.00101109 0.99810263 -0.15940195] [ 0. 0. 0. 1. ]] SLAMing on 66.27463044 meters Centerline goodness : 0.104570 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.16 [[ 0.99811511 -0.00120021 -0.06135794 0.00249516] [ 0.00138322 0.99999472 0.00294035 -0.10594261] [ 0.06135408 -0.00301968 0.9981115 -0.15661821] [ 0. 0. 0. 1. ]] SLAMing on 66.30463044 meters Centerline goodness : 0.098487 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.16 [[ 0.99811764 -0.00116962 -0.06131732 0.00242853] [ 0.00135195 0.99999479 0.0029321 -0.1055701 ] [ 0.06131357 -0.00300947 0.99811402 -0.15669697] [ 0. 0. 0. 1. ]] SLAMing on 66.33463044 meters Centerline goodness : 0.101581 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.16 [[ 0.99810642 -0.00123613 -0.06149837 0.00289916] [ 0.00142405 0.99999445 0.00301184 -0.10642704] [ 0.0614943 -0.00309371 0.99810264 -0.15677404] [ 0. 0. 0. 1. ]] SLAMing on 66.36463044 meters Centerline goodness : 0.100626 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.11, Z:-0.16 [[ 9.98084636e-01 3.88136265e-03 -6.17413485e-02 2.40628658e-02] [-3.89951293e-03 9.99992382e-01 -1.73479629e-04 -1.10035819e-01] [ 6.17402048e-02 4.13908540e-04 9.98092168e-01 -1.55161749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39463044 meters Centerline goodness : 0.099557 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.11, Z:-0.16 [[ 9.98070407e-01 3.81112860e-03 -6.19752994e-02 2.46675628e-02] [-3.82515848e-03 9.99992678e-01 -1.07732933e-04 -1.10954624e-01] [ 6.19744351e-02 3.44590395e-04 9.98077678e-01 -1.55233797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42463044 meters Centerline goodness : 0.101604 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:-0.16 [[ 9.98059188e-01 3.82849806e-03 -6.21546486e-02 2.50526366e-02] [-3.83285575e-03 9.99992653e-01 4.91199669e-05 -1.11954479e-01] [ 6.21543801e-02 1.89205168e-04 9.98066529e-01 -1.55221672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45463044 meters Centerline goodness : 0.104751 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:-0.16 [[ 9.98043459e-01 3.89674975e-03 -6.24024835e-02 2.55416160e-02] [-3.88882071e-03 9.99992408e-01 2.48517272e-04 -1.12860963e-01] [ 6.24029782e-02 -5.35896745e-06 9.98051035e-01 -1.55072570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48463044 meters Centerline goodness : 0.103364 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.11, Z:-0.15 [[ 0.99796459 -0.00401911 -0.06364373 0.0462324 ] [ 0.00412205 0.9999904 0.00148617 -0.11171094] [ 0.06363715 -0.00174549 0.99797158 -0.1525206 ] [ 0. 0. 0. 1. ]] SLAMing on 66.51463043999999 meters Centerline goodness : 0.106449 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.11, Z:-0.15 [[ 0.99794839 -0.00396527 -0.06390063 0.0472438 ] [ 0.00408241 0.99999022 0.00170278 -0.11312949] [ 0.06389325 -0.00196016 0.99795481 -0.15303138] [ 0. 0. 0. 1. ]] SLAMing on 66.54463043999999 meters Centerline goodness : 0.108808 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.11, Z:-0.15 [[ 0.99794335 -0.00392327 -0.06398184 0.04759204] [ 0.0040543 0.99998994 0.00191827 -0.11465693] [ 0.06397367 -0.00217372 0.99794922 -0.15325092] [ 0. 0. 0. 1. ]] SLAMing on 66.57463043999999 meters Centerline goodness : 0.106709 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:-0.15 [[ 9.97974425e-01 3.24969723e-03 -6.35333505e-02 6.58416469e-02] [-3.22427401e-03 9.99994676e-01 5.02679666e-04 -1.21216631e-01] [ 6.35346458e-02 -2.96812520e-04 9.97979589e-01 -1.50555663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60463044 meters Centerline goodness : 0.109221 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.15 [[ 9.98289876e-01 6.72373048e-04 -5.84540086e-02 2.82133802e-02] [-6.15846083e-04 9.99999325e-01 9.85042540e-04 -1.22142409e-01] [ 5.84546314e-02 -9.47359323e-04 9.98289617e-01 -1.53974420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.66463044 meters Centerline goodness : 0.121263 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.15 [[ 9.98299902e-01 9.69339322e-04 -5.82783460e-02 2.74811591e-02] [-8.85880377e-04 9.99998545e-01 1.45789343e-03 -1.24003648e-01] [ 5.82796744e-02 -1.40378722e-03 9.98299308e-01 -1.53546950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69463044 meters Centerline goodness : 0.231356 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.15 [[ 9.98298982e-01 1.02078957e-03 -5.82932212e-02 2.75320312e-02] [-9.35762783e-04 9.99998458e-01 1.48588388e-03 -1.24198286e-01] [ 5.82946481e-02 -1.42880774e-03 9.98298399e-01 -1.53567766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72463044 meters Centerline goodness : 0.116111 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.15 [[ 9.98306594e-01 1.08193792e-03 -5.81616136e-02 2.69985533e-02] [-9.98474870e-04 9.99998430e-01 1.46406136e-03 -1.23934286e-01] [ 5.81631063e-02 -1.40350920e-03 9.98306107e-01 -1.53267566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75463044 meters Centerline goodness : 0.095182 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.15 [[ 0.99831296 0.00129241 -0.05804792 0.02662324] [-0.00120508 0.99999809 0.00153939 -0.12355278] [ 0.0580498 -0.00146685 0.99831261 -0.15308836] [ 0. 0. 0. 1. ]] SLAMing on 66.78463044 meters Centerline goodness : 0.195377 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.15 [[ 0.99835627 0.00210985 -0.05727392 0.02430203] [-0.0019983 0.99999599 0.00200485 -0.12305614] [ 0.05727792 -0.00188711 0.99835649 -0.15235028] [ 0. 0. 0. 1. ]] SLAMing on 66.81463044 meters Centerline goodness : 0.096334 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.15 [[ 0.99837076 0.00214086 -0.0570197 0.02343632] [-0.00203531 0.99999611 0.00190902 -0.12243526] [ 0.05702356 -0.00178986 0.99837123 -0.15199624] [ 0. 0. 0. 1. ]] SLAMing on 66.84463044 meters Centerline goodness : 0.088729 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.15 [[ 0.99837756 0.00220226 -0.05689813 0.02285136] [-0.0021004 0.99999608 0.00184989 -0.12191887] [ 0.05690198 -0.00172738 0.99837828 -0.15164015] [ 0. 0. 0. 1. ]] SLAMing on 66.87463044 meters Centerline goodness : 0.462394 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.15 [[ 0.99837416 0.00227713 -0.0569549 0.02289649] [-0.00217462 0.9999959 0.00186175 -0.12181192] [ 0.05695891 -0.00173487 0.99837502 -0.15157704] [ 0. 0. 0. 1. ]] SLAMing on 66.90463043999999 meters Centerline goodness : 0.462417 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.15 [[ 0.99822854 0.00241125 -0.05944713 -0.02109961] [-0.00230347 0.99999558 0.0018816 -0.12285975] [ 0.0594514 -0.00174133 0.99822968 -0.15362991] [ 0. 0. 0. 1. ]] SLAMing on 66.93463043999999 meters Centerline goodness : 0.114653 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.15 [[ 0.99822106 0.00244133 -0.0595715 -0.02053052] [-0.00232851 0.99999536 0.00196312 -0.12350101] [ 0.05957602 -0.00182092 0.99822211 -0.15401773] [ 0. 0. 0. 1. ]] SLAMing on 66.96463044 meters Centerline goodness : 0.110625 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.13, Z:-0.15 [[ 0.99822456 0.00244241 -0.05951267 -0.02043055] [-0.00231437 0.99999486 0.0022203 -0.12585333] [ 0.05951779 -0.00207862 0.99822508 -0.15433513] [ 0. 0. 0. 1. ]] SLAMing on 66.99463044 meters Centerline goodness : 0.337112 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.13, Z:-0.15 [[ 0.99823169 0.00257438 -0.05938736 -0.02075519] [-0.00242328 0.99999364 0.00261624 -0.12793515] [ 0.05939372 -0.0024677 0.99823158 -0.15429402] [ 0. 0. 0. 1. ]] SLAMing on 67.02463044 meters Centerline goodness : 0.094195 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.13, Z:-0.15 [[ 0.99822808 0.00274657 -0.05944031 -0.02065401] [-0.00257146 0.99999213 0.00302232 -0.12982212] [ 0.05944814 -0.00286411 0.99822729 -0.15424677] [ 0. 0. 0. 1. ]] SLAMing on 67.05463044 meters Centerline goodness : 0.199741 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.13, Z:-0.15 [[ 0.9982171 0.00291057 -0.05961673 -0.02016088] [-0.00271268 0.99999054 0.00340007 -0.13162712] [ 0.05962606 -0.00323229 0.99821555 -0.1543286 ] [ 0. 0. 0. 1. ]] SLAMing on 67.08463044 meters Centerline goodness : 0.142324 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.13, Z:-0.15 [[ 0.99820657 0.00311913 -0.05978223 -0.01971248] [-0.0028901 0.99998815 0.0039172 -0.13467737] [ 0.05979374 -0.0037374 0.99820376 -0.15436437] [ 0. 0. 0. 1. ]] SLAMing on 67.11463044 meters Centerline goodness : 0.409831 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:-0.15 [[ 0.99819841 0.00319886 -0.05991406 -0.01926246] [-0.00295763 0.99998716 0.00411443 -0.13594628] [ 0.05992646 -0.00392981 0.99819506 -0.15455679] [ 0. 0. 0. 1. ]] SLAMing on 67.14463044 meters Centerline goodness : 0.100774 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:-0.15 [[ 0.9981871 0.0032998 -0.06009675 -0.01856664] [-0.0030445 0.99998595 0.00433932 -0.13723651] [ 0.06011022 -0.00414849 0.99818313 -0.15493974] [ 0. 0. 0. 1. ]] SLAMing on 67.17463044 meters Centerline goodness : 0.456426 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:-0.16 [[ 0.9981694 0.00342573 -0.06038313 -0.01754581] [-0.00315499 0.99998454 0.00457834 -0.13844915] [ 0.06039788 -0.00437945 0.99816477 -0.15542782] [ 0. 0. 0. 1. ]] SLAMing on 67.20463044 meters Centerline goodness : 0.372605 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:-0.16 [[ 0.9981532 0.00355742 -0.06064266 -0.0164961 ] [-0.00327011 0.99998296 0.00483628 -0.139738 ] [ 0.06065883 -0.00462904 0.99814782 -0.1560355 ] [ 0. 0. 0. 1. ]] SLAMing on 67.23463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.26463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.29463043999999 meters Centerline goodness : 0.107175 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:-0.16 [[ 0.99810212 0.00426681 -0.06143245 -0.01426017] [-0.00391053 0.99997484 0.00591859 -0.14471749] [ 0.06145616 -0.00566712 0.9980937 -0.15651493] [ 0. 0. 0. 1. ]] SLAMing on 67.32463043999999 meters Centerline goodness : 0.111456 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:-0.16 [[ 0.99808793 0.00436751 -0.06165559 -0.01350031] [-0.0040006 0.99997356 0.00607322 -0.14543711] [ 0.06168049 -0.00581495 0.99807901 -0.15682504] [ 0. 0. 0. 1. ]] SLAMing on 67.35463044 meters Centerline goodness : 0.095551 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:-0.16 [[ 0.99806117 0.0045369 -0.06207505 -0.0120549 ] [-0.00415846 0.99997198 0.00622419 -0.14627156] [ 0.06210155 -0.00595399 0.99805208 -0.15747668] [ 0. 0. 0. 1. ]] SLAMing on 67.38463044 meters Centerline goodness : 0.475282 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:-0.16 [[ 0.99807167 0.00464829 -0.06189785 -0.01267645] [-0.00426459 0.99997087 0.0063296 -0.14652625] [ 0.06192547 -0.00605342 0.99806242 -0.15723946] [ 0. 0. 0. 1. ]] SLAMing on 67.41463044 meters Centerline goodness : 0.112411 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:-0.16 [[ 0.99808831 0.00482137 -0.06161565 -0.01362342] [-0.00442781 0.99996893 0.00652224 -0.14698325] [ 0.06164518 -0.00623695 0.99807864 -0.15689452] [ 0. 0. 0. 1. ]] SLAMing on 67.44463044 meters Centerline goodness : 0.094209 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:-0.16 [[ 0.99809978 0.0049386 -0.06142024 -0.0145608 ] [-0.00453696 0.99996742 0.00667686 -0.14749993] [ 0.06145121 -0.00638551 0.99808966 -0.15628944] [ 0. 0. 0. 1. ]] SLAMing on 67.47463044 meters Centerline goodness : 0.096808 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:-0.16 [[ 0.99802757 0.00442734 -0.06262082 -0.06165259] [-0.00400868 0.99996878 0.00680983 -0.15379752] [ 0.06264901 -0.00654538 0.99801416 -0.15729825] [ 0. 0. 0. 1. ]] SLAMing on 67.50463044 meters Centerline goodness : 0.096196 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99802461 0.00453109 -0.06266057 -0.06149154] [-0.00409323 0.99996631 0.0071145 -0.15561723] [ 0.06269069 -0.00684396 0.99800954 -0.15736363] [ 0. 0. 0. 1. ]] SLAMing on 67.53463044 meters Centerline goodness : 0.105064 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99802035 0.00464923 -0.06271971 -0.06134483] [-0.00419384 0.9999639 0.00739043 -0.15708422] [ 0.0627518 -0.00711276 0.99800382 -0.15734606] [ 0. 0. 0. 1. ]] SLAMing on 67.56463044 meters Centerline goodness : 0.093301 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.9980288 0.00472108 -0.06257971 -0.06166157] [-0.00425402 0.99996211 0.00759469 -0.15831538] [ 0.06261319 -0.0073135 0.99801107 -0.15734673] [ 0. 0. 0. 1. ]] SLAMing on 67.59463044 meters Centerline goodness : 0.106071 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99803575 0.00484152 -0.06245954 -0.06216543] [-0.00435811 0.99995951 0.00787352 -0.15984511] [ 0.06249513 -0.00758585 0.99801644 -0.15702244] [ 0. 0. 0. 1. ]] SLAMing on 67.62463044 meters Centerline goodness : 0.102083 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99804525 0.0048972 -0.06230328 -0.06264987] [-0.00440485 0.999958 0.0080375 -0.16090918] [ 0.06234003 -0.00774735 0.9980249 -0.15684305] [ 0. 0. 0. 1. ]] SLAMing on 67.65463043999999 meters Centerline goodness : 0.102083 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99804525 0.0048972 -0.06230328 -0.06264987] [-0.00440485 0.999958 0.0080375 -0.16090918] [ 0.06234003 -0.00774735 0.9980249 -0.15684305] [ 0. 0. 0. 1. ]] SLAMing on 67.68463043999999 meters Centerline goodness : 0.106406 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99806157 0.00508253 -0.06202632 -0.06338567] [-0.00457048 0.99995432 0.00839436 -0.16266095] [ 0.06206615 -0.0080946 0.99803921 -0.15674443] [ 0. 0. 0. 1. ]] SLAMing on 67.71463044 meters Centerline goodness : 0.100527 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99806167 0.00519202 -0.06201564 -0.06345177] [-0.004667 0.99995206 0.0086078 -0.16353455] [ 0.06205736 -0.00830168 0.99803806 -0.15669171] [ 0. 0. 0. 1. ]] SLAMing on 67.74463044 meters Centerline goodness : 0.099527 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99804011 0.00535536 -0.06234794 -0.06228114] [-0.00481087 0.999949 0.00888004 -0.16472545] [ 0.06239231 -0.00856269 0.99801497 -0.15712888] [ 0. 0. 0. 1. ]] SLAMing on 67.77463044 meters Centerline goodness : 0.205305 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99802268 0.00533138 -0.0626283 -0.06098637] [-0.00478789 0.9999496 0.00882483 -0.16468203] [ 0.06267219 -0.00850753 0.99799791 -0.1580175 ] [ 0. 0. 0. 1. ]] SLAMing on 67.80463044 meters Centerline goodness : 0.257411 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99800473 0.00530061 -0.06291624 -0.05978514] [-0.0047606 0.99995056 0.00872992 -0.16445701] [ 0.0629594 -0.00841298 0.99798063 -0.15872408] [ 0. 0. 0. 1. ]] SLAMing on 67.83463044 meters Centerline goodness : 0.089875 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.9980009 0.00527832 -0.06297888 -0.05957323] [-0.00474291 0.99995136 0.00864792 -0.16409988] [ 0.06302146 -0.00833193 0.99797739 -0.15883057] [ 0. 0. 0. 1. ]] SLAMing on 67.86463044 meters Centerline goodness : 0.090594 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99800858 0.00528228 -0.06285672 -0.06008078] [-0.00475057 0.99995169 0.00860561 -0.16376931] [ 0.06289914 -0.00828987 0.99798546 -0.15854914] [ 0. 0. 0. 1. ]] SLAMing on 67.89463044 meters Centerline goodness : 0.216174 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99801557 0.00534299 -0.06274057 -0.06073512] [-0.00481036 0.99995113 0.00863732 -0.1635552 ] [ 0.06278365 -0.00831838 0.99799249 -0.15806 ] [ 0. 0. 0. 1. ]] SLAMing on 67.92463044 meters Centerline goodness : 0.238533 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.9980151 0.00536711 -0.06274599 -0.06090382] [-0.00483547 0.99995114 0.00862155 -0.16324744] [ 0.0627892 -0.00830104 0.99799229 -0.15784549] [ 0. 0. 0. 1. ]] SLAMing on 67.95463044 meters Centerline goodness : 0.457223 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99800563 0.00531744 -0.06290059 -0.06027079] [-0.00479081 0.99995223 0.00852024 -0.16287568] [ 0.06294289 -0.0082019 0.99798343 -0.15822463] [ 0. 0. 0. 1. ]] SLAMing on 67.98463044 meters Centerline goodness : 0.082148 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99799655 0.00530209 -0.06304579 -0.05973496] [-0.00477536 0.99995245 0.00850242 -0.16286621] [ 0.06308787 -0.00818432 0.99797442 -0.15849403] [ 0. 0. 0. 1. ]] SLAMing on 68.01463043999999 meters Centerline goodness : 0.107518 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99799039 0.00531436 -0.06314229 -0.05945579] [-0.00478758 0.99995249 0.00849114 -0.16258737] [ 0.06318441 -0.00817177 0.99796841 -0.15859472] [ 0. 0. 0. 1. ]] SLAMing on 68.04463043999999 meters Centerline goodness : 0.102729 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.9979717 0.00522874 -0.0634441 -0.05887971] [-0.00470642 0.99995382 0.00837946 -0.16194788] [ 0.06348498 -0.00806387 0.99795021 -0.15839404] [ 0. 0. 0. 1. ]] SLAMing on 68.07463043999999 meters Centerline goodness : 0.104949 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99796275 0.00519461 -0.06358753 -0.05876072] [-0.0046685 0.99995366 0.00841955 -0.16238247] [ 0.06362832 -0.00810554 0.99794075 -0.15806927] [ 0. 0. 0. 1. ]] SLAMing on 68.10463044 meters Centerline goodness : 0.102016 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99795595 0.00507921 -0.06370341 -0.05857767] [-0.00455039 0.999954 0.00844366 -0.16302589] [ 0.06374336 -0.00813653 0.99793315 -0.15790169] [ 0. 0. 0. 1. ]] SLAMing on 68.13463044 meters Centerline goodness : 0.211444 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:-0.16 [[ 0.99794155 0.00506699 -0.06392948 -0.05803114] [-0.00452215 0.99995224 0.00866422 -0.16457895] [ 0.06397033 -0.00835729 0.99791681 -0.15784206] [ 0. 0. 0. 1. ]] SLAMing on 68.16463044 meters Centerline goodness : 0.101779 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:-0.16 [[ 0.9979486 0.00186192 -0.06399322 -0.05737941] [-0.00148972 0.9999817 0.00586341 -0.16633633] [ 0.06400297 -0.00575605 0.99793311 -0.15840186] [ 0. 0. 0. 1. ]] SLAMing on 68.19463044 meters Centerline goodness : 0.097670 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:-0.16 [[ 0.99792554 0.00183735 -0.06435241 -0.056351 ] [-0.00144014 0.99997963 0.00621815 -0.16886781] [ 0.06436253 -0.00611258 0.99790786 -0.15854997] [ 0. 0. 0. 1. ]] SLAMing on 68.22463044 meters Centerline goodness : 0.107115 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:-0.16 [[ 0.99792465 -0.00175162 -0.06436864 -0.05629837] [ 0.00197395 0.9999923 0.0033906 -0.17283477] [ 0.0643622 -0.00351063 0.99792043 -0.1584626 ] [ 0. 0. 0. 1. ]] SLAMing on 68.25463044 meters Centerline goodness : 0.098266 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.18, Z:-0.16 [[ 9.98022583e-01 4.12532666e-03 -6.27208603e-02 -3.53906290e-02] [-4.09342757e-03 9.99991419e-01 6.37078538e-04 -1.75914074e-01] [ 6.27229503e-02 -3.79075469e-04 9.98030905e-01 -1.57291440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28463044 meters Centerline goodness : 0.164072 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.18, Z:-0.16 [[ 9.98051519e-01 4.14199568e-03 -6.22576011e-02 -3.68124769e-02] [-4.09456600e-03 9.99991222e-01 8.89393457e-04 -1.77653347e-01] [ 6.22607385e-02 -6.32742634e-04 9.98059718e-01 -1.56778249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31463044 meters Centerline goodness : 0.104982 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.15 [[ 0.99812385 -0.00364826 -0.06111856 -0.01762191] [ 0.0037687 0.99999118 0.00185534 -0.17596199] [ 0.06111125 -0.00208219 0.99812879 -0.15455068] [ 0. 0. 0. 1. ]] SLAMing on 68.34463044 meters Centerline goodness : 0.108245 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.15 [[ 0.99812383 -0.00331566 -0.06113775 -0.01774821] [ 0.00348035 0.9999906 0.00258741 -0.17928381] [ 0.0611286 -0.00279534 0.99812598 -0.1542713 ] [ 0. 0. 0. 1. ]] SLAMing on 68.37463044 meters Centerline goodness : 0.104290 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.15 [[ 0.99812367 -0.00306878 -0.06115329 -0.01764541] [ 0.00326055 0.99999007 0.00303645 -0.18098841] [ 0.06114337 -0.00323015 0.99812377 -0.15432382] [ 0. 0. 0. 1. ]] SLAMing on 68.40463043999999 meters Centerline goodness : 0.105352 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.15 [[ 0.99812186 -0.00289885 -0.06119104 -0.0174412 ] [ 0.00311784 0.99998907 0.00348363 -0.18326944] [ 0.06118028 -0.00366787 0.99811999 -0.15441844] [ 0. 0. 0. 1. ]] SLAMing on 68.43463043999999 meters Centerline goodness : 0.110517 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:-0.15 [[ 0.99811701 -0.00285101 -0.06127235 -0.01724012] [ 0.00309424 0.9999877 0.00387526 -0.18624455] [ 0.06126055 -0.00405755 0.99811356 -0.15433851] [ 0. 0. 0. 1. ]] SLAMing on 68.46463044 meters Centerline goodness : 0.105846 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.15 [[ 9.98123785e-01 2.23404282e-03 -6.11875646e-02 2.92285327e-03] [-2.22445203e-03 9.99997501e-01 2.24861820e-04 -1.91808375e-01] [ 6.11879140e-02 -8.83311283e-05 9.98126260e-01 -1.52424212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49463044 meters Centerline goodness : 0.163333 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.20, Z:-0.15 [[ 9.98186741e-01 4.42421176e-04 -6.01916514e-02 -4.58313859e-04] [-4.75531430e-04 9.99999743e-01 -5.35757129e-04 -2.00315070e-01] [ 6.01913989e-02 5.63408685e-04 9.98186695e-01 -1.51184547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52463044 meters Centerline goodness : 0.115121 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.20, Z:-0.15 [[ 9.98199388e-01 7.95997629e-04 -5.99778944e-02 -1.22254880e-03] [-7.82686137e-04 9.99999664e-01 2.45432734e-04 -2.03777404e-01] [ 5.99780696e-02 -1.98046938e-04 9.98199675e-01 -1.50759983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55463044 meters Centerline goodness : 0.108939 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:-0.15 [[ 9.98211267e-01 1.05101621e-03 -5.97759296e-02 -1.75332597e-03] [-9.99187390e-04 9.99999099e-01 8.96935443e-04 -2.07099470e-01] [ 5.97768184e-02 -8.35603710e-04 9.98211417e-01 -1.50641529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58463044 meters Centerline goodness : 0.111133 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:-0.15 [[ 0.9982064 0.00118757 -0.05985458 -0.00139562] [-0.00110627 0.99999842 0.00139131 -0.210338 ] [ 0.05985614 -0.00132259 0.99820614 -0.15078101] [ 0. 0. 0. 1. ]] SLAMing on 68.61463044 meters Centerline goodness : 0.462612 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.15 [[ 9.98159232e-01 -4.29161706e-04 -6.06462220e-02 1.87378347e-03] [ 4.49272061e-04 9.99999849e-01 3.17965636e-04 -2.16978384e-01] [ 6.06460763e-02 -3.44626989e-04 9.98159273e-01 -1.52293247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64463044 meters Centerline goodness : 0.456052 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.15 [[ 9.98137069e-01 -2.14784681e-04 -6.10110270e-02 3.10477450e-03] [ 2.55458385e-04 9.99999750e-01 6.58862146e-04 -2.18435835e-01] [ 6.10108703e-02 -6.73220509e-04 9.98136875e-01 -1.52780415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67463044 meters Centerline goodness : 0.124257 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.15 [[ 9.98110270e-01 4.21918805e-05 -6.14482426e-02 4.58891106e-03] [ 1.38507724e-05 9.99999584e-01 9.11603960e-04 -2.19026836e-01] [ 6.14482555e-02 -9.10732380e-04 9.98109855e-01 -1.53426657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70463044 meters Centerline goodness : 0.123805 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:-0.15 [[ 9.98089204e-01 2.64171081e-04 -6.17889294e-02 5.79561414e-03] [-1.95727077e-04 9.99999361e-01 1.11375661e-03 -2.19501059e-01] [ 6.17891841e-02 -1.09953469e-03 9.98088617e-01 -1.53989909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73463044 meters Centerline goodness : 0.460070 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:-0.15 [[ 9.98079222e-01 3.25589064e-04 -6.19496549e-02 6.47198111e-03] [-2.56695081e-04 9.99999340e-01 1.12005181e-03 -2.19594487e-01] [ 6.19499787e-02 -1.10199826e-03 9.98078647e-01 -1.54406193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76463043999999 meters Centerline goodness : 0.117389 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:-0.15 [[ 9.98071828e-01 3.55252864e-04 -6.20685050e-02 6.99736644e-03] [-2.88386715e-04 9.99999368e-01 1.08625113e-03 -2.19443873e-01] [ 6.20688517e-02 -1.06625692e-03 9.98071300e-01 -1.54789446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79463043999999 meters Centerline goodness : 0.112999 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:-0.16 [[ 9.98051437e-01 8.27422921e-04 -6.23910686e-02 8.37613633e-03] [-7.27882182e-04 9.99998426e-01 1.61814444e-03 -2.20584328e-01] [ 6.23923093e-02 -1.56957804e-03 9.98050468e-01 -1.55654963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82463043999999 meters Centerline goodness : 0.122572 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:-0.16 [[ 9.98051866e-01 9.82000199e-04 -6.23819619e-02 8.33091856e-03] [-8.60281979e-04 9.99997674e-01 1.97800577e-03 -2.22268179e-01] [ 6.23837592e-02 -1.92048627e-03 9.98050389e-01 -1.55615439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85463044 meters Centerline goodness : 0.117000 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:-0.16 [[ 9.98051198e-01 9.63123373e-04 -6.23929354e-02 8.05237067e-03] [-8.19484169e-04 9.99996955e-01 2.32772000e-03 -2.24881524e-01] [ 6.23949873e-02 -2.27205371e-03 9.98048948e-01 -1.55116697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88463044 meters Centerline goodness : 0.101050 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:-0.15 [[ 9.98057587e-01 -2.78089656e-03 -6.22359977e-02 6.92785449e-03] [ 2.75947654e-03 9.99996100e-01 -4.30124337e-04 -2.30739062e-01] [ 6.22369511e-02 2.57550082e-04 9.98061369e-01 -1.54088949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91463044 meters Centerline goodness : 0.230120 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:-0.15 [[ 9.98050387e-01 -2.71988041e-03 -6.23540403e-02 7.07766950e-03] [ 2.72809929e-03 9.99996278e-01 4.66732075e-05 -2.33860749e-01] [ 6.23536812e-02 -2.16690226e-04 9.98054092e-01 -1.53843439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94463044 meters Centerline goodness : 0.130635 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:-0.15 [[ 9.98047359e-01 -2.59994491e-03 -6.24076050e-02 7.22651437e-03] [ 2.63442592e-03 9.99996419e-01 4.70234888e-04 -2.36320260e-01] [ 6.24061590e-02 -6.33724900e-04 9.98050635e-01 -1.53824841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97463044 meters Centerline goodness : 0.132425 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:-0.15 [[ 9.98049453e-01 -2.42589448e-03 -6.23811154e-02 7.28529900e-03] [ 2.48256534e-03 9.99996573e-01 8.30969788e-04 -2.38021700e-01] [ 6.23788858e-02 -9.84214138e-04 9.98052056e-01 -1.53943267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00463044 meters Centerline goodness : 0.212908 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.15 [[ 9.98054913e-01 6.09549103e-03 -6.20422014e-02 2.59197714e-02] [-6.11730545e-03 9.99981276e-01 -1.61661968e-04 -2.41965598e-01] [ 6.20400543e-02 5.40878618e-04 9.98073514e-01 -1.51653478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03463044 meters Centerline goodness : 0.094257 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.15 [[ 9.98059426e-01 6.25893803e-03 -6.19532679e-02 2.58753401e-02] [-6.27236140e-03 9.99980328e-01 -2.21862727e-05 -2.42060064e-01] [ 6.19519103e-02 4.10736505e-04 9.98079051e-01 -1.51880812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06463044 meters Centerline goodness : 0.119452 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.15 [[ 9.98049017e-01 6.82365300e-03 -6.20612406e-02 2.61358211e-02] [-6.82107266e-03 9.99976704e-01 2.53446037e-04 -2.42046785e-01] [ 6.20615242e-02 1.70372663e-04 9.98072311e-01 -1.51568430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09463044 meters Centerline goodness : 0.113856 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.15 [[ 9.98045162e-01 6.74247056e-03 -6.21320736e-02 2.60286694e-02] [-6.75407059e-03 9.99977191e-01 2.33260742e-05 -2.41253973e-01] [ 6.21308137e-02 3.96363935e-04 9.98067936e-01 -1.51103349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12463044 meters Centerline goodness : 0.118896 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.15 [[ 9.98045653e-01 6.76029433e-03 -6.21222420e-02 2.57888519e-02] [-6.77858298e-03 9.99977022e-01 -8.36461719e-05 -2.40754282e-01] [ 6.21202491e-02 5.04583471e-04 9.98068545e-01 -1.50875378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15463043999999 meters Centerline goodness : 0.107073 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.24, Z:-0.15 [[ 9.98122862e-01 4.90425108e-04 -6.12414167e-02 4.41213817e-03] [-3.51106052e-04 9.99997326e-01 2.28565612e-03 -2.36399018e-01] [ 6.12423739e-02 -2.25986339e-03 9.98120366e-01 -1.52621845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18463043999999 meters Centerline goodness : 0.112589 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.24, Z:-0.15 [[ 9.98133831e-01 5.65505348e-04 -6.10617296e-02 4.14418433e-03] [-4.35247995e-04 9.99997602e-01 2.14648756e-03 -2.35058062e-01] [ 6.10627970e-02 -2.11590486e-03 9.98131684e-01 -1.52887922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21463044 meters Centerline goodness : 0.114209 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.24, Z:-0.16 [[ 9.98154202e-01 8.02891406e-03 -6.01973850e-02 -1.52097196e-02] [-7.97608804e-03 9.99967566e-01 1.11778704e-03 -2.38577066e-01] [ 6.02044072e-02 -6.35584189e-04 9.98185867e-01 -1.56002842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24463044 meters Centerline goodness : 0.120044 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.23, Z:-0.15 [[ 0.99815113 0.00171299 -0.06075683 0.00152938] [-0.00158866 0.99999654 0.00209453 -0.23092536] [ 0.06076021 -0.00199413 0.9981504 -0.15316282] [ 0. 0. 0. 1. ]] SLAMing on 69.27463044 meters Centerline goodness : 0.112485 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.23, Z:-0.15 [[ 9.98160463e-01 1.72925280e-03 -6.06027999e-02 9.81858650e-04] [-1.61937413e-03 9.99996955e-01 1.86216325e-03 -2.29123150e-01] [ 6.06058355e-02 -1.76059912e-03 9.98160224e-01 -1.52975385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30463044 meters Centerline goodness : 0.113079 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.23, Z:-0.15 [[ 0.998154 0.00167463 -0.06071071 0.00106955] [-0.00158849 0.99999766 0.00146721 -0.22660759] [ 0.06071303 -0.00136807 0.99815433 -0.15284334] [ 0. 0. 0. 1. ]] SLAMing on 69.33463044 meters Centerline goodness : 0.125812 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.15 [[ 9.98108983e-01 1.90160922e-03 -6.14397425e-02 3.41670211e-03] [-1.85023349e-03 9.99997890e-01 8.93078940e-04 -2.20151940e-01] [ 6.14413111e-02 -7.77712243e-04 9.98110395e-01 -1.53822858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36463044 meters Centerline goodness : 0.085229 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.22, Z:-0.15 [[ 9.98118567e-01 1.77542328e-03 -6.12876408e-02 3.39346621e-03] [-1.75672164e-03 9.99998393e-01 3.59027458e-04 -2.17132484e-01] [ 6.12881797e-02 -2.50686647e-04 9.98120081e-01 -1.54422308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39463044 meters Centerline goodness : 0.114115 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.15 [[ 9.98128896e-01 1.72893819e-03 -6.11205196e-02 3.19829985e-03] [-1.73445319e-03 9.99998495e-01 -3.71767384e-05 -2.14403969e-01] [ 6.11203633e-02 1.43117857e-04 9.98130393e-01 -1.54814123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42463044 meters Centerline goodness : 0.134680 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 9.98130727e-01 1.67355591e-03 -6.10921594e-02 3.31130652e-03] [-1.70393502e-03 9.99998449e-01 -4.45173163e-04 -2.11605150e-01] [ 6.10913196e-02 5.48438083e-04 9.98132030e-01 -1.55158116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45463044 meters Centerline goodness : 0.092945 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.16 [[ 0.99811442 0.00135333 -0.06136586 0.00392806] [-0.00143833 0.99999807 -0.00134087 -0.20649199] [ 0.06136393 0.00142661 0.99811444 -0.15528835] [ 0. 0. 0. 1. ]] SLAMing on 69.48463044 meters Centerline goodness : 0.093540 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:-0.15 [[ 0.99811222 0.0011431 -0.061406 0.00364032] [-0.00124912 0.99999779 -0.00168817 -0.20506687] [ 0.06140393 0.00176169 0.99811144 -0.15480181] [ 0. 0. 0. 1. ]] SLAMing on 69.51463043999999 meters Centerline goodness : 0.115145 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.15 [[ 9.98116333e-01 9.77881271e-04 -6.13419022e-02 3.18515070e-03] [-1.09705100e-03 9.99997576e-01 -1.90906403e-03 -2.04120107e-01] [ 6.13398867e-02 1.97276318e-03 9.98114987e-01 -1.54389497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54463043999999 meters Centerline goodness : 0.115145 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.15 [[ 9.98116333e-01 9.77881271e-04 -6.13419022e-02 3.18515070e-03] [-1.09705100e-03 9.99997576e-01 -1.90906403e-03 -2.04120107e-01] [ 6.13398867e-02 1.97276318e-03 9.98114987e-01 -1.54389497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57463043999999 meters Centerline goodness : 0.117996 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.15 [[ 9.98120603e-01 8.77271680e-04 -6.12739040e-02 2.82811605e-03] [-1.00544122e-03 9.99997371e-01 -2.06094634e-03 -2.03375464e-01] [ 6.12719349e-02 2.11868032e-03 9.98118861e-01 -1.54109715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60463044 meters Centerline goodness : 0.092680 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.15 [[ 9.98115665e-01 6.85728529e-04 -6.13567385e-02 3.18328404e-03] [-8.33262308e-04 9.99996823e-01 -2.37896954e-03 -2.01933642e-01] [ 6.13549123e-02 2.42561302e-03 9.98113065e-01 -1.54351351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63463044 meters Centerline goodness : 0.126618 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:-0.16 [[ 9.98094086e-01 1.60548888e-04 -6.17103767e-02 4.77700950e-03] [-3.71385611e-04 9.99994134e-01 -3.40509728e-03 -1.96867194e-01] [ 6.17094680e-02 3.42152580e-03 9.98088290e-01 -1.55416547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66463044 meters Centerline goodness : 0.200212 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 9.98102615e-01 9.72528664e-06 -6.15724723e-02 4.41046180e-03] [-2.48102986e-04 9.99992505e-01 -3.86385372e-03 -1.94118083e-01] [ 6.15719732e-02 3.87179881e-03 9.98095136e-01 -1.55449509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69463044 meters Centerline goodness : 0.125487 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.15 [[ 9.98126501e-01 -2.25752701e-05 -6.11840534e-02 2.98721621e-03] [-2.34977992e-04 9.99991143e-01 -4.20228502e-03 -1.91416229e-01] [ 6.11836064e-02 4.20878895e-03 9.98117655e-01 -1.54829033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72463044 meters Centerline goodness : 0.123898 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.15 [[ 9.98147922e-01 -1.29545730e-04 -6.08334455e-02 1.67834001e-03] [-1.51140752e-04 9.99989365e-01 -4.60939170e-03 -1.88789742e-01] [ 6.08333957e-02 4.61004917e-03 9.98137288e-01 -1.54248600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75463044 meters Centerline goodness : 0.141637 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.15 [[ 9.98148134e-01 -7.11136950e-04 -6.08259487e-02 1.29872173e-03] [ 3.68020099e-04 9.99983960e-01 -5.65197872e-03 -1.84394358e-01] [ 6.08289924e-02 5.61912684e-03 9.98132386e-01 -1.53797500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78463044 meters Centerline goodness : 0.126360 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.15 [[ 9.98142973e-01 -9.50128047e-04 -6.09073321e-02 1.69492126e-03] [ 5.82341392e-04 9.99981493e-01 -6.05592927e-03 -1.82773172e-01] [ 6.09119588e-02 6.00921438e-03 9.98125054e-01 -1.54112379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81463044 meters Centerline goodness : 0.117566 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.15 [[ 9.98149769e-01 -1.04082634e-03 -6.07943708e-02 1.59119857e-03] [ 6.60472757e-04 9.99980087e-01 -6.27615485e-03 -1.81570349e-01] [ 6.07996926e-02 6.22438949e-03 9.98130580e-01 -1.54358855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84463044 meters Centerline goodness : 0.135876 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.15 [[ 9.98165410e-01 -1.02738513e-03 -6.05372544e-02 7.36363833e-04] [ 6.42593196e-04 9.99979470e-01 -6.37540871e-03 -1.80483292e-01] [ 6.05425616e-02 6.32481162e-03 9.98145578e-01 -1.54072579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87463043999999 meters Centerline goodness : 0.121134 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.18, Z:-0.15 [[ 9.98184345e-01 -1.02406349e-03 -6.02242802e-02 -3.31005504e-04] [ 6.35417202e-04 9.99978854e-01 -6.47211272e-03 -1.79536806e-01] [ 6.02296346e-02 6.42209405e-03 9.98163888e-01 -1.53639381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90463043999999 meters Centerline goodness : 0.118089 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.18, Z:-0.15 [[ 9.98182253e-01 -1.09104474e-03 -6.02577738e-02 -5.52205403e-04] [ 6.91578052e-04 9.99977651e-01 -6.64975478e-03 -1.78510491e-01] [ 6.02636822e-02 6.59599425e-03 9.98160699e-01 -1.53215161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93463043999999 meters Centerline goodness : 0.121754 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99805914 0.00642084 -0.06194135 -0.01838299] [-0.00694296 0.99994213 -0.00821769 -0.18063465] [ 0.061885 0.0086318 0.99804596 -0.15601156] [ 0. 0. 0. 1. ]] SLAMing on 69.96463044 meters Centerline goodness : 0.121768 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99803866 0.00630134 -0.06228264 -0.01719332] [-0.00684389 0.99994044 -0.00850159 -0.1794127 ] [ 0.06222536 0.00891117 0.99802234 -0.15660517] [ 0. 0. 0. 1. ]] SLAMing on 69.99463044 meters Centerline goodness : 0.130433 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99802857 0.00626416 -0.06244787 -0.01646273] [-0.00681947 0.99993905 -0.0086832 -0.1783872 ] [ 0.06238967 0.00909195 0.99801045 -0.1571357 ] [ 0. 0. 0. 1. ]] SLAMing on 70.02463044 meters Centerline goodness : 0.074045 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99802555 0.0062728 -0.06249524 -0.01625712] [-0.00683644 0.99993783 -0.00880923 -0.17737 ] [ 0.06243609 0.00921908 0.99800638 -0.1572694 ] [ 0. 0. 0. 1. ]] SLAMing on 70.05463044 meters Centerline goodness : 0.069827 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99802795 0.00642619 -0.0624413 -0.0163659 ] [-0.0070018 0.99993495 -0.00900396 -0.17534214] [ 0.06237937 0.0094234 0.99800802 -0.15737264] [ 0. 0. 0. 1. ]] SLAMing on 70.08463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 70.11463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 70.14463044 meters Centerline goodness : 0.068461 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.17, Z:-0.15 [[ 9.97966138e-01 5.27666659e-04 -6.37440827e-02 -1.33601385e-04] [-1.06805157e-03 9.99963781e-01 -8.44363479e-03 -1.65282178e-01] [ 6.37373186e-02 8.49454357e-03 9.97930557e-01 -1.54698600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 70.20463044 meters Centerline goodness : 0.124058 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.15 [[ 9.98007931e-01 5.94205363e-04 -6.30857922e-02 -2.02366855e-03] [-1.13660186e-03 9.99962698e-01 -8.56222060e-03 -1.63898114e-01] [ 6.30783512e-02 8.61686749e-03 9.97971378e-01 -1.54310914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23463044 meters Centerline goodness : 0.116340 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.15 [[ 9.98005495e-01 3.77068298e-04 -6.31259832e-02 -1.55616164e-03] [-9.56883510e-04 9.99957634e-01 -9.15506814e-03 -1.61027311e-01] [ 6.31198567e-02 9.19721253e-03 9.97963574e-01 -1.54899678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26463043999999 meters Centerline goodness : 0.130280 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.16 [[ 9.97989792e-01 1.87115282e-04 -6.33745933e-02 -4.82789149e-04] [-7.95922112e-04 9.99953781e-01 -9.58137130e-03 -1.59111348e-01] [ 6.33698714e-02 9.61255200e-03 9.97943815e-01 -1.55628653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29463043999999 meters Centerline goodness : 0.116058 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.16 [[ 9.97986811e-01 8.37244989e-05 -6.34217500e-02 -1.86740588e-04] [-7.09101101e-04 9.99951353e-01 -9.83815679e-03 -1.57761927e-01] [ 6.34178410e-02 9.86332316e-03 9.97938321e-01 -1.55924617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32463043999999 meters Centerline goodness : 0.132142 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.16 [[ 9.97996221e-01 1.08416369e-04 -6.32734688e-02 -7.12276715e-04] [-7.36130995e-04 9.99950748e-01 -9.89743306e-03 -1.56803839e-01] [ 6.32692794e-02 9.92417835e-03 9.97947147e-01 -1.55708782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35463044 meters Centerline goodness : 0.108696 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.16 [[ 9.98006375e-01 -4.14975854e-06 -6.31131940e-02 -1.16182896e-03] [-6.37717412e-04 9.99948285e-01 -1.01499472e-02 -1.55000087e-01] [ 6.31099722e-02 1.01699604e-02 9.97954760e-01 -1.55541047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38463044 meters Centerline goodness : 0.111455 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:-0.16 [[ 9.98003688e-01 -1.73468542e-04 -6.31554267e-02 -1.16503665e-03] [-4.79798958e-04 9.99946545e-01 -1.03284933e-02 -1.54610621e-01] [ 6.31538423e-02 1.03381763e-02 9.97950256e-01 -1.55391406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41463044 meters Centerline goodness : 0.082483 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:-0.16 [[ 9.97998429e-01 -3.32062444e-04 -6.32378431e-02 -9.88875362e-04] [-3.33863909e-04 9.99944611e-01 -1.05196457e-02 -1.54137082e-01] [ 6.32378336e-02 1.05197028e-02 9.97943041e-01 -1.55335684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44463044 meters Centerline goodness : 0.175231 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:-0.16 [[ 9.97982074e-01 -4.11646088e-04 -6.34949621e-02 -2.44591785e-04] [-2.68024189e-04 9.99942766e-01 -1.06954291e-02 -1.53232929e-01] [ 6.34957308e-02 1.06908647e-02 9.97924846e-01 -1.55513272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47463044 meters Centerline goodness : 0.112069 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:-0.16 [[ 9.97964107e-01 -4.81424101e-04 -6.37762423e-02 7.12573688e-04] [-2.14528985e-04 9.99940514e-01 -1.09051218e-02 -1.52061085e-01] [ 6.37776985e-02 1.08966020e-02 9.97904639e-01 -1.55889260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50463044 meters Centerline goodness : 0.112538 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:-0.16 [[ 9.97944572e-01 -8.19926073e-04 -6.40777562e-02 1.89636099e-03] [ 7.31192712e-05 9.99932062e-01 -1.16561726e-02 -1.48720794e-01] [ 6.40829601e-02 1.16275289e-02 9.97876833e-01 -1.56591490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53463044 meters Centerline goodness : 0.114900 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:-0.16 [[ 9.97950641e-01 -9.74014480e-04 -6.39810063e-02 1.48647461e-03] [ 2.02003681e-04 9.99927115e-01 -1.20716105e-02 -1.46649806e-01] [ 6.39881010e-02 1.20339470e-02 9.97878102e-01 -1.56394643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56463044 meters Centerline goodness : 0.103550 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.15 [[ 0.99797935 -0.0059022 -0.06326433 0.02137564] [ 0.00535311 0.99994655 -0.00884525 -0.14107551] [ 0.06331315 0.00848872 0.99795761 -0.15442625] [ 0. 0. 0. 1. ]] SLAMing on 70.59463044 meters Centerline goodness : 0.104789 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.15 [[ 0.99799431 -0.00581601 -0.063036 0.02071911] [ 0.00525789 0.99994553 -0.00901618 -0.1389943 ] [ 0.06308501 0.00866666 0.99797053 -0.15435256] [ 0. 0. 0. 1. ]] SLAMing on 70.62463043999999 meters Centerline goodness : 0.106731 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.15 [[ 0.99799885 -0.00582527 -0.06296315 0.02068001] [ 0.00525338 0.99994347 -0.00924461 -0.13725108] [ 0.06301344 0.00889534 0.99797304 -0.15455388] [ 0. 0. 0. 1. ]] SLAMing on 70.65463043999999 meters Centerline goodness : 0.105195 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.15 [[ 0.99799667 -0.00594961 -0.06298605 0.02083232] [ 0.00535776 0.99993994 -0.00956125 -0.13576654] [ 0.06303916 0.00920463 0.99796861 -0.15473827] [ 0. 0. 0. 1. ]] SLAMing on 70.68463043999999 meters Centerline goodness : 0.105548 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.99804478 0.00168338 -0.06248022 0.03973621] [-0.00240708 0.99993087 -0.01150939 -0.13548144] [ 0.06245653 0.01163728 0.99797984 -0.15190508] [ 0. 0. 0. 1. ]] SLAMing on 70.71463044 meters Centerline goodness : 0.101847 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:-0.15 [[ 0.99805606 0.00170657 -0.06229923 0.03896482] [-0.00242879 0.99993071 -0.01151887 -0.13507452] [ 0.06227525 0.01164779 0.99799104 -0.15145766] [ 0. 0. 0. 1. ]] SLAMing on 70.74463044 meters Centerline goodness : 0.101089 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.15 [[ 0.99807486 0.00172057 -0.0619969 0.03790829] [-0.00244122 0.99993032 -0.0115501 -0.13451741] [ 0.06197271 0.01167921 0.99800951 -0.15098084] [ 0. 0. 0. 1. ]] SLAMing on 70.77463044 meters Centerline goodness : 0.105611 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99811101 -0.00604212 -0.0611384 0.05632176] [ 0.00540639 0.99992964 -0.01055826 -0.12858733] [ 0.0611979 0.01020778 0.99807345 -0.14824449] [ 0. 0. 0. 1. ]] SLAMing on 70.80463044 meters Centerline goodness : 0.104314 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.15 [[ 0.99812775 0.00137737 -0.06114818 0.03845009] [-0.00210372 0.99992798 -0.01181571 -0.13398736] [ 0.0611275 0.01192223 0.99805876 -0.151586 ] [ 0. 0. 0. 1. ]] SLAMing on 70.83463044 meters Centerline goodness : 0.105834 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99803301 -0.00587128 -0.06241513 0.05773874] [ 0.00520935 0.99992851 -0.01076267 -0.12881127] [ 0.06247386 0.01041636 0.99799224 -0.14931064] [ 0. 0. 0. 1. ]] SLAMing on 70.86463044 meters Centerline goodness : 0.105346 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99801583 -0.0058201 -0.06269386 0.05876416] [ 0.00516362 0.99993019 -0.01062819 -0.12935825] [ 0.06275134 0.01028337 0.99797621 -0.14976524] [ 0. 0. 0. 1. ]] SLAMing on 70.89463044 meters Centerline goodness : 0.106212 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99800708 -0.00585464 -0.06282982 0.05901743] [ 0.00520069 0.99993064 -0.01056686 -0.13002847] [ 0.06288732 0.01021904 0.99796831 -0.14965653] [ 0. 0. 0. 1. ]] SLAMing on 70.92463044 meters Centerline goodness : 0.105905 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99800773 -0.0058085 -0.06282388 0.05869079] [ 0.00516495 0.99993257 -0.01040135 -0.13096787] [ 0.06288006 0.01005615 0.99797043 -0.14922141] [ 0. 0. 0. 1. ]] SLAMing on 70.95463044 meters Centerline goodness : 0.112456 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99802279 -0.00567751 -0.06259608 0.05764432] [ 0.00505666 0.99993649 -0.01007237 -0.13226281] [ 0.06264929 0.00973593 0.99798812 -0.14853773] [ 0. 0. 0. 1. ]] SLAMing on 70.98463044 meters Centerline goodness : 0.440709 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.15 [[ 0.99787789 -0.00654214 -0.06478359 0.01331779] [ 0.00588819 0.99992982 -0.01028026 -0.13568739] [ 0.0648463 0.00987699 0.99784638 -0.1509862 ] [ 0. 0. 0. 1. ]] SLAMing on 71.01463043999999 meters Centerline goodness : 0.104062 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.15 [[ 0.99786269 -0.00662805 -0.06500861 0.01411266] [ 0.00597459 0.99992971 -0.01024131 -0.13658436] [ 0.06507192 0.00983102 0.99783215 -0.15133179] [ 0. 0. 0. 1. ]] SLAMing on 71.04463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.07463043999999 meters Centerline goodness : 0.450812 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.15 [[ 0.99782799 -0.0067168 -0.06553011 0.01581244] [ 0.00607953 0.99993232 -0.0099193 -0.13916977] [ 0.0655923 0.00949936 0.99780129 -0.15191034] [ 0. 0. 0. 1. ]] SLAMing on 71.10463044 meters Centerline goodness : 0.470992 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.15 [[ 0.9978291 -0.0066056 -0.06552451 0.01600381] [ 0.00598894 0.99993595 -0.00960318 -0.14065619] [ 0.06558375 0.00918991 0.99780475 -0.15215911] [ 0. 0. 0. 1. ]] SLAMing on 71.13463044 meters Centerline goodness : 0.400260 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.15 [[ 0.99783584 -0.00670264 -0.06541193 0.01561985] [ 0.0061129 0.99993889 -0.00921176 -0.14408175] [ 0.06546967 0.00879197 0.99781583 -0.15192914] [ 0. 0. 0. 1. ]] SLAMing on 71.16463044 meters Centerline goodness : 0.108151 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:-0.15 [[ 0.99782348 -0.00673331 -0.06559703 0.01598793] [ 0.00615534 0.99994047 -0.00900905 -0.14590049] [ 0.06565378 0.00858567 0.99780553 -0.1518249 ] [ 0. 0. 0. 1. ]] SLAMing on 71.19463044 meters Centerline goodness : 0.135861 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:-0.15 [[ 9.97795487e-01 7.02570650e-04 -6.63601773e-02 -1.97863499e-03] [-1.37696959e-03 9.99947869e-01 -1.01175139e-02 -1.53574286e-01] [ 6.63496096e-02 1.01865857e-02 9.97744438e-01 -1.54486672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22463044 meters Centerline goodness : 0.108022 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:-0.15 [[ 0.99775599 -0.00670956 -0.06661804 0.01772423] [ 0.0061314 0.99994178 -0.00887948 -0.15086516] [ 0.06667373 0.00845109 0.99773904 -0.15238807] [ 0. 0. 0. 1. ]] SLAMing on 71.25463044 meters Centerline goodness : 0.107146 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.16 [[ 9.97984763e-01 3.68949497e-04 -6.34529559e-02 -1.89515262e-03] [-9.17182499e-04 9.99962503e-01 -8.61108026e-03 -1.61091734e-01] [ 6.34473996e-02 8.65192483e-03 9.97947680e-01 -1.55778940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28463044 meters Centerline goodness : 0.107765 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.16 [[ 9.98012969e-01 4.82615289e-04 -6.30069874e-02 -3.13971961e-03] [-1.00636180e-03 9.99965205e-01 -8.28104401e-03 -1.62855478e-01] [ 6.30007986e-02 8.32799714e-03 9.97978729e-01 -1.55485160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31463044 meters Centerline goodness : 0.109689 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:-0.16 [[ 9.98026568e-01 4.98729279e-04 -6.27910811e-02 -3.74226304e-03] [-1.00586235e-03 9.99967131e-01 -8.04516262e-03 -1.64706786e-01] [ 6.27850049e-02 8.09244523e-03 9.97994266e-01 -1.55351607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34463044 meters Centerline goodness : 0.107683 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.17, Z:-0.16 [[ 9.98020914e-01 5.31081321e-04 -6.28806264e-02 -3.49275483e-03] [-1.02482127e-03 9.99968898e-01 -7.82002791e-03 -1.66398702e-01] [ 6.28745176e-02 7.86899280e-03 9.97990418e-01 -1.55413388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37463043999999 meters Centerline goodness : 0.109351 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.17, Z:-0.16 [[ 9.98010293e-01 6.11142119e-04 -6.30482484e-02 -2.91803524e-03] [-1.09139865e-03 9.99970652e-01 -7.58312746e-03 -1.67746207e-01] [ 6.30417637e-02 7.63685003e-03 9.97981670e-01 -1.55678659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40463043999999 meters Centerline goodness : 0.107975 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99802889 -0.0046638 -0.06258254 0.01844815] [ 0.00440809 0.99998137 -0.00422338 -0.16667226] [ 0.06260107 0.00393919 0.99803086 -0.15450949] [ 0. 0. 0. 1. ]] SLAMing on 71.43463043999999 meters Centerline goodness : 0.107975 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99802889 -0.0046638 -0.06258254 0.01844815] [ 0.00440809 0.99998137 -0.00422338 -0.16667226] [ 0.06260107 0.00393919 0.99803086 -0.15450949] [ 0. 0. 0. 1. ]] SLAMing on 71.46463044 meters Centerline goodness : 0.110125 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99804556 -0.00455842 -0.06232401 0.01771212] [ 0.00431389 0.99998246 -0.00405756 -0.16715241] [ 0.06234141 0.00378077 0.99804772 -0.1543124 ] [ 0. 0. 0. 1. ]] SLAMing on 71.49463044 meters Centerline goodness : 0.109702 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99806683 -0.004514 -0.06198572 0.01671833] [ 0.00427588 0.99998296 -0.00397368 -0.16756953] [ 0.0620026 0.00370096 0.99806913 -0.15401812] [ 0. 0. 0. 1. ]] SLAMing on 71.52463044 meters Centerline goodness : 0.108437 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99808796 -0.00455144 -0.06164174 0.01557486] [ 0.00431385 0.99998275 -0.00398684 -0.16779658] [ 0.06165882 0.0037133 0.99809038 -0.15360096] [ 0. 0. 0. 1. ]] SLAMing on 71.55463044 meters Centerline goodness : 0.108482 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.15 [[ 0.99810194 -0.00446455 -0.06142134 0.01467133] [ 0.00423254 0.99998341 -0.003907 -0.16772556] [ 0.06143776 0.00363962 0.99810428 -0.15308951] [ 0. 0. 0. 1. ]] SLAMing on 71.58463044 meters Centerline goodness : 0.121183 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.9980856 -0.00440654 -0.06169046 0.0155493 ] [ 0.00417675 0.99998385 -0.00385334 -0.16771063] [ 0.06170645 0.0035883 0.99808789 -0.15341117] [ 0. 0. 0. 1. ]] SLAMing on 71.61463044 meters Centerline goodness : 0.125647 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99805738 -0.00443788 -0.06214308 0.01697484] [ 0.00420632 0.99998372 -0.00385656 -0.16797429] [ 0.06215919 0.00358767 0.9980598 -0.15386572] [ 0. 0. 0. 1. ]] SLAMing on 71.64463044 meters Centerline goodness : 0.124540 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99801979 -0.00452635 -0.06273763 0.01880399] [ 0.00429598 0.99998353 -0.00380633 -0.16903848] [ 0.06275383 0.00352927 0.9980228 -0.15439074] [ 0. 0. 0. 1. ]] SLAMing on 71.67463044 meters Centerline goodness : 0.128422 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 0.99797546 -0.00461229 -0.06343265 0.02061473] [ 0.00438819 0.99998363 -0.00367176 -0.1706136 ] [ 0.06344854 0.00338597 0.99797937 -0.15457126] [ 0. 0. 0. 1. ]] SLAMing on 71.70463044 meters Centerline goodness : 0.109196 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:-0.16 [[ 0.99791747 0.00256042 -0.06445288 0.00323529] [-0.00287893 0.9999841 -0.00484931 -0.17856042] [ 0.06443944 0.00502477 0.99790897 -0.15721491] [ 0. 0. 0. 1. ]] SLAMing on 71.73463044 meters Centerline goodness : 0.134672 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 0.99792892 0.00273369 -0.06426817 0.00253963] [-0.0029963 0.99998755 -0.00399009 -0.18502471] [ 0.06425646 0.00417439 0.99792469 -0.15680182] [ 0. 0. 0. 1. ]] SLAMing on 71.76463043999999 meters Centerline goodness : 0.121038 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 0.99794758 0.0028826 -0.06397116 0.00183112] [-0.00310678 0.99998938 -0.0034052 -0.18835293] [ 0.06396066 0.00359695 0.99794594 -0.15671952] [ 0. 0. 0. 1. ]] SLAMing on 71.79463043999999 meters Centerline goodness : 0.125508 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 0.99795261 0.00301698 -0.06388654 0.00166518] [-0.00320721 0.99999072 -0.00287524 -0.19154707] [ 0.06387727 0.00307425 0.99795303 -0.15672284] [ 0. 0. 0. 1. ]] SLAMing on 71.82463043999999 meters Centerline goodness : 0.105559 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:-0.16 [[ 0.99794701 0.0032012 -0.06396504 0.00200357] [-0.0033583 0.9999916 -0.00234854 -0.19466047] [ 0.06395699 0.00255853 0.99794938 -0.15690601] [ 0. 0. 0. 1. ]] SLAMing on 71.85463044 meters Centerline goodness : 0.107626 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:-0.16 [[ 0.99773174 0.0032731 -0.06723581 -0.03985562] [-0.00339999 0.99999265 -0.00177297 -0.20335989] [ 0.06722951 0.00199755 0.99773554 -0.15941329] [ 0. 0. 0. 1. ]] SLAMing on 71.88463044 meters Centerline goodness : 0.109995 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:-0.16 [[ 0.99770856 0.0034523 -0.06757005 -0.03891989] [-0.00356143 0.99999254 -0.00149474 -0.20463303] [ 0.06756438 0.00173196 0.99771341 -0.15963441] [ 0. 0. 0. 1. ]] SLAMing on 71.91463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.94463044 meters Centerline goodness : 0.135561 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:-0.16 [[ 9.97700881e-01 4.03406467e-03 -6.76511561e-02 -3.84864214e-02] [-4.09514056e-03 9.99991323e-01 -7.64150696e-04 -2.07231264e-01] [ 6.76474865e-02 1.03943482e-03 9.97708744e-01 -1.59985884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97463044 meters Centerline goodness : 0.117266 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:-0.16 [[ 9.97715723e-01 4.23349210e-03 -6.74196814e-02 -3.90715000e-02] [-4.27389657e-03 9.99990763e-01 -4.55071910e-04 -2.08630700e-01] [ 6.74171321e-02 7.42177145e-04 9.97724601e-01 -1.59952136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00463044 meters Centerline goodness : 0.164679 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:-0.16 [[ 0.99778153 0.00237128 -0.06653118 -0.04227773] [-0.00250059 0.99999514 -0.00186041 -0.21356274] [ 0.06652644 0.00202265 0.99778261 -0.15895715] [ 0. 0. 0. 1. ]] SLAMing on 72.03463044 meters Centerline goodness : 0.115871 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:-0.16 [[ 0.9977622 0.00238565 -0.06681987 -0.04150185] [-0.00249634 0.99999565 -0.00157314 -0.21574805] [ 0.06681583 0.00173642 0.99776381 -0.15905589] [ 0. 0. 0. 1. ]] SLAMing on 72.06463044 meters Centerline goodness : 0.245892 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:-0.16 [[ 0.9977425 0.00243859 -0.06711149 -0.04077065] [-0.00252304 0.99999613 -0.00117353 -0.21830737] [ 0.06710837 0.00134021 0.99774479 -0.15911107] [ 0. 0. 0. 1. ]] SLAMing on 72.09463044 meters Centerline goodness : 0.114884 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:-0.16 [[ 9.97727078e-01 2.61574890e-03 -6.73337707e-02 -4.03331528e-02] [-2.65902593e-03 9.99996312e-01 -5.53108996e-04 -2.21494870e-01] [ 6.73320756e-02 7.30894064e-04 9.97730353e-01 -1.58941935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12463043999999 meters Centerline goodness : 0.120449 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:-0.16 [[ 9.97720508e-01 2.68768979e-03 -6.74282131e-02 -4.02335710e-02] [-2.69733518e-03 9.99996361e-01 -5.20052319e-05 -2.24376832e-01] [ 6.74278280e-02 2.33763178e-04 9.97724127e-01 -1.58713963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15463043999999 meters Centerline goodness : 0.103251 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.23, Z:-0.16 [[ 9.97739783e-01 -6.38141062e-04 -6.71931339e-02 -4.15676909e-02] [ 4.85193869e-04 9.99997254e-01 -2.29252715e-03 -2.30979387e-01] [ 6.71944123e-02 2.25474385e-03 9.97737354e-01 -1.57767005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18463043999999 meters Centerline goodness : 0.122634 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.23, Z:-0.16 [[ 9.97734945e-01 -7.94087170e-04 -6.72632751e-02 -4.15363540e-02] [ 6.64611014e-04 9.99997883e-01 -1.94727144e-03 -2.34334106e-01] [ 6.72646791e-02 1.89815685e-03 9.97733361e-01 -1.57523019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21463044 meters Centerline goodness : 0.113866 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.24, Z:-0.16 [[ 9.97738547e-01 -8.33000101e-04 -6.72093596e-02 -4.17781315e-02] [ 7.33564618e-04 9.99998600e-01 -1.50415417e-03 -2.37477031e-01] [ 6.72105185e-02 1.45145019e-03 9.97737761e-01 -1.57339780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24463044 meters Centerline goodness : 0.181237 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.24, Z:-0.16 [[ 9.97738379e-01 -7.09795251e-04 -6.72132705e-02 -4.17903250e-02] [ 6.48194857e-04 9.99999350e-01 -9.38295411e-04 -2.40653262e-01] [ 6.72138928e-02 8.92606046e-04 9.97738190e-01 -1.57256917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27463044 meters Centerline goodness : 0.126498 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.25, Z:-0.16 [[ 0.9977199 -0.00263802 -0.06743913 -0.04176917] [ 0.00253344 0.99999545 -0.00163629 -0.24879271] [ 0.06744314 0.00146171 0.99772205 -0.15715816] [ 0. 0. 0. 1. ]] SLAMing on 72.30463044 meters Centerline goodness : 0.045181 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.25, Z:-0.16 [[ 0.99770222 -0.0026269 -0.06770068 -0.04117409] [ 0.00254814 0.99999597 -0.00124966 -0.25117359] [ 0.06770369 0.00107427 0.99770489 -0.15724278] [ 0. 0. 0. 1. ]] SLAMing on 72.33463044 meters Centerline goodness : 0.048382 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.25, Z:-0.16 [[ 9.97712023e-01 -2.65170763e-03 -6.75550748e-02 -4.15165230e-02] [ 2.59743623e-03 9.99996230e-01 -8.91188123e-04 -2.53289611e-01] [ 6.75571833e-02 7.13679106e-04 9.97715149e-01 -1.57375757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36463044 meters Centerline goodness : 0.096986 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.26, Z:-0.16 [[ 9.97717776e-01 -2.61735783e-03 -6.74713976e-02 -4.19781392e-02] [ 2.59088208e-03 9.99996529e-01 -4.79901668e-04 -2.55382388e-01] [ 6.74724195e-02 3.03995990e-04 9.97721093e-01 -1.57196691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39463044 meters Centerline goodness : 0.095093 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.26, Z:-0.16 [[ 9.97821471e-01 5.61810895e-03 -6.57324039e-02 -5.98311290e-02] [-5.69346196e-03 9.99983332e-01 -9.59089745e-04 -2.63578255e-01] [ 6.57259200e-02 1.33124528e-03 9.97836826e-01 -1.59984630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42463044 meters Centerline goodness : 0.088819 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.26, Z:-0.16 [[ 9.97883841e-01 -1.73781962e-03 -6.49986110e-02 -4.05892127e-02] [ 1.76104055e-03 9.99998404e-01 2.99961186e-04 -2.62297968e-01] [ 6.49979861e-02 -4.13791610e-04 9.97885309e-01 -1.57661797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45463044 meters Centerline goodness : 0.124731 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.27, Z:-0.16 [[ 0.99795218 0.00445426 -0.06380914 -0.01992853] [-0.00461892 0.99998637 -0.00243321 -0.26895687] [ 0.06379743 0.00272295 0.99795915 -0.15606442] [ 0. 0. 0. 1. ]] SLAMing on 72.48463044 meters Centerline goodness : 0.447372 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.27, Z:-0.16 [[ 0.99795382 0.00465953 -0.06376883 -0.02020499] [-0.00479715 0.99998648 -0.00200509 -0.27089038] [ 0.06375863 0.00230689 0.99796268 -0.15584215] [ 0. 0. 0. 1. ]] SLAMing on 72.51463043999999 meters Centerline goodness : 0.454646 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.27, Z:-0.16 [[ 0.99796682 0.00494106 -0.06354386 -0.02075228] [-0.00504741 0.99998612 -0.00151333 -0.2726868 ] [ 0.0635355 0.00183099 0.9979779 -0.15581341] [ 0. 0. 0. 1. ]] SLAMing on 72.54463043999999 meters Centerline goodness : 0.092152 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.27, Z:-0.15 [[ 9.98034545e-01 -2.15522181e-03 -6.26290808e-02 -1.64588870e-03] [ 2.16031950e-03 9.99997666e-01 1.36789874e-05 -2.70936113e-01] [ 6.26289052e-02 -1.48950926e-04 9.98036872e-01 -1.53675821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57463043999999 meters Centerline goodness : 0.419577 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.28, Z:-0.16 [[ 9.97999450e-01 -5.51336384e-03 -6.29817454e-02 2.04114591e-04] [ 5.38435807e-03 9.99983045e-01 -2.21784841e-03 -2.76535596e-01] [ 6.29929053e-02 1.87429522e-03 9.98012215e-01 -1.55217477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60463044 meters Centerline goodness : 0.255633 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.28, Z:-0.16 [[ 0.99796556 -0.00557499 -0.06351115 0.00137786] [ 0.00546631 0.99998328 -0.00188489 -0.27875925] [ 0.06352059 0.00153388 0.99797935 -0.15537176] [ 0. 0. 0. 1. ]] SLAMing on 72.63463044 meters Centerline goodness : 0.111015 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.28, Z:-0.16 [[ 9.97942116e-01 -5.38279341e-03 -6.38949092e-02 2.21121159e-03] [ 5.31571196e-03 9.99985128e-01 -1.21982358e-03 -2.81565632e-01] [ 6.39005250e-02 8.77666388e-04 9.97955887e-01 -1.55573479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66463044 meters Centerline goodness : 0.122184 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.28, Z:-0.16 [[ 9.97915435e-01 -5.09048343e-03 -6.43340595e-02 3.23038868e-03] [ 5.06781389e-03 9.99987026e-01 -5.15553997e-04 -2.84933850e-01] [ 6.43358492e-02 1.88446251e-04 9.97928285e-01 -1.55495178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69463044 meters Centerline goodness : 0.243366 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:-0.16 [[ 0.99795685 0.00263006 -0.06383737 -0.0109258 ] [-0.00272582 0.99999529 -0.00141297 -0.29749044] [ 0.06383336 0.00158409 0.99795931 -0.15824887] [ 0. 0. 0. 1. ]] SLAMing on 72.72463044 meters Centerline goodness : 0.094321 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:-0.16 [[ 9.97951559e-01 2.78369422e-03 -6.39135048e-02 -1.09333421e-02] [-2.85148009e-03 9.99995465e-01 -9.69394612e-04 -3.00101980e-01] [ 6.39105165e-02 1.14965695e-03 9.97954971e-01 -1.57956881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75463044 meters Centerline goodness : 0.098099 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.30, Z:-0.16 [[ 9.97954199e-01 -4.15186898e-03 -6.37979447e-02 7.82460957e-03] [ 4.18698283e-03 9.99991148e-01 4.16704266e-04 -2.98780438e-01] [ 6.37956499e-02 -6.82972672e-04 9.97962749e-01 -1.55573883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78463044 meters Centerline goodness : 0.233620 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.30, Z:-0.16 [[ 0.99794827 -0.00383176 -0.06391058 0.00835885] [ 0.00390492 0.99999186 0.00101974 -0.30145687] [ 0.06390615 -0.00126722 0.99795511 -0.15588078] [ 0. 0. 0. 1. ]] SLAMing on 72.81463044 meters Centerline goodness : 0.145502 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.30, Z:-0.16 [[ 0.99793541 -0.00353415 -0.06412815 0.00908994] [ 0.00364629 0.99999202 0.00163163 -0.30425859] [ 0.06412187 -0.00186209 0.99794034 -0.15610553] [ 0. 0. 0. 1. ]] SLAMing on 72.84463044 meters Centerline goodness : 0.351133 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.31, Z:-0.16 [[ 0.99791791 -0.00328357 -0.06441315 0.01008193] [ 0.00343307 0.99999166 0.00221046 -0.30721717] [ 0.06440535 -0.00242699 0.99792087 -0.15645719] [ 0. 0. 0. 1. ]] SLAMing on 72.87463043999999 meters Centerline goodness : 0.200485 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.31, Z:-0.16 [[ 0.99788131 -0.00294771 -0.06499384 0.01224865] [ 0.00314877 0.99999057 0.0029913 -0.31326385] [ 0.0649844 -0.00318961 0.99788118 -0.15724316] [ 0. 0. 0. 1. ]] SLAMing on 72.90463043999999 meters Centerline goodness : 0.118653 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.31, Z:-0.16 [[ 0.99788087 -0.00279517 -0.06500732 0.0121923 ] [ 0.00301074 0.99999029 0.00321839 -0.31443976] [ 0.06499769 -0.00340729 0.9978796 -0.15706338] [ 0. 0. 0. 1. ]] SLAMing on 72.93463043999999 meters Centerline goodness : 0.119114 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.32, Z:-0.16 [[ 0.99794229 0.00789441 -0.06363068 0.03106516] [-0.00769435 0.99996466 0.00338839 -0.3169796 ] [ 0.06365518 -0.00289182 0.99796776 -0.15506193] [ 0. 0. 0. 1. ]] SLAMing on 72.96463044 meters Centerline goodness : 0.193355 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.32, Z:-0.16 [[ 0.99795747 0.00823421 -0.06334892 0.03060478] [-0.00803357 0.99996188 0.00342136 -0.31586384] [ 0.06337467 -0.00290545 0.99798558 -0.15533851] [ 0. 0. 0. 1. ]] SLAMing on 72.99463044 meters Centerline goodness : 0.124973 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:-0.15 [[ 0.99794325 0.00848124 -0.06354 0.03109114] [-0.0083045 0.99996088 0.00304517 -0.31379546] [ 0.06356334 -0.00251124 0.99797465 -0.15487028] [ 0. 0. 0. 1. ]] SLAMing on 73.02463044 meters Centerline goodness : 0.140462 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:-0.15 [[ 0.99795909 0.00853137 -0.06328406 0.03043906] [-0.00838289 0.99996145 0.00261131 -0.31162365] [ 0.0633039 -0.00207548 0.99799214 -0.15450717] [ 0. 0. 0. 1. ]] SLAMing on 73.05463044 meters Centerline goodness : 0.138756 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:-0.15 [[ 9.97892937e-01 1.75525012e-02 -6.24627590e-02 4.96828061e-02] [-1.74595989e-02 9.99845503e-01 2.03287594e-03 -3.13718637e-01] [ 6.24887907e-02 -9.38017828e-04 9.98045225e-01 -1.53259703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08463044 meters Centerline goodness : 0.132034 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:-0.15 [[ 9.97902895e-01 1.74528083e-02 -6.23314736e-02 4.96056143e-02] [-1.73838427e-02 9.99847530e-01 1.64860930e-03 -3.11809824e-01] [ 6.23507428e-02 -5.61591459e-04 9.98054142e-01 -1.53498243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11463044 meters Centerline goodness : 0.113621 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:-0.15 [[ 9.97939614e-01 1.67810173e-02 -6.19267656e-02 4.84313144e-02] [-1.67756204e-02 9.99859095e-01 6.07114217e-04 -3.08705133e-01] [ 6.19282278e-02 4.32996583e-04 9.98080511e-01 -1.53207661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14463044 meters Centerline goodness : 0.109323 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.30, Z:-0.15 [[ 9.98057197e-01 7.56118884e-03 -6.18438319e-02 2.91334208e-02] [-7.55515979e-03 9.99971404e-01 3.31334874e-04 -3.02946181e-01] [ 6.18445688e-02 1.36548876e-04 9.98085783e-01 -1.54676438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17463044 meters Centerline goodness : 0.109565 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:-0.15 [[ 9.97955224e-01 5.02058323e-04 -6.39149282e-02 4.59744128e-02] [-4.20098829e-04 9.99999072e-01 1.29575419e-03 -2.96182016e-01] [ 6.39155194e-02 -1.26625408e-03 9.97954509e-01 -1.51895005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20463044 meters Centerline goodness : 0.111376 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:-0.15 [[ 9.97931906e-01 4.05470946e-04 -6.42786586e-02 4.73668690e-02] [-3.25407082e-04 9.99999158e-01 1.25603888e-03 -2.96081793e-01] [ 6.42791138e-02 -1.23252454e-03 9.97931198e-01 -1.52586448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23463044 meters Centerline goodness : 0.134140 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.30, Z:-0.16 [[ 9.97702309e-01 8.64790572e-03 -6.71961081e-02 3.47217277e-02] [-8.64701135e-03 9.99962568e-01 3.04166833e-04 -3.04109639e-01] [ 6.71962232e-02 2.77577558e-04 9.97739741e-01 -1.55896571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26463043999999 meters Centerline goodness : 0.169614 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.31, Z:-0.16 [[ 0.9976769 0.00607317 -0.06785213 0.03707171] [-0.00621788 0.99997882 -0.00192164 -0.30646926] [ 0.06783902 0.00233907 0.99769354 -0.15688861] [ 0. 0. 0. 1. ]] SLAMing on 73.29463043999999 meters Centerline goodness : 0.166310 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.31, Z:-0.16 [[ 0.99764888 0.00606965 -0.06826328 0.03797098] [-0.00620359 0.99997923 -0.00175031 -0.30757643] [ 0.06825124 0.00216967 0.99766581 -0.15678088] [ 0. 0. 0. 1. ]] SLAMing on 73.32463043999999 meters Centerline goodness : 0.163630 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.30, Z:-0.15 [[ 9.97623911e-01 -8.19155455e-04 -6.88902161e-02 5.74717840e-02] [ 7.74475115e-04 9.99999472e-01 -6.75279192e-04 -3.03743518e-01] [ 6.88907329e-02 6.20320910e-04 9.97624018e-01 -1.54135278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35463044 meters Centerline goodness : 0.163630 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.30, Z:-0.15 [[ 9.97623911e-01 -8.19155455e-04 -6.88902161e-02 5.74717840e-02] [ 7.74475115e-04 9.99999472e-01 -6.75279192e-04 -3.03743518e-01] [ 6.88907329e-02 6.20320910e-04 9.97624018e-01 -1.54135278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38463044 meters Centerline goodness : 0.117829 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.30, Z:-0.15 [[ 9.97613241e-01 -7.15883610e-04 -6.90456944e-02 5.78463909e-02] [ 6.72989266e-04 9.99999566e-01 -6.44505010e-04 -3.03744591e-01] [ 6.90461258e-02 5.96499721e-04 9.97613290e-01 -1.54019130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41463044 meters Centerline goodness : 0.162773 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.30, Z:-0.15 [[ 9.97600506e-01 -7.54873215e-04 -6.92290382e-02 5.82530740e-02] [ 6.89650524e-04 9.99999296e-01 -9.66024863e-04 -3.02703246e-01] [ 6.92297187e-02 9.15963050e-04 9.97600324e-01 -1.53719974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44463044 meters Centerline goodness : 0.118583 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.30, Z:-0.15 [[ 0.99764769 0.0089676 -0.06796079 0.07710136] [-0.00908089 0.99995785 -0.00135823 -0.30350561] [ 0.06794574 0.00197218 0.99768707 -0.15186611] [ 0. 0. 0. 1. ]] SLAMing on 73.47463044 meters Centerline goodness : 0.126916 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.30, Z:-0.15 [[ 9.97610589e-01 1.25464841e-02 -6.79389295e-02 7.67961901e-02] [-1.24740085e-02 9.99921085e-01 1.49091359e-03 -3.00391544e-01] [ 6.79522738e-02 -6.39880397e-04 9.97688368e-01 -1.51208681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50463044 meters Centerline goodness : 0.125982 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.30, Z:-0.15 [[ 9.97594595e-01 1.28917563e-02 -6.81089335e-02 7.74705145e-02] [-1.28307209e-02 9.99916794e-01 1.33353820e-03 -2.98509192e-01] [ 6.81204581e-02 -4.56443790e-04 9.97676999e-01 -1.51292381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53463044 meters Centerline goodness : 0.123920 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.30, Z:-0.15 [[ 9.97559325e-01 1.29981958e-02 -6.86035041e-02 7.88287805e-02] [-1.29669350e-02 9.99915520e-01 9.00986060e-04 -2.96243666e-01] [ 6.86094196e-02 -9.20987041e-06 9.97643597e-01 -1.51301543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56463044 meters Centerline goodness : 0.123311 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:-0.15 [[ 9.97541058e-01 1.28963965e-02 -6.88877344e-02 7.96440625e-02] [-1.28973232e-02 9.99916733e-01 4.31327576e-04 -2.94263454e-01] [ 6.88875609e-02 4.58200411e-04 9.97624325e-01 -1.51343841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59463044 meters Centerline goodness : 0.112821 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:-0.15 [[ 9.97524057e-01 1.27901675e-02 -6.91532156e-02 8.03058973e-02] [-1.28171903e-02 9.99917855e-01 5.29434931e-05 -2.92770983e-01] [ 6.91482122e-02 8.33537517e-04 9.97606049e-01 -1.51290950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62463043999999 meters Centerline goodness : 0.123296 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:-0.15 [[ 9.97514991e-01 1.27804551e-02 -6.92856633e-02 8.02728768e-02] [-1.28177748e-02 9.99917845e-01 -9.40654865e-05 -2.91916999e-01] [ 6.92787689e-02 9.81919759e-04 9.97596856e-01 -1.50853591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65463043999999 meters Centerline goodness : 0.133105 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:-0.15 [[ 9.97527210e-01 1.26644805e-02 -6.91308687e-02 7.96202395e-02] [-1.27041416e-02 9.99919290e-01 -1.34071424e-04 -2.92134574e-01] [ 6.91235912e-02 1.01198823e-03 9.97607591e-01 -1.50575217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68463043999999 meters Centerline goodness : 0.112164 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97680145e-01 4.19245997e-03 -6.79466796e-02 9.80732505e-02] [-4.17375807e-03 9.99991203e-01 4.17202666e-04 -2.86921470e-01] [ 6.79478310e-02 -1.32641815e-04 9.97688867e-01 -1.48864720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71463044 meters Centerline goodness : 0.123128 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97725646e-01 3.79613060e-03 -6.72987751e-02 9.62098635e-02] [-3.77775832e-03 9.99992784e-01 4.00257621e-04 -2.88276749e-01] [ 6.72998090e-02 -1.45108785e-04 9.97732787e-01 -1.48321166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74463044 meters Centerline goodness : 0.134620 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97745868e-01 3.76842806e-03 -6.69998694e-02 9.55395628e-02] [-3.73866885e-03 9.99992849e-01 5.69549188e-04 -2.88973280e-01] [ 6.70015366e-02 -3.17775025e-04 9.97752822e-01 -1.48469131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77463044 meters Centerline goodness : 0.127631 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97743715e-01 3.75024115e-03 -6.70329323e-02 9.57252835e-02] [-3.72052696e-03 9.99992917e-01 5.68111735e-04 -2.89057290e-01] [ 6.70345881e-02 -3.17432081e-04 9.97750602e-01 -1.48596702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80463044 meters Centerline goodness : 0.175215 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97724837e-01 3.64776634e-03 -6.73189706e-02 9.65171563e-02] [-3.62674225e-03 9.99993329e-01 4.34516197e-04 -2.88792839e-01] [ 6.73201065e-02 -1.89379047e-04 9.97731410e-01 -1.48707345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83463044 meters Centerline goodness : 0.123493 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97698234e-01 3.50157683e-03 -6.77198103e-02 9.75891658e-02] [-3.50169006e-03 9.99993862e-01 1.17031431e-04 -2.88033502e-01] [ 6.77198044e-02 1.20371735e-04 9.97704372e-01 -1.48771251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86463044 meters Centerline goodness : 0.110835 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97673858e-01 3.32579951e-03 -6.80867928e-02 9.85054558e-02] [-3.35326685e-03 9.99994336e-01 -2.89131026e-04 -2.86877337e-01] [ 6.80854456e-02 5.16771652e-04 9.97679360e-01 -1.48670876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89463044 meters Centerline goodness : 0.123707 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97676574e-01 3.38653563e-03 -6.80439995e-02 9.83582301e-02] [-3.41761472e-03 9.99994102e-01 -3.40345788e-04 -2.86184617e-01] [ 6.80424456e-02 5.72103193e-04 9.97682263e-01 -1.48613686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92463044 meters Centerline goodness : 0.123593 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97691702e-01 3.44333046e-03 -6.78189652e-02 9.78021863e-02] [-3.47419196e-03 9.99993908e-01 -3.37118221e-04 -2.85774346e-01] [ 6.78173913e-02 5.71956155e-04 9.97697587e-01 -1.48615443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95463044 meters Centerline goodness : 0.128454 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97704722e-01 3.41303603e-03 -6.76286779e-02 9.73439492e-02] [-3.44767410e-03 9.99993979e-01 -3.95472078e-04 -2.85591266e-01] [ 6.76269209e-02 6.27726001e-04 9.97710482e-01 -1.48583849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98463044 meters Centerline goodness : 0.114224 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.29, Z:-0.15 [[ 0.99763939 0.01038731 -0.06788036 0.11355697] [-0.01051328 0.99994361 -0.00149883 -0.29245323] [ 0.06786097 0.00220894 0.99769234 -0.14657204] [ 0. 0. 0. 1. ]] SLAMing on 74.01463043999999 meters Centerline goodness : 0.114337 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97684937e-01 9.20993622e-04 -6.79993980e-02 9.54318503e-02] [-1.04076148e-03 9.99997969e-01 -1.72590203e-03 -2.88572796e-01] [ 6.79976703e-02 1.79267762e-03 9.97683869e-01 -1.48507856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04463043999999 meters Centerline goodness : 0.136853 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 0.99766899 0.00105147 -0.06823113 0.09602552] [-0.0011519 0.99999831 -0.00143258 -0.28972889] [ 0.06822951 0.00150784 0.99766851 -0.14854443] [ 0. 0. 0. 1. ]] SLAMing on 74.07463043999999 meters Centerline goodness : 0.116498 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 0.99765998 0.00119058 -0.06836036 0.09653558] [-0.0012744 0.99999849 -0.00118251 -0.29051962] [ 0.06835885 0.00126686 0.99765999 -0.14878269] [ 0. 0. 0. 1. ]] SLAMing on 74.10463044 meters Centerline goodness : 0.111425 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.15 [[ 9.97666313e-01 1.34811018e-03 -6.82649970e-02 9.63009584e-02] [-1.41753240e-03 9.99998526e-01 -9.68521751e-04 -2.91133732e-01] [ 6.82635907e-02 1.06302937e-03 9.97666754e-01 -1.48723578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13463044 meters Centerline goodness : 0.125765 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 9.97729722e-01 1.78573448e-03 -6.73217168e-02 9.36684086e-02] [-1.85099626e-03 9.99997876e-01 -9.07037127e-04 -2.89933623e-01] [ 6.73199541e-02 1.02959015e-03 9.97730907e-01 -1.48161564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16463044 meters Centerline goodness : 0.129805 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 0.9977337 0.00193447 -0.06725858 0.09358691] [-0.00201297 0.99999737 -0.00109938 -0.28819799] [ 0.06725628 0.00123227 0.99773497 -0.14825502] [ 0. 0. 0. 1. ]] SLAMing on 74.19463044 meters Centerline goodness : 0.111528 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 0.99770472 0.00224726 -0.06767747 0.09475047] [-0.00233309 0.99999657 -0.00118923 -0.28629613] [ 0.06767456 0.00134439 0.99770654 -0.14858798] [ 0. 0. 0. 1. ]] SLAMing on 74.22463044 meters Centerline goodness : 0.114063 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99768976 0.0025292 -0.06788774 0.09564245] [-0.00262054 0.99999578 -0.00125643 -0.28451098] [ 0.06788428 0.00143143 0.99769218 -0.14917254] [ 0. 0. 0. 1. ]] SLAMing on 74.25463044 meters Centerline goodness : 0.193272 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99768079 0.00259954 -0.06801681 0.0961651 ] [-0.00270646 0.99999524 -0.00147979 -0.28271063] [ 0.06801264 0.00166044 0.99768308 -0.14951538] [ 0. 0. 0. 1. ]] SLAMing on 74.28463044 meters Centerline goodness : 0.122363 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99768541 0.00242937 -0.06795526 0.09575832] [-0.00256761 0.99999481 -0.00194709 -0.28060061] [ 0.06795018 0.00211706 0.99768647 -0.14922935] [ 0. 0. 0. 1. ]] SLAMing on 74.31463044 meters Centerline goodness : 0.121410 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99769365 0.00234271 -0.06783729 0.09518537] [-0.0024851 0.99999488 -0.00201474 -0.28065689] [ 0.06783222 0.00217868 0.99769436 -0.14884351] [ 0. 0. 0. 1. ]] SLAMing on 74.34463044 meters Centerline goodness : 0.136412 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99768518 0.0022518 -0.06796484 0.09534027] [-0.0023964 0.99999504 -0.00204616 -0.28088733] [ 0.06795989 0.0022043 0.99768562 -0.14862754] [ 0. 0. 0. 1. ]] SLAMing on 74.37463043999999 meters Centerline goodness : 0.119333 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99766234 0.00213889 -0.06830282 0.09635983] [-0.00228884 0.99999514 -0.00211726 -0.28093989] [ 0.06829796 0.00226864 0.99766239 -0.14891057] [ 0. 0. 0. 1. ]] SLAMing on 74.40463043999999 meters Centerline goodness : 0.133547 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99759984 0.00193144 -0.06921578 0.0991553 ] [-0.00209849 0.99999506 -0.00234092 -0.28006867] [ 0.06921091 0.00248055 0.99759897 -0.14970287] [ 0. 0. 0. 1. ]] SLAMing on 74.43463043999999 meters Centerline goodness : 0.130516 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99759433 0.00189605 -0.06929615 0.09943129] [-0.00207415 0.99999473 -0.00249817 -0.27896759] [ 0.06929105 0.0026359 0.997593 -0.14981824] [ 0. 0. 0. 1. ]] SLAMing on 74.46463044 meters Centerline goodness : 0.093519 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99760404 0.00185205 -0.06915745 0.09895814] [-0.00204628 0.99999416 -0.00273778 -0.27736242] [ 0.06915197 0.00287274 0.997602 -0.14962547] [ 0. 0. 0. 1. ]] SLAMing on 74.49463044 meters Centerline goodness : 0.123407 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.28, Z:-0.15 [[ 0.99761872 0.00177885 -0.06894734 0.09833929] [-0.00199354 0.99999338 -0.00304512 -0.27549873] [ 0.06894146 0.00317532 0.99761565 -0.14950401] [ 0. 0. 0. 1. ]] SLAMing on 74.52463044 meters Centerline goodness : 0.113617 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.27, Z:-0.15 [[ 0.99762475 0.00159327 -0.06886456 0.09804768] [-0.00183973 0.99999213 -0.00351565 -0.27315775] [ 0.06885842 0.00363399 0.99761982 -0.14940394] [ 0. 0. 0. 1. ]] SLAMing on 74.55463044 meters Centerline goodness : 0.113755 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.27, Z:-0.15 [[ 0.99762111 0.00138163 -0.06892174 0.09826959] [-0.00166339 0.99999049 -0.00403089 -0.27066805] [ 0.06891552 0.00413595 0.99761393 -0.14957123] [ 0. 0. 0. 1. ]] SLAMing on 74.58463044 meters Centerline goodness : 0.115558 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.27, Z:-0.15 [[ 9.97586548e-01 8.10680431e-04 -6.94292537e-02 1.00088708e-01] [-1.17766709e-03 9.99985551e-01 -5.24499558e-03 -2.65177390e-01] [ 6.94239985e-02 5.31410158e-03 9.97573089e-01 -1.50480654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61463044 meters Centerline goodness : 0.121941 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.26, Z:-0.15 [[ 9.97580781e-01 5.68269220e-04 -6.95144699e-02 1.00397950e-01] [-9.70241126e-04 9.99983004e-01 -5.74893745e-03 -2.62907397e-01] [ 6.95100215e-02 5.80247531e-03 9.97564378e-01 -1.50641640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64463044 meters Centerline goodness : 0.133234 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.26, Z:-0.15 [[ 9.97594051e-01 3.84022039e-04 -6.93250413e-02 9.97747435e-02] [-8.10364201e-04 9.99980933e-01 -6.12188297e-03 -2.61084493e-01] [ 6.93213686e-02 6.16333256e-03 9.97575341e-01 -1.50479677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67463044 meters Centerline goodness : 0.123292 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:-0.15 [[ 0.99776905 -0.006367 -0.06645594 0.0750057 ] [ 0.00610909 0.999973 -0.00408343 -0.25506267] [ 0.06648014 0.00366833 0.997781 -0.15144354] [ 0. 0. 0. 1. ]] SLAMing on 74.70463044 meters Centerline goodness : 0.142522 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.15 [[ 0.99787769 0.00170742 -0.06509381 0.09285442] [-0.0020785 0.99998197 -0.00563349 -0.25533721] [ 0.06508302 0.00575684 0.99786325 -0.14947101] [ 0. 0. 0. 1. ]] SLAMing on 74.73463044 meters Centerline goodness : 0.140838 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 0.99788309 0.00153073 -0.06501532 0.09278604] [-0.0019262 0.99998002 -0.00602039 -0.25340954] [ 0.0650048 0.00613288 0.9978661 -0.14964568] [ 0. 0. 0. 1. ]] SLAMing on 74.76463043999999 meters Centerline goodness : 0.122917 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 0.99787432 0.00133208 -0.06515416 0.09347005] [-0.00175783 0.99997748 -0.00647761 -0.25114966] [ 0.06514407 0.00657837 0.99785419 -0.1501215 ] [ 0. 0. 0. 1. ]] SLAMing on 74.79463043999999 meters Centerline goodness : 0.125504 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 0.99785919 0.0011149 -0.06538951 0.09430451] [-0.00157607 0.99997425 -0.00700154 -0.24858453] [ 0.06538002 0.00708961 0.99783525 -0.15052531] [ 0. 0. 0. 1. ]] SLAMing on 74.82463043999999 meters Centerline goodness : 0.119916 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.24, Z:-0.15 [[ 9.97831304e-01 9.02294978e-04 -6.58169849e-02 9.56518600e-02] [-1.41835667e-03 9.99968616e-01 -7.79455372e-03 -2.43810146e-01] [ 6.58078863e-02 7.87100166e-03 9.97801268e-01 -1.51051287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85463044 meters Centerline goodness : 0.122226 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.24, Z:-0.15 [[ 9.97835881e-01 8.38850757e-04 -6.57483869e-02 9.52769339e-02] [-1.37259884e-03 9.99966468e-01 -8.07328922e-03 -2.41985035e-01] [ 6.57394099e-02 8.14606382e-03 9.97803574e-01 -1.50765686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88463044 meters Centerline goodness : 0.112614 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.15 [[ 9.97845021e-01 7.84497154e-04 -6.56102070e-02 9.43568492e-02] [-1.32734639e-03 9.99965246e-01 -8.23067205e-03 -2.40986691e-01] [ 6.56014699e-02 8.30002259e-03 9.97811383e-01 -1.49971887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91463044 meters Centerline goodness : 0.122541 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.15 [[ 9.97858255e-01 7.41021986e-04 -6.54091283e-02 9.33294460e-02] [-1.28725948e-03 9.99964648e-01 -8.30934033e-03 -2.40529741e-01] [ 6.54006585e-02 8.37574236e-03 9.97823933e-01 -1.49210964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94463044 meters Centerline goodness : 0.200430 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.15 [[ 9.97846873e-01 4.93758452e-04 -6.55848564e-02 9.37542190e-02] [-1.05616614e-03 9.99962968e-01 -8.54087268e-03 -2.40079089e-01] [ 6.55782105e-02 8.59175161e-03 9.97810443e-01 -1.49179567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97463044 meters Centerline goodness : 0.452274 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97661288e-01 -4.81946091e-04 -6.83499949e-02 5.10095892e-02] [-8.16165283e-05 9.99966029e-01 -8.24221523e-03 -2.42486554e-01] [ 6.83516453e-02 8.22851755e-03 9.97627357e-01 -1.52172920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00463044 meters Centerline goodness : 0.122953 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97652609e-01 -5.08135160e-04 -6.84763754e-02 5.16236487e-02] [-6.23750347e-05 9.99965311e-01 -8.32909373e-03 -2.41989398e-01] [ 6.84782323e-02 8.31381331e-03 9.97617969e-01 -1.52616292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03463044 meters Centerline goodness : 0.120129 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97645898e-01 -5.88058938e-04 -6.85734383e-02 5.18612631e-02] [ 6.20055261e-06 9.99964001e-01 -8.48509024e-03 -2.41403609e-01] [ 6.85759595e-02 8.46469028e-03 9.97609987e-01 -1.52615842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06463044 meters Centerline goodness : 0.121387 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97642082e-01 -6.50681408e-04 -6.86283727e-02 5.19423481e-02] [ 5.50787540e-05 9.99962325e-01 -8.68020015e-03 -2.40513531e-01] [ 6.86314351e-02 8.65595298e-03 9.97604531e-01 -1.52542670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09463044 meters Centerline goodness : 0.125806 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97634912e-01 -6.98183025e-04 -6.87320510e-02 5.20608298e-02] [ 8.95799794e-05 9.99960768e-01 -8.85740364e-03 -2.39587202e-01] [ 6.87355386e-02 8.83029809e-03 9.97595836e-01 -1.52410175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12463043999999 meters Centerline goodness : 0.108579 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97616921e-01 -6.69619834e-04 -6.89929703e-02 5.32431971e-02] [ 5.12258153e-05 9.99959817e-01 -8.96452470e-03 -2.38785048e-01] [ 6.89962008e-02 8.93962731e-03 9.97576868e-01 -1.53191001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15463043999999 meters Centerline goodness : 0.120188 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97612232e-01 -7.04149693e-04 -6.90603988e-02 5.36886058e-02] [ 8.43735031e-05 9.99959703e-01 -8.97691426e-03 -2.38980548e-01] [ 6.90639370e-02 8.94965261e-03 9.97572091e-01 -1.53572662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18463043999999 meters Centerline goodness : 0.123064 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97612308e-01 -6.83664730e-04 -6.90595111e-02 5.35595164e-02] [ 6.80264175e-05 9.99960244e-01 -8.91656412e-03 -2.39386621e-01] [ 6.90628615e-02 8.89057624e-03 9.97572693e-01 -1.53391108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21463044 meters Centerline goodness : 0.121985 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97631717e-01 -6.08940541e-04 -6.87792623e-02 5.24179204e-02] [ 2.35503660e-06 9.99961111e-01 -8.81904488e-03 -2.39679271e-01] [ 6.87819578e-02 8.79799690e-03 9.97592922e-01 -1.52734893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24463044 meters Centerline goodness : 0.121985 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97631717e-01 -6.08940541e-04 -6.87792623e-02 5.24179204e-02] [ 2.35503660e-06 9.99961111e-01 -8.81904488e-03 -2.39679271e-01] [ 6.87819578e-02 8.79799690e-03 9.97592922e-01 -1.52734893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27463044 meters Centerline goodness : 0.120940 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97756421e-01 5.79226286e-04 -6.69461681e-02 4.61229187e-02] [-1.08995772e-03 9.99970581e-01 -7.59271340e-03 -2.41539999e-01] [ 6.69398007e-02 7.64864704e-03 9.97727699e-01 -1.50342449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30463044 meters Centerline goodness : 0.114729 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.24, Z:-0.15 [[ 9.97791210e-01 5.83172457e-04 -6.64256132e-02 4.45160449e-02] [-1.09296889e-03 9.99970228e-01 -7.63861460e-03 -2.41318735e-01] [ 6.64191810e-02 7.69434363e-03 9.97762141e-01 -1.49830324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33463044 meters Centerline goodness : 0.126574 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.24, Z:-0.15 [[ 9.97807143e-01 5.52533430e-04 -6.61861016e-02 4.38844349e-02] [-1.06328831e-03 9.99969928e-01 -7.68197313e-03 -2.41326006e-01] [ 6.61798667e-02 7.73550257e-03 9.97777724e-01 -1.49748000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36463044 meters Centerline goodness : 0.115749 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.24, Z:-0.15 [[ 9.97803064e-01 5.70273627e-04 -6.62474192e-02 4.41102490e-02] [-1.08171810e-03 9.99969888e-01 -7.68460396e-03 -2.41257491e-01] [ 6.62410420e-02 7.73938240e-03 9.97773635e-01 -1.49888136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39463044 meters Centerline goodness : 0.084872 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97765416e-01 8.62692356e-04 -6.68089059e-02 4.57855652e-02] [-1.35928333e-03 9.99971785e-01 -7.38790554e-03 -2.41690042e-01] [ 6.68006474e-02 7.46220888e-03 9.97738437e-01 -1.50377085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42463044 meters Centerline goodness : 0.117414 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97746313e-01 9.25618336e-04 -6.70927648e-02 4.65340034e-02] [-1.42059272e-03 9.99972125e-01 -7.33012890e-03 -2.41809950e-01] [ 6.70841097e-02 7.40892057e-03 9.97719815e-01 -1.50473930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45463044 meters Centerline goodness : 0.128233 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97739593e-01 9.20652564e-04 -6.71926814e-02 4.67251937e-02] [-1.41433957e-03 9.99972353e-01 -7.30013245e-03 -2.42164175e-01] [ 6.71841029e-02 7.37866445e-03 9.97713311e-01 -1.50402693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48463044 meters Centerline goodness : 0.138769 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97733648e-01 9.36987922e-04 -6.72806823e-02 4.69764495e-02] [-1.42521974e-03 9.99972999e-01 -7.20900935e-03 -2.42793262e-01] [ 6.72721109e-02 7.28856095e-03 9.97708043e-01 -1.50477475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51463043999999 meters Centerline goodness : 0.126125 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97720910e-01 9.94042506e-04 -6.74684962e-02 4.77991362e-02] [-1.47569779e-03 9.99973780e-01 -7.08950285e-03 -2.43273995e-01] [ 6.74596800e-02 7.17290834e-03 9.97696217e-01 -1.50952388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54463043999999 meters Centerline goodness : 0.116533 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 0.99770042 0.00101504 -0.06777047 0.04941075] [-0.00149348 0.99997432 -0.00700935 -0.24372027] [ 0.06776161 0.00709445 0.99767632 -0.15210973] [ 0. 0. 0. 1. ]] SLAMing on 75.57463043999999 meters Centerline goodness : 0.111555 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97698837e-01 9.38023614e-04 -6.77949204e-02 4.94296966e-02] [-1.42038393e-03 9.99974019e-01 -7.06713937e-03 -2.43984641e-01] [ 6.77865299e-02 7.14717154e-03 9.97674248e-01 -1.52055439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60463044 meters Centerline goodness : 0.119071 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.97701215e-01 8.92704588e-04 -6.77605273e-02 4.90022870e-02] [-1.37223897e-03 9.99974343e-01 -7.03068319e-03 -2.44490170e-01] [ 6.77525125e-02 7.10750480e-03 9.97676842e-01 -1.51599683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63463044 meters Centerline goodness : 0.084372 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.15 [[ 0.99763564 -0.00591046 -0.06847035 0.02688779] [ 0.00566053 0.99997659 -0.00384353 -0.24524589] [ 0.06849147 0.00344687 0.99764575 -0.15228762] [ 0. 0. 0. 1. ]] SLAMing on 75.66463044 meters Centerline goodness : 0.126670 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.15 [[ 0.99762735 -0.00577849 -0.0686023 0.0274931 ] [ 0.00554261 0.99997806 -0.00362819 -0.2460151 ] [ 0.06862176 0.00323934 0.99763749 -0.15263261] [ 0. 0. 0. 1. ]] SLAMing on 75.69463044 meters Centerline goodness : 0.116841 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.15 [[ 0.99761799 -0.00580092 -0.06873645 0.0279543 ] [ 0.005568 0.99997809 -0.00357972 -0.24664881] [ 0.0687557 0.00318847 0.99762843 -0.15279562] [ 0. 0. 0. 1. ]] SLAMing on 75.72463044 meters Centerline goodness : 0.134052 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.15 [[ 0.99760415 -0.00585564 -0.0689323 0.02834805] [ 0.00562125 0.99997774 -0.00359373 -0.24713988] [ 0.06895181 0.00319764 0.99761487 -0.1526955 ] [ 0. 0. 0. 1. ]] SLAMing on 75.75463044 meters Centerline goodness : 0.118654 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.15 [[ 0.99759277 -0.00586452 -0.06909607 0.02866685] [ 0.00562643 0.99997755 -0.00363995 -0.24693279] [ 0.06911586 0.00324243 0.99760337 -0.15258374] [ 0. 0. 0. 1. ]] SLAMing on 75.78463044 meters Centerline goodness : 0.113013 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:-0.15 [[ 0.99759576 -0.00574695 -0.06906281 0.02852727] [ 0.00551189 0.99997835 -0.00359368 -0.24654857] [ 0.06908196 0.00320437 0.99760584 -0.15255021] [ 0. 0. 0. 1. ]] SLAMing on 75.81463044 meters Centerline goodness : 0.084754 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:-0.15 [[ 0.99772959 0.00221323 -0.06731096 0.00705018] [-0.00248886 0.99998886 -0.00401125 -0.24997245] [ 0.06730133 0.00416967 0.99772398 -0.15490768] [ 0. 0. 0. 1. ]] SLAMing on 75.84463044 meters Centerline goodness : 0.099235 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:-0.15 [[ 0.99773963 0.00213621 -0.06716441 0.00674875] [-0.00243291 0.99998764 -0.00433595 -0.2482866 ] [ 0.06715432 0.00448956 0.9977325 -0.15498664] [ 0. 0. 0. 1. ]] SLAMing on 75.87463043999999 meters Centerline goodness : 0.098527 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:-0.16 [[ 0.99772061 0.00195704 -0.06745186 0.00779479] [-0.0022875 0.99998576 -0.00482224 -0.24601839] [ 0.06744146 0.00496554 0.99771088 -0.15551814] [ 0. 0. 0. 1. ]] SLAMing on 75.90463043999999 meters Centerline goodness : 0.083659 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:-0.16 [[ 0.99768816 0.0017783 -0.06793509 0.00949204] [-0.00214403 0.9999836 -0.00531105 -0.24369084] [ 0.06792453 0.00544442 0.99767561 -0.15630309] [ 0. 0. 0. 1. ]] SLAMing on 75.93463043999999 meters Centerline goodness : 0.111469 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.24, Z:-0.16 [[ 0.99750787 -0.00376641 -0.07045466 -0.01199072] [ 0.00362992 0.99999128 -0.00206519 -0.2381621 ] [ 0.07046182 0.0018043 0.99751285 -0.15700714] [ 0. 0. 0. 1. ]] SLAMing on 75.96463044 meters Centerline goodness : 0.085037 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.24, Z:-0.16 [[ 0.99753789 -0.00367006 -0.07003355 -0.01337316] [ 0.00352663 0.99999142 -0.00217157 -0.23661199] [ 0.07004092 0.00191924 0.99754227 -0.15657558] [ 0. 0. 0. 1. ]] SLAMing on 75.99463044 meters Centerline goodness : 0.084207 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.24, Z:-0.16 [[ 0.99756981 -0.00377952 -0.06957145 -0.01497698] [ 0.00361715 0.99999043 -0.00245971 -0.23511594] [ 0.06958008 0.00220208 0.99757394 -0.15594426] [ 0. 0. 0. 1. ]] SLAMing on 76.02463044 meters Centerline goodness : 0.084046 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.23, Z:-0.16 [[ 0.9975868 -0.00397605 -0.06931649 -0.0159411 ] [ 0.00378701 0.99998874 -0.00285849 -0.23346347] [ 0.06932707 0.00258909 0.99759062 -0.15553428] [ 0. 0. 0. 1. ]] SLAMing on 76.05463044 meters Centerline goodness : 0.106634 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.23, Z:-0.16 [[ 0.99759853 -0.00419588 -0.06913436 -0.01626445] [ 0.00397195 0.99998641 -0.00337624 -0.23107757] [ 0.06914759 0.00309353 0.99760164 -0.15576806] [ 0. 0. 0. 1. ]] SLAMing on 76.08463044 meters Centerline goodness : 0.099641 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.23, Z:-0.16 [[ 0.99760687 -0.0042744 -0.06900908 -0.01628702] [ 0.00402227 0.99998472 -0.00379214 -0.22841089] [ 0.06902423 0.00350549 0.99760882 -0.15623213] [ 0. 0. 0. 1. ]] SLAMing on 76.11463044 meters Centerline goodness : 0.108345 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.16 [[ 9.97614726e-01 -3.78502086e-04 -6.90269119e-02 -1.63628643e-02] [ 3.26482238e-04 9.99999654e-01 -7.64896848e-04 -2.22992330e-01] [ 6.90271776e-02 7.40536299e-04 9.97614505e-01 -1.56264995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14463044 meters Centerline goodness : 0.313541 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.16 [[ 9.97633151e-01 -5.24416073e-04 -6.87591504e-02 -1.73495619e-02] [ 4.35683751e-04 9.99999053e-01 -1.30547021e-03 -2.19828186e-01] [ 6.87597699e-02 1.27242312e-03 9.97632435e-01 -1.55912434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17463044 meters Centerline goodness : 0.464939 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.16 [[ 9.97645374e-01 -7.95046676e-04 -6.85789774e-02 -1.82656137e-02] [ 6.66841313e-04 9.99997987e-01 -1.89232809e-03 -2.17157028e-01] [ 6.85803439e-02 1.84214106e-03 9.97643896e-01 -1.55328964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20463044 meters Centerline goodness : 0.086858 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.15 [[ 0.99765443 -0.00126367 -0.06844001 -0.01967069] [ 0.00108055 0.99999574 -0.00271246 -0.21378108] [ 0.06844315 0.00263215 0.99765155 -0.15405584] [ 0. 0. 0. 1. ]] SLAMing on 76.23463044 meters Centerline goodness : 0.077942 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.15 [[ 0.99765202 -0.00129452 -0.06847455 -0.01955824] [ 0.00110603 0.99999549 -0.00279049 -0.21292254] [ 0.06847785 0.00270821 0.99764896 -0.15412569] [ 0. 0. 0. 1. ]] SLAMing on 76.26463043999999 meters Centerline goodness : 0.084574 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.15 [[ 0.99764108 -0.00135396 -0.06863262 -0.01888106] [ 0.001158 0.99999514 -0.00289483 -0.21218588] [ 0.0686362 0.00280852 0.9976378 -0.15450117] [ 0. 0. 0. 1. ]] SLAMing on 76.29463043999999 meters Centerline goodness : 0.107367 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.15 [[ 0.99761072 -0.00156064 -0.06906823 -0.01742815] [ 0.00135296 0.99999442 -0.00305354 -0.21198178] [ 0.06907261 0.00295279 0.99760726 -0.15499183] [ 0. 0. 0. 1. ]] SLAMing on 76.32463043999999 meters Centerline goodness : 0.122274 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 0.9975958 -0.00178655 -0.0692779 -0.01678247] [ 0.00156842 0.99999364 -0.00320287 -0.21213889] [ 0.06928318 0.00308651 0.99759226 -0.15511195] [ 0. 0. 0. 1. ]] SLAMing on 76.35463044 meters Centerline goodness : 0.147680 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.15 [[ 0.99760733 -0.00196998 -0.06910666 -0.01736691] [ 0.00175354 0.99999337 -0.00319255 -0.21306855] [ 0.0691125 0.00306373 0.99760417 -0.15483287] [ 0. 0. 0. 1. ]] SLAMing on 76.38463044 meters Centerline goodness : 0.084902 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.15 [[ 0.99762067 -0.00217791 -0.06890753 -0.0182901 ] [ 0.00197908 0.99999368 -0.00295352 -0.21497092] [ 0.06891352 0.00281011 0.99761868 -0.15410307] [ 0. 0. 0. 1. ]] SLAMing on 76.41463044 meters Centerline goodness : 0.093362 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.15 [[ 0.99758204 -0.0022357 -0.06946276 -0.01666718] [ 0.00204196 0.99999383 -0.00285995 -0.2157034 ] [ 0.06946872 0.00271119 0.99758045 -0.15442059] [ 0. 0. 0. 1. ]] SLAMing on 76.44463044 meters Centerline goodness : 0.085410 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.22, Z:-0.16 [[ 0.99748923 0.00477243 -0.07065734 -0.03362821] [-0.00508882 0.99997781 -0.00429857 -0.22231743] [ 0.07063525 0.00464734 0.99749138 -0.15763418] [ 0. 0. 0. 1. ]] SLAMing on 76.47463044 meters Centerline goodness : 0.102923 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:-0.16 [[ 0.99737844 -0.00231892 -0.07232474 -0.01408384] [ 0.00205927 0.99999117 -0.00366449 -0.21774025] [ 0.0723326 0.00350595 0.9973744 -0.15518277] [ 0. 0. 0. 1. ]] SLAMing on 76.50463044 meters Centerline goodness : 0.113344 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.22, Z:-0.16 [[ 0.99733394 0.00528535 -0.07278107 -0.03284257] [-0.0056359 0.99997348 -0.00461204 -0.2229813 ] [ 0.07275476 0.00500993 0.99733728 -0.15816065] [ 0. 0. 0. 1. ]] SLAMing on 76.53463044 meters Centerline goodness : 0.103659 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.16 [[ 0.99732593 -0.00131864 -0.07307024 -0.01503606] [ 0.00107661 0.9999938 -0.00335148 -0.21711658] [ 0.07307421 0.00326385 0.99732117 -0.15531172] [ 0. 0. 0. 1. ]] SLAMing on 76.56463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.59463044 meters Centerline goodness : 0.430517 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:-0.16 [[ 0.99731973 -0.00134346 -0.07315429 -0.0147875 ] [ 0.00108902 0.99999322 -0.00351788 -0.21618663] [ 0.07315852 0.00342878 0.99731443 -0.15542239] [ 0. 0. 0. 1. ]] SLAMing on 76.62463043999999 meters Centerline goodness : 0.084933 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.16 [[ 0.99732271 -0.00135493 -0.07311344 -0.015085 ] [ 0.00110371 0.99999335 -0.00347629 -0.21662508] [ 0.07311767 0.00338629 0.99731757 -0.15512533] [ 0. 0. 0. 1. ]] SLAMing on 76.65463043999999 meters Centerline goodness : 0.108686 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.16 [[ 0.9973248 -0.00139077 -0.07308421 -0.01501109] [ 0.00114223 0.99999342 -0.00344238 -0.21715867] [ 0.07308851 0.00334969 0.99731983 -0.15528152] [ 0. 0. 0. 1. ]] SLAMing on 76.68463043999999 meters Centerline goodness : 0.108575 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:-0.16 [[ 0.99732049 -0.00144604 -0.07314204 -0.01479557] [ 0.0011999 0.99999347 -0.00340902 -0.21779276] [ 0.07314649 0.00331212 0.99731571 -0.15534502] [ 0. 0. 0. 1. ]] SLAMing on 76.71463044 meters Centerline goodness : 0.454133 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:-0.16 [[ 0.99732826 -0.00146236 -0.07303564 -0.01490934] [ 0.0012194 0.99999357 -0.00337106 -0.21821866] [ 0.0730401 0.00327299 0.99732363 -0.15554686] [ 0. 0. 0. 1. ]] SLAMing on 76.74463044 meters Centerline goodness : 0.111012 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.15 [[ 0.99737568 -0.00127908 -0.07238868 -0.016911 ] [ 0.00105959 0.99999472 -0.0030704 -0.21893388] [ 0.07239222 0.00298564 0.99737177 -0.15489614] [ 0. 0. 0. 1. ]] SLAMing on 76.77463044 meters Centerline goodness : 0.116946 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.15 [[ 9.97391809e-01 -1.17789527e-03 -7.21678063e-02 -1.75272143e-02] [ 9.64877664e-04 9.99995075e-01 -2.98648942e-03 -2.18866495e-01] [ 7.21709687e-02 2.90906698e-03 9.97388033e-01 -1.54731733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80463044 meters Centerline goodness : 0.109490 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.15 [[ 9.97392189e-01 -1.20054387e-03 -7.21621760e-02 -1.74016117e-02] [ 9.78386037e-04 9.99994673e-01 -3.11385958e-03 -2.18064599e-01] [ 7.21655299e-02 3.03513675e-03 9.97388051e-01 -1.54909502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83463044 meters Centerline goodness : 0.112841 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.22, Z:-0.16 [[ 9.97377981e-01 -1.20632986e-03 -7.23581939e-02 -1.67273132e-02] [ 9.69587024e-04 9.99994062e-01 -3.30685358e-03 -2.16895895e-01] [ 7.23617534e-02 3.22802538e-03 9.97373228e-01 -1.55176396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86463044 meters Centerline goodness : 0.089590 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 9.97410815e-01 -5.56425021e-04 -7.19121423e-02 -1.76630964e-02] [ 3.24255771e-04 9.99994698e-01 -3.24014625e-03 -2.14355956e-01] [ 7.19135640e-02 3.20843899e-03 9.97405707e-01 -1.55506124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89463044 meters Centerline goodness : 0.120576 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 9.97432139e-01 -4.43914429e-04 -7.16165587e-02 -1.83201550e-02] [ 1.95938266e-04 9.99993962e-01 -3.46954153e-03 -2.12312760e-01] [ 7.16176664e-02 3.44659981e-03 9.97426203e-01 -1.55639335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92463044 meters Centerline goodness : 0.126498 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 9.97448013e-01 -4.23229381e-04 -7.13952531e-02 -1.88854467e-02] [ 1.58575103e-04 9.99993096e-01 -3.71251626e-03 -2.10522944e-01] [ 7.13963314e-02 3.69172045e-03 9.97441194e-01 -1.55655362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95463044 meters Centerline goodness : 0.123212 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 9.97462104e-01 -4.90658017e-04 -7.11976872e-02 -1.93499573e-02] [ 2.04829849e-04 9.99991891e-01 -4.02181639e-03 -2.08736675e-01] [ 7.11990832e-02 3.99702603e-03 9.97454116e-01 -1.55752577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98463044 meters Centerline goodness : 0.176198 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 9.97505900e-01 -4.31710843e-04 -7.05818175e-02 -2.09430081e-02] [ 1.31095091e-04 9.99990902e-01 -4.26368715e-03 -2.06358972e-01] [ 7.05830160e-02 4.24380016e-03 9.97496881e-01 -1.55641256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01463043999999 meters Centerline goodness : 0.119957 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 9.97505673e-01 -4.51587974e-04 -7.05849087e-02 -2.08342027e-02] [ 1.43753702e-04 9.99990458e-01 -4.36620996e-03 -2.05577465e-01] [ 7.05862069e-02 4.34517236e-03 9.97496219e-01 -1.55766196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04463043999999 meters Centerline goodness : 0.083213 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:-0.16 [[ 9.97490580e-01 -5.56719968e-04 -7.07971189e-02 -2.01495091e-02] [ 2.37280479e-04 9.99989755e-01 -4.52037069e-03 -2.05056797e-01] [ 7.07989102e-02 4.49222841e-03 9.97480493e-01 -1.56004151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07463043999999 meters Centerline goodness : 0.091856 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97473255e-01 -6.62694954e-04 -7.10398907e-02 -1.93115998e-02] [ 3.33215533e-04 9.99989135e-01 -4.64969988e-03 -2.04752529e-01] [ 7.10422002e-02 4.61427968e-03 9.97462638e-01 -1.56312781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10463044 meters Centerline goodness : 0.453169 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97457908e-01 -7.43747771e-04 -7.12542590e-02 -1.86402295e-02] [ 4.06622490e-04 9.99988656e-01 -4.74568848e-03 -2.04580000e-01] [ 7.12569803e-02 4.70465092e-03 9.97446895e-01 -1.56540268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13463044 meters Centerline goodness : 0.120469 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97452342e-01 -7.38522242e-04 -7.13321803e-02 -1.85833313e-02] [ 4.01012550e-04 9.99988659e-01 -4.74572566e-03 -2.04344351e-01] [ 7.13348761e-02 4.70503008e-03 9.97441326e-01 -1.56390017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16463044 meters Centerline goodness : 0.120469 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97452342e-01 -7.38522242e-04 -7.13321803e-02 -1.85833313e-02] [ 4.01012550e-04 9.99988659e-01 -4.74572566e-03 -2.04344351e-01] [ 7.13348761e-02 4.70503008e-03 9.97441326e-01 -1.56390017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19463044 meters Centerline goodness : 0.084093 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97456849e-01 -6.60600917e-04 -7.12698984e-02 -1.87504636e-02] [ 3.30408829e-04 9.99989159e-01 -4.64467066e-03 -2.04380724e-01] [ 7.12721940e-02 4.60931035e-03 9.97446254e-01 -1.56335226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22463044 meters Centerline goodness : 0.119405 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97462382e-01 -6.20760397e-04 -7.11927807e-02 -1.88155069e-02] [ 2.97308075e-04 9.99989587e-01 -4.55383691e-03 -2.04720530e-01] [ 7.11948662e-02 4.52111482e-03 9.97452180e-01 -1.56504591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25463044 meters Centerline goodness : 0.083211 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97460533e-01 -6.91564611e-04 -7.12180292e-02 -1.87232157e-02] [ 3.65193005e-04 9.99989373e-01 -4.59562917e-03 -2.04841443e-01] [ 7.12204506e-02 4.55795040e-03 9.97450185e-01 -1.56540649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28463044 meters Centerline goodness : 0.083740 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97428770e-01 -9.37436619e-04 -7.16587106e-02 -1.74741409e-02] [ 5.92446604e-04 9.99988134e-01 -4.83545133e-03 -2.04742056e-01] [ 7.16623932e-02 4.78056431e-03 9.97417489e-01 -1.56800223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31463044 meters Centerline goodness : 0.083940 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97403584e-01 -1.01172628e-03 -7.20074070e-02 -1.62332922e-02] [ 6.52228507e-04 9.99987208e-01 -5.01584904e-03 -2.03817886e-01] [ 7.20115605e-02 4.95586052e-03 9.97391485e-01 -1.57368782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34463044 meters Centerline goodness : 0.118644 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97388506e-01 -1.01707650e-03 -7.22158799e-02 -1.53456931e-02] [ 6.45623123e-04 9.99986444e-01 -5.16680859e-03 -2.02562298e-01] [ 7.22201560e-02 5.10669126e-03 9.97375642e-01 -1.57905980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37463043999999 meters Centerline goodness : 0.113523 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97399217e-01 -9.94338469e-04 -7.20681143e-02 -1.57369027e-02] [ 6.14355608e-04 9.99985795e-01 -5.29452652e-03 -2.01256455e-01] [ 7.20723551e-02 5.23648116e-03 9.97385660e-01 -1.57918526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40463043999999 meters Centerline goodness : 0.117371 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97434126e-01 -9.84614372e-04 -7.15834842e-02 -1.73790015e-02] [ 5.97853877e-04 9.99985110e-01 -5.42415415e-03 -2.00086686e-01] [ 7.15877590e-02 5.36743999e-03 9.97419863e-01 -1.57238786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43463043999999 meters Centerline goodness : 0.119931 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97464584e-01 -1.05592006e-03 -7.11567885e-02 -1.89397146e-02] [ 6.62832669e-04 9.99984392e-01 -5.54762899e-03 -1.99606842e-01] [ 7.11615358e-02 5.48639840e-03 9.97449716e-01 -1.56517439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46463044 meters Centerline goodness : 0.121921 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97472742e-01 -1.23534747e-03 -7.10394476e-02 -1.94839255e-02] [ 8.36248623e-04 9.99983703e-01 -5.64745563e-03 -1.99837992e-01] [ 7.10452665e-02 5.57377641e-03 9.97457519e-01 -1.56141185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49463044 meters Centerline goodness : 0.194320 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97456475e-01 -1.18116981e-03 -7.12683997e-02 -1.86298171e-02] [ 7.91644123e-04 9.99984597e-01 -5.49361375e-03 -2.00560597e-01] [ 7.12737908e-02 5.42322139e-03 9.97442046e-01 -1.56511983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52463044 meters Centerline goodness : 0.127272 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97449127e-01 -1.13967200e-03 -7.13718478e-02 -1.79277321e-02] [ 7.56695412e-04 9.99985173e-01 -5.39274151e-03 -2.00974132e-01] [ 7.13769355e-02 5.32497856e-03 9.97435200e-01 -1.57115868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55463044 meters Centerline goodness : 0.191214 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97441381e-01 -1.14800071e-03 -7.14798852e-02 -1.72856336e-02] [ 7.64059309e-04 9.99985136e-01 -5.39843164e-03 -2.01025477e-01] [ 7.14850202e-02 5.33000423e-03 9.97427432e-01 -1.57630081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 77.61463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 77.64463044 meters Centerline goodness : 0.129229 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:-0.16 [[ 9.97548191e-01 7.38351578e-04 -6.99790029e-02 -2.28706927e-02] [-1.02839225e-03 9.99991030e-01 -4.10874496e-03 -1.96219513e-01] [ 6.99753415e-02 4.17063697e-03 9.97540003e-01 -1.55697857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 77.70463044 meters Centerline goodness : 0.113350 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:-0.16 [[ 0.99758618 0.00118601 -0.0694292 -0.0242859 ] [-0.00148523 0.99998983 -0.00425828 -0.19255276] [ 0.06942345 0.00435112 0.99757779 -0.15570282] [ 0. 0. 0. 1. ]] SLAMing on 77.73463044 meters Centerline goodness : 0.188191 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:-0.16 [[ 0.99757108 0.00114893 -0.06964643 -0.02339803] [-0.00147792 0.99998799 -0.00467239 -0.1898894 ] [ 0.06964023 0.00476397 0.9975608 -0.1562871 ] [ 0. 0. 0. 1. ]] SLAMing on 77.76463043999999 meters Centerline goodness : 0.116918 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99752299 0.00123175 -0.07033037 -0.02108888] [-0.00161049 0.99998451 -0.00532872 -0.18429735] [ 0.07032271 0.00542879 0.99750952 -0.15733901] [ 0. 0. 0. 1. ]] SLAMing on 77.79463043999999 meters Centerline goodness : 0.084310 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99752415 0.0010405 -0.07031708 -0.02108935] [-0.00145161 0.99998215 -0.00579565 -0.18203829] [ 0.07030979 0.00588337 0.99750785 -0.15744742] [ 0. 0. 0. 1. ]] SLAMing on 77.82463043999999 meters Centerline goodness : 0.103775 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 9.97528050e-01 8.18532316e-04 -7.02646440e-02 -2.14075766e-02] [-1.25926112e-03 9.99979811e-01 -6.22834578e-03 -1.80128818e-01] [ 7.02581273e-02 6.30143115e-03 9.97508941e-01 -1.57207212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85463044 meters Centerline goodness : 0.111737 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 9.97522490e-01 5.09970764e-04 -7.03464475e-02 -2.11522639e-02] [-9.93908853e-04 9.99976082e-01 -6.84452284e-03 -1.76719305e-01] [ 7.03412745e-02 6.89748342e-03 9.97499138e-01 -1.57352823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88463044 meters Centerline goodness : 0.113032 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 9.97518240e-01 3.73596340e-04 -7.04075419e-02 -2.08220769e-02] [-8.78208434e-04 9.99974151e-01 -7.13619926e-03 -1.75147945e-01] [ 7.04030559e-02 7.18032142e-03 9.97492783e-01 -1.57585400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91463044 meters Centerline goodness : 0.115574 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:-0.16 [[ 9.97517476e-01 1.62014149e-04 -7.04191666e-02 -2.07871330e-02] [-6.93662465e-04 9.99971443e-01 -7.52537888e-03 -1.73423808e-01] [ 7.04159365e-02 7.55554408e-03 9.97489103e-01 -1.57589215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94463044 meters Centerline goodness : 0.115667 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:-0.16 [[ 9.97518481e-01 -1.02713044e-04 -7.04050402e-02 -2.09908573e-02] [-4.61099916e-04 9.99967958e-01 -7.99183466e-03 -1.71618280e-01] [ 7.04036051e-02 8.00446653e-03 9.97486472e-01 -1.57374799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97463044 meters Centerline goodness : 0.119493 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:-0.16 [[ 9.97506894e-01 -3.25037333e-04 -7.05683351e-02 -2.09740253e-02] [-2.69571672e-04 9.99964546e-01 -8.41631604e-03 -1.69828575e-01] [ 7.05685688e-02 8.41435650e-03 9.97471441e-01 -1.56890472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00463044 meters Centerline goodness : 0.117530 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:-0.16 [[ 9.97499545e-01 -4.22416978e-04 -7.06716273e-02 -2.08586969e-02] [-1.92055412e-04 9.99962242e-01 -8.68773280e-03 -1.68276795e-01] [ 7.06726288e-02 8.67958239e-03 9.97461801e-01 -1.56725146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03463044 meters Centerline goodness : 0.100048 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:-0.16 [[ 9.97495649e-01 -3.60820584e-04 -7.07269461e-02 -2.05520576e-02] [-2.69872322e-04 9.99960291e-01 -8.90753465e-03 -1.65524708e-01] [ 7.07273516e-02 8.90431430e-03 9.97455941e-01 -1.56978258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06463044 meters Centerline goodness : 0.102518 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:-0.16 [[ 9.97505077e-01 -4.08578407e-04 -7.05935876e-02 -2.09393818e-02] [-2.32238114e-04 9.99958848e-01 -9.06909980e-03 -1.64463256e-01] [ 7.05943880e-02 9.06286762e-03 9.97463933e-01 -1.56875606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09463044 meters Centerline goodness : 0.114827 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97672565e-01 -1.03765283e-04 -6.81868181e-02 2.11018578e-02] [-5.46377853e-04 9.99954572e-01 -9.51601470e-03 -1.59672749e-01] [ 6.81847079e-02 9.53112256e-03 9.97627187e-01 -1.53772980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12463043999999 meters Centerline goodness : 0.096923 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97678241e-01 -2.20461127e-04 -6.81034420e-02 2.08659302e-02] [-4.42759856e-04 9.99952631e-01 -9.72318783e-03 -1.58870537e-01] [ 6.81023596e-02 9.73076641e-03 9.97630884e-01 -1.53746342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15463043999999 meters Centerline goodness : 0.419169 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97679067e-01 -3.68725817e-04 -6.80906979e-02 2.09295454e-02] [-3.08221511e-04 9.99950638e-01 -9.93107408e-03 -1.57985465e-01] [ 6.80909987e-02 9.92901174e-03 9.97629706e-01 -1.53873735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18463043999999 meters Centerline goodness : 0.432019 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97678243e-01 -3.49005750e-04 -6.81028735e-02 2.09499934e-02] [-3.21324988e-04 9.99951616e-01 -9.83171163e-03 -1.58374454e-01] [ 6.81030097e-02 9.83076794e-03 9.97629859e-01 -1.53819242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21463044 meters Centerline goodness : 0.499567 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97673827e-01 -3.77443382e-04 -6.81673865e-02 2.12071833e-02] [-2.87736694e-04 9.99952446e-01 -9.74795772e-03 -1.58998458e-01] [ 6.81678242e-02 9.74489654e-03 9.97626275e-01 -1.53906977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24463044 meters Centerline goodness : 0.097270 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97640617e-01 -7.08870365e-04 -6.86490776e-02 2.24664480e-02] [ 4.10179703e-05 9.99952667e-01 -9.72941869e-03 -1.60822434e-01] [ 6.86527252e-02 9.70364742e-03 9.97593425e-01 -1.54045168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27463044 meters Centerline goodness : 0.104197 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97623633e-01 -6.87308662e-04 -6.88956748e-02 2.30518016e-02] [ 3.31571418e-05 9.99954916e-01 -9.49550650e-03 -1.62227359e-01] [ 6.88990950e-02 9.47065731e-03 9.97578679e-01 -1.53983197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30463044 meters Centerline goodness : 0.102814 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:-0.15 [[ 9.97619855e-01 -5.47435810e-04 -6.89516108e-02 2.32172274e-02] [-8.41439740e-05 9.99958075e-01 -9.15651644e-03 -1.63692344e-01] [ 6.89537325e-02 9.14052447e-03 9.97577984e-01 -1.53983078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 78.36463044 meters Centerline goodness : 0.108275 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.15 [[ 9.97618956e-01 -3.81166656e-04 -6.89657456e-02 2.36360203e-02] [-2.18296138e-04 9.99962266e-01 -8.68443649e-03 -1.66286465e-01] [ 6.89664535e-02 8.67881342e-03 9.97581228e-01 -1.54406603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39463044 meters Centerline goodness : 0.102852 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97575325e-01 -3.98811958e-04 -6.95939069e-02 2.60033669e-02] [-1.87749884e-04 9.99964520e-01 -8.42160594e-03 -1.68862221e-01] [ 6.95947963e-02 8.41425253e-03 9.97539856e-01 -1.55575949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42463044 meters Centerline goodness : 0.104757 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97542997e-01 -2.45890608e-04 -7.00564680e-02 2.74781014e-02] [-3.26504550e-04 9.99966662e-01 -8.15891459e-03 -1.69856038e-01] [ 7.00561386e-02 8.16174187e-03 9.97509661e-01 -1.56068557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45463044 meters Centerline goodness : 0.102770 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97526991e-01 -9.41664003e-05 -7.02843742e-02 2.83127765e-02] [-4.67798541e-04 9.99968057e-01 -7.97908596e-03 -1.70218048e-01] [ 7.02828805e-02 7.99223254e-03 9.97495083e-01 -1.56469745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48463044 meters Centerline goodness : 0.103079 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97521789e-01 1.68523370e-05 -7.03582270e-02 2.84546328e-02] [-5.70341301e-04 9.99969052e-01 -7.84664542e-03 -1.70503723e-01] [ 7.03559173e-02 7.86732798e-03 9.97490927e-01 -1.56420155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51463043999999 meters Centerline goodness : 0.104019 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97536974e-01 8.04475631e-05 -7.01425628e-02 2.78333440e-02] [-6.25578821e-04 9.99969774e-01 -7.74982907e-03 -1.71293046e-01] [ 7.01398192e-02 7.77462074e-03 9.97506873e-01 -1.56315253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54463043999999 meters Centerline goodness : 0.103720 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97539776e-01 1.44895055e-04 -7.01026050e-02 2.76657709e-02] [-6.84344779e-04 9.99970342e-01 -7.67118968e-03 -1.71671255e-01] [ 7.00994144e-02 7.70029118e-03 9.97510289e-01 -1.56209883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57463043999999 meters Centerline goodness : 0.130388 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97542089e-01 2.21664727e-04 -7.00694774e-02 2.75329109e-02] [-7.59875124e-04 9.99970415e-01 -7.65453475e-03 -1.71524458e-01] [ 7.00657076e-02 7.68896464e-03 9.97512745e-01 -1.56190235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60463044 meters Centerline goodness : 0.103092 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97532780e-01 3.01249318e-04 -7.02015792e-02 2.79504802e-02] [-8.43744194e-04 9.99970013e-01 -7.69814886e-03 -1.70938586e-01] [ 7.01971550e-02 7.73838801e-03 9.97503121e-01 -1.56355354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63463044 meters Centerline goodness : 0.119725 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97502067e-01 3.86421411e-04 -7.06362326e-02 2.92491129e-02] [-9.45913011e-04 9.99968446e-01 -7.88746716e-03 -1.69423254e-01] [ 7.06309558e-02 7.93458053e-03 9.97470957e-01 -1.56803940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66463044 meters Centerline goodness : 0.206621 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 9.97512182e-01 9.51134232e-04 -7.04878913e-02 2.91577450e-02] [-1.51444883e-03 9.99967342e-01 -7.93863993e-03 -1.66578451e-01] [ 7.04780385e-02 8.02564034e-03 9.97481045e-01 -1.57304091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69463044 meters Centerline goodness : 0.113822 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:-0.16 [[ 0.99759455 0.00931701 -0.06868994 0.04829899] [-0.00997623 0.99990736 -0.00926031 -0.16574611] [ 0.0685973 0.0099233 0.99759508 -0.15509977] [ 0. 0. 0. 1. ]] SLAMing on 78.72463044 meters Centerline goodness : 0.114840 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:-0.15 [[ 0.99762796 0.00923833 -0.06821374 0.04692289] [-0.00991961 0.99990418 -0.00965549 -0.16358524] [ 0.06811801 0.01030924 0.99762401 -0.1548877 ] [ 0. 0. 0. 1. ]] SLAMing on 78.75463044 meters Centerline goodness : 0.114743 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:-0.15 [[ 0.9976535 0.00910305 -0.06785741 0.04581435] [-0.00980916 0.99990108 -0.01007994 -0.16146152] [ 0.06775894 0.01072191 0.99764411 -0.15462633] [ 0. 0. 0. 1. ]] SLAMing on 78.78463044 meters Centerline goodness : 0.118778 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:-0.15 [[ 0.99766756 0.00892189 -0.06767445 0.04514532] [-0.00965364 0.99989834 -0.01049344 -0.15954238] [ 0.06757395 0.01112226 0.99765227 -0.15439948] [ 0. 0. 0. 1. ]] SLAMing on 78.81463044 meters Centerline goodness : 0.117964 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:-0.15 [[ 0.99767601 0.00890084 -0.06755258 0.04423682] [-0.00964378 0.99989646 -0.01067975 -0.15789189] [ 0.06745053 0.01130639 0.99765855 -0.15362855] [ 0. 0. 0. 1. ]] SLAMing on 78.84463044 meters Centerline goodness : 0.115164 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:-0.16 [[ 9.97778225e-01 9.02657968e-04 -6.66168065e-02 2.39991264e-02] [-1.53184055e-03 9.99954699e-01 -9.39432709e-03 -1.54733185e-01] [ 6.66053088e-02 9.47550134e-03 9.97734407e-01 -1.56454914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87463043999999 meters Centerline goodness : 0.114701 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:-0.16 [[ 9.97783427e-01 8.53150575e-04 -6.65394939e-02 2.36755254e-02] [-1.48668652e-03 9.99954032e-01 -9.47226635e-03 -1.54371688e-01] [ 6.65283540e-02 9.55019375e-03 9.97738830e-01 -1.56258318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90463043999999 meters Centerline goodness : 0.109918 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:-0.16 [[ 9.97780331e-01 7.85376494e-04 -6.65867388e-02 2.38710964e-02] [-1.42841572e-03 9.99952802e-01 -9.61010701e-03 -1.53663742e-01] [ 6.65760485e-02 9.68388930e-03 9.97734359e-01 -1.56354885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93463043999999 meters Centerline goodness : 0.119257 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:-0.16 [[ 9.97767660e-01 6.82735678e-04 -6.67774655e-02 2.45522180e-02] [-1.34289763e-03 9.99950668e-01 -9.84161089e-03 -1.52540038e-01] [ 6.67674520e-02 9.90931637e-03 9.97719356e-01 -1.56668567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96463044 meters Centerline goodness : 0.111063 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:-0.16 [[ 9.97753114e-01 6.19925520e-04 -6.69950731e-02 2.53933988e-02] [-1.29977085e-03 9.99948103e-01 -1.01045798e-02 -1.50984674e-01] [ 6.69853321e-02 1.01689542e-02 9.97702139e-01 -1.57123805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99463044 meters Centerline goodness : 0.111456 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:-0.16 [[ 0.99766303 0.0028203 -0.06826798 0.02980772] [-0.00342296 0.99995619 -0.00871251 -0.14508777] [ 0.06824042 0.00892582 0.99762898 -0.15851002] [ 0. 0. 0. 1. ]] SLAMing on 79.02463044 meters Centerline goodness : 0.117170 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.99765299 0.0027089 -0.06841904 0.03022423] [-0.0033495 0.99995161 -0.00924992 -0.14202217] [ 0.06839068 0.00945738 0.99761379 -0.15867857] [ 0. 0. 0. 1. ]] SLAMing on 79.05463044 meters Centerline goodness : 0.117170 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.99765299 0.0027089 -0.06841904 0.03022423] [-0.0033495 0.99995161 -0.00924992 -0.14202217] [ 0.06839068 0.00945738 0.99761379 -0.15867857] [ 0. 0. 0. 1. ]] SLAMing on 79.08463044 meters Centerline goodness : 0.113616 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.9976451 0.00257168 -0.06853936 0.03053037] [-0.00325542 0.99994603 -0.00986605 -0.13852315] [ 0.06851029 0.01006594 0.99759963 -0.15882782] [ 0. 0. 0. 1. ]] SLAMing on 79.11463044 meters Centerline goodness : 0.150722 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.16 [[ 0.99763168 0.00247781 -0.0687378 0.03110543] [-0.00320271 0.9999404 -0.01043763 -0.13503825] [ 0.06870785 0.01063305 0.99758016 -0.15910043] [ 0. 0. 0. 1. ]] SLAMing on 79.14463044 meters Centerline goodness : 0.108428 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.16 [[ 0.9975429 0.00481808 -0.06989237 0.03531354] [-0.00546604 0.99994381 -0.00908253 -0.12718056] [ 0.06984468 0.00944225 0.99751319 -0.1606382 ] [ 0. 0. 0. 1. ]] SLAMing on 79.17463044 meters Centerline goodness : 0.377506 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:-0.16 [[ 0.99754077 0.00451641 -0.0699429 0.03529621] [-0.005206 0.99993959 -0.00968023 -0.1244315 ] [ 0.06989496 0.01002054 0.99750403 -0.16046987] [ 0. 0. 0. 1. ]] SLAMing on 79.20463044 meters Centerline goodness : 0.196950 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:-0.16 [[ 0.99755398 -0.00328518 -0.06982303 0.05371846] [ 0.0026683 0.9999566 -0.00892621 -0.11637302] [ 0.06984932 0.00871806 0.99751946 -0.15734191] [ 0. 0. 0. 1. ]] SLAMing on 79.23463044 meters Centerline goodness : 0.092479 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:-0.16 [[ 0.99756698 -0.00362351 -0.06962039 0.05251426] [ 0.00298783 0.99995291 -0.00923261 -0.11534276] [ 0.06965057 0.00900213 0.99753083 -0.1563066 ] [ 0. 0. 0. 1. ]] SLAMing on 79.26463043999999 meters Centerline goodness : 0.242662 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.11, Z:-0.15 [[ 0.99762163 -0.00468685 -0.0687686 0.04964244] [ 0.00403289 0.99994535 -0.00964525 -0.11473619] [ 0.06881005 0.00934498 0.99758601 -0.15499596] [ 0. 0. 0. 1. ]] SLAMing on 79.29463043999999 meters Centerline goodness : 0.343970 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:-0.15 [[ 0.99760604 -0.00508076 -0.06896654 0.05015764] [ 0.00441619 0.99994237 -0.00978517 -0.11502906] [ 0.06901228 0.00945717 0.99757098 -0.15488592] [ 0. 0. 0. 1. ]] SLAMing on 79.32463043999999 meters Centerline goodness : 0.384738 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:-0.16 [[ 0.99757274 -0.00553292 -0.06941198 0.0514458 ] [ 0.00485013 0.99993822 -0.01000156 -0.11532198] [ 0.06946303 0.00964063 0.99753794 -0.15508191] [ 0. 0. 0. 1. ]] SLAMing on 79.35463044 meters Centerline goodness : 0.415285 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:-0.16 [[ 0.99750987 -0.00610816 -0.07026194 0.05350634] [ 0.00539915 0.99993262 -0.01027651 -0.11583724] [ 0.07031997 0.00987157 0.99747564 -0.15502462] [ 0. 0. 0. 1. ]] SLAMing on 79.38463044 meters Centerline goodness : 0.458095 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.16 [[ 0.99731451 -0.01715817 -0.0711995 0.03093915] [ 0.01639224 0.99980147 -0.01132806 -0.11673305] [ 0.07137974 0.01013052 0.99739777 -0.15527416] [ 0. 0. 0. 1. ]] SLAMing on 79.41463044 meters Centerline goodness : 0.457837 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.15 [[ 0.99733265 -0.01733948 -0.07090085 0.02989697] [ 0.01658867 0.99980006 -0.01116473 -0.11835431] [ 0.07108027 0.0099588 0.99742088 -0.15466104] [ 0. 0. 0. 1. ]] SLAMing on 79.44463044 meters Centerline goodness : 0.460396 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.15 [[ 0.99736776 -0.01745863 -0.07037579 0.02836495] [ 0.01673102 0.99980044 -0.01091533 -0.12021699] [ 0.07055232 0.00970914 0.99746083 -0.15411204] [ 0. 0. 0. 1. ]] SLAMing on 79.47463044 meters Centerline goodness : 0.100435 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:-0.15 [[ 0.99752555 -0.00997801 -0.0695932 0.04599525] [ 0.00918551 0.99988938 -0.01169835 -0.12598092] [ 0.06970223 0.01103015 0.99750686 -0.15157644] [ 0. 0. 0. 1. ]] SLAMing on 79.50463044 meters Centerline goodness : 0.460649 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:-0.15 [[ 0.99753956 -0.01009231 -0.06937562 0.04577645] [ 0.00934137 0.99989431 -0.01114013 -0.1309049 ] [ 0.06948072 0.01046465 0.99752841 -0.15181143] [ 0. 0. 0. 1. ]] SLAMing on 79.53463044 meters Centerline goodness : 0.212662 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:-0.15 [[ 0.99753121 -0.01003493 -0.06950385 0.04618902] [ 0.00931341 0.99989941 -0.01069736 -0.1337696 ] [ 0.0696042 0.01002363 0.99752433 -0.15191545] [ 0. 0. 0. 1. ]] SLAMing on 79.56463044 meters Centerline goodness : 0.127038 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.15 [[ 0.99751641 -0.00996394 -0.06972617 0.04688016] [ 0.00927424 0.99990489 -0.0102083 -0.13705686] [ 0.06982125 0.00953629 0.99751394 -0.15208037] [ 0. 0. 0. 1. ]] SLAMing on 79.59463044 meters Centerline goodness : 0.420527 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.15 [[ 0.99749918 -0.00986565 -0.06998616 0.04767096] [ 0.00920826 0.99991046 -0.00970962 -0.14021763] [ 0.07007568 0.00904089 0.99750071 -0.15229958] [ 0. 0. 0. 1. ]] SLAMing on 79.62463043999999 meters Centerline goodness : 0.109822 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.15, Z:-0.15 [[ 0.99745233 -0.00966921 -0.07067782 0.04993874] [ 0.00906157 0.99991922 -0.00891296 -0.14747494] [ 0.07075829 0.0082498 0.99745938 -0.15294422] [ 0. 0. 0. 1. ]] SLAMing on 79.65463043999999 meters Centerline goodness : 0.457818 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:-0.16 [[ 0.99763902 -0.00311659 -0.0686052 0.03386565] [ 0.00246951 0.99995168 -0.00951477 -0.15640551] [ 0.06863154 0.00932289 0.99759851 -0.15712031] [ 0. 0. 0. 1. ]] SLAMing on 79.68463043999999 meters Centerline goodness : 0.094286 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:-0.16 [[ 0.99763998 -0.00288532 -0.06860135 0.03394667] [ 0.00227513 0.99995717 -0.00897122 -0.15924107] [ 0.0686243 0.00879397 0.99760382 -0.1572433 ] [ 0. 0. 0. 1. ]] SLAMing on 79.71463044 meters Centerline goodness : 0.247897 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:-0.16 [[ 0.99763813 -0.00266998 -0.06863691 0.0341084 ] [ 0.00209289 0.99996187 -0.00847828 -0.16188841] [ 0.06865693 0.0083146 0.99760568 -0.15734719] [ 0. 0. 0. 1. ]] SLAMing on 79.74463044 meters Centerline goodness : 0.434717 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99762916 -0.00214124 -0.06878574 0.03476381] [ 0.00163088 0.99997073 -0.0074748 -0.16666798] [ 0.06879973 0.00734489 0.99760345 -0.15772719] [ 0. 0. 0. 1. ]] SLAMing on 79.77463044 meters Centerline goodness : 0.411505 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.17, Z:-0.16 [[ 0.9976164 -0.00196283 -0.06897577 0.03545529] [ 0.00147204 0.99997324 -0.0071654 -0.16820106] [ 0.06898799 0.00704679 0.9975926 -0.15805146] [ 0. 0. 0. 1. ]] SLAMing on 79.80463044 meters Centerline goodness : 0.099939 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.17, Z:-0.16 [[ 0.99759064 -0.00186901 -0.06934995 0.03670824] [ 0.0013904 0.99997489 -0.00694905 -0.16950503] [ 0.06936119 0.00683588 0.99756819 -0.15855417] [ 0. 0. 0. 1. ]] SLAMing on 79.83463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 79.86463044 meters Centerline goodness : 0.127809 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.17, Z:-0.16 [[ 0.9975203 -0.00155606 -0.07036211 0.03994713] [ 0.00112177 0.99998008 -0.00621132 -0.17342113] [ 0.07037038 0.00611699 0.99750218 -0.15966911] [ 0. 0. 0. 1. ]] SLAMing on 79.89463044 meters Centerline goodness : 0.105819 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:-0.16 [[ 9.97497270e-01 -1.27562031e-03 -7.06934902e-02 4.05088488e-02] [ 8.98881648e-04 9.99985227e-01 -5.36074079e-03 -1.77878243e-01] [ 7.06992842e-02 5.28377922e-03 9.97483681e-01 -1.59312461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92463044 meters Centerline goodness : 0.442703 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.18, Z:-0.16 [[ 0.99733669 -0.00240512 -0.07289548 -0.00459364] [ 0.00200958 0.99998286 -0.00549896 -0.18258149] [ 0.07290746 0.00533782 0.99732443 -0.16097644] [ 0. 0. 0. 1. ]] SLAMing on 79.95463044 meters Centerline goodness : 0.467337 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.18, Z:-0.16 [[ 0.99732679 -0.00238229 -0.07303148 -0.00446475] [ 0.00200987 0.9999846 -0.00517263 -0.18480266] [ 0.07304268 0.00501202 0.99731622 -0.16067149] [ 0. 0. 0. 1. ]] SLAMing on 79.98463044 meters Centerline goodness : 0.316007 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:-0.16 [[ 0.99732673 -0.00230894 -0.0730347 -0.00476577] [ 0.00196386 0.99998657 -0.0047964 -0.18704308] [ 0.0730448 0.00464015 0.99731787 -0.16024936] [ 0. 0. 0. 1. ]] SLAMing on 80.01463043999999 meters Centerline goodness : 0.098210 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:-0.16 [[ 0.99761388 0.00193165 -0.06901314 -0.02667837] [-0.00239064 0.99997557 -0.00656881 -0.19625381] [ 0.06899877 0.00671812 0.99759412 -0.16219434] [ 0. 0. 0. 1. ]] SLAMing on 80.04463043999999 meters Centerline goodness : 0.097905 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:-0.16 [[ 0.99767805 -0.00585444 -0.06785455 -0.00738907] [ 0.00549105 0.99996957 -0.00554063 -0.19433654] [ 0.06788492 0.00515517 0.99767984 -0.15981944] [ 0. 0. 0. 1. ]] SLAMing on 80.07463043999999 meters Centerline goodness : 0.095717 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99769401 -0.00580033 -0.06762404 -0.00829414] [ 0.00545395 0.99997105 -0.00530565 -0.19565351] [ 0.06765286 0.00492459 0.99769677 -0.15934136] [ 0. 0. 0. 1. ]] SLAMing on 80.10463044 meters Centerline goodness : 0.128533 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:-0.16 [[ 0.9978091 0.00151446 -0.06614154 -0.02870198] [-0.00192262 0.9999795 -0.00610782 -0.20175079] [ 0.06613093 0.00622161 0.99779156 -0.16168283] [ 0. 0. 0. 1. ]] SLAMing on 80.13463044 meters Centerline goodness : 0.284472 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99784495 -0.00592425 -0.06534798 -0.01043213] [ 0.00562367 0.99997275 -0.00478266 -0.19796699] [ 0.06537453 0.00440486 0.99785108 -0.15855257] [ 0. 0. 0. 1. ]] SLAMing on 80.16463044 meters Centerline goodness : 0.096614 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99784291 -0.00587843 -0.06538329 -0.01064348] [ 0.00558061 0.99997321 -0.00473674 -0.19791945] [ 0.06540938 0.00436164 0.99784898 -0.15815612] [ 0. 0. 0. 1. ]] SLAMing on 80.19463044 meters Centerline goodness : 0.097857 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99783407 -0.00593713 -0.06551272 -0.01006738] [ 0.00562725 0.9999721 -0.00491354 -0.1969273 ] [ 0.06554007 0.00453424 0.99783964 -0.15848599] [ 0. 0. 0. 1. ]] SLAMing on 80.22463044 meters Centerline goodness : 0.121997 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99783779 -0.00599448 -0.0654509 -0.01017052] [ 0.0056775 0.99997124 -0.00502794 -0.19640518] [ 0.06547916 0.00464547 0.99784312 -0.15856133] [ 0. 0. 0. 1. ]] SLAMing on 80.25463044 meters Centerline goodness : 0.148766 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.997835 -0.00604101 -0.06548902 -0.01007377] [ 0.0057187 0.9999706 -0.00510784 -0.19601302] [ 0.06551796 0.00472227 0.99784022 -0.15858972] [ 0. 0. 0. 1. ]] SLAMing on 80.28463044 meters Centerline goodness : 0.453069 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99782094 -0.00599734 -0.06570697 -0.00937144] [ 0.00567616 0.99997102 -0.00507371 -0.19562642] [ 0.0657355 0.00468969 0.99782606 -0.15885041] [ 0. 0. 0. 1. ]] SLAMing on 80.31463044 meters Centerline goodness : 0.467940 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99781573 -0.006001 -0.06578572 -0.00911899] [ 0.00568096 0.99997111 -0.00505093 -0.19571552] [ 0.06581413 0.00466617 0.99782099 -0.15892686] [ 0. 0. 0. 1. ]] SLAMing on 80.34463044 meters Centerline goodness : 0.407384 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99780534 -0.00608779 -0.0659351 -0.00863208] [ 0.00576211 0.99997025 -0.00512845 -0.19581442] [ 0.06596436 0.00473727 0.99781073 -0.15910376] [ 0. 0. 0. 1. ]] SLAMing on 80.37463043999999 meters Centerline goodness : 0.097283 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:-0.16 [[ 0.99781325 0.00130354 -0.06608337 -0.02770021] [-0.00173449 0.9999776 -0.0064643 -0.2009746 ] [ 0.06607346 0.00656479 0.99779317 -0.16183792] [ 0. 0. 0. 1. ]] SLAMing on 80.40463043999999 meters Centerline goodness : 0.478670 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99779235 -0.00654681 -0.06608755 -0.00776372] [ 0.00617906 0.99996428 -0.00576738 -0.19692021] [ 0.06612295 0.00534629 0.99779716 -0.15991793] [ 0. 0. 0. 1. ]] SLAMing on 80.43463043999999 meters Centerline goodness : 0.440158 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99777737 -0.00645878 -0.06632198 -0.00652236] [ 0.00609278 0.99996508 -0.00571929 -0.1966522 ] [ 0.06635661 0.00530249 0.99778188 -0.16085499] [ 0. 0. 0. 1. ]] SLAMing on 80.46463044 meters Centerline goodness : 0.092367 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99776094 -0.00639419 -0.06657494 -0.00548487] [ 0.00602612 0.99996544 -0.00572804 -0.19614618] [ 0.06660926 0.00531402 0.99776499 -0.16145804] [ 0. 0. 0. 1. ]] SLAMing on 80.49463044 meters Centerline goodness : 0.164020 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.20, Z:-0.16 [[ 0.9977343 -0.00636463 -0.06697577 -0.00404945] [ 0.00598825 0.99996514 -0.00581901 -0.19540989] [ 0.06701047 0.00540475 0.99773763 -0.16213136] [ 0. 0. 0. 1. ]] SLAMing on 80.52463044 meters Centerline goodness : 0.097036 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.20, Z:-0.16 [[ 0.99766942 0.00146407 -0.06821719 0.01622751] [-0.00195515 0.99997265 -0.00713244 -0.19836664] [ 0.06820488 0.00724919 0.997645 -0.1596832 ] [ 0. 0. 0. 1. ]] SLAMing on 80.55463044 meters Centerline goodness : 0.096569 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.20, Z:-0.16 [[ 0.99762325 0.00147366 -0.06888882 0.01788056] [-0.00199792 0.99996956 -0.00754195 -0.19599938] [ 0.06887561 0.00766166 0.99759583 -0.15979891] [ 0. 0. 0. 1. ]] SLAMing on 80.58463044 meters Centerline goodness : 0.439815 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:-0.16 [[ 0.99762188 0.00152013 -0.06890773 0.01793952] [-0.00205353 0.99996847 -0.00767064 -0.19472464] [ 0.06889389 0.0077939 0.99759355 -0.15983813] [ 0. 0. 0. 1. ]] SLAMing on 80.61463044 meters Centerline goodness : 0.280306 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:-0.16 [[ 0.99762582 0.00153849 -0.06885029 0.01784333] [-0.00208374 0.99996703 -0.00784836 -0.19331486] [ 0.06883595 0.0079732 0.99759613 -0.15987181] [ 0. 0. 0. 1. ]] SLAMing on 80.64463044 meters Centerline goodness : 0.325701 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:-0.16 [[ 0.99763032 0.00145855 -0.06878679 0.01770721] [-0.00202062 0.99996513 -0.00810226 -0.19195123] [ 0.06877257 0.00822205 0.99759848 -0.15989054] [ 0. 0. 0. 1. ]] SLAMing on 80.67463044 meters Centerline goodness : 0.436152 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:-0.16 [[ 0.997667 0.00140287 -0.06825389 0.01553481] [-0.00198266 0.99996252 -0.0084275 -0.19002122] [ 0.06823951 0.00854316 0.99763239 -0.15867732] [ 0. 0. 0. 1. ]] SLAMing on 80.70463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 80.73463044 meters Centerline goodness : 0.461361 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 0.99769874 0.00148827 -0.06778648 0.01319972] [-0.00208154 0.99996014 -0.00868225 -0.18734035] [ 0.06777086 0.00880337 0.99766207 -0.15709753] [ 0. 0. 0. 1. ]] SLAMing on 80.76463043999999 meters Centerline goodness : 0.316056 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:-0.16 [[ 0.99768726 0.0013716 -0.06795776 0.01359929] [-0.00198691 0.99995764 -0.00898754 -0.18577759] [ 0.06794255 0.00910178 0.99764772 -0.15708331] [ 0. 0. 0. 1. ]] SLAMing on 80.79463043999999 meters Centerline goodness : 0.098669 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:-0.16 [[ 0.99768005 0.00120618 -0.0680666 0.01364826] [-0.00184195 0.99995526 -0.00927843 -0.18455468] [ 0.06805236 0.00938227 0.99763763 -0.15681844] [ 0. 0. 0. 1. ]] SLAMing on 80.82463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 80.85463044 meters Centerline goodness : 0.455319 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:-0.15 [[ 0.99772669 -0.00705488 -0.06702003 0.03317088] [ 0.00650972 0.99994396 -0.0083492 -0.18325684] [ 0.06707517 0.00789394 0.9977167 -0.15387331] [ 0. 0. 0. 1. ]] SLAMing on 80.88463044 meters Centerline goodness : 0.091191 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:-0.15 [[ 0.99771946 -0.00696914 -0.06713644 0.03316507] [ 0.00645035 0.99994766 -0.00794105 -0.1856691 ] [ 0.06718827 0.00748989 0.9977122 -0.15343532] [ 0. 0. 0. 1. ]] SLAMing on 80.91463044 meters Centerline goodness : 0.095483 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:-0.15 [[ 0.99771342 -0.00691556 -0.06723181 0.03337171] [ 0.00642417 0.99995107 -0.00752234 -0.18844958] [ 0.06728054 0.00707323 0.99770902 -0.15337181] [ 0. 0. 0. 1. ]] SLAMing on 80.94463044 meters Centerline goodness : 0.401889 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:-0.15 [[ 0.99773699 -0.00699043 -0.06687319 0.03270442] [ 0.00654271 0.99995471 -0.00691167 -0.19600205] [ 0.06691848 0.00645849 0.99773754 -0.15352282] [ 0. 0. 0. 1. ]] SLAMing on 80.97463044 meters Centerline goodness : 0.401889 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:-0.15 [[ 0.99773699 -0.00699043 -0.06687319 0.03270442] [ 0.00654271 0.99995471 -0.00691167 -0.19600205] [ 0.06691848 0.00645849 0.99773754 -0.15352282] [ 0. 0. 0. 1. ]] SLAMing on 81.00463044 meters Centerline goodness : 0.099119 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:-0.16 [[ 9.97896829e-01 1.62398611e-04 -6.48220080e-02 1.36035460e-02] [-6.41906690e-04 9.99972587e-01 -7.37654551e-03 -2.04679929e-01] [ 6.48190331e-02 7.40264105e-03 9.97869578e-01 -1.56978865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03463044 meters Centerline goodness : 0.455284 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 9.97911620e-01 3.60886178e-04 -6.45930926e-02 1.29740422e-02] [-8.13042715e-04 9.99975351e-01 -6.97392667e-03 -2.06550696e-01] [ 6.45889836e-02 7.01187941e-03 9.97887317e-01 -1.56850946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06463044 meters Centerline goodness : 0.122108 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 9.97921346e-01 7.09291425e-04 -6.44397744e-02 1.26705481e-02] [-1.12908385e-03 9.99978378e-01 -6.47830927e-03 -2.08620475e-01] [ 6.44337860e-02 6.53760102e-03 9.97900570e-01 -1.56945666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09463044 meters Centerline goodness : 0.096542 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 9.97906845e-01 8.43336058e-04 -6.46623344e-02 1.34921466e-02] [-1.25398352e-03 9.99979303e-01 -6.31032166e-03 -2.09385234e-01] [ 6.46556744e-02 6.37819868e-03 9.97887249e-01 -1.57325330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12463043999999 meters Centerline goodness : 0.094383 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 9.97903738e-01 9.87322566e-04 -6.47082244e-02 1.39586540e-02] [-1.38256160e-03 9.99980661e-01 -6.06352471e-03 -2.10603460e-01] [ 6.47009864e-02 6.14027708e-03 9.97885805e-01 -1.57820637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15463043999999 meters Centerline goodness : 0.094980 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:-0.16 [[ 0.99789597 0.00114386 -0.06482527 0.01440448] [-0.00151933 0.99998236 -0.00574293 -0.21220261] [ 0.06481755 0.00582934 0.9978801 -0.15806685] [ 0. 0. 0. 1. ]] SLAMing on 81.18463043999999 meters Centerline goodness : 0.179565 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.997867 0.0014415 -0.06526387 0.01568495] [-0.00177743 0.99998547 -0.00508935 -0.21550839] [ 0.06525559 0.0051945 0.99785506 -0.15840603] [ 0. 0. 0. 1. ]] SLAMing on 81.21463044 meters Centerline goodness : 0.117801 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.99784769 0.00158559 -0.06555509 0.01659564] [-0.00190302 0.99998676 -0.00478012 -0.21694038] [ 0.06554664 0.00489458 0.9978375 -0.15871789] [ 0. 0. 0. 1. ]] SLAMing on 81.24463044 meters Centerline goodness : 0.094398 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.99782517 0.00171915 -0.0658936 0.01761023] [-0.00202245 0.99998767 -0.00453642 -0.21796675] [ 0.06588499 0.00465982 0.99781634 -0.15900337] [ 0. 0. 0. 1. ]] SLAMing on 81.27463044 meters Centerline goodness : 0.095165 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.99781395 0.00182672 -0.0660605 0.01822949] [-0.00211911 0.99998827 -0.00435629 -0.21875944] [ 0.06605177 0.00448675 0.99780611 -0.15927499] [ 0. 0. 0. 1. ]] SLAMing on 81.30463044 meters Centerline goodness : 0.095509 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.99781164 0.00186355 -0.06609426 0.01832652] [-0.00214905 0.99998867 -0.0042487 -0.21953381] [ 0.06608559 0.00438144 0.99780434 -0.15930303] [ 0. 0. 0. 1. ]] SLAMing on 81.33463044 meters Centerline goodness : 0.095026 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.99780987 0.00187745 -0.06612061 0.01836868] [-0.00215664 0.99998906 -0.00415133 -0.22028583] [ 0.06611209 0.00428484 0.997803 -0.15928904] [ 0. 0. 0. 1. ]] SLAMing on 81.36463044 meters Centerline goodness : 0.107649 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.99779486 0.00212671 -0.06633924 0.01866888] [-0.00237354 0.99999055 -0.00364211 -0.22245029] [ 0.06633087 0.00379154 0.99779048 -0.15899758] [ 0. 0. 0. 1. ]] SLAMing on 81.39463044 meters Centerline goodness : 0.099655 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 0.99778697 0.00225975 -0.06645334 0.01894011] [-0.00248669 0.99999136 -0.00333246 -0.22392985] [ 0.06644524 0.00349033 0.99778397 -0.15896846] [ 0. 0. 0. 1. ]] SLAMing on 81.42463044 meters Centerline goodness : 0.105116 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 0.99777023 0.00230765 -0.06670261 0.0196685 ] [-0.00251792 0.99999212 -0.00306844 -0.22575714] [ 0.066695 0.00322955 0.99776818 -0.15915308] [ 0. 0. 0. 1. ]] SLAMing on 81.45463044 meters Centerline goodness : 0.101600 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97761707e-01 -9.84291210e-04 -6.68625956e-02 2.04571451e-02] [ 5.79656958e-04 9.99981404e-01 -6.07085900e-03 -2.27564741e-01] [ 6.68673277e-02 6.01851327e-03 9.97743724e-01 -1.59617515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48463044 meters Centerline goodness : 0.095762 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97756650e-01 -6.46944692e-04 -6.69421307e-02 2.05774194e-02] [ 2.97959345e-04 9.99986315e-01 -5.22309221e-03 -2.31654730e-01] [ 6.69445936e-02 5.19142895e-03 9.97743189e-01 -1.59537606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51463043999999 meters Centerline goodness : 0.097711 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97763657e-01 -3.91728587e-04 -6.68395938e-02 2.03715597e-02] [ 7.32587718e-05 9.99988635e-01 -4.76707258e-03 -2.33410698e-01] [ 6.68407016e-02 4.75151518e-03 9.97752346e-01 -1.59579875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54463043999999 meters Centerline goodness : 0.094880 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97770495e-01 -3.06693005e-04 -6.67378804e-02 2.01239419e-02] [ 5.13944729e-07 9.99989476e-01 -4.58775401e-03 -2.34370893e-01] [ 6.67385851e-02 4.57749129e-03 9.97759995e-01 -1.59545579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57463043999999 meters Centerline goodness : 0.111486 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97787591e-01 -3.79407626e-04 -6.64814189e-02 1.94012832e-02] [ 6.20685480e-05 9.99988596e-01 -4.77535042e-03 -2.34257436e-01] [ 6.64824726e-02 4.76065899e-03 9.97776236e-01 -1.59405215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60463044 meters Centerline goodness : 0.113595 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97808717e-01 -2.86713389e-04 -6.61640537e-02 1.86146073e-02] [-3.39801361e-05 9.99988259e-01 -4.84576866e-03 -2.33343976e-01] [ 6.61646662e-02 4.83739848e-03 9.97796992e-01 -1.59396448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63463044 meters Centerline goodness : 0.118929 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97841282e-01 3.47435999e-05 -6.56717229e-02 1.74011665e-02] [-3.43705278e-04 9.99988927e-01 -4.69334573e-03 -2.32558650e-01] [ 6.56708326e-02 4.70578583e-03 9.97830245e-01 -1.59328927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66463044 meters Centerline goodness : 0.094492 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97854529e-01 2.58397872e-04 -6.54696270e-02 1.69212984e-02] [-5.65663765e-04 9.99988913e-01 -4.67476534e-03 -2.31364460e-01] [ 6.54676932e-02 4.70176956e-03 9.97843612e-01 -1.59347011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69463044 meters Centerline goodness : 0.104235 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97857226e-01 2.86665798e-04 -6.54283982e-02 1.69960988e-02] [-6.02667705e-04 9.99988250e-01 -4.81005042e-03 -2.30349977e-01] [ 6.54262506e-02 4.83917515e-03 9.97845673e-01 -1.59579960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72463044 meters Centerline goodness : 0.257544 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97861883e-01 1.88662289e-04 -6.53576801e-02 1.69368446e-02] [-5.18946810e-04 9.99987182e-01 -5.03655224e-03 -2.29500185e-01] [ 6.53558921e-02 5.05970066e-03 9.97849190e-01 -1.59759109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75463044 meters Centerline goodness : 0.136985 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97888642e-01 1.17614396e-04 -6.49480104e-02 1.59074343e-02] [-4.61004289e-04 9.99985996e-01 -5.27218914e-03 -2.28627159e-01] [ 6.49464808e-02 5.29099897e-03 9.97874722e-01 -1.59730325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78463044 meters Centerline goodness : 0.150226 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97892902e-01 1.30501040e-04 -6.48825064e-02 1.58881714e-02] [-4.77593583e-04 9.99985660e-01 -5.33407381e-03 -2.27989465e-01] [ 6.48808799e-02 5.35382186e-03 9.97878654e-01 -1.59948463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81463044 meters Centerline goodness : 0.100898 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97880358e-01 1.74237957e-04 -6.50750398e-02 1.66352804e-02] [-5.25263377e-04 9.99985405e-01 -5.37709380e-03 -2.27260022e-01] [ 6.50731531e-02 5.39987782e-03 9.97865886e-01 -1.60338062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84463044 meters Centerline goodness : 0.118814 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.16 [[ 9.97868969e-01 1.22576825e-04 -6.52495688e-02 1.75447916e-02] [-4.96433418e-04 9.99983555e-01 -5.71345836e-03 -2.25143432e-01] [ 6.52477954e-02 5.73367487e-03 9.97852619e-01 -1.60995427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87463043999999 meters Centerline goodness : 0.157060 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 9.97861560e-01 3.75049671e-05 -6.53628721e-02 1.79617610e-02] [-4.33070745e-04 9.99981679e-01 -6.03768403e-03 -2.23421789e-01] [ 6.53614482e-02 6.05307956e-03 9.97843295e-01 -1.61217326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90463043999999 meters Centerline goodness : 0.108034 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 9.97855397e-01 -1.94304741e-06 -6.54569115e-02 1.83876859e-02] [-4.17733621e-04 9.99979447e-01 -6.39780805e-03 -2.21153682e-01] [ 6.54555786e-02 6.41143084e-03 9.97834887e-01 -1.61558694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93463043999999 meters Centerline goodness : 0.098719 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 9.97857028e-01 4.33758622e-05 -6.54320232e-02 1.85845715e-02] [-4.83957400e-04 9.99977320e-01 -6.71758862e-03 -2.18708515e-01] [ 6.54302478e-02 6.73485933e-03 9.97834417e-01 -1.61971505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96463044 meters Centerline goodness : 0.144489 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.16 [[ 9.97859517e-01 3.57869251e-05 -6.53940656e-02 1.86071622e-02] [-5.04472402e-04 9.99974307e-01 -7.15059657e-03 -2.15802417e-01] [ 6.53921296e-02 7.16828034e-03 9.97833897e-01 -1.62155142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99463044 meters Centerline goodness : 0.105630 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.21, Z:-0.16 [[ 9.97859644e-01 -2.99983796e-05 -6.53921175e-02 1.86902498e-02] [-4.70395626e-04 9.99970729e-01 -7.63679679e-03 -2.12839175e-01] [ 6.53904325e-02 7.65121150e-03 9.97830422e-01 -1.62393509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02463044 meters Centerline goodness : 0.107362 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.21, Z:-0.16 [[ 0.99783046 0.00347861 -0.06574401 0.01978074] [-0.00382157 0.99997974 -0.00509152 -0.20723064] [ 0.06572497 0.00533171 0.99782353 -0.16283515] [ 0. 0. 0. 1. ]] SLAMing on 82.05463044 meters Centerline goodness : 0.111694 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.20, Z:-0.16 [[ 0.99782294 0.00336291 -0.06586401 0.02014959] [-0.00374221 0.99997711 -0.00563625 -0.20392294] [ 0.06584355 0.00587046 0.99781269 -0.16302679] [ 0. 0. 0. 1. ]] SLAMing on 82.08463044 meters Centerline goodness : 0.106685 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.20, Z:-0.16 [[ 0.99783043 0.00319858 -0.06575871 0.01997745] [-0.00361296 0.99997435 -0.00618354 -0.20091827] [ 0.06573725 0.00640771 0.99781639 -0.16320488] [ 0. 0. 0. 1. ]] SLAMing on 82.11463044 meters Centerline goodness : 0.109926 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.20, Z:-0.16 [[ 0.99784147 0.00305662 -0.06559769 0.01926455] [-0.00349987 0.99997181 -0.00664333 -0.19836392] [ 0.06557554 0.00685858 0.99782404 -0.16284193] [ 0. 0. 0. 1. ]] SLAMing on 82.14463044 meters Centerline goodness : 0.106908 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:-0.16 [[ 0.99803476 -0.00279105 -0.06260052 -0.00405303] [ 0.00250205 0.99998585 -0.00469454 -0.19093295] [ 0.06261274 0.00452868 0.99802762 -0.16461278] [ 0. 0. 0. 1. ]] SLAMing on 82.17463044 meters Centerline goodness : 0.101035 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:-0.16 [[ 0.99802226 -0.00282114 -0.06279819 -0.00351386] [ 0.00252275 0.99998515 -0.00483039 -0.18991878] [ 0.06281088 0.00466241 0.99801456 -0.1647103 ] [ 0. 0. 0. 1. ]] SLAMing on 82.20463044 meters Centerline goodness : 0.097653 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:-0.17 [[ 0.99800437 -0.00290198 -0.06307813 -0.00260299] [ 0.0025918 0.99998415 -0.0049987 -0.18895229] [ 0.06309164 0.00482524 0.99799607 -0.16505998] [ 0. 0. 0. 1. ]] SLAMing on 82.23463044 meters Centerline goodness : 0.112509 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:-0.17 [[ 0.99798622 -0.00303721 -0.06335838 -0.00169763] [ 0.00271332 0.99998281 -0.00519745 -0.18819121] [ 0.06337308 0.00501507 0.99797731 -0.16537796] [ 0. 0. 0. 1. ]] SLAMing on 82.26463043999999 meters Centerline goodness : 0.112683 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:-0.17 [[ 0.99798269 -0.00319218 -0.06340625 -0.00160642] [ 0.00285429 0.99998124 -0.00541881 -0.18741367] [ 0.06342236 0.0052269 0.99797309 -0.16531979] [ 0. 0. 0. 1. ]] SLAMing on 82.29463043999999 meters Centerline goodness : 0.097786 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:-0.16 [[ 0.99798901 -0.00333399 -0.06329945 -0.00217598] [ 0.00298253 0.99997961 -0.00564604 -0.18646399] [ 0.06331698 0.00544589 0.99797861 -0.16492372] [ 0. 0. 0. 1. ]] SLAMing on 82.32463043999999 meters Centerline goodness : 0.098316 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:-0.16 [[ 0.99808418 -0.00187673 -0.06184211 -0.0086583 ] [ 0.0016063 0.99998893 -0.00442229 -0.18408176] [ 0.06184973 0.00431448 0.99807615 -0.161663 ] [ 0. 0. 0. 1. ]] SLAMing on 82.35463044 meters Centerline goodness : 0.100876 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:-0.16 [[ 0.99809849 -0.00200024 -0.0616068 -0.00949872] [ 0.0017099 0.99998719 -0.00476509 -0.18210461] [ 0.06161555 0.00465068 0.99808912 -0.16132646] [ 0. 0. 0. 1. ]] SLAMing on 82.38463044 meters Centerline goodness : 0.100579 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:-0.16 [[ 0.99810071 -0.00217587 -0.06156486 -0.00955814] [ 0.0018633 0.99998508 -0.00513404 -0.18036399] [ 0.06157511 0.00500958 0.99808988 -0.16142238] [ 0. 0. 0. 1. ]] SLAMing on 82.41463044 meters Centerline goodness : 0.098698 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:-0.16 [[ 0.99807552 -0.00254345 -0.061958 -0.00808512] [ 0.00218239 0.99998025 -0.00589446 -0.17695055] [ 0.06197177 0.0057479 0.99806135 -0.16221799] [ 0. 0. 0. 1. ]] SLAMing on 82.44463044 meters Centerline goodness : 0.100232 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:-0.16 [[ 0.99806883 0.00533503 -0.06188824 0.01208188] [-0.00579271 0.99995717 -0.00721817 -0.17757356] [ 0.06184708 0.00756273 0.99805698 -0.16025712] [ 0. 0. 0. 1. ]] SLAMing on 82.47463044 meters Centerline goodness : 0.061909 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:-0.16 [[ 0.99806558 0.00519577 -0.06195249 0.01225216] [-0.00567399 0.99995543 -0.0075456 -0.17586715] [ 0.06191053 0.00788252 0.99805058 -0.16032881] [ 0. 0. 0. 1. ]] SLAMing on 82.50463044 meters Centerline goodness : 0.096225 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.998068 0.00506455 -0.06192423 0.01192588] [-0.00556003 0.99995387 -0.0078318 -0.17450547] [ 0.06188171 0.00816097 0.99805013 -0.15996509] [ 0. 0. 0. 1. ]] SLAMing on 82.53463044 meters Centerline goodness : 0.097494 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:-0.16 [[ 0.99807535 0.00490793 -0.0618184 0.01132243] [-0.00542153 0.99995215 -0.00814327 -0.17316986] [ 0.06177547 0.00846275 0.99805419 -0.15948948] [ 0. 0. 0. 1. ]] SLAMing on 82.56463044 meters Centerline goodness : 0.102158 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99812737 -0.00260918 -0.06111422 0.02963336] [ 0.00217262 0.99997166 -0.00720868 -0.1664872 ] [ 0.06113129 0.00706241 0.99810475 -0.15675711] [ 0. 0. 0. 1. ]] SLAMing on 82.59463044 meters Centerline goodness : 0.169279 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99812701 -0.00265438 -0.06111806 0.02981621] [ 0.00220978 0.99997061 -0.00734089 -0.16525494] [ 0.06113575 0.00719208 0.99810355 -0.15701999] [ 0. 0. 0. 1. ]] SLAMing on 82.62463043999999 meters Centerline goodness : 0.183472 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99811988 -0.00272826 -0.0612312 0.03061377] [ 0.00227842 0.99996991 -0.00741532 -0.16508348] [ 0.06124959 0.00726186 0.99809606 -0.15770711] [ 0. 0. 0. 1. ]] SLAMing on 82.65463043999999 meters Centerline goodness : 0.094053 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99811173 -0.00285976 -0.06135792 0.03124645] [ 0.00240582 0.9999692 -0.00747088 -0.16547916] [ 0.0613774 0.00730916 0.99808787 -0.15811692] [ 0. 0. 0. 1. ]] SLAMing on 82.68463043999999 meters Centerline goodness : 0.489403 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99810475 -0.00297555 -0.06146588 0.03137382] [ 0.00252545 0.99996944 -0.00739909 -0.16667579] [ 0.06148601 0.00722983 0.99808176 -0.15789131] [ 0. 0. 0. 1. ]] SLAMing on 82.71463044 meters Centerline goodness : 0.451587 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99813392 -0.00345048 -0.06096541 0.02909184] [ 0.00301948 0.99996981 -0.00716027 -0.17036827] [ 0.06098828 0.00696282 0.9981142 -0.15634719] [ 0. 0. 0. 1. ]] SLAMing on 82.74463044 meters Centerline goodness : 0.249807 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:-0.16 [[ 0.99812814 -0.00325184 -0.06107086 0.02911055] [ 0.0028598 0.99997475 -0.00650572 -0.17354957] [ 0.06109048 0.00631889 0.99811223 -0.15600034] [ 0. 0. 0. 1. ]] SLAMing on 82.77463044 meters Centerline goodness : 0.189945 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:-0.16 [[ 0.99798866 -0.00467058 -0.06322035 -0.01549761] [ 0.00424863 0.99996781 -0.00680701 -0.17982228] [ 0.06325011 0.00652472 0.99797638 -0.15839035] [ 0. 0. 0. 1. ]] SLAMing on 82.80463044 meters Centerline goodness : 0.497714 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:-0.16 [[ 0.99797309 -0.00468359 -0.06346472 -0.0147775 ] [ 0.00428537 0.99997028 -0.00640932 -0.18318967] [ 0.06349285 0.00612435 0.9979635 -0.158541 ] [ 0. 0. 0. 1. ]] SLAMing on 82.83463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 82.86463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 82.89463044 meters Centerline goodness : 0.095650 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99795559 -0.00547368 -0.06367644 -0.01432919] [ 0.00510886 0.9999696 -0.00589067 -0.19582419] [ 0.06370675 0.00555331 0.99795321 -0.15839515] [ 0. 0. 0. 1. ]] SLAMing on 82.92463044 meters Centerline goodness : 0.104249 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:-0.16 [[ 0.99796155 -0.00515363 -0.06360956 -0.0146594 ] [ 0.00483313 0.99997484 -0.00519144 -0.199309 ] [ 0.06363471 0.00487343 0.99796136 -0.15810411] [ 0. 0. 0. 1. ]] SLAMing on 82.95463044 meters Centerline goodness : 0.096300 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.21, Z:-0.16 [[ 0.99810884 0.00111318 -0.06146135 -0.03311167] [-0.00149503 0.99997987 -0.00616719 -0.20986087] [ 0.06145325 0.00624742 0.99809041 -0.16131043] [ 0. 0. 0. 1. ]] SLAMing on 82.98463044 meters Centerline goodness : 0.095783 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.21, Z:-0.16 [[ 0.99810334 0.00128569 -0.06154722 -0.03329308] [-0.00163062 0.99998324 -0.00555444 -0.21409694] [ 0.06153904 0.00564426 0.99808872 -0.16082623] [ 0. 0. 0. 1. ]] SLAMing on 83.01463043999999 meters Centerline goodness : 0.255225 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:-0.16 [[ 0.99806863 -0.00353894 -0.06201998 -0.01008312] [ 0.00344298 0.99999271 -0.00165401 -0.22042876] [ 0.06202539 0.00143728 0.99807354 -0.15994945] [ 0. 0. 0. 1. ]] SLAMing on 83.04463043999999 meters Centerline goodness : 0.105013 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:-0.16 [[ 9.98054398e-01 -3.21068867e-03 -6.22664485e-02 -8.84247222e-03] [ 3.15162060e-03 9.99994486e-01 -1.04682650e-03 -2.23111199e-01] [ 6.22694661e-02 8.48549572e-04 9.98059013e-01 -1.60766313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07463043999999 meters Centerline goodness : 0.117645 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98046427e-01 -3.04407691e-03 -6.24024228e-02 -8.10986582e-03] [ 3.00611056e-03 9.99995235e-01 -7.02288382e-04 -2.25056220e-01] [ 6.24042633e-02 5.13327828e-04 9.98050823e-01 -1.61276157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10463044 meters Centerline goodness : 0.117533 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98054939e-01 -2.91466877e-03 -6.22723303e-02 -8.44467914e-03] [ 2.89522323e-03 9.99995728e-01 -4.02497826e-04 -2.26928620e-01] [ 6.22732374e-02 2.21422646e-04 9.98059114e-01 -1.61301877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13463044 meters Centerline goodness : 0.048473 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98079540e-01 -2.43337023e-03 -6.18975743e-02 -9.50690568e-03] [ 2.45224087e-03 9.99996967e-01 2.28903764e-04 -2.29456891e-01] [ 6.18968296e-02 -3.80251925e-04 9.98082481e-01 -1.61068708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16463044 meters Centerline goodness : 0.103733 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98065463e-01 -2.32217940e-03 -6.21284154e-02 -8.61159511e-03] [ 2.34753441e-03 9.99997188e-01 3.35114638e-04 -2.29802153e-01] [ 6.21274626e-02 -4.80314939e-04 9.98068108e-01 -1.61572629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19463044 meters Centerline goodness : 0.121697 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98050529e-01 -2.31156439e-03 -6.23682411e-02 -7.59646143e-03] [ 2.33532176e-03 9.99997226e-01 3.08027642e-04 -2.29747694e-01] [ 6.23673561e-02 -4.53077062e-04 9.98053159e-01 -1.62240886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22463044 meters Centerline goodness : 0.126720 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98041172e-01 -2.24857656e-03 -6.25200954e-02 -6.86812470e-03] [ 2.27660030e-03 9.99997337e-01 3.77003014e-04 -2.30001125e-01] [ 6.25190812e-02 -5.18597798e-04 9.98043634e-01 -1.62775267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25463044 meters Centerline goodness : 0.111892 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98045010e-01 -2.19347039e-03 -6.24607534e-02 -6.83382835e-03] [ 2.22513339e-03 9.99997429e-01 4.37371135e-04 -2.30070581e-01] [ 6.24596334e-02 -5.75499587e-04 9.98047325e-01 -1.63034023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28463044 meters Centerline goodness : 0.228907 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:-0.16 [[ 9.98071068e-01 -2.17877275e-03 -6.20435065e-02 -7.94931431e-03] [ 2.21410386e-03 9.99997424e-01 5.00711082e-04 -2.30307875e-01] [ 6.20422557e-02 -6.37116011e-04 9.98073320e-01 -1.62904094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31463044 meters Centerline goodness : 0.209232 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:-0.16 [[ 0.99814102 0.00546234 -0.06070148 0.01082415] [-0.00554025 0.99998403 -0.00111524 -0.23275664] [ 0.06069442 0.00144947 0.99815534 -0.16081728] [ 0. 0. 0. 1. ]] SLAMing on 83.34463044 meters Centerline goodness : 0.121290 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:-0.16 [[ 9.98145570e-01 5.44710488e-03 -6.06279702e-02 1.04887391e-02] [-5.51735864e-03 9.99984288e-01 -9.91420020e-04 -2.33621174e-01] [ 6.06216173e-02 1.32408776e-03 9.98159940e-01 -1.60598463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37463043999999 meters Centerline goodness : 0.118526 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:-0.16 [[ 9.98143398e-01 5.46838221e-03 -6.06617921e-02 1.06072194e-02] [-5.52530446e-03 9.99984438e-01 -7.70650822e-04 -2.34918236e-01] [ 6.06566339e-02 1.10439490e-03 9.98158080e-01 -1.60658542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40463043999999 meters Centerline goodness : 0.260484 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:-0.16 [[ 0.99813757 0.00264464 -0.06094588 0.01286496] [-0.00283292 0.99999148 -0.00300315 -0.23826664] [ 0.06093741 0.00317021 0.99813655 -0.16228399] [ 0. 0. 0. 1. ]] SLAMing on 83.43463043999999 meters Centerline goodness : 0.117275 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:-0.16 [[ 0.99812702 0.00267796 -0.06111692 0.01321797] [-0.00284988 0.99999222 -0.00272594 -0.24000388] [ 0.06110914 0.00289501 0.99812689 -0.16217643] [ 0. 0. 0. 1. ]] SLAMing on 83.46463044 meters Centerline goodness : 0.455113 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:-0.16 [[ 0.99811844 0.00273155 -0.0612546 0.01333494] [-0.00288783 0.9999928 -0.00246293 -0.24150285] [ 0.06124743 0.00263519 0.99811914 -0.16185354] [ 0. 0. 0. 1. ]] SLAMing on 83.49463044 meters Centerline goodness : 0.229660 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.16 [[ 0.99809683 -0.0046348 -0.06149179 0.03311312] [ 0.00456347 0.99998874 -0.00130041 -0.23848853] [ 0.06149712 0.00101732 0.99810674 -0.15947808] [ 0. 0. 0. 1. ]] SLAMing on 83.52463044 meters Centerline goodness : 0.166563 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.16 [[ 9.98089196e-01 -4.50584766e-03 -6.16251047e-02 3.34744698e-02] [ 4.45356522e-03 9.99989597e-01 -9.85725908e-04 -2.39994576e-01] [ 6.16289052e-02 7.09390956e-04 9.98098880e-01 -1.59507786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55463044 meters Centerline goodness : 0.114141 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.16 [[ 9.98090852e-01 -4.36193044e-03 -6.16086394e-02 3.32999707e-02] [ 4.33139698e-03 9.99990422e-01 -6.29148110e-04 -2.42074314e-01] [ 6.16107936e-02 3.61095499e-04 9.98100185e-01 -1.59279367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58463044 meters Centerline goodness : 0.111651 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.24, Z:-0.16 [[ 9.98080515e-01 -4.30400486e-03 -6.17799388e-02 3.36756718e-02] [ 4.28043990e-03 9.99990707e-01 -5.13778438e-04 -2.42724765e-01] [ 6.17815759e-02 2.48346933e-04 9.98089663e-01 -1.59218912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61463044 meters Centerline goodness : 0.191456 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 0.99807682 0.00393927 -0.0618639 0.05294682] [-0.0040574 0.99999018 -0.00178401 -0.24614854] [ 0.06185627 0.00203159 0.998083 -0.1565537 ] [ 0. 0. 0. 1. ]] SLAMing on 83.64463044 meters Centerline goodness : 0.114612 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 0.99807178 0.00404877 -0.06193809 0.05311787] [-0.00416129 0.99998992 -0.00168771 -0.24636663] [ 0.06193063 0.0019422 0.99807857 -0.15656714] [ 0. 0. 0. 1. ]] SLAMing on 83.67463044 meters Centerline goodness : 0.139899 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 0.99808569 0.00430959 -0.0616959 0.05268682] [-0.00441315 0.99998907 -0.00154243 -0.24658827] [ 0.06168858 0.00181175 0.9980938 -0.15679798] [ 0. 0. 0. 1. ]] SLAMing on 83.70463044 meters Centerline goodness : 0.120777 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 0.99808566 0.00434933 -0.06169357 0.05275092] [-0.00444918 0.99998901 -0.00148118 -0.24697085] [ 0.06168645 0.00175283 0.99809404 -0.15693388] [ 0. 0. 0. 1. ]] SLAMing on 83.73463044 meters Centerline goodness : 0.054984 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 0.9980703 0.00442032 -0.06193656 0.05349578] [-0.00451245 0.99998891 -0.00134776 -0.24769192] [ 0.06192991 0.00162464 0.99807918 -0.15717037] [ 0. 0. 0. 1. ]] SLAMing on 83.76463043999999 meters Centerline goodness : 0.129449 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 0.99805789 0.00450398 -0.06213015 0.05414122] [-0.00458538 0.99998881 -0.00116771 -0.24859383] [ 0.0621242 0.00145033 0.99806737 -0.15744697] [ 0. 0. 0. 1. ]] SLAMing on 83.79463043999999 meters Centerline goodness : 0.122357 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 0.99805253 0.00452962 -0.06221444 0.05439085] [-0.00460185 0.99998889 -0.00101785 -0.24970038] [ 0.06220914 0.00130217 0.99806229 -0.15750488] [ 0. 0. 0. 1. ]] SLAMing on 83.82463043999999 meters Centerline goodness : 0.125090 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.25, Z:-0.16 [[ 9.98062408e-01 4.57172970e-03 -6.20526305e-02 5.35893996e-02] [-4.62953067e-03 9.99988973e-01 -7.87738366e-04 -2.51280074e-01] [ 6.20483449e-02 1.07348661e-03 9.98072568e-01 -1.56895966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85463044 meters Centerline goodness : 0.083598 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.15 [[ 0.99815643 0.00230628 -0.06064995 0.0483494 ] [-0.00246309 0.99999381 -0.0025108 -0.25547723] [ 0.06064379 0.00265556 0.99815594 -0.15490316] [ 0. 0. 0. 1. ]] SLAMing on 83.88463044 meters Centerline goodness : 0.126175 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.15 [[ 0.99815949 0.00243149 -0.0605947 0.04824214] [-0.00256469 0.99999446 -0.00212047 -0.25753968] [ 0.06058921 0.00227197 0.9981602 -0.15493195] [ 0. 0. 0. 1. ]] SLAMing on 83.91463044 meters Centerline goodness : 0.124812 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.16 [[ 0.99815767 0.00254654 -0.06062004 0.0484586 ] [-0.00265683 0.99999496 -0.00173897 -0.25954135] [ 0.0606153 0.00189682 0.9981594 -0.15511187] [ 0. 0. 0. 1. ]] SLAMing on 83.94463044 meters Centerline goodness : 0.109842 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.16 [[ 0.99814964 0.00262214 -0.06074882 0.04890743] [-0.0027119 0.99999535 -0.00139516 -0.26158649] [ 0.06074488 0.00155733 0.99815211 -0.15524456] [ 0. 0. 0. 1. ]] SLAMing on 83.97463044 meters Centerline goodness : 0.123819 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.16 [[ 9.98141784e-01 -1.18946666e-03 -6.09226144e-02 4.95166754e-02] [ 9.07605014e-04 9.99988758e-01 -4.65401569e-03 -2.64125986e-01] [ 6.09274653e-02 4.59007385e-03 9.98131642e-01 -1.55491784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00463044 meters Centerline goodness : 0.112908 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:-0.16 [[ 9.98112775e-01 -1.19200038e-03 -6.13959942e-02 5.07761487e-02] [ 9.22876075e-04 9.99989843e-01 -4.41158864e-03 -2.66007530e-01] [ 6.14006292e-02 4.34660208e-03 9.98103737e-01 -1.55673311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03463044 meters Centerline goodness : 0.137606 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:-0.16 [[ 9.98087062e-01 -1.09218669e-03 -6.18144369e-02 5.19010971e-02] [ 8.46799627e-04 9.99991658e-01 -3.99579518e-03 -2.68300282e-01] [ 6.18182854e-02 3.93580703e-03 9.98079661e-01 -1.55798233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06463044 meters Centerline goodness : 0.144110 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:-0.16 [[ 9.98068893e-01 -9.25611856e-04 -6.21098036e-02 5.26417635e-02] [ 7.15055379e-04 9.99993923e-01 -3.41221010e-03 -2.71422390e-01] [ 6.21125845e-02 3.36120881e-03 9.98063490e-01 -1.55820975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09463044 meters Centerline goodness : 0.117212 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.27, Z:-0.15 [[ 0.99807896 -0.0087565 -0.06133281 0.07312894] [ 0.00862509 0.99995991 -0.00240691 -0.27177186] [ 0.06135143 0.00187328 0.99811447 -0.15399713] [ 0. 0. 0. 1. ]] SLAMing on 84.12463043999999 meters Centerline goodness : 0.127785 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.28, Z:-0.15 [[ 0.99807313 -0.01232881 -0.06081137 0.07142818] [ 0.01205342 0.99991538 -0.00489321 -0.27966912] [ 0.06086655 0.0041508 0.99813728 -0.15317603] [ 0. 0. 0. 1. ]] SLAMing on 84.15463043999999 meters Centerline goodness : 0.132510 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 0.99797289 -0.00633545 -0.06332431 0.08629329] [ 0.00602181 0.99996865 -0.00514253 -0.28922912] [ 0.06335491 0.00475078 0.99797975 -0.15017472] [ 0. 0. 0. 1. ]] SLAMing on 84.18463043999999 meters Centerline goodness : 0.262226 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 0.99796948 -0.00609323 -0.06340179 0.08672334] [ 0.00581147 0.99997241 -0.00462747 -0.29169755] [ 0.06342824 0.00424961 0.99797735 -0.15043632] [ 0. 0. 0. 1. ]] SLAMing on 84.21463044 meters Centerline goodness : 0.448063 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 0.99796033 -0.00589717 -0.0635642 0.08726784] [ 0.00563508 0.99997487 -0.0043017 -0.29316032] [ 0.06358797 0.00393474 0.99796848 -0.15059954] [ 0. 0. 0. 1. ]] SLAMing on 84.24463044 meters Centerline goodness : 0.163267 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 0.99795019 -0.00571337 -0.06373992 0.08773954] [ 0.00545999 0.99997649 -0.00414874 -0.29365705] [ 0.06376213 0.00379222 0.99795792 -0.15066017] [ 0. 0. 0. 1. ]] SLAMing on 84.27463044 meters Centerline goodness : 0.134985 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 9.97917803e-01 -1.50924053e-03 -6.44808611e-02 8.91454308e-02] [ 1.48844120e-03 9.99998824e-01 -3.70602577e-04 -2.93836011e-01] [ 6.44813446e-02 2.73854939e-04 9.97918875e-01 -1.50325109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30463044 meters Centerline goodness : 0.119136 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 9.97922573e-01 -8.00496271e-04 -6.44196948e-02 8.92029132e-02] [ 8.04823677e-04 9.99999675e-01 4.12250258e-05 -2.93420301e-01] [ 6.44196409e-02 -9.29858795e-05 9.97922893e-01 -1.50665586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33463044 meters Centerline goodness : 0.121127 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 9.97930508e-01 -4.61532605e-04 -6.42999872e-02 8.90755484e-02] [ 4.69943839e-04 9.99999883e-01 1.15688108e-04 -2.92789084e-01] [ 6.42999263e-02 -1.45666075e-04 9.97930608e-01 -1.50936750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36463044 meters Centerline goodness : 0.084700 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.15 [[ 9.97942724e-01 -5.10686730e-04 -6.41097362e-02 8.84573119e-02] [ 5.06766404e-04 9.99999869e-01 -7.74112937e-05 -2.92234688e-01] [ 6.41097673e-02 4.47633769e-05 9.97942852e-01 -1.50743181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39463044 meters Centerline goodness : 0.113643 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.29, Z:-0.15 [[ 0.99805274 0.00668277 -0.06201664 0.10809978] [-0.00686729 0.9999726 -0.00276266 -0.29243252] [ 0.06199648 0.00318317 0.99807129 -0.14942252] [ 0. 0. 0. 1. ]] SLAMing on 84.42463044 meters Centerline goodness : 0.114275 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:-0.15 [[ 9.98236380e-01 3.32830970e-04 -5.93634439e-02 8.38472094e-02] [-3.79520640e-04 9.99999627e-01 -7.75232379e-04 -2.88229057e-01] [ 5.93631637e-02 7.96394816e-04 9.98236135e-01 -1.50167573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45463044 meters Centerline goodness : 0.114814 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:-0.15 [[ 9.98238791e-01 4.23535958e-04 -5.93223119e-02 8.39009808e-02] [-4.79771358e-04 9.99999449e-01 -9.33723823e-04 -2.86277457e-01] [ 5.93218838e-02 9.60540487e-04 9.98238444e-01 -1.50413697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48463043999999 meters Centerline goodness : 0.083855 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:-0.15 [[ 9.98234914e-01 4.17915451e-04 -5.93875608e-02 8.43583459e-02] [-4.91849777e-04 9.99999122e-01 -1.23033401e-03 -2.84058824e-01] [ 5.93869945e-02 1.25737213e-03 9.98234243e-01 -1.50899809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51463043999999 meters Centerline goodness : 0.117600 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.15 [[ 9.98224359e-01 2.67814198e-04 -5.95655728e-02 8.50565174e-02] [-3.68666079e-04 9.99998517e-01 -1.68214044e-03 -2.81692492e-01] [ 5.95650340e-02 1.70111337e-03 9.98222978e-01 -1.51340355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54463043999999 meters Centerline goodness : 0.114615 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.15 [[ 9.98200813e-01 -7.80360579e-05 -5.99594111e-02 8.61523210e-02] [-6.28617918e-05 9.99997241e-01 -2.34799728e-03 -2.78909724e-01] [ 5.99594289e-02 2.34754195e-03 9.98198054e-01 -1.51660288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57463043999999 meters Centerline goodness : 0.118748 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.15 [[ 9.98174846e-01 -2.41349102e-04 -6.03897299e-02 8.71361301e-02] [ 8.64354522e-05 9.99996699e-01 -2.56783085e-03 -2.78156008e-01] [ 6.03901503e-02 2.55792435e-03 9.98171572e-01 -1.51594794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60463044 meters Centerline goodness : 0.090935 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.15 [[ 9.98158834e-01 -4.03156722e-04 -6.06529444e-02 8.77330948e-02] [ 2.37837479e-04 9.99996237e-01 -2.73285371e-03 -2.77786402e-01] [ 6.06538180e-02 2.71339653e-03 9.98155174e-01 -1.51531392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63463044 meters Centerline goodness : 0.122772 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.15 [[ 9.98143262e-01 -5.48098639e-04 -6.09075372e-02 8.82025071e-02] [ 3.75963170e-04 9.99995903e-01 -2.83760101e-03 -2.77693349e-01] [ 6.09088430e-02 2.80943333e-03 9.98139379e-01 -1.51334963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66463044 meters Centerline goodness : 0.115365 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.15 [[ 9.98133665e-01 -6.59981570e-04 -6.10634988e-02 8.84171559e-02] [ 4.83219785e-04 9.99995651e-01 -2.90944293e-03 -2.77642306e-01] [ 6.10651534e-02 2.87450585e-03 9.98129643e-01 -1.51078522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69463044 meters Centerline goodness : 0.113197 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.15 [[ 9.98136163e-01 -7.51981694e-04 -6.10215902e-02 8.80850892e-02] [ 5.70007360e-04 9.99995339e-01 -2.99948313e-03 -2.77218828e-01] [ 6.10235613e-02 2.95910983e-03 9.98131939e-01 -1.50738693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72463044 meters Centerline goodness : 0.116237 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.27, Z:-0.15 [[ 9.98147443e-01 -8.32943483e-04 -6.08357519e-02 8.75755624e-02] [ 6.34040166e-04 9.99994391e-01 -3.28874445e-03 -2.74969895e-01] [ 6.08381500e-02 3.24407955e-03 9.98142372e-01 -1.50662170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75463044 meters Centerline goodness : 0.118720 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.27, Z:-0.15 [[ 9.98146124e-01 -9.38645077e-04 -6.08558416e-02 8.76697031e-02] [ 7.21639188e-04 9.99993304e-01 -3.58778101e-03 -2.73280992e-01] [ 6.08588017e-02 3.53721375e-03 9.98140118e-01 -1.50720142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78463044 meters Centerline goodness : 0.118720 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.27, Z:-0.15 [[ 9.98146124e-01 -9.38645077e-04 -6.08558416e-02 8.76697031e-02] [ 7.21639188e-04 9.99993304e-01 -3.58778101e-03 -2.73280992e-01] [ 6.08588017e-02 3.53721375e-03 9.98140118e-01 -1.50720142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81463044 meters Centerline goodness : 0.123117 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.27, Z:-0.15 [[ 9.98134775e-01 -1.12263369e-03 -6.10386005e-02 8.81738758e-02] [ 8.78564293e-04 9.99991513e-01 -4.02529849e-03 -2.71198768e-01] [ 6.10426014e-02 3.96416407e-03 9.98127290e-01 -1.50842118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84463044 meters Centerline goodness : 0.114417 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.27, Z:-0.15 [[ 0.99809382 -0.00138185 -0.06169941 0.0898255 ] [ 0.00108891 0.99998798 -0.00478119 -0.26665921] [ 0.06170528 0.00470489 0.99808332 -0.15101782] [ 0. 0. 0. 1. ]] SLAMing on 84.87463043999999 meters Centerline goodness : 0.118748 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.27, Z:-0.15 [[ 0.99811067 0.00591944 -0.06115603 0.07098413] [-0.0062767 0.99996433 -0.00565133 -0.2699129 ] [ 0.06112039 0.00602451 0.99811222 -0.15339573] [ 0. 0. 0. 1. ]] SLAMing on 84.90463043999999 meters Centerline goodness : 0.118499 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.15 [[ 9.98182003e-01 -9.57760380e-04 -6.02641745e-02 8.86540003e-02] [ 6.96337151e-04 9.99990258e-01 -4.35880587e-03 -2.62886708e-01] [ 6.02677621e-02 4.30891739e-03 9.98172946e-01 -1.50626044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93463043999999 meters Centerline goodness : 0.121280 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.15 [[ 9.98195049e-01 -1.03635912e-03 -6.00464015e-02 8.76158207e-02] [ 7.68441205e-04 9.99989648e-01 -4.48476811e-03 -2.62228296e-01] [ 6.00504278e-02 4.43053119e-03 9.98185512e-01 -1.49880651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96463044 meters Centerline goodness : 0.083961 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.15 [[ 9.98202532e-01 -1.25068831e-03 -5.99177925e-02 8.70009571e-02] [ 9.67507750e-04 9.99988227e-01 -4.75492991e-03 -2.61531784e-01] [ 5.99230340e-02 4.68841215e-03 9.98191990e-01 -1.49416854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99463044 meters Centerline goodness : 0.126632 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.15 [[ 0.99818735 -0.00162598 -0.06016118 0.08760102] [ 0.00130865 0.99998503 -0.00531376 -0.25970752] [ 0.06016892 0.0052254 0.99817453 -0.14945411] [ 0. 0. 0. 1. ]] SLAMing on 85.02463044 meters Centerline goodness : 0.122515 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.15 [[ 0.99819036 -0.00169179 -0.06010939 0.08732626] [ 0.00136319 0.99998391 -0.00550716 -0.25854707] [ 0.06011774 0.00541525 0.9981766 -0.14924454] [ 0. 0. 0. 1. ]] SLAMing on 85.05463044 meters Centerline goodness : 0.118625 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.15 [[ 0.99820525 -0.00166538 -0.05986243 0.08625315] [ 0.00133182 0.99998337 -0.00561167 -0.25738938] [ 0.05987078 0.00552187 0.99819086 -0.14858336] [ 0. 0. 0. 1. ]] SLAMing on 85.08463044 meters Centerline goodness : 0.459828 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.26, Z:-0.15 [[ 0.99829833 0.00557053 -0.0580467 0.06617209] [-0.00594703 0.99996237 -0.00631536 -0.2609038 ] [ 0.05800934 0.00664982 0.99829389 -0.15055582] [ 0. 0. 0. 1. ]] SLAMing on 85.11463044 meters Centerline goodness : 0.162813 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:-0.15 [[ 9.98261069e-01 -1.03856656e-03 -5.89386057e-02 8.40999386e-02] [ 7.09608164e-04 9.99984057e-01 -5.60202935e-03 -2.51899180e-01] [ 5.89434841e-02 5.55046449e-03 9.98245891e-01 -1.47636912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14463044 meters Centerline goodness : 0.125254 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 9.98232261e-01 -1.25087967e-03 -5.94204404e-02 8.56518211e-02] [ 8.96863793e-04 9.99981693e-01 -5.98410902e-03 -2.50484076e-01] [ 5.94268380e-02 5.92023864e-03 9.98215108e-01 -1.48196963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17463044 meters Centerline goodness : 0.125721 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 0.99820716 -0.00147806 -0.0598355 0.08697998] [ 0.00110126 0.99997936 -0.00632984 -0.24939576] [ 0.05984362 0.0062526 0.99818818 -0.1486315 ] [ 0. 0. 0. 1. ]] SLAMing on 85.20463044 meters Centerline goodness : 0.125822 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 0.99819084 -0.00161336 -0.06010363 0.08782736] [ 0.00122297 0.99997792 -0.00653147 -0.24868608] [ 0.06011284 0.00644615 0.99817077 -0.14892982] [ 0. 0. 0. 1. ]] SLAMing on 85.23463043999999 meters Centerline goodness : 0.121840 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 0.99819296 -0.00171121 -0.06006569 0.08779431] [ 0.00131137 0.99997672 -0.00669552 -0.24793128] [ 0.06007575 0.00660465 0.99817197 -0.14900209] [ 0. 0. 0. 1. ]] SLAMing on 85.26463043999999 meters Centerline goodness : 0.129711 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 0.99821446 -0.00200388 -0.05969828 0.08656539] [ 0.00157825 0.99997301 -0.00717605 -0.24568903] [ 0.05971105 0.00706902 0.99819067 -0.1485084 ] [ 0. 0. 0. 1. ]] SLAMing on 85.29463043999999 meters Centerline goodness : 0.122376 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.25, Z:-0.15 [[ 0.99825203 0.00517045 -0.05887405 0.06749768] [-0.00567818 0.99994809 -0.00845995 -0.24865117] [ 0.05882725 0.00877946 0.99822957 -0.15092014] [ 0. 0. 0. 1. ]] SLAMing on 85.32463043999999 meters Centerline goodness : 0.167910 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.15 [[ 0.9982138 -0.00169242 -0.05971884 0.08571887] [ 0.0012282 0.99996875 -0.00780933 -0.24050032] [ 0.05973019 0.00772204 0.99818469 -0.14811363] [ 0. 0. 0. 1. ]] SLAMing on 85.35463044 meters Centerline goodness : 0.214016 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.15 [[ 0.99819222 -0.0018423 -0.06007412 0.0868202 ] [ 0.00134904 0.99996505 -0.0082504 -0.2380726 ] [ 0.06008722 0.00815444 0.99815982 -0.148472 ] [ 0. 0. 0. 1. ]] SLAMing on 85.38463044 meters Centerline goodness : 0.114860 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99814209 -0.00185979 -0.06090086 0.08967982] [ 0.00132483 0.9999602 -0.00882336 -0.23267699] [ 0.06091485 0.00872628 0.99810482 -0.14972535] [ 0. 0. 0. 1. ]] SLAMing on 85.41463044 meters Centerline goodness : 0.184513 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99813458 -0.0019925 -0.0610196 0.09016506] [ 0.00143414 0.99995672 -0.009193 -0.23064421] [ 0.06103528 0.00908834 0.99809423 -0.15003457] [ 0. 0. 0. 1. ]] SLAMing on 85.44463044 meters Centerline goodness : 0.120618 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99813471 -0.00208478 -0.06101437 0.08995409] [ 0.00151335 0.99995458 -0.00941007 -0.22938006] [ 0.06103122 0.00930018 0.99809253 -0.1497691 ] [ 0. 0. 0. 1. ]] SLAMing on 85.47463044 meters Centerline goodness : 0.177247 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99813918 -0.00217501 -0.06093803 0.08924942] [ 0.00159828 0.99995349 -0.00951145 -0.22892982] [ 0.06095588 0.00939636 0.99809623 -0.14908708] [ 0. 0. 0. 1. ]] SLAMing on 85.50463044 meters Centerline goodness : 0.130400 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99814043 -0.00218613 -0.06091715 0.08870636] [ 0.00161644 0.99995452 -0.0093996 -0.22962342] [ 0.06093493 0.00928366 0.99809857 -0.1483879 ] [ 0. 0. 0. 1. ]] SLAMing on 85.53463044 meters Centerline goodness : 0.113609 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99813722 -0.00220751 -0.060969 0.08860625] [ 0.00164589 0.99995577 -0.00926023 -0.23056251] [ 0.06098674 0.00914263 0.9980967 -0.14802742] [ 0. 0. 0. 1. ]] SLAMing on 85.56463044 meters Centerline goodness : 0.130298 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99812445 -0.00227396 -0.06117531 0.0887776 ] [ 0.00173092 0.99995864 -0.00892827 -0.23284471] [ 0.06119308 0.00880564 0.9980871 -0.14748514] [ 0. 0. 0. 1. ]] SLAMing on 85.59463044 meters Centerline goodness : 0.128144 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99811992 -0.00225898 -0.06124966 0.08883792] [ 0.00172346 0.99995984 -0.00879455 -0.23375121] [ 0.06126706 0.00867245 0.99808373 -0.14728106] [ 0. 0. 0. 1. ]] SLAMing on 85.62463043999999 meters Centerline goodness : 0.112531 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:-0.15 [[ 0.99814509 0.00495312 -0.06067819 0.06948143] [-0.00556344 0.99993558 -0.00989355 -0.23999069] [ 0.06062527 0.01021278 0.99810835 -0.14977112] [ 0. 0. 0. 1. ]] SLAMing on 85.65463043999999 meters Centerline goodness : 0.182722 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:-0.15 [[ 0.99814829 0.00491539 -0.06062856 0.06922054] [-0.00552879 0.99993518 -0.00995365 -0.23991374] [ 0.0605757 0.01027042 0.99811077 -0.14958337] [ 0. 0. 0. 1. ]] SLAMing on 85.68463043999999 meters Centerline goodness : 0.131542 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.98122002e-01 -2.33931560e-04 -6.12569589e-02 4.74416891e-02] [-1.54144949e-04 9.99979951e-01 -6.33042094e-03 -2.36977758e-01] [ 6.12572116e-02 6.32797487e-03 9.98101954e-01 -1.50422365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71463044 meters Centerline goodness : 0.107215 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.15 [[ 9.98102834e-01 8.73899631e-05 -6.15688690e-02 4.82373984e-02] [-4.73215441e-04 9.99980344e-01 -6.25201394e-03 -2.35967272e-01] [ 6.15671124e-02 6.26928817e-03 9.98083256e-01 -1.50511609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74463044 meters Centerline goodness : 0.084199 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:-0.15 [[ 9.98091508e-01 1.93120178e-04 -6.17519597e-02 4.87544327e-02] [-5.88429008e-04 9.99979453e-01 -6.38343768e-03 -2.34830701e-01] [ 6.17494581e-02 6.40759159e-03 9.98071113e-01 -1.50648042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77463044 meters Centerline goodness : 0.117240 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:-0.15 [[ 9.98079933e-01 1.13504944e-04 -6.19389525e-02 4.92549513e-02] [-5.31841803e-04 9.99977161e-01 -6.73757406e-03 -2.33292531e-01] [ 6.19367731e-02 6.75757919e-03 9.98057198e-01 -1.50797985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80463044 meters Centerline goodness : 0.115194 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:-0.15 [[ 9.98067126e-01 -5.54662459e-05 -6.21450632e-02 4.97700754e-02] [-3.92556961e-04 9.99974024e-01 -7.19708018e-03 -2.31476505e-01] [ 6.21438481e-02 7.20756461e-03 9.98041178e-01 -1.50893122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83463044 meters Centerline goodness : 0.119452 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:-0.15 [[ 9.98072711e-01 -1.31914448e-04 -6.20551855e-02 4.96127717e-02] [-3.40572453e-04 9.99971036e-01 -7.60334039e-03 -2.29296087e-01] [ 6.20543912e-02 7.60982084e-03 9.98043758e-01 -1.51028984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86463044 meters Centerline goodness : 0.099858 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:-0.15 [[ 0.99807496 0.00381196 -0.06190195 0.04871483] [-0.00409023 0.99998209 -0.00436917 -0.2256773 ] [ 0.06188419 0.00461395 0.99807267 -0.15041934] [ 0. 0. 0. 1. ]] SLAMing on 85.89463044 meters Centerline goodness : 0.120259 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:-0.15 [[ 0.99808225 0.00375661 -0.06178759 0.04849731] [-0.00405496 0.99998072 -0.00470388 -0.22350775] [ 0.06176873 0.0049454 0.99807824 -0.15054027] [ 0. 0. 0. 1. ]] SLAMing on 85.92463044 meters Centerline goodness : 0.113775 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:-0.15 [[ 0.99809208 0.00362589 -0.0616364 0.04821903] [-0.00394388 0.99997953 -0.00503812 -0.22192558] [ 0.06161687 0.00527159 0.99808595 -0.15068937] [ 0. 0. 0. 1. ]] SLAMing on 85.95463044 meters Centerline goodness : 0.107175 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:-0.15 [[ 0.99817254 -0.00371818 -0.06031382 0.06619525] [ 0.00348142 0.99998582 -0.00403017 -0.21479668] [ 0.06032795 0.00381283 0.99817133 -0.14805758] [ 0. 0. 0. 1. ]] SLAMing on 85.98463043999999 meters Centerline goodness : 0.124254 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99818553 -0.00363224 -0.06010378 0.06554103] [ 0.00340623 0.99998674 -0.00386233 -0.21515914] [ 0.06011701 0.0036506 0.99818466 -0.14786455] [ 0. 0. 0. 1. ]] SLAMing on 86.01463043999999 meters Centerline goodness : 0.053002 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99817426 -0.00369602 -0.06028675 0.06615434] [ 0.00347143 0.99998664 -0.00382962 -0.21554462] [ 0.0603001 0.00361334 0.99817375 -0.14804654] [ 0. 0. 0. 1. ]] SLAMing on 86.04463043999999 meters Centerline goodness : 0.083795 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99813675 -0.00388646 -0.06089268 0.06786643] [ 0.00365507 0.99998567 -0.0039109 -0.21606553] [ 0.06090701 0.00368105 0.99813666 -0.14835447] [ 0. 0. 0. 1. ]] SLAMing on 86.07463043999999 meters Centerline goodness : 0.098230 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99809666 -0.00410878 -0.06153183 0.06969994] [ 0.00386396 0.99998414 -0.00409725 -0.21619871] [ 0.06154769 0.00385169 0.99809671 -0.14877853] [ 0. 0. 0. 1. ]] SLAMing on 86.10463044 meters Centerline goodness : 0.177696 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99807261 -0.00415752 -0.06191752 0.07062382] [ 0.00390984 0.99998387 -0.00412066 -0.21629188] [ 0.06193365 0.00387063 0.99807276 -0.14876083] [ 0. 0. 0. 1. ]] SLAMing on 86.13463044 meters Centerline goodness : 0.160377 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99812494 -0.00274698 -0.0611478 0.06693898] [ 0.00259489 0.99999334 -0.00256651 -0.21800917] [ 0.06115444 0.00240302 0.99812542 -0.1467283 ] [ 0. 0. 0. 1. ]] SLAMing on 86.16463044 meters Centerline goodness : 0.088014 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99814694 -0.00266759 -0.06079114 0.06587982] [ 0.00252076 0.99999372 -0.0024919 -0.21802973] [ 0.06079741 0.00233405 0.9981474 -0.14644271] [ 0. 0. 0. 1. ]] SLAMing on 86.19463044 meters Centerline goodness : 0.123716 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:-0.14 [[ 0.99819762 0.00506237 -0.05979861 0.08409904] [-0.00532356 0.99997697 -0.00420934 -0.22127702] [ 0.05977593 0.00452009 0.99820159 -0.14415913] [ 0. 0. 0. 1. ]] SLAMing on 86.22463044 meters Centerline goodness : 0.121856 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:-0.14 [[ 0.99820369 0.0049495 -0.05970681 0.08385609] [-0.00520895 0.99997765 -0.00419056 -0.22234824] [ 0.05968473 0.00449405 0.99820716 -0.14415013] [ 0. 0. 0. 1. ]] SLAMing on 86.25463044 meters Centerline goodness : 0.164728 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:-0.14 [[ 0.99819321 0.00491432 -0.05988458 0.08443541] [-0.00515679 0.99997912 -0.00389502 -0.22469381] [ 0.05986419 0.0041968 0.99819771 -0.14438107] [ 0. 0. 0. 1. ]] SLAMing on 86.28463044 meters Centerline goodness : 0.109592 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.14 [[ 0.9981802 0.00491983 -0.06010068 0.08509531] [-0.00515602 0.99997958 -0.00377545 -0.22547393] [ 0.06008088 0.00407846 0.99818518 -0.14452718] [ 0. 0. 0. 1. ]] SLAMing on 86.31463044 meters Centerline goodness : 0.094128 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.14 [[ 0.99816574 0.00487936 -0.06034352 0.0858108 ] [-0.00511705 0.99997974 -0.00378509 -0.22572582] [ 0.06032383 0.00408693 0.99817049 -0.14471323] [ 0. 0. 0. 1. ]] SLAMing on 86.34463044 meters Centerline goodness : 0.115447 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.14 [[ 0.99816679 0.00490102 -0.06032441 0.08569606] [-0.00514885 0.99997893 -0.00395342 -0.22414243] [ 0.06030376 0.00425678 0.998171 -0.14462867] [ 0. 0. 0. 1. ]] SLAMing on 86.37463043999999 meters Centerline goodness : 0.086442 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.15 [[ 0.99827366 -0.00245915 -0.0586826 0.0658183 ] [ 0.00231614 0.99999418 -0.00250494 -0.21818773] [ 0.05868842 0.0023647 0.99827355 -0.14742781] [ 0. 0. 0. 1. ]] SLAMing on 86.40463043999999 meters Centerline goodness : 0.114277 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.15 [[ 0.99833829 0.00587194 -0.05732518 0.08500899] [-0.00610338 0.99997391 -0.00386311 -0.21788684] [ 0.057301 0.00420657 0.99834809 -0.14539689] [ 0. 0. 0. 1. ]] SLAMing on 86.43463043999999 meters Centerline goodness : 0.117160 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.15 [[ 0.9983376 0.00569537 -0.057355 0.08503337] [-0.0059542 0.99997284 -0.00434276 -0.21565432] [ 0.0573287 0.00467705 0.9983444 -0.14538129] [ 0. 0. 0. 1. ]] SLAMing on 86.46463044 meters Centerline goodness : 0.124426 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.15 [[ 0.99833335 0.00551329 -0.05744665 0.08532521] [-0.0057972 0.99997179 -0.00477672 -0.21369571] [ 0.0574187 0.00510179 0.99833715 -0.14553849] [ 0. 0. 0. 1. ]] SLAMing on 86.49463044 meters Centerline goodness : 0.117941 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.15 [[ 0.99833803 0.00538715 -0.05737736 0.08509476] [-0.00569185 0.99997055 -0.00514844 -0.21170654] [ 0.05734794 0.00546647 0.99833929 -0.14551287] [ 0. 0. 0. 1. ]] SLAMing on 86.52463044 meters Centerline goodness : 0.093101 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.15 [[ 0.99838347 0.00559162 -0.05656129 0.08286323] [-0.00590255 0.99996837 -0.0053316 -0.20835556] [ 0.05652969 0.00565684 0.99838489 -0.14512878] [ 0. 0. 0. 1. ]] SLAMing on 86.55463044 meters Centerline goodness : 0.120015 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.15 [[ 0.99838815 0.00544295 -0.05649324 0.08277012] [-0.00577304 0.9999672 -0.00568145 -0.20659995] [ 0.05646046 0.00599843 0.99838682 -0.14521714] [ 0. 0. 0. 1. ]] SLAMing on 86.58463044 meters Centerline goodness : 0.127174 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.15 [[ 0.99838037 0.0052139 -0.05665203 0.08342546] [-0.00557107 0.99996558 -0.00614847 -0.20462316] [ 0.05661802 0.00645413 0.99837505 -0.14564956] [ 0. 0. 0. 1. ]] SLAMing on 86.61463044 meters Centerline goodness : 0.104339 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.14 [[ 0.99829659 -0.00178517 -0.05831587 0.10268645] [ 0.00144773 0.99998197 -0.0058281 -0.19641265] [ 0.05832523 0.00573375 0.99828117 -0.14337379] [ 0. 0. 0. 1. ]] SLAMing on 86.64463044 meters Centerline goodness : 0.239671 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.14 [[ 0.99827856 -0.00176756 -0.05862414 0.10358452] [ 0.00141051 0.99998021 -0.00613146 -0.19315398] [ 0.05863382 0.00603822 0.9982613 -0.14370788] [ 0. 0. 0. 1. ]] SLAMing on 86.67463044 meters Centerline goodness : 0.239671 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.14 [[ 0.99827856 -0.00176756 -0.05862414 0.10358452] [ 0.00141051 0.99998021 -0.00613146 -0.19315398] [ 0.05863382 0.00603822 0.9982613 -0.14370788] [ 0. 0. 0. 1. ]] SLAMing on 86.70463044 meters Centerline goodness : 0.101059 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.14 [[ 0.99829419 -0.00171541 -0.05835904 0.10273852] [ 0.00136023 0.99998032 -0.00612523 -0.19241768] [ 0.0583684 0.0060354 0.99827687 -0.14336153] [ 0. 0. 0. 1. ]] SLAMing on 86.73463043999999 meters Centerline goodness : 0.179487 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.14 [[ 0.99831596 -0.00180617 -0.05798268 0.10145199] [ 0.00145066 0.9999799 -0.00617293 -0.19224277] [ 0.05799266 0.00607842 0.9982985 -0.14274835] [ 0. 0. 0. 1. ]] SLAMing on 86.76463043999999 meters Centerline goodness : 0.159473 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.14 [[ 0.99834131 -0.0020205 -0.05753735 0.10008591] [ 0.00166125 0.99997883 -0.00629089 -0.19243584] [ 0.05754884 0.00618487 0.99832353 -0.14226066] [ 0. 0. 0. 1. ]] SLAMing on 86.79463043999999 meters Centerline goodness : 0.093993 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.14 [[ 0.99835176 -0.00221035 -0.05734873 0.09956646] [ 0.00185119 0.99997835 -0.00631517 -0.19310498] [ 0.05736145 0.0061986 0.99833423 -0.14210439] [ 0. 0. 0. 1. ]] SLAMing on 86.82463043999999 meters Centerline goodness : 0.095662 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.14 [[ 0.99834926 -0.00282224 -0.05736544 0.09983477] [ 0.00245992 0.99997659 -0.00638559 -0.19512847] [ 0.05738212 0.00623393 0.99833283 -0.14232585] [ 0. 0. 0. 1. ]] SLAMing on 86.85463044 meters Centerline goodness : 0.100024 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.14 [[ 0.9983421 -0.00284685 -0.05748867 0.10032638] [ 0.00249594 0.99997782 -0.00617486 -0.19656736] [ 0.05750498 0.00602113 0.99832706 -0.14254143] [ 0. 0. 0. 1. ]] SLAMing on 86.88463044 meters Centerline goodness : 0.100278 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.14 [[ 0.99833206 -0.00283565 -0.05766335 0.10087005] [ 0.00249512 0.99997903 -0.00597658 -0.19779303] [ 0.05767909 0.00582273 0.99831819 -0.14271048] [ 0. 0. 0. 1. ]] SLAMing on 86.91463044 meters Centerline goodness : 0.102841 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.14 [[ 0.99831111 -0.00309494 -0.0580116 0.10185759] [ 0.00276598 0.99997964 -0.00575008 -0.20033353] [ 0.05802822 0.00557991 0.99829935 -0.14288319] [ 0. 0. 0. 1. ]] SLAMing on 86.94463044 meters Centerline goodness : 0.100787 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.14 [[ 0.99831061 -0.00312062 -0.05801886 0.10185943] [ 0.00280505 0.99998083 -0.00551975 -0.2020211 ] [ 0.05803497 0.00534768 0.99830023 -0.14283911] [ 0. 0. 0. 1. ]] SLAMing on 86.97463044 meters Centerline goodness : 0.102077 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.14 [[ 0.99830868 -0.00310657 -0.05805281 0.10184627] [ 0.00280794 0.99998241 -0.00522497 -0.20394241] [ 0.05806802 0.00505312 0.99829984 -0.14270766] [ 0. 0. 0. 1. ]] SLAMing on 87.00463044 meters Centerline goodness : 0.107800 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.14 [[ 0.99831191 -0.0030475 -0.05800034 0.10169299] [ 0.00276805 0.99998418 -0.0048977 -0.20583117] [ 0.05801435 0.00472889 0.99830455 -0.14266892] [ 0. 0. 0. 1. ]] SLAMing on 87.03463044 meters Centerline goodness : 0.104906 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.14 [[ 0.99831262 -0.00299748 -0.0579907 0.10175415] [ 0.00273772 0.99998586 -0.00455833 -0.20784211] [ 0.05800354 0.00439188 0.99830672 -0.1427675 ] [ 0. 0. 0. 1. ]] SLAMing on 87.06463044 meters Centerline goodness : 0.126563 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.14 [[ 0.99831071 -0.00302144 -0.05802245 0.10178766] [ 0.00278103 0.99998721 -0.0042236 -0.21024268] [ 0.05803447 0.0040551 0.99830634 -0.14266799] [ 0. 0. 0. 1. ]] SLAMing on 87.09463044 meters Centerline goodness : 0.165546 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.14 [[ 0.99831201 -0.0031386 -0.05799384 0.10149212] [ 0.00291287 0.99998785 -0.00397644 -0.21252761] [ 0.05800561 0.0038008 0.99830902 -0.14239618] [ 0. 0. 0. 1. ]] SLAMing on 87.12463043999999 meters Centerline goodness : 0.113298 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:-0.14 [[ 0.9982873 -0.00586754 -0.05820684 0.10090811] [ 0.00554886 0.99996873 -0.00563512 -0.21951842] [ 0.05823808 0.00530248 0.99828864 -0.14139372] [ 0. 0. 0. 1. ]] SLAMing on 87.15463043999999 meters Centerline goodness : 0.109369 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:-0.14 [[ 0.99828363 -0.0057863 -0.05827788 0.10115442] [ 0.00549769 0.99997182 -0.00511139 -0.22246814] [ 0.05830581 0.00478223 0.99828731 -0.1416226 ] [ 0. 0. 0. 1. ]] SLAMing on 87.18463043999999 meters Centerline goodness : 0.114751 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.9982881 -0.00565727 -0.05821399 0.10124462] [ 0.00540111 0.99997503 -0.0045568 -0.22515593] [ 0.05823831 0.00423458 0.99829373 -0.14203381] [ 0. 0. 0. 1. ]] SLAMing on 87.21463044 meters Centerline goodness : 0.112478 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99829012 -0.00559314 -0.05818546 0.10122643] [ 0.00536258 0.99997714 -0.0041179 -0.22756893] [ 0.05820717 0.00379884 0.9982973 -0.14218156] [ 0. 0. 0. 1. ]] SLAMing on 87.24463044 meters Centerline goodness : 0.114512 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99829828 -0.00549304 -0.05805496 0.10044716] [ 0.00528628 0.99997913 -0.00371442 -0.22981398] [ 0.05807415 0.00340121 0.99830648 -0.14156307] [ 0. 0. 0. 1. ]] SLAMing on 87.27463044 meters Centerline goodness : 0.112834 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99828552 -0.00535873 -0.05828648 0.10103087] [ 0.00515495 0.99998007 -0.00364603 -0.22978781] [ 0.05830486 0.00333931 0.99829324 -0.14148841] [ 0. 0. 0. 1. ]] SLAMing on 87.30463044 meters Centerline goodness : 0.125933 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99826739 -0.00519027 -0.05861119 0.10238049] [ 0.00498838 0.99998111 -0.00359033 -0.22928934] [ 0.05862872 0.00329173 0.99827443 -0.14216649] [ 0. 0. 0. 1. ]] SLAMing on 87.33463044 meters Centerline goodness : 0.110578 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99825771 -0.00502406 -0.05879025 0.10350856] [ 0.00482789 0.9999823 -0.00347834 -0.22912366] [ 0.05880669 0.00318845 0.9982643 -0.14304506] [ 0. 0. 0. 1. ]] SLAMing on 87.36463044 meters Centerline goodness : 0.106706 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99825768 -0.00497897 -0.05879469 0.10396779] [ 0.00478333 0.99998255 -0.00346786 -0.22876235] [ 0.05881093 0.00318059 0.99826407 -0.1436609 ] [ 0. 0. 0. 1. ]] SLAMing on 87.39463044 meters Centerline goodness : 0.146844 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.15 [[ 9.98416896e-01 9.52665326e-04 -5.62387208e-02 8.67898775e-02] [-1.24420724e-03 9.99985969e-01 -5.14922049e-03 -2.36358634e-01] [ 5.62330263e-02 5.21104136e-03 9.98404072e-01 -1.47337750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42463044 meters Centerline goodness : 0.112785 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:-0.15 [[ 0.99842187 -0.0070792 -0.05571046 0.10708776] [ 0.00684619 0.99996701 -0.00437224 -0.23397295] [ 0.05573957 0.00398394 0.99843739 -0.14518604] [ 0. 0. 0. 1. ]] SLAMing on 87.45463044 meters Centerline goodness : 0.116018 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:-0.15 [[ 0.99841241 -0.00719746 -0.05586465 0.10738723] [ 0.00697409 0.99996689 -0.00419238 -0.23534948] [ 0.05589297 0.00379612 0.99842955 -0.14533892] [ 0. 0. 0. 1. ]] SLAMing on 87.48463043999999 meters Centerline goodness : 0.117219 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:-0.15 [[ 0.99834777 -0.00884194 -0.05677639 0.11052044] [ 0.00858046 0.99995144 -0.00484761 -0.24025753] [ 0.0568165 0.00435243 0.99837515 -0.14731074] [ 0. 0. 0. 1. ]] SLAMing on 87.51463043999999 meters Centerline goodness : 0.125429 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:-0.15 [[ 0.99835918 -0.00880052 -0.05658177 0.11025649] [ 0.00855627 0.99995301 -0.0045575 -0.24117266] [ 0.05661922 0.00406589 0.99838757 -0.14784165] [ 0. 0. 0. 1. ]] SLAMing on 87.54463043999999 meters Centerline goodness : 0.120781 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 9.98516565e-01 -7.34985023e-04 -5.44438137e-02 9.00626382e-02] [ 4.48957968e-04 9.99986036e-01 -5.26566329e-03 -2.47387504e-01] [ 5.44469236e-02 5.23340904e-03 9.98502951e-01 -1.50410705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57463043999999 meters Centerline goodness : 0.094987 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:-0.15 [[ 0.99855484 -0.00835572 -0.05308881 0.10880836] [ 0.008145 0.99995807 -0.00418432 -0.24359054] [ 0.05312154 0.00374587 0.99858103 -0.14817424] [ 0. 0. 0. 1. ]] SLAMing on 87.60463044 meters Centerline goodness : 0.103982 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.15 [[ 9.98608275e-01 -2.34078405e-04 -5.27395398e-02 8.99679642e-02] [-6.93384526e-05 9.99983459e-01 -5.75121602e-03 -2.48124211e-01] [ 5.27400136e-02 5.74686878e-03 9.98591741e-01 -1.50018772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63463044 meters Centerline goodness : 0.169572 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:-0.15 [[ 0.99849014 -0.00739894 -0.05443061 0.10945094] [ 0.00712559 0.99996102 -0.00521433 -0.24242163] [ 0.05446707 0.00481861 0.99850394 -0.14764017] [ 0. 0. 0. 1. ]] SLAMing on 87.66463044 meters Centerline goodness : 0.102417 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:-0.15 [[ 0.99843427 -0.00741407 -0.05544407 0.11247486] [ 0.00711705 0.99995926 -0.0055526 -0.24006538] [ 0.05548298 0.0051493 0.99844636 -0.14857082] [ 0. 0. 0. 1. ]] SLAMing on 87.69463044 meters Centerline goodness : 0.104636 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:-0.15 [[ 9.98427017e-01 1.82779158e-04 -5.60665500e-02 1.30567678e-01] [-5.18041366e-04 9.99982074e-01 -5.96524335e-03 -2.44240922e-01] [ 5.60644546e-02 5.98490491e-03 9.98409214e-01 -1.47102333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72463044 meters Centerline goodness : 0.103261 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:-0.15 [[ 9.98430445e-01 1.31765583e-04 -5.60056251e-02 1.30210026e-01] [-4.74830930e-04 9.99981207e-01 -6.11228871e-03 -2.43323172e-01] [ 5.60037672e-02 6.12928833e-03 9.98411744e-01 -1.46828178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75463044 meters Centerline goodness : 0.102877 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:-0.15 [[ 9.98433649e-01 6.92167366e-05 -5.59485725e-02 1.29853956e-01] [-4.17879099e-04 9.99980567e-01 -6.22016161e-03 -2.42793019e-01] [ 5.59470547e-02 6.23379839e-03 9.98414276e-01 -1.46543538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78463044 meters Centerline goodness : 0.459997 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:-0.15 [[ 9.98441394e-01 -8.61280895e-05 -5.58101673e-02 1.29375716e-01] [-2.64069805e-04 9.99980325e-01 -6.26739957e-03 -2.42712534e-01] [ 5.58096091e-02 6.27236895e-03 9.98421727e-01 -1.46316842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81463044 meters Centerline goodness : 0.104101 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:-0.14 [[ 0.99842151 -0.00774105 -0.0556289 0.14811191] [ 0.00747193 0.99995936 -0.00504415 -0.23938384] [ 0.05566568 0.00462054 0.99843877 -0.14370917] [ 0. 0. 0. 1. ]] SLAMing on 87.84463044 meters Centerline goodness : 0.107472 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:-0.14 [[ 0.99842465 -0.00769325 -0.05557905 0.14774146] [ 0.00743356 0.99996047 -0.00487765 -0.24019466] [ 0.05561438 0.00445681 0.99844238 -0.1433807 ] [ 0. 0. 0. 1. ]] SLAMing on 87.87463043999999 meters Centerline goodness : 0.370607 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:-0.14 [[ 0.99843123 -0.00764281 -0.05546769 0.14720243] [ 0.00739197 0.99996151 -0.00472609 -0.24081294] [ 0.05550168 0.00430866 0.9984493 -0.14301363] [ 0. 0. 0. 1. ]] SLAMing on 87.90463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 87.93463043999999 meters Centerline goodness : 0.258605 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:-0.14 [[ 0.99843654 -0.00742755 -0.05540133 0.1463069 ] [ 0.0072133 0.99996572 -0.0040661 -0.24334932] [ 0.05542963 0.00366012 0.99845589 -0.14205264] [ 0. 0. 0. 1. ]] SLAMing on 87.96463044 meters Centerline goodness : 0.180817 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.24, Z:-0.14 [[ 0.99829939 -0.0077609 -0.0577762 0.10200698] [ 0.00755704 0.99996443 -0.00374604 -0.24414664] [ 0.05780322 0.00330305 0.99832253 -0.14430864] [ 0. 0. 0. 1. ]] SLAMing on 87.99463044 meters Centerline goodness : 0.447804 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.25, Z:-0.14 [[ 0.99829446 -0.00767353 -0.05787302 0.10231817] [ 0.00748184 0.99996579 -0.00352822 -0.24506368] [ 0.05789811 0.00308921 0.99831772 -0.14451156] [ 0. 0. 0. 1. ]] SLAMing on 88.02463044 meters Centerline goodness : 0.449389 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.25, Z:-0.14 [[ 9.98346587e-01 4.10307895e-04 -5.74797766e-02 1.20939929e-01] [-6.66165163e-04 9.99989956e-01 -4.43216653e-03 -2.49489493e-01] [ 5.74773807e-02 4.46312936e-03 9.98336833e-01 -1.42394083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05463044 meters Centerline goodness : 0.133000 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.25, Z:-0.14 [[ 9.98388118e-01 6.18898950e-04 -5.67519462e-02 1.18614253e-01] [-8.71599509e-04 9.99989816e-01 -4.42807626e-03 -2.48610715e-01] [ 5.67486277e-02 4.47040369e-03 9.98378490e-01 -1.41512177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08463044 meters Centerline goodness : 0.277491 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.25, Z:-0.14 [[ 9.98403544e-01 5.77465483e-04 -5.64803523e-02 1.17470673e-01] [-8.47003910e-04 9.99988367e-01 -4.74842894e-03 -2.46824023e-01] [ 5.64769532e-02 4.78868736e-03 9.98392419e-01 -1.40769599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11463044 meters Centerline goodness : 0.317987 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.14 [[ 9.98402264e-01 4.55812247e-04 -5.65040908e-02 1.17250907e-01] [-7.48007584e-04 9.99986458e-01 -5.15018270e-03 -2.44724659e-01] [ 5.65009781e-02 5.18421956e-03 9.98389084e-01 -1.40409837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14463044 meters Centerline goodness : 0.170734 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.14 [[ 9.98400671e-01 3.88414198e-04 -5.65327219e-02 1.17370667e-01] [-7.02187926e-04 9.99984460e-01 -5.53054450e-03 -2.42181557e-01] [ 5.65296953e-02 5.56139594e-03 9.98385429e-01 -1.40456632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17463044 meters Centerline goodness : 0.095388 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.14 [[ 9.98399591e-01 3.42855534e-04 -5.65520962e-02 1.17611365e-01] [-6.74692027e-04 9.99982668e-01 -5.84881328e-03 -2.39875607e-01] [ 5.65491107e-02 5.87760804e-03 9.98382518e-01 -1.40684351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20463044 meters Centerline goodness : 0.452683 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.14 [[ 9.98408783e-01 2.31074464e-04 -5.63901444e-02 1.17403041e-01] [-5.80082384e-04 9.99980779e-01 -6.17287519e-03 -2.37998432e-01] [ 5.63876342e-02 6.19576374e-03 9.98389727e-01 -1.40925346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23463043999999 meters Centerline goodness : 0.460897 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.14 [[ 9.98422253e-01 -5.02835594e-04 -5.61493798e-02 1.17063908e-01] [ 1.07937003e-04 9.99975243e-01 -7.03581129e-03 -2.35738057e-01] [ 5.61515275e-02 7.01864996e-03 9.98397588e-01 -1.41271018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26463043999999 meters Centerline goodness : 0.239575 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.14 [[ 9.98400648e-01 -7.58345254e-04 -5.65293782e-02 1.18194306e-01] [ 3.47279644e-04 9.99973432e-01 -7.28118542e-03 -2.35080483e-01] [ 5.65333980e-02 7.24990874e-03 9.98374386e-01 -1.41647950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29463043999999 meters Centerline goodness : 0.263792 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99828665 -0.00897744 -0.05782017 0.10039775] [ 0.00864935 0.99994506 -0.00592208 -0.22970513] [ 0.05787015 0.00541183 0.99830945 -0.14435455] [ 0. 0. 0. 1. ]] SLAMing on 88.32463043999999 meters Centerline goodness : 0.102031 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:-0.14 [[ 0.99824931 -0.00911011 -0.05844077 0.10223599] [ 0.00877098 0.99994319 -0.00605684 -0.22884145] [ 0.05849263 0.00553366 0.9982725 -0.14493296] [ 0. 0. 0. 1. ]] SLAMing on 88.35463044 meters Centerline goodness : 0.167879 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:-0.15 [[ 0.99817616 -0.00965806 -0.05959091 0.10534978] [ 0.00928761 0.9999358 -0.0064905 -0.22753104] [ 0.05964977 0.0059252 0.99820178 -0.14554125] [ 0. 0. 0. 1. ]] SLAMing on 88.38463044 meters Centerline goodness : 0.459040 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:-0.15 [[ 0.99816668 -0.00980479 -0.05972561 0.10565975] [ 0.00942899 0.99993396 -0.00657073 -0.22755129] [ 0.05978609 0.00599553 0.99819321 -0.14558945] [ 0. 0. 0. 1. ]] SLAMing on 88.41463044 meters Centerline goodness : 0.450892 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99834439 -0.00363173 -0.05740467 0.08977542] [ 0.00321602 0.99996794 -0.00733255 -0.23143137] [ 0.05742946 0.00713579 0.99832406 -0.14916673] [ 0. 0. 0. 1. ]] SLAMing on 88.44463044 meters Centerline goodness : 0.092938 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99833859 -0.00357411 -0.05750898 0.08992495] [ 0.00316749 0.99996935 -0.00716023 -0.23203677] [ 0.05753281 0.00696617 0.99831931 -0.14910307] [ 0. 0. 0. 1. ]] SLAMing on 88.47463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 88.50463044 meters Centerline goodness : 0.455812 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99832799 -0.00374932 -0.05768166 0.0902901 ] [ 0.00332627 0.99996688 -0.0074285 -0.23099087] [ 0.0577076 0.00722421 0.99830739 -0.1490269 ] [ 0. 0. 0. 1. ]] SLAMing on 88.53463044 meters Centerline goodness : 0.450947 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.15 [[ 0.99832751 -0.00378845 -0.05768732 0.09028671] [ 0.00334652 0.99996433 -0.00775552 -0.22886836] [ 0.05771464 0.0075495 0.99830458 -0.14891292] [ 0. 0. 0. 1. ]] SLAMing on 88.56463044 meters Centerline goodness : 0.095625 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:-0.15 [[ 0.99841936 0.00497546 -0.05598232 0.10962311] [-0.00544964 0.99995053 -0.00832077 -0.22897145] [ 0.05593815 0.0086127 0.99839709 -0.14714723] [ 0. 0. 0. 1. ]] SLAMing on 88.59463044 meters Centerline goodness : 0.095625 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:-0.15 [[ 0.99841936 0.00497546 -0.05598232 0.10962311] [-0.00544964 0.99995053 -0.00832077 -0.22897145] [ 0.05593815 0.0086127 0.99839709 -0.14714723] [ 0. 0. 0. 1. ]] SLAMing on 88.62463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 88.65463043999999 meters Centerline goodness : 0.416854 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:-0.14 [[ 0.99850947 0.01042495 -0.05357381 0.1026172 ] [-0.0107024 0.99993075 -0.0048945 -0.21637481] [ 0.05351908 0.00546057 0.9985519 -0.14460926] [ 0. 0. 0. 1. ]] SLAMing on 88.68463043999999 meters Centerline goodness : 0.456770 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.14 [[ 0.99850826 0.01021845 -0.05363617 0.10305585] [-0.01053702 0.99992846 -0.00566009 -0.21215866] [ 0.05357449 0.00621681 0.9985445 -0.14490829] [ 0. 0. 0. 1. ]] SLAMing on 88.71463044 meters Centerline goodness : 0.272664 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.15 [[ 0.99862549 0.00451625 -0.05221815 0.09054014] [-0.00476537 0.99997785 -0.00464733 -0.20236287] [ 0.052196 0.00488978 0.99862489 -0.14913759] [ 0. 0. 0. 1. ]] SLAMing on 88.74463044 meters Centerline goodness : 0.094790 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.15 [[ 0.99860382 0.00437082 -0.0526432 0.09224218] [-0.00464951 0.99997581 -0.00517264 -0.19895185] [ 0.05261931 0.00541019 0.99859999 -0.15000599] [ 0. 0. 0. 1. ]] SLAMing on 88.77463044 meters Centerline goodness : 0.189306 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:-0.15 [[ 0.99854866 -0.00338377 -0.05375052 0.07553621] [ 0.00317896 0.99998736 -0.00389539 -0.19108812] [ 0.05376302 0.00371887 0.9985468 -0.15293875] [ 0. 0. 0. 1. ]] SLAMing on 88.80463044 meters Centerline goodness : 0.139361 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:-0.15 [[ 0.99853187 -0.00358871 -0.05404835 0.07651468] [ 0.00336071 0.99998507 -0.00430877 -0.1890755 ] [ 0.05406301 0.0041208 0.99852902 -0.15335329] [ 0. 0. 0. 1. ]] SLAMing on 88.83463044 meters Centerline goodness : 0.363652 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:-0.15 [[ 0.99841618 -0.00529812 -0.0560095 0.03117563] [ 0.0049726 0.99996994 -0.00594961 -0.18290119] [ 0.05603934 0.00566167 0.99841251 -0.1545723 ] [ 0. 0. 0. 1. ]] SLAMing on 88.86463044 meters Centerline goodness : 0.106871 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:-0.15 [[ 0.99851543 -0.00595986 -0.05414257 0.07380057] [ 0.00561503 0.99996299 -0.00651891 -0.18236105] [ 0.05417942 0.00620522 0.99851194 -0.15201494] [ 0. 0. 0. 1. ]] SLAMing on 88.89463044 meters Centerline goodness : 0.105335 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:-0.15 [[ 0.99852395 -0.00611462 -0.05396782 0.07340577] [ 0.00575523 0.99996023 -0.00681231 -0.18096506] [ 0.05400733 0.00649166 0.99851944 -0.15202971] [ 0. 0. 0. 1. ]] SLAMing on 88.92463044 meters Centerline goodness : 0.468504 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:-0.15 [[ 0.99842284 -0.00545619 -0.05587551 0.02769108] [ 0.00509833 0.99996558 -0.0065452 -0.17672467] [ 0.0559093 0.00625001 0.99841629 -0.15360506] [ 0. 0. 0. 1. ]] SLAMing on 88.95463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 88.98463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 89.01463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 89.04463043999999 meters Centerline goodness : 0.426393 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:-0.15 [[ 9.98452522e-01 3.65592655e-04 -5.56096083e-02 2.63059732e-02] [-5.49959130e-04 9.99994403e-01 -3.30010365e-03 -1.58744700e-01] [ 5.56080906e-02 3.32557982e-03 9.98447135e-01 -1.52159110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07463043999999 meters Centerline goodness : 0.096742 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:-0.15 [[ 9.98435350e-01 4.60425388e-04 -5.59163739e-02 2.70571898e-02] [-6.74505569e-04 9.99992515e-01 -3.80976530e-03 -1.54796357e-01] [ 5.59142013e-02 3.84152026e-03 9.98428187e-01 -1.52140100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10463044 meters Centerline goodness : 0.095811 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:-0.15 [[ 0.99841364 0.00353664 -0.05619331 0.02813833] [-0.00365138 0.99999145 -0.00193939 -0.14702062] [ 0.05618597 0.0021415 0.99841802 -0.15251574] [ 0. 0. 0. 1. ]] SLAMing on 89.13463044 meters Centerline goodness : 0.462969 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.15 [[ 0.99841311 0.00354666 -0.05620217 0.02797161] [-0.00368678 0.99999035 -0.00238961 -0.14368946] [ 0.05619315 0.00259302 0.99841655 -0.15221483] [ 0. 0. 0. 1. ]] SLAMing on 89.16463044 meters Centerline goodness : 0.099011 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:-0.15 [[ 9.98513857e-01 -1.38976778e-03 -5.44806886e-02 6.65968958e-03] [ 1.39706360e-03 9.99999020e-01 9.58311702e-05 -1.35699655e-01] [ 5.44805020e-02 -1.71801738e-04 9.98514820e-01 -1.53573561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19463044 meters Centerline goodness : 0.092677 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:-0.15 [[ 0.9985497 0.00120882 -0.05382417 0.00342639] [-0.00112125 0.999998 0.0016571 -0.12858095] [ 0.05382606 -0.00159435 0.99854905 -0.15171927] [ 0. 0. 0. 1. ]] SLAMing on 89.22463044 meters Centerline goodness : 0.104013 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.15 [[ 9.98579304e-01 9.62946533e-03 -5.24084573e-02 2.33612912e-02] [-9.60135902e-03 9.99953595e-01 7.88042004e-04 -1.27180544e-01] [ 5.24136137e-02 -2.83730023e-04 9.98625422e-01 -1.49924276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25463044 meters Centerline goodness : 0.099130 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:-0.15 [[ 0.9986083 0.00299368 -0.05265458 0.04018822] [-0.00290926 0.99999436 0.00167971 -0.1180911 ] [ 0.05265931 -0.00152418 0.99861137 -0.14716321] [ 0. 0. 0. 1. ]] SLAMing on 89.28463044 meters Centerline goodness : 0.099800 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.11, Z:-0.15 [[ 0.99872569 -0.0025082 -0.05040539 0.01863849] [ 0.002695 0.99998975 0.00363825 -0.10886078] [ 0.05039575 -0.00376946 0.99872221 -0.14914145] [ 0. 0. 0. 1. ]] SLAMing on 89.31463044 meters Centerline goodness : 0.098581 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.11, Z:-0.15 [[ 0.99874206 -0.00256622 -0.05007713 0.01758266] [ 0.00272289 0.99999161 0.00306064 -0.10542281] [ 0.05006886 -0.00319315 0.99874066 -0.14873512] [ 0. 0. 0. 1. ]] SLAMing on 89.34463044 meters Centerline goodness : 0.093487 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:-0.15 [[ 0.99876269 0.00570672 -0.04940159 -0.00247564] [-0.00562094 0.99998244 0.00187512 -0.10559698] [ 0.04941142 -0.00159512 0.99877724 -0.15081491] [ 0. 0. 0. 1. ]] SLAMing on 89.37463043999999 meters Centerline goodness : 0.093820 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:-0.15 [[ 9.98776668e-01 5.52443438e-03 -4.91390659e-02 -3.11639904e-03] [-5.48039752e-03 9.99984451e-01 1.03085615e-03 -1.00147355e-01] [ 4.91439968e-02 -7.60293452e-04 9.98791414e-01 -1.50790384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40463043999999 meters Centerline goodness : 0.096065 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:-0.15 [[ 9.98771359e-01 5.23187702e-03 -4.92787922e-02 -2.59330811e-03] [-5.21839569e-03 9.99986303e-01 4.02225753e-04 -9.73101930e-02] [ 4.92802216e-02 -1.44575325e-04 9.98784981e-01 -1.51035170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43463043999999 meters Centerline goodness : 0.099599 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.09, Z:-0.15 [[ 9.98758944e-01 4.92072217e-03 -4.95616519e-02 -1.48221770e-03] [-4.93629927e-03 9.99987798e-01 -1.91900886e-04 -9.48732732e-02] [ 4.95601028e-02 4.36313873e-04 9.98771048e-01 -1.51609082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46463044 meters Centerline goodness : 0.094699 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.15 [[ 9.98740964e-01 4.65810266e-03 -4.99478702e-02 1.57966136e-05] [-4.69897939e-03 9.99988714e-01 -7.00993149e-04 -9.27035060e-02] [ 4.99440412e-02 9.34814586e-04 9.98751580e-01 -1.52361018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49463044 meters Centerline goodness : 0.098842 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.15 [[ 0.99869352 0.00451875 -0.05090029 0.00325501] [-0.00459026 0.99998864 -0.00128808 -0.08856996] [ 0.05089389 0.00152004 0.99870291 -0.15357092] [ 0. 0. 0. 1. ]] SLAMing on 89.52463044 meters Centerline goodness : 0.096142 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.15 [[ 0.99867784 0.00438762 -0.05121843 0.00431777] [-0.00448139 0.99998849 -0.00171606 -0.08650201] [ 0.05121031 0.00194332 0.998686 -0.15399281] [ 0. 0. 0. 1. ]] SLAMing on 89.55463044 meters Centerline goodness : 0.170921 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.15 [[ 0.99866366 0.00420891 -0.05150894 0.00535056] [-0.00433271 0.99998799 -0.00229206 -0.08375291] [ 0.05149867 0.00251217 0.9986699 -0.15447013] [ 0. 0. 0. 1. ]] SLAMing on 89.58463044 meters Centerline goodness : 0.103895 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.16 [[ 0.99863392 0.0039933 -0.05209947 0.00718876] [-0.00415202 0.99998706 -0.00293863 -0.08089361] [ 0.05208706 0.00315094 0.99863758 -0.15511635] [ 0. 0. 0. 1. ]] SLAMing on 89.61463044 meters Centerline goodness : 0.098762 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.16 [[ 0.99859542 0.00399743 -0.05283189 0.0094335 ] [-0.00417942 0.99998571 -0.00333468 -0.07841973] [ 0.0528178 0.00355081 0.99859785 -0.15592666] [ 0. 0. 0. 1. ]] SLAMing on 89.64463044 meters Centerline goodness : 0.098901 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.16 [[ 0.99855329 0.0047481 -0.05356093 0.01156101] [-0.00493018 0.99998251 -0.00326792 -0.07462484] [ 0.05354448 0.00352726 0.99855924 -0.15650069] [ 0. 0. 0. 1. ]] SLAMing on 89.67463044 meters Centerline goodness : 0.098240 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.16 [[ 0.99856737 0.00469161 -0.05330286 0.01084295] [-0.00489261 0.9999814 -0.00364093 -0.07247084] [ 0.05328479 0.00389651 0.99857175 -0.15636133] [ 0. 0. 0. 1. ]] SLAMing on 89.70463044 meters Centerline goodness : 0.102663 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.16 [[ 0.9985782 0.00455599 -0.05311142 0.01031837] [-0.00477856 0.99998032 -0.00406444 -0.07044835] [ 0.05309185 0.00431246 0.99858032 -0.15628456] [ 0. 0. 0. 1. ]] SLAMing on 89.73463043999999 meters Centerline goodness : 0.098454 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.16 [[ 0.99858666 0.00443601 -0.05296232 0.00989612] [-0.0046767 0.99997929 -0.00442139 -0.06880715] [ 0.05294161 0.00466283 0.99858672 -0.15626835] [ 0. 0. 0. 1. ]] SLAMing on 89.76463043999999 meters Centerline goodness : 0.103770 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.16 [[ 0.99859877 -0.00128463 -0.05290415 0.03148433] [ 0.00118914 0.99999761 -0.00183623 -0.06451471] [ 0.05290638 0.00177075 0.99859791 -0.15541186] [ 0. 0. 0. 1. ]] SLAMing on 89.79463043999999 meters Centerline goodness : 0.104802 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.16 [[ 0.99856443 0.00732899 -0.05306001 0.01194974] [-0.00748818 0.99996804 -0.00280198 -0.06679908] [ 0.05303778 0.00319528 0.99858739 -0.15767725] [ 0. 0. 0. 1. ]] SLAMing on 89.82463043999999 meters Centerline goodness : 0.107921 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.16 [[ 0.99855505 0.00757801 -0.05320128 0.01233594] [-0.007757 0.99996493 -0.00315868 -0.06293713] [ 0.05317548 0.0035668 0.99857881 -0.15782408] [ 0. 0. 0. 1. ]] SLAMing on 89.85463044 meters Centerline goodness : 0.109234 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.16 [[ 0.99856127 0.00749719 -0.05309601 0.01198059] [-0.00769557 0.99996415 -0.00353266 -0.06074644] [ 0.05306763 0.00393618 0.99858316 -0.15771258] [ 0. 0. 0. 1. ]] SLAMing on 89.88463044 meters Centerline goodness : 0.103260 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.16 [[ 0.9985592 0.00735951 -0.05315406 0.01195955] [-0.0075816 0.99996335 -0.0039779 -0.05828784] [ 0.05312284 0.00437516 0.9985784 -0.15758497] [ 0. 0. 0. 1. ]] SLAMing on 89.91463044 meters Centerline goodness : 0.129379 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.16 [[ 0.99856044 0.00721539 -0.05315063 0.01181689] [-0.00746037 0.99996244 -0.00441219 -0.05591715] [ 0.0531168 0.00480236 0.99857676 -0.15742098] [ 0. 0. 0. 1. ]] SLAMing on 89.94463044 meters Centerline goodness : 0.110623 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.16 [[ 0.99858026 0.00699503 -0.05280649 0.01050208] [-0.00726687 0.99996131 -0.00495764 -0.0529353 ] [ 0.05276976 0.00533434 0.99859246 -0.15678399] [ 0. 0. 0. 1. ]] SLAMing on 89.97463044 meters Centerline goodness : 0.102321 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.15 [[ 0.99865772 -0.00131908 -0.05177856 0.02960519] [ 0.00110426 0.99999067 -0.00417731 -0.04801538] [ 0.05178359 0.00411452 0.99864985 -0.1549443 ] [ 0. 0. 0. 1. ]] SLAMing on 90.00463044 meters Centerline goodness : 0.108519 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.15 [[ 0.99867195 -0.00145445 -0.05149968 0.02876306] [ 0.00123645 0.99999014 -0.00426465 -0.04799996] [ 0.05150537 0.00419531 0.99866391 -0.1546586 ] [ 0. 0. 0. 1. ]] SLAMing on 90.03463044 meters Centerline goodness : 0.107598 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.15 [[ 0.9986753 -0.00160835 -0.05143021 0.02861182] [ 0.00138521 0.99998947 -0.00437418 -0.0480369 ] [ 0.0514367 0.00429715 0.99866701 -0.15464921] [ 0. 0. 0. 1. ]] SLAMing on 90.06463044 meters Centerline goodness : 0.110751 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-0.16 [[ 0.99855537 -0.00209161 -0.05369161 -0.01588863] [ 0.00180674 0.99998404 -0.00535369 -0.04925183] [ 0.05370196 0.00524895 0.99854321 -0.15618304] [ 0. 0. 0. 1. ]] SLAMing on 90.09463044 meters Centerline goodness : 0.182283 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-0.16 [[ 0.9985438 -0.00217206 -0.05390328 -0.01531492] [ 0.00188175 0.99998346 -0.00543578 -0.04932929] [ 0.0539142 0.00532644 0.99853137 -0.15623169] [ 0. 0. 0. 1. ]] SLAMing on 90.12463043999999 meters Centerline goodness : 0.116292 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:-0.16 [[ 0.99851467 0.00606686 -0.05414461 -0.03475574] [-0.00642285 0.99995887 -0.00640317 -0.0525334 ] [ 0.05410353 0.00674142 0.99851257 -0.15796551] [ 0. 0. 0. 1. ]] SLAMing on 90.15463043999999 meters Centerline goodness : 0.110248 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:-0.16 [[ 0.99852255 0.0060598 -0.05400005 -0.03520318] [-0.00641954 0.99995833 -0.00649085 -0.05189562] [ 0.05395846 0.00682792 0.99851984 -0.15782776] [ 0. 0. 0. 1. ]] SLAMing on 90.18463043999999 meters Centerline goodness : 0.123508 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:-0.16 [[ 0.99852521 0.00605433 -0.05395133 -0.03530611] [-0.00641732 0.99995791 -0.00655742 -0.05160717] [ 0.05390935 0.00689397 0.99852204 -0.1578475 ] [ 0. 0. 0. 1. ]] SLAMing on 90.21463044 meters Centerline goodness : 0.113580 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:-0.16 [[ 0.99852015 0.00604065 -0.05404642 -0.03494231] [-0.00640724 0.99995761 -0.00661221 -0.05167756] [ 0.05400419 0.00694871 0.99851653 -0.15801746] [ 0. 0. 0. 1. ]] SLAMing on 90.24463044 meters Centerline goodness : 0.120390 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:-0.16 [[ 0.99851805 0.00597418 -0.0540927 -0.03466783] [-0.00634426 0.99995761 -0.0066725 -0.05197677] [ 0.05405055 0.00700579 0.99851362 -0.15829268] [ 0. 0. 0. 1. ]] SLAMing on 90.27463044 meters Centerline goodness : 0.113538 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:-0.16 [[ 0.99851681 0.00599965 -0.05411279 -0.03444314] [-0.00636258 0.99995839 -0.00653715 -0.05296671] [ 0.05407131 0.00687175 0.99851343 -0.15855399] [ 0. 0. 0. 1. ]] SLAMing on 90.30463044 meters Centerline goodness : 0.098117 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:-0.16 [[ 0.99853841 -0.00180743 -0.05401647 -0.01435645] [ 0.00153796 0.99998617 -0.00502977 -0.0514336 ] [ 0.05402481 0.00493934 0.99852738 -0.15666111] [ 0. 0. 0. 1. ]] SLAMing on 90.33463044 meters Centerline goodness : 0.170878 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:-0.16 [[ 0.99838142 -0.00178923 -0.05684482 -0.05727167] [ 0.00146909 0.99998283 -0.0056731 -0.05459851] [ 0.056854 0.00558041 0.99836691 -0.15884223] [ 0. 0. 0. 1. ]] SLAMing on 90.36463044 meters Centerline goodness : 0.100934 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:-0.16 [[ 0.99835803 -0.00177959 -0.0572545 -0.05581719] [ 0.00146808 0.99998389 -0.00548231 -0.05642654] [ 0.05726334 0.00538925 0.99834456 -0.15947596] [ 0. 0. 0. 1. ]] SLAMing on 90.39463044 meters Centerline goodness : 0.122580 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:-0.16 [[ 0.99832007 -0.00186146 -0.05791005 -0.05315901] [ 0.00156624 0.99998555 -0.00514299 -0.06211855] [ 0.05791879 0.00504365 0.99830856 -0.16077187] [ 0. 0. 0. 1. ]] SLAMing on 90.42463044 meters Centerline goodness : 0.119890 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:-0.16 [[ 0.99831291 -0.00166441 -0.05803926 -0.05250706] [ 0.00139261 0.99998788 -0.00472316 -0.06415932] [ 0.05804642 0.00463437 0.99830313 -0.16122876] [ 0. 0. 0. 1. ]] SLAMing on 90.45463044 meters Centerline goodness : 0.122783 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:-0.16 [[ 0.99829899 -0.00149782 -0.0582828 -0.05164283] [ 0.00124344 0.99998954 -0.00440055 -0.06583814] [ 0.05828878 0.00432059 0.99829041 -0.16158801] [ 0. 0. 0. 1. ]] SLAMing on 90.48463043999999 meters Centerline goodness : 0.122783 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:-0.16 [[ 0.99829899 -0.00149782 -0.0582828 -0.05164283] [ 0.00124344 0.99998954 -0.00440055 -0.06583814] [ 0.05828878 0.00432059 0.99829041 -0.16158801] [ 0. 0. 0. 1. ]] SLAMing on 90.51463043999999 meters Centerline goodness : 0.120483 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.16 [[ 9.98131829e-01 -1.27055930e-03 -6.10838519e-02 -9.53801807e-02] [ 9.78959528e-04 9.99987984e-01 -4.80345235e-03 -6.97322153e-02] [ 6.10892210e-02 4.73468006e-03 9.98121080e-01 -1.63660781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54463043999999 meters Centerline goodness : 0.123272 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.16 [[ 9.98123192e-01 -1.14438511e-03 -6.12273189e-02 -9.50062468e-02] [ 8.70635237e-04 9.99989507e-01 -4.49753292e-03 -7.15311915e-02] [ 6.12318233e-02 4.43578525e-03 9.98113715e-01 -1.63701516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57463043999999 meters Centerline goodness : 0.124473 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.16 [[ 9.98121850e-01 -9.72164597e-04 -6.12521589e-02 -9.50030328e-02] [ 7.22462529e-04 9.99991340e-01 -4.09863987e-03 -7.35461583e-02] [ 6.12556130e-02 4.04668962e-03 9.98113908e-01 -1.63628945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60463044 meters Centerline goodness : 0.109455 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-0.16 [[ 9.98130411e-01 -4.76858981e-04 -6.11183696e-02 -9.58350448e-02] [ 2.86245809e-04 9.99995068e-01 -3.12747188e-03 -7.79821838e-02] [ 6.11195596e-02 3.10412992e-03 9.98125625e-01 -1.62905106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63463044 meters Centerline goodness : 0.169510 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:-0.16 [[ 9.98046957e-01 -1.87032697e-04 -6.24678778e-02 -1.42160456e-01] [ 1.95076556e-06 9.99995611e-01 -2.96288152e-03 -8.34102361e-02] [ 6.24681578e-02 2.95697302e-03 9.98042577e-01 -1.64462355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66463044 meters Centerline goodness : 0.096880 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.16 [[ 9.98067013e-01 9.97913048e-06 -6.21469093e-02 -1.43129960e-01] [-1.60380055e-04 9.99997071e-01 -2.41509904e-03 -8.65399639e-02] [ 6.21467032e-02 2.42039781e-03 9.98064091e-01 -1.64129111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69463044 meters Centerline goodness : 0.107131 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.16 [[ 9.98085813e-01 1.37982806e-04 -6.18440834e-02 -1.44118672e-01] [-2.59454227e-04 9.99998053e-01 -1.95612967e-03 -8.94691160e-02] [ 6.18436931e-02 1.96843098e-03 9.98083906e-01 -1.63708148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72463044 meters Centerline goodness : 0.200994 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.16 [[ 9.98098207e-01 2.49434786e-04 -6.16433811e-02 -1.44827974e-01] [-3.46888624e-04 9.99998707e-01 -1.57023267e-03 -9.19610757e-02] [ 6.16429098e-02 1.58862980e-03 9.98097003e-01 -1.63377390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75463044 meters Centerline goodness : 0.103917 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:-0.16 [[ 9.98100662e-01 3.76451308e-04 -6.16029826e-02 -1.45004462e-01] [-4.52911299e-04 9.99999144e-01 -1.22721462e-03 -9.39674877e-02] [ 6.16024679e-02 1.25278441e-03 9.98099978e-01 -1.63275428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78463044 meters Centerline goodness : 0.399095 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:-0.16 [[ 9.98099842e-01 7.71447817e-04 -6.16125747e-02 -1.45319529e-01] [-8.06863833e-04 9.99999523e-01 -5.49939929e-04 -9.68919485e-02] [ 6.16121211e-02 5.98607915e-04 9.98099989e-01 -1.62812110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81463044 meters Centerline goodness : 0.452626 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:-0.16 [[ 9.97945799e-01 1.06051028e-03 -6.40551160e-02 -1.89711318e-01] [-1.09639563e-03 9.99999261e-01 -5.25077724e-04 -9.99976025e-02] [ 6.40545118e-02 5.94228858e-04 9.97946224e-01 -1.64936273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84463044 meters Centerline goodness : 0.452693 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:-0.17 [[ 9.97937432e-01 1.16273569e-03 -6.41835608e-02 -1.89307494e-01] [-1.18631124e-03 9.99999242e-01 -3.29205487e-04 -1.00874057e-01] [ 6.41831294e-02 4.04668158e-04 9.97938055e-01 -1.65062364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87463043999999 meters Centerline goodness : 0.120607 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:-0.17 [[ 9.97928259e-01 1.19292628e-03 -6.43254825e-02 -1.88919693e-01] [-1.21349710e-03 9.99999224e-01 -2.80723733e-04 -1.01194037e-01] [ 6.43250977e-02 3.58200932e-04 9.97928932e-01 -1.65143334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90463043999999 meters Centerline goodness : 0.404946 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:-0.17 [[ 9.97918620e-01 1.22782347e-03 -6.44741879e-02 -1.88552538e-01] [-1.24510970e-03 9.99999199e-01 -2.27930882e-04 -1.01438278e-01] [ 6.44738564e-02 3.07733908e-04 9.97919349e-01 -1.65154129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93463043999999 meters Centerline goodness : 0.211599 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:-0.17 [[ 9.97901147e-01 1.22929487e-03 -6.47440251e-02 -1.87734710e-01] [-1.24677305e-03 9.99999196e-01 -2.29555831e-04 -1.01457337e-01] [ 6.47436909e-02 3.09795132e-04 9.97901878e-01 -1.65381061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96463044 meters Centerline goodness : 0.377217 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:-0.17 [[ 9.97830231e-01 1.19364442e-03 -6.58286055e-02 -1.83981265e-01] [-1.22480914e-03 9.99999156e-01 -4.33066673e-04 -1.00470922e-01] [ 6.58280330e-02 5.12754497e-04 9.97830851e-01 -1.66972471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99463044 meters Centerline goodness : 0.225124 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:-0.17 [[ 9.97633485e-01 6.16786345e-04 -6.87535417e-02 -2.26040872e-01] [-7.07658832e-04 9.99998908e-01 -1.29736553e-03 -1.01223265e-01] [ 6.87526664e-02 1.34294935e-03 9.97632832e-01 -1.70130962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02463044 meters Centerline goodness : 0.097886 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:-0.17 [[ 9.97626526e-01 4.67682016e-04 -6.88556093e-02 -2.25672176e-01] [-5.67436549e-04 9.99998818e-01 -1.42919788e-03 -1.01058438e-01] [ 6.88548595e-02 1.46487691e-03 9.97625612e-01 -1.70321412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05463044 meters Centerline goodness : 0.122602 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:-0.17 [[ 9.97640276e-01 4.13830399e-04 -6.86564545e-02 -2.26371459e-01] [-5.09374437e-04 9.99998926e-01 -1.37412425e-03 -1.01562243e-01] [ 6.86558121e-02 1.40585354e-03 9.97639415e-01 -1.70004598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08463044 meters Centerline goodness : 0.125880 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:-0.17 [[ 9.97653162e-01 4.48687500e-04 -6.84687335e-02 -2.27061786e-01] [-5.31557914e-04 9.99999148e-01 -1.19212539e-03 -1.02358833e-01] [ 6.84681403e-02 1.22572276e-03 9.97652550e-01 -1.69619266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11463044 meters Centerline goodness : 0.334603 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:-0.17 [[ 9.97689374e-01 -7.39959539e-03 -6.75363544e-02 -2.07922496e-01] [ 7.42984254e-03 9.99972379e-01 1.96693323e-04 -9.89564302e-02] [ 6.75330335e-02 -6.98023318e-04 9.97716795e-01 -1.67183864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14463044 meters Centerline goodness : 0.413777 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:-0.17 [[ 9.97726326e-01 -7.78007258e-03 -6.69451120e-02 -2.09730613e-01] [ 7.81530061e-03 9.99969425e-01 2.64342944e-04 -1.01335587e-01] [ 6.69410085e-02 -7.86938089e-04 9.97756625e-01 -1.66507863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17463044 meters Centerline goodness : 0.132523 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:-0.17 [[ 9.97726777e-01 -7.75453557e-03 -6.69413646e-02 -2.09890122e-01] [ 7.80334391e-03 9.99969444e-01 4.67671205e-04 -1.02769862e-01] [ 6.69356925e-02 -9.88974573e-04 9.97756802e-01 -1.66245125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20463044 meters Centerline goodness : 0.096045 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:-0.17 [[ 9.97726978e-01 -7.67248698e-03 -6.69478142e-02 -2.09875633e-01] [ 7.73791364e-03 9.99969804e-01 7.18020419e-04 -1.04299894e-01] [ 6.69402836e-02 -1.23442475e-03 9.97756220e-01 -1.66189094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23463043999999 meters Centerline goodness : 0.110140 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:-0.17 [[ 9.97962654e-01 -2.41949938e-03 -6.37548929e-02 -2.24629419e-01] [ 2.41654781e-03 9.99997073e-01 -1.23407521e-04 -1.13765889e-01] [ 6.37550048e-02 -3.09106490e-05 9.97965580e-01 -1.70428181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26463043999999 meters Centerline goodness : 0.110783 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:-0.17 [[ 9.97970037e-01 -2.25496305e-03 -6.36452676e-02 -2.24877196e-01] [ 2.28057230e-03 9.99997345e-01 3.29730082e-04 -1.16366517e-01] [ 6.36443551e-02 -4.74208376e-04 9.97972530e-01 -1.70405715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29463043999999 meters Centerline goodness : 0.093060 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:-0.17 [[ 9.97974326e-01 -2.05802879e-03 -6.35846551e-02 -2.25095125e-01] [ 2.11538062e-03 9.99997414e-01 8.34668140e-04 -1.19151344e-01] [ 6.35827729e-02 -9.67483122e-04 9.97976099e-01 -1.70269009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32463043999999 meters Centerline goodness : 0.200559 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:-0.17 [[ 0.99797032 -0.00179934 -0.06365531 -0.22485916] [ 0.001892 0.99999724 0.00139539 -0.12209114] [ 0.06365262 -0.00151299 0.99797097 -0.17030267] [ 0. 0. 0. 1. ]] SLAMing on 91.35463044 meters Centerline goodness : 0.409648 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:-0.17 [[ 0.99779218 -0.00164017 -0.06639335 -0.26807379] [ 0.0017498 0.9999972 0.00159324 -0.12772902] [ 0.06639055 -0.0017059 0.99779226 -0.17270545] [ 0. 0. 0. 1. ]] SLAMing on 91.38463044 meters Centerline goodness : 0.098777 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:-0.17 [[ 0.99777243 -0.00140009 -0.066695 -0.26693071] [ 0.00154357 0.9999966 0.00209988 -0.13023909] [ 0.06669183 -0.00219815 0.9977712 -0.17324515] [ 0. 0. 0. 1. ]] SLAMing on 91.41463044 meters Centerline goodness : 0.105862 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:-0.17 [[ 9.97758225e-01 -8.57010994e-04 -6.69162875e-02 -2.65985853e-01] [ 1.07320963e-03 9.99994320e-01 3.19500100e-03 -1.35814061e-01] [ 6.69131692e-02 -3.25965373e-03 9.97753478e-01 -1.73671884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44463044 meters Centerline goodness : 0.460373 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:-0.17 [[ 9.97775206e-01 -6.28331697e-04 -6.66651549e-02 -2.66732002e-01] [ 8.80017838e-04 9.99992596e-01 3.74607897e-03 -1.38663551e-01] [ 6.66623075e-02 -3.79641124e-03 9.97768372e-01 -1.73421167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47463044 meters Centerline goodness : 0.461540 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:-0.17 [[ 9.97787969e-01 -3.68928458e-04 -6.64758006e-02 -2.67416252e-01] [ 6.59263237e-04 9.99990340e-01 4.34564201e-03 -1.41716619e-01] [ 6.64735553e-02 -4.37985437e-03 9.97778574e-01 -1.73035205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50463044 meters Centerline goodness : 0.308599 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:-0.17 [[ 9.97786119e-01 -8.33729518e-05 -6.65045367e-02 -2.67523979e-01] [ 4.17011830e-04 9.99987398e-01 5.00291756e-03 -1.45078237e-01] [ 6.65032815e-02 -5.01957487e-03 9.97773580e-01 -1.72731611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53463044 meters Centerline goodness : 0.319326 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:-0.17 [[ 9.97756085e-01 1.98970791e-04 -6.69533741e-02 -2.66245870e-01] [ 1.81761792e-04 9.99983850e-01 5.68039350e-03 -1.48651162e-01] [ 6.69534230e-02 -5.67981675e-03 9.97739935e-01 -1.72946133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56463044 meters Centerline goodness : 0.270728 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:-0.18 [[ 0.9976034 -0.00126519 -0.06917986 -0.25814351] [ 0.00162 0.99998582 0.00507302 -0.15666735] [ 0.06917246 -0.00517293 0.9975913 -0.17595308] [ 0. 0. 0. 1. ]] SLAMing on 91.59463044 meters Centerline goodness : 0.248037 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:-0.18 [[ 0.99758956 -0.00101296 -0.06938327 -0.25722822] [ 0.001414 0.99998258 0.00573119 -0.16045449] [ 0.06937626 -0.00581549 0.99757361 -0.17638725] [ 0. 0. 0. 1. ]] SLAMing on 91.62463043999999 meters Centerline goodness : 0.062768 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:-0.18 [[ 0.99773774 0.00552696 -0.06699888 -0.27584136] [-0.0052053 0.99997408 0.0049746 -0.17058232] [ 0.06702463 -0.00461459 0.99774065 -0.17947829] [ 0. 0. 0. 1. ]] SLAMing on 91.65463043999999 meters Centerline goodness : 0.408029 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:-0.18 [[ 0.99791385 -0.00195198 -0.06453008 -0.25727362] [ 0.00236322 0.99997738 0.0062972 -0.17042206] [ 0.06451633 -0.00643656 0.99789589 -0.17747798] [ 0. 0. 0. 1. ]] SLAMing on 91.68463043999999 meters Centerline goodness : 0.201390 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:-0.18 [[ 0.99794271 -0.00158239 -0.06409244 -0.25907657] [ 0.00203524 0.99997342 0.00700095 -0.17443253] [ 0.06407966 -0.00711699 0.99791941 -0.17640446] [ 0. 0. 0. 1. ]] SLAMing on 91.71463044 meters Centerline goodness : 0.430022 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:-0.18 [[ 0.99792663 -0.00137743 -0.06434703 -0.25820593] [ 0.00185189 0.99997153 0.00731448 -0.17580201] [ 0.06433512 -0.00741848 0.99790078 -0.1767359 ] [ 0. 0. 0. 1. ]] SLAMing on 91.74463044 meters Centerline goodness : 0.107778 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:-0.18 [[ 0.99790562 -0.001231 -0.06467497 -0.25694108] [ 0.00172493 0.99996977 0.00758189 -0.17725327] [ 0.06466368 -0.00767757 0.99787758 -0.17739205] [ 0. 0. 0. 1. ]] SLAMing on 91.77463044 meters Centerline goodness : 0.106333 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:-0.18 [[ 0.99783374 0.00658295 -0.06545609 -0.23644161] [-0.00615709 0.99995856 0.00670563 -0.18334633] [ 0.06549752 -0.00628809 0.99783292 -0.17517357] [ 0. 0. 0. 1. ]] SLAMing on 91.80463044 meters Centerline goodness : 0.104406 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.18 [[ 0.99783983 0.00671026 -0.06535011 -0.2366659 ] [-0.00626053 0.99995531 0.00708412 -0.18571448] [ 0.06539473 -0.00665969 0.99783725 -0.17516058] [ 0. 0. 0. 1. ]] SLAMing on 91.83463044 meters Centerline goodness : 0.106661 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.17 [[ 0.99784849 0.00683882 -0.06520453 -0.23747442] [-0.00636454 0.99995178 0.00747871 -0.18814424] [ 0.06525254 -0.00704762 0.99784389 -0.17452659] [ 0. 0. 0. 1. ]] SLAMing on 91.86463044 meters Centerline goodness : 0.151475 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.17 [[ 0.9978429 0.00710576 -0.06526147 -0.23772332] [-0.00658592 0.99994488 0.00817723 -0.19217763] [ 0.06531598 -0.00772979 0.99783469 -0.17392986] [ 0. 0. 0. 1. ]] SLAMing on 91.89463044 meters Centerline goodness : 0.110587 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-0.18 [[ 0.99783768 -0.00111788 -0.06571687 -0.25676953] [ 0.00174315 0.99995375 0.00945804 -0.19098648] [ 0.06570326 -0.00955214 0.99779348 -0.17618539] [ 0. 0. 0. 1. ]] SLAMing on 91.92463044 meters Centerline goodness : 0.105412 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-0.18 [[ 0.9978472 -0.00105347 -0.06557334 -0.25739657] [ 0.00169332 0.99995149 0.00970295 -0.1925388 ] [ 0.06555994 -0.0097931 0.99780058 -0.17576488] [ 0. 0. 0. 1. ]] SLAMing on 91.95463044 meters Centerline goodness : 0.105422 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99793608 0.00673267 -0.06386114 -0.23908049] [-0.00620549 0.99994504 0.00844998 -0.1964521 ] [ 0.06391452 -0.00803625 0.99792302 -0.17319272] [ 0. 0. 0. 1. ]] SLAMing on 91.98463043999999 meters Centerline goodness : 0.102949 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-0.18 [[ 0.99800009 -0.00149369 -0.06319485 -0.26032003] [ 0.00209336 0.9999534 0.00942401 -0.19393425] [ 0.06317783 -0.00953745 0.99795671 -0.17504525] [ 0. 0. 0. 1. ]] SLAMing on 92.01463043999999 meters Centerline goodness : 0.146337 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99799166 0.00651092 -0.06301001 -0.24172409] [-0.00599852 0.99994742 0.00831775 -0.19778375] [ 0.06306085 -0.00792308 0.99797823 -0.17246033] [ 0. 0. 0. 1. ]] SLAMing on 92.04463043999999 meters Centerline goodness : 0.103747 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99797473 0.00664639 -0.06326343 -0.24107938] [-0.00611422 0.99994431 0.00860183 -0.19935363] [ 0.06331708 -0.0081976 0.99795979 -0.1724806 ] [ 0. 0. 0. 1. ]] SLAMing on 92.07463043999999 meters Centerline goodness : 0.103120 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99795771 0.00669971 -0.06352581 -0.24046358] [-0.00615709 0.99994291 0.00873356 -0.20009229] [ 0.06358069 -0.00832459 0.99794198 -0.17247039] [ 0. 0. 0. 1. ]] SLAMing on 92.10463044 meters Centerline goodness : 0.107035 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99794456 0.00675994 -0.06372572 -0.23987458] [-0.00620761 0.99994147 0.00886137 -0.20079304] [ 0.06378189 -0.00844757 0.99792811 -0.17260842] [ 0. 0. 0. 1. ]] SLAMing on 92.13463044 meters Centerline goodness : 0.101533 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.9979449 0.00685591 -0.06371009 -0.23995413] [-0.00629156 0.99993921 0.00905453 -0.20170859] [ 0.0637683 -0.00863509 0.99792737 -0.17252351] [ 0. 0. 0. 1. ]] SLAMing on 92.16463044 meters Centerline goodness : 0.101417 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99795301 0.00690455 -0.0635776 -0.24032566] [-0.00633673 0.99993826 0.00912838 -0.20204538] [ 0.06363671 -0.00870682 0.99793515 -0.17246038] [ 0. 0. 0. 1. ]] SLAMing on 92.19463044 meters Centerline goodness : 0.103757 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99796503 0.00692249 -0.06338675 -0.24070924] [-0.00635573 0.99993804 0.00913859 -0.20212332] [ 0.06344609 -0.00871713 0.9979472 -0.17254088] [ 0. 0. 0. 1. ]] SLAMing on 92.22463044 meters Centerline goodness : 0.113335 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99793718 0.007075 -0.06380691 -0.23901476] [-0.00650693 0.99993737 0.0091063 -0.2014491 ] [ 0.06386734 -0.00867233 0.99792071 -0.17354062] [ 0. 0. 0. 1. ]] SLAMing on 92.25463044 meters Centerline goodness : 0.113981 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99793012 0.007155 -0.06390834 -0.23850714] [-0.00658883 0.9999372 0.00906545 -0.20066157] [ 0.06396919 -0.0086256 0.9979146 -0.1739614 ] [ 0. 0. 0. 1. ]] SLAMing on 92.28463044 meters Centerline goodness : 0.157325 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99792807 0.00726999 -0.06392749 -0.23855172] [-0.00670319 0.99993634 0.00907631 -0.19998124] [ 0.06398941 -0.00862898 0.99791327 -0.17384914] [ 0. 0. 0. 1. ]] SLAMing on 92.31463044 meters Centerline goodness : 0.111576 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99792966 0.00728809 -0.06390058 -0.2388177 ] [-0.0067253 0.99993672 0.00901787 -0.19937745] [ 0.06396226 -0.00856944 0.99791552 -0.17359972] [ 0. 0. 0. 1. ]] SLAMing on 92.34463044 meters Centerline goodness : 0.089978 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99792805 0.00723925 -0.06393124 -0.23890648] [-0.00668126 0.99993774 0.00893754 -0.19922312] [ 0.06399196 -0.00849188 0.99791428 -0.17338345] [ 0. 0. 0. 1. ]] SLAMing on 92.37463043999999 meters Centerline goodness : 0.114983 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99792439 0.00718647 -0.06399434 -0.23880647] [-0.00663096 0.99993851 0.00888881 -0.19936645] [ 0.06405428 -0.00844602 0.99791067 -0.17333114] [ 0. 0. 0. 1. ]] SLAMing on 92.40463043999999 meters Centerline goodness : 0.114983 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99792439 0.00718647 -0.06399434 -0.23880647] [-0.00663096 0.99993851 0.00888881 -0.19936645] [ 0.06405428 -0.00844602 0.99791067 -0.17333114] [ 0. 0. 0. 1. ]] SLAMing on 92.43463043999999 meters Centerline goodness : 0.120099 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99792859 0.00712515 -0.06393555 -0.2389788 ] [-0.00657529 0.9999396 0.00880638 -0.19938214] [ 0.06399443 -0.00836775 0.99791517 -0.17333068] [ 0. 0. 0. 1. ]] SLAMing on 92.46463044 meters Centerline goodness : 0.104446 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.99792454 0.00711322 -0.06400014 -0.23857479] [-0.00656531 0.99994001 0.00876729 -0.19915445] [ 0.06405867 -0.00832891 0.99791138 -0.17368411] [ 0. 0. 0. 1. ]] SLAMing on 92.49463044 meters Centerline goodness : 0.113771 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.17 [[ 0.9979123 0.00709069 -0.0641932 -0.23762582] [-0.00654903 0.99994119 0.0086445 -0.19835143] [ 0.06425072 -0.00820605 0.99790005 -0.17434654] [ 0. 0. 0. 1. ]] SLAMing on 92.52463044 meters Centerline goodness : 0.113804 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.18 [[ 0.99790152 0.00700508 -0.06436992 -0.23669785] [-0.00647736 0.99994371 0.00840336 -0.19717107] [ 0.06442516 -0.00796878 0.99789072 -0.17507932] [ 0. 0. 0. 1. ]] SLAMing on 92.55463044 meters Centerline goodness : 0.119945 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:-0.18 [[ 0.99788755 0.00685567 -0.06460222 -0.23595738] [-0.00634812 0.99994738 0.00805848 -0.1957294 ] [ 0.06465406 -0.00763136 0.99787856 -0.17537748] [ 0. 0. 0. 1. ]] SLAMing on 92.58463044 meters Centerline goodness : 0.119343 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.18 [[ 0.99787726 0.00668187 -0.06477905 -0.23558181] [-0.00619584 0.99995115 0.00770089 -0.19428477] [ 0.06482734 -0.00728318 0.99786992 -0.17537408] [ 0. 0. 0. 1. ]] SLAMing on 92.61463044 meters Centerline goodness : 0.115213 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.17 [[ 0.99787966 0.00658992 -0.06475153 -0.23613075] [-0.00613949 0.99995557 0.00715293 -0.19082045] [ 0.06479579 -0.00674022 0.99787578 -0.17486669] [ 0. 0. 0. 1. ]] SLAMing on 92.64463044 meters Centerline goodness : 0.115684 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.17 [[ 0.99789368 0.00657542 -0.06453663 -0.23687062] [-0.00614203 0.99995725 0.00691152 -0.18897634] [ 0.06457931 -0.00650057 0.9978914 -0.17461071] [ 0. 0. 0. 1. ]] SLAMing on 92.67463044 meters Centerline goodness : 0.113554 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.17 [[ 0.99791103 0.00650553 -0.0642749 -0.23760303] [-0.00609663 0.99995993 0.00655573 -0.1866734 ] [ 0.06431498 -0.00615017 0.9979107 -0.17455326] [ 0. 0. 0. 1. ]] SLAMing on 92.70463044 meters Centerline goodness : 0.118536 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:-0.18 [[ 0.99792932 0.00616374 -0.06402413 -0.23789541] [-0.00581243 0.99996702 0.00567198 -0.1823568 ] [ 0.06405698 -0.0052881 0.99793223 -0.17509283] [ 0. 0. 0. 1. ]] SLAMing on 92.73463043999999 meters Centerline goodness : 0.138583 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:-0.18 [[ 0.99791805 0.00596287 -0.06421841 -0.2373473 ] [-0.00564402 0.99997084 0.00514531 -0.17960668] [ 0.06424721 -0.00477214 0.9979226 -0.1753041 ] [ 0. 0. 0. 1. ]] SLAMing on 92.76463043999999 meters Centerline goodness : 0.122376 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:-0.18 [[ 0.99791603 0.00588828 -0.06425667 -0.23730795] [-0.00559323 0.99997298 0.00477063 -0.17713901] [ 0.06428302 -0.00440129 0.997922 -0.17534037] [ 0. 0. 0. 1. ]] SLAMing on 92.79463043999999 meters Centerline goodness : 0.111835 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:-0.17 [[ 0.99792539 0.00584026 -0.06411556 -0.23799523] [-0.00556821 0.99997473 0.00442089 -0.17455056] [ 0.06413976 -0.00405471 0.99793269 -0.17496707] [ 0. 0. 0. 1. ]] SLAMing on 92.82463043999999 meters Centerline goodness : 0.098089 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:-0.17 [[ 0.99794211 0.00576687 -0.06386143 -0.2389907 ] [-0.00551695 0.99997642 0.00408913 -0.17242666] [ 0.06388351 -0.0037284 0.9979504 -0.17448085] [ 0. 0. 0. 1. ]] SLAMing on 92.85463044 meters Centerline goodness : 0.104704 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:-0.17 [[ 0.99795323 0.00564778 -0.06369818 -0.23968508] [-0.00541783 0.99997817 0.00378211 -0.17079152] [ 0.06371815 -0.00342926 0.99796204 -0.17409425] [ 0. 0. 0. 1. ]] SLAMing on 92.88463044 meters Centerline goodness : 0.102967 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:-0.17 [[ 0.9979558 0.00553352 -0.06366794 -0.23982476] [-0.00532563 0.99997992 0.00343444 -0.16863478] [ 0.06368567 -0.00308835 0.99796523 -0.17405723] [ 0. 0. 0. 1. ]] SLAMing on 92.91463044 meters Centerline goodness : 0.217940 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:-0.17 [[ 0.99795456 0.00545526 -0.06369411 -0.23962734] [-0.00526019 0.99998095 0.00322994 -0.1675496 ] [ 0.06371052 -0.00288829 0.99796424 -0.17427104] [ 0. 0. 0. 1. ]] SLAMing on 92.94463044 meters Centerline goodness : 0.447886 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:-0.17 [[ 0.99786952 -0.0014896 -0.06522426 -0.22186705] [ 0.00174641 0.99999095 0.0038806 -0.16083903] [ 0.06521789 -0.00398624 0.99786309 -0.17141163] [ 0. 0. 0. 1. ]] SLAMing on 92.97463044 meters Centerline goodness : 0.099877 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:-0.17 [[ 0.99784962 -0.00174378 -0.06552169 -0.22125926] [ 0.0019847 0.99999151 0.00361193 -0.16059705] [ 0.06551483 -0.0037342 0.99784461 -0.17127534] [ 0. 0. 0. 1. ]] SLAMing on 93.00463044 meters Centerline goodness : 0.099989 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:-0.17 [[ 0.99785559 -0.00169293 -0.06543212 -0.22157069] [ 0.0019449 0.99999094 0.00378737 -0.16140853] [ 0.06542511 -0.00390651 0.99784984 -0.17110532] [ 0. 0. 0. 1. ]] SLAMing on 93.03463044 meters Centerline goodness : 0.097704 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:-0.17 [[ 0.99786068 -0.00156246 -0.0653577 -0.22192359] [ 0.00183634 0.99998978 0.00413061 -0.16301568] [ 0.06535058 -0.00424179 0.99785335 -0.17078883] [ 0. 0. 0. 1. ]] SLAMing on 93.06463044 meters Centerline goodness : 0.101846 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:-0.17 [[ 0.99786221 -0.00146989 -0.06533647 -0.2221305 ] [ 0.00176631 0.99998841 0.00447933 -0.16493267] [ 0.06532912 -0.00458516 0.99785324 -0.17049311] [ 0. 0. 0. 1. ]] SLAMing on 93.09463044 meters Centerline goodness : 0.104382 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:-0.17 [[ 0.99785214 -0.00141734 -0.06549127 -0.22162551] [ 0.00173483 0.99998702 0.00479126 -0.16696919] [ 0.06548363 -0.00489459 0.99784164 -0.17058027] [ 0. 0. 0. 1. ]] SLAMing on 93.12463043999999 meters Centerline goodness : 0.101918 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:-0.17 [[ 0.99781568 -0.00149842 -0.06604261 -0.22005197] [ 0.00182976 0.99998604 0.00495689 -0.16870939] [ 0.06603426 -0.0050669 0.99780449 -0.17083329] [ 0. 0. 0. 1. ]] SLAMing on 93.15463043999999 meters Centerline goodness : 0.111224 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:-0.17 [[ 0.99773395 -0.00192711 -0.06725506 -0.2161919 ] [ 0.0022638 0.99998528 0.00493025 -0.17149102] [ 0.06724456 -0.00507133 0.99772363 -0.1719532 ] [ 0. 0. 0. 1. ]] SLAMing on 93.18463043999999 meters Centerline goodness : 0.103717 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:-0.17 [[ 0.99772817 -0.00191178 -0.06734122 -0.21605909] [ 0.00226034 0.99998444 0.0051002 -0.17272761] [ 0.06733043 -0.00524083 0.99771697 -0.17181911] [ 0. 0. 0. 1. ]] SLAMing on 93.21463044 meters Centerline goodness : 0.102189 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-0.17 [[ 0.99777316 0.00575006 -0.0664504 -0.19774212] [-0.0055137 0.99997781 0.00373974 -0.17624141] [ 0.06647043 -0.00336502 0.99778272 -0.16887026] [ 0. 0. 0. 1. ]] SLAMing on 93.24463044 meters Centerline goodness : 0.105027 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-0.17 [[ 0.997773 0.00581657 -0.06644701 -0.19809709] [-0.00557241 0.99997703 0.00385932 -0.1765221 ] [ 0.06646794 -0.00348045 0.99778249 -0.16839567] [ 0. 0. 0. 1. ]] SLAMing on 93.27463044 meters Centerline goodness : 0.105994 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-0.17 [[ 0.99776688 0.00582182 -0.06653845 -0.19806868] [-0.00557828 0.99997705 0.00384541 -0.17627407] [ 0.06655931 -0.00346566 0.99777645 -0.16814247] [ 0. 0. 0. 1. ]] SLAMing on 93.30463044 meters Centerline goodness : 0.103396 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:-0.17 [[ 0.9977525 0.00572775 -0.06676185 -0.19733036] [-0.00549759 0.9999783 0.00363065 -0.17535667] [ 0.0667812 -0.00325546 0.99776233 -0.16841365] [ 0. 0. 0. 1. ]] SLAMing on 93.33463044 meters Centerline goodness : 0.111236 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99773716 0.0054392 -0.0670147 -0.19624919] [-0.00525179 0.99998179 0.00297237 -0.17252532] [ 0.06702965 -0.00261369 0.99774756 -0.16917753] [ 0. 0. 0. 1. ]] SLAMing on 93.36463044 meters Centerline goodness : 0.104629 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99776012 0.00545089 -0.066671 -0.19721417] [-0.00527704 0.9999822 0.00278349 -0.17094172] [ 0.06668499 -0.00242543 0.99777113 -0.16908649] [ 0. 0. 0. 1. ]] SLAMing on 93.39463044 meters Centerline goodness : 0.102446 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99780394 0.00560356 -0.0659993 -0.19932398] [-0.00543409 0.99998146 0.00274698 -0.16951742] [ 0.06601347 -0.0023823 0.99781589 -0.16838352] [ 0. 0. 0. 1. ]] SLAMing on 93.42463044 meters Centerline goodness : 0.101847 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99783158 0.00557821 -0.06558214 -0.20083245] [-0.0054232 0.99998207 0.00254125 -0.16795722] [ 0.06559514 -0.00218007 0.99784394 -0.16768423] [ 0. 0. 0. 1. ]] SLAMing on 93.45463044 meters Centerline goodness : 0.108624 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99783229 0.00541015 -0.06558545 -0.2010334 ] [-0.00527677 0.99998364 0.00220675 -0.16660326] [ 0.06559632 -0.00185589 0.99784452 -0.16743515] [ 0. 0. 0. 1. ]] SLAMing on 93.48463043999999 meters Centerline goodness : 0.103358 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99778019 0.00506705 -0.06640036 -0.19873989] [-0.00495958 0.99998611 0.00178328 -0.16564183] [ 0.06640847 -0.00145001 0.99779147 -0.16794656] [ 0. 0. 0. 1. ]] SLAMing on 93.51463043999999 meters Centerline goodness : 0.107989 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99775403 0.00503547 -0.06679468 -0.19741948] [-0.00492796 0.99998628 0.00177426 -0.16571362] [ 0.0668027 -0.00144111 0.99776516 -0.16845299] [ 0. 0. 0. 1. ]] SLAMing on 93.54463043999999 meters Centerline goodness : 0.107769 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.99773938 0.00504863 -0.06701225 -0.19660684] [-0.00493959 0.99998619 0.00179284 -0.16567451] [ 0.06702038 -0.00145777 0.99775054 -0.16883738] [ 0. 0. 0. 1. ]] SLAMing on 93.57463043999999 meters Centerline goodness : 0.102175 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-0.17 [[ 0.9977421 0.00499589 -0.06697575 -0.19675568] [-0.00489131 0.99998655 0.00172544 -0.16543172] [ 0.06698347 -0.00139394 0.99775311 -0.16875032] [ 0. 0. 0. 1. ]] SLAMing on 93.60463044 meters Centerline goodness : 0.438563 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:-0.17 [[ 0.99791264 -0.00207894 -0.06454481 -0.17959557] [ 0.00228748 0.9999924 0.00315717 -0.15935325] [ 0.06453775 -0.00329823 0.99790982 -0.16622428] [ 0. 0. 0. 1. ]] SLAMing on 93.63463044 meters Centerline goodness : 0.096519 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-0.17 [[ 0.99799244 0.00570361 -0.06307576 -0.1994981 ] [-0.00556329 0.99998164 0.00239998 -0.16327825] [ 0.06308829 -0.00204425 0.99800586 -0.16884207] [ 0. 0. 0. 1. ]] SLAMing on 93.66463044 meters Centerline goodness : 0.458407 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:-0.17 [[ 0.99802464 -0.00113173 -0.06281357 -0.18158031] [ 0.00137133 0.99999195 0.00377143 -0.15601052] [ 0.06280879 -0.00385012 0.99801815 -0.16626854] [ 0. 0. 0. 1. ]] SLAMing on 93.69463044 meters Centerline goodness : 0.177322 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.15, Z:-0.17 [[ 0.99802318 -0.00124744 -0.06283459 -0.18144791] [ 0.00146344 0.99999318 0.00339164 -0.15396786] [ 0.06282993 -0.00347689 0.99801819 -0.16648425] [ 0. 0. 0. 1. ]] SLAMing on 93.72463044 meters Centerline goodness : 0.101235 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.15, Z:-0.17 [[ 0.99801476 -0.00144219 -0.06296388 -0.18104645] [ 0.00162855 0.99999444 0.00290855 -0.151733 ] [ 0.06295933 -0.00300531 0.99801157 -0.16670743] [ 0. 0. 0. 1. ]] SLAMing on 93.75463044 meters Centerline goodness : 0.198634 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.15, Z:-0.17 [[ 0.99800597 -0.00161328 -0.06309893 -0.18060309] [ 0.00177473 0.99999529 0.0025028 -0.14991577] [ 0.0630946 -0.0026098 0.99800414 -0.16694332] [ 0. 0. 0. 1. ]] SLAMing on 93.78463044 meters Centerline goodness : 0.108299 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.15, Z:-0.17 [[ 0.99798674 -0.00168179 -0.06340064 -0.17965194] [ 0.0018217 0.99999603 0.00214912 -0.14751608] [ 0.06339677 -0.00226029 0.99798584 -0.16742022] [ 0. 0. 0. 1. ]] SLAMing on 93.81463044 meters Centerline goodness : 0.457467 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.15, Z:-0.17 [[ 0.99797166 -0.00174437 -0.06363586 -0.17892524] [ 0.00187689 0.99999619 0.00202276 -0.14683533] [ 0.06363208 -0.00213809 0.99797114 -0.16767948] [ 0. 0. 0. 1. ]] SLAMing on 93.84463044 meters Centerline goodness : 0.455206 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 0.99800408 -0.00191864 -0.0631203 -0.13409036] [ 0.00201422 0.99999692 0.00145058 -0.14256742] [ 0.06311732 -0.00157482 0.99800487 -0.16555661] [ 0. 0. 0. 1. ]] SLAMing on 93.87463043999999 meters Centerline goodness : 0.103200 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:-0.17 [[ 9.97935370e-01 5.18972431e-03 -6.40161177e-02 -1.51823353e-01] [-5.21946014e-03 9.99986334e-01 -2.97276665e-04 -1.47969006e-01] [ 6.40137001e-02 6.30792473e-04 9.97948820e-01 -1.68253525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90463043999999 meters Centerline goodness : 0.145833 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.97926128e-01 -2.63817752e-03 -6.43154902e-02 -1.31961677e-01] [ 2.66450278e-03 9.99996398e-01 3.23544513e-04 -1.42718627e-01] [ 6.43144049e-02 -4.94242326e-04 9.97929563e-01 -1.66245094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93463043999999 meters Centerline goodness : 0.457389 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:-0.17 [[ 9.97928580e-01 4.99048989e-03 -6.41377025e-02 -1.51293711e-01] [-5.04499586e-03 9.99987037e-01 -6.87900416e-04 -1.48333869e-01] [ 6.41334381e-02 1.01004993e-03 9.97940821e-01 -1.68490464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96463044 meters Centerline goodness : 0.457354 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98038207e-01 -9.72139243e-04 -6.26002615e-02 -1.30815578e-01] [ 1.09258452e-03 9.99997617e-01 1.88983498e-03 -1.44625180e-01] [ 6.25982752e-02 -1.95452359e-03 9.98036891e-01 -1.67418574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99463044 meters Centerline goodness : 0.460315 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 0.99803855 -0.00103474 -0.06259373 -0.13067299] [ 0.00114707 0.9999978 0.00175869 -0.14401501] [ 0.06259177 -0.00182704 0.99803754 -0.16763091] [ 0. 0. 0. 1. ]] SLAMing on 94.02463044 meters Centerline goodness : 0.083086 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 0.99804053 -0.0011085 -0.06256101 -0.13051198] [ 0.00121233 0.99999795 0.00162175 -0.14355212] [ 0.06255908 -0.00169442 0.99803982 -0.16798378] [ 0. 0. 0. 1. ]] SLAMing on 94.05463044 meters Centerline goodness : 0.100981 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 0.99804245 -0.00111488 -0.06253025 -0.13054562] [ 0.00120994 0.99999817 0.00148249 -0.14256977] [ 0.06252848 -0.00155525 0.99804197 -0.16809712] [ 0. 0. 0. 1. ]] SLAMing on 94.08463044 meters Centerline goodness : 0.194904 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:-0.17 [[ 9.98126576e-01 7.20847114e-03 -6.07566934e-02 -1.11376165e-01] [-7.19226981e-03 9.99974018e-01 4.85349107e-04 -1.41210476e-01] [ 6.07586134e-02 -4.74613107e-05 9.98152488e-01 -1.65485441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11463044 meters Centerline goodness : 0.369481 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98285903e-01 -2.08767616e-04 -5.85253151e-02 -1.31560104e-01] [ 2.86473231e-04 9.99999089e-01 1.31933954e-03 -1.36349342e-01] [ 5.85249863e-02 -1.33384400e-03 9.98285053e-01 -1.68248169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14463044 meters Centerline goodness : 0.240089 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98302605e-01 -2.82419336e-04 -5.82394186e-02 -1.32474748e-01] [ 3.50696445e-04 9.99999263e-01 1.16213465e-03 -1.35682694e-01] [ 5.82390475e-02 -1.18058641e-03 9.98301968e-01 -1.67951280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17463044 meters Centerline goodness : 0.460034 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98315170e-01 -3.24954209e-04 -5.80234091e-02 -1.33055112e-01] [ 3.88391275e-04 9.99999339e-01 1.08202721e-03 -1.35408685e-01] [ 5.80230192e-02 -1.10273996e-03 9.98314636e-01 -1.67868909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20463044 meters Centerline goodness : 0.459753 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98325479e-01 -3.07656669e-04 -5.78458629e-02 -1.33534552e-01] [ 3.74504440e-04 9.99999275e-01 1.14478158e-03 -1.35630515e-01] [ 5.78454687e-02 -1.16452815e-03 9.98324870e-01 -1.67774830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23463043999999 meters Centerline goodness : 0.149460 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98306520e-01 -2.23509467e-04 -5.81725274e-02 -1.32654127e-01] [ 3.10011963e-04 9.99998860e-01 1.47797861e-03 -1.37383078e-01] [ 5.81721307e-02 -1.49350986e-03 9.98305451e-01 -1.67857908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26463043999999 meters Centerline goodness : 0.124814 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98285086e-01 -2.16822720e-04 -5.85392189e-02 -1.31711200e-01] [ 3.13941924e-04 9.99998590e-01 1.64985334e-03 -1.38615215e-01] [ 5.85387786e-02 -1.66540190e-03 9.98283746e-01 -1.67907440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29463043999999 meters Centerline goodness : 0.124814 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98285086e-01 -2.16822720e-04 -5.85392189e-02 -1.31711200e-01] [ 3.13941924e-04 9.99998590e-01 1.64985334e-03 -1.38615215e-01] [ 5.85387786e-02 -1.66540190e-03 9.98283746e-01 -1.67907440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32463043999999 meters Centerline goodness : 0.170968 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98280041e-01 -1.88597451e-04 -5.86252800e-02 -1.31574421e-01] [ 2.98551485e-04 9.99998213e-01 1.86678639e-03 -1.40189066e-01] [ 5.86248232e-02 -1.88107826e-03 9.98278314e-01 -1.67763841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35463044 meters Centerline goodness : 0.459247 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98293292e-01 -1.44365505e-04 -5.83993349e-02 -1.32344181e-01] [ 2.65459408e-04 9.99997831e-01 2.06579673e-03 -1.41544179e-01] [ 5.83989100e-02 -2.07777367e-03 9.98291165e-01 -1.67412426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38463044 meters Centerline goodness : 0.459789 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98309749e-01 -8.33589108e-05 -5.81174439e-02 -1.33077837e-01] [ 2.14175282e-04 9.99997458e-01 2.24467156e-03 -1.42542140e-01] [ 5.81171090e-02 -2.25332482e-03 9.98307229e-01 -1.67312594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41463044 meters Centerline goodness : 0.460244 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98315447e-01 -3.29321633e-05 -5.80195363e-02 -1.33175941e-01] [ 1.68855755e-04 9.99997253e-01 2.33782006e-03 -1.43074493e-01] [ 5.80192999e-02 -2.34367881e-03 9.98312711e-01 -1.67496680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44463044 meters Centerline goodness : 0.189904 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98300082e-01 -6.84510889e-06 -5.82833287e-02 -1.31838453e-01] [ 1.38697578e-04 9.99997441e-01 2.25822228e-03 -1.43029738e-01] [ 5.82831641e-02 -2.26246725e-03 9.98297528e-01 -1.68483535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47463044 meters Centerline goodness : 0.103072 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98291558e-01 -5.39303583e-06 -5.84291504e-02 -1.31498922e-01] [ 1.37090898e-04 9.99997459e-01 2.24996706e-03 -1.43155821e-01] [ 5.84289898e-02 -2.25413322e-03 9.98289022e-01 -1.68520088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50463044 meters Centerline goodness : 0.093409 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98286434e-01 1.00185570e-04 -5.85165376e-02 -1.31503758e-01] [ 4.00448311e-05 9.99997131e-01 2.39524585e-03 -1.43598050e-01] [ 5.85166096e-02 -2.39348473e-03 9.98283566e-01 -1.68284736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53463044 meters Centerline goodness : 0.109260 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:-0.17 [[ 9.98288768e-01 1.79763780e-04 -5.84765125e-02 -1.31924487e-01] [-3.07874381e-05 9.99996752e-01 2.54851797e-03 -1.44168999e-01] [ 5.84767807e-02 -2.54235652e-03 9.98285532e-01 -1.67857270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56463044 meters Centerline goodness : 0.102565 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98279133e-01 -9.17365404e-05 -5.86409817e-02 -1.31681173e-01] [ 2.47285848e-04 9.99996471e-01 2.64531870e-03 -1.46675276e-01] [ 5.86405320e-02 -2.65526754e-03 9.98275632e-01 -1.67536728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59463044 meters Centerline goodness : 0.104104 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98261206e-01 -1.62423265e-04 -5.89452158e-02 -1.30673841e-01] [ 3.30453144e-04 9.99995910e-01 2.84087438e-03 -1.48650417e-01] [ 5.89445133e-02 -2.85541332e-03 9.98257177e-01 -1.67885854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62463043999999 meters Centerline goodness : 0.106254 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98246530e-01 -1.81874998e-04 -5.91931695e-02 -1.29926353e-01] [ 3.67157782e-04 9.99995068e-01 3.11927680e-03 -1.50750926e-01] [ 5.91923102e-02 -3.13554048e-03 9.98241674e-01 -1.67991030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65463043999999 meters Centerline goodness : 0.103937 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98253969e-01 -1.14121507e-04 -5.90677687e-02 -1.30208183e-01] [ 3.18070199e-04 9.99994021e-01 3.44340100e-03 -1.52524251e-01] [ 5.90670226e-02 -3.45617641e-03 9.98248036e-01 -1.67910425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68463043999999 meters Centerline goodness : 0.103485 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98258577e-01 -3.66013633e-05 -5.89899332e-02 -1.30510202e-01] [ 2.55039485e-04 9.99993139e-01 3.69544819e-03 -1.53835119e-01] [ 5.89893932e-02 -3.70405761e-03 9.98251738e-01 -1.67670885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71463044 meters Centerline goodness : 0.101357 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98243708e-01 -3.69680008e-06 -5.92410346e-02 -1.29892744e-01] [ 2.29463100e-04 9.99992738e-01 3.80417601e-03 -1.54506082e-01] [ 5.92405903e-02 -3.81108839e-03 9.98236459e-01 -1.67644594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74463044 meters Centerline goodness : 0.104816 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98184492e-01 1.67237750e-04 -6.02303301e-02 -1.27072132e-01] [ 5.74905483e-05 9.99993044e-01 3.72939614e-03 -1.53395237e-01] [ 6.02305349e-02 -3.72608806e-03 9.98177539e-01 -1.68529021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77463044 meters Centerline goodness : 0.158862 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98177138e-01 3.52127140e-04 -6.03512893e-02 -1.26737223e-01] [-1.31524837e-04 9.99993296e-01 3.65923738e-03 -1.51962092e-01] [ 6.03521732e-02 -3.64462940e-03 9.98170492e-01 -1.68637160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80463044 meters Centerline goodness : 0.167920 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98195316e-01 6.59191240e-04 -6.00472880e-02 -1.27588000e-01] [-4.37259738e-04 9.99993026e-01 3.70901049e-03 -1.50722431e-01] [ 6.00493142e-02 -3.67606064e-03 9.98188643e-01 -1.68565232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83463044 meters Centerline goodness : 0.103803 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98211011e-01 8.74406846e-04 -5.97830488e-02 -1.28614888e-01] [-6.54936207e-04 9.99992975e-01 3.69061422e-03 -1.49498983e-01] [ 5.97858559e-02 -3.64485767e-03 9.98204571e-01 -1.68134567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86463044 meters Centerline goodness : 0.262396 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98228403e-01 9.11515005e-04 -5.94913892e-02 -1.29661768e-01] [-6.99304305e-04 9.99993319e-01 3.58780488e-03 -1.48659987e-01] [ 5.94942620e-02 -3.53984615e-03 9.98222371e-01 -1.67722523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89463044 meters Centerline goodness : 0.187071 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98234324e-01 7.64837513e-04 -5.93940149e-02 -1.30014169e-01] [-5.60903466e-04 9.99993891e-01 3.45017505e-03 -1.49040056e-01] [ 5.93962908e-02 -3.41076885e-03 9.98228655e-01 -1.67558838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92463044 meters Centerline goodness : 0.105759 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98230761e-01 7.51454937e-04 -5.94540502e-02 -1.29875649e-01] [-5.41677690e-04 9.99993572e-01 3.54443093e-03 -1.49853065e-01] [ 5.94563315e-02 -3.50595505e-03 9.98224751e-01 -1.67554903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95463044 meters Centerline goodness : 0.094321 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98235778e-01 7.19127126e-04 -5.93701409e-02 -1.30151558e-01] [-5.00772331e-04 9.99993057e-01 3.69265209e-03 -1.50937021e-01] [ 5.93723842e-02 -3.65640651e-03 9.98229207e-01 -1.67388809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98463043999999 meters Centerline goodness : 0.192154 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98240866e-01 7.58814721e-04 -5.92840485e-02 -1.30524142e-01] [-5.26552208e-04 9.99992126e-01 3.93331461e-03 -1.52231504e-01] [ 5.92865663e-02 -3.89517924e-03 9.98233405e-01 -1.67073033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01463043999999 meters Centerline goodness : 0.228684 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98252920e-01 7.61095427e-04 -5.90806991e-02 -1.31535260e-01] [-5.15811543e-04 9.99991186e-01 4.16681494e-03 -1.53469938e-01] [ 5.90833497e-02 -4.12906068e-03 9.98244513e-01 -1.66275220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04463043999999 meters Centerline goodness : 0.457395 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.17 [[ 9.98243151e-01 7.24215443e-04 -5.92459863e-02 -1.31110232e-01] [-4.83092352e-04 9.99991543e-01 4.08408571e-03 -1.53089365e-01] [ 5.92484431e-02 -4.04828931e-03 9.98235059e-01 -1.66309763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07463043999999 meters Centerline goodness : 0.089163 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:-0.16 [[ 0.99816278 0.00841901 -0.06000152 -0.11041326] [-0.00827232 0.99996216 0.00269269 -0.15419258] [ 0.06002192 -0.00219139 0.99819465 -0.16401654] [ 0. 0. 0. 1. ]] SLAMing on 95.10463044 meters Centerline goodness : 0.458416 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.16, Z:-0.17 [[ 0.9980061 0.00784928 -0.06262764 -0.15401529] [-0.00772502 0.99996768 0.00222603 -0.15518834] [ 0.06264309 -0.00173779 0.99803448 -0.16643273] [ 0. 0. 0. 1. ]] SLAMing on 95.13463044 meters Centerline goodness : 0.392227 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.16 [[ 9.97983682e-01 5.47805233e-04 -6.34686564e-02 -1.34379498e-01] [-3.71164990e-04 9.99996025e-01 2.79486698e-03 -1.48152806e-01] [ 6.34699352e-02 -2.76567430e-03 9.97979919e-01 -1.64719674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16463044 meters Centerline goodness : 0.094685 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:-0.16 [[ 9.97978334e-01 4.61571444e-04 -6.35533830e-02 -1.34033266e-01] [-2.94180103e-04 9.99996463e-01 2.64320221e-03 -1.47539117e-01] [ 6.35543783e-02 -2.61916240e-03 9.97974940e-01 -1.64917456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19463044 meters Centerline goodness : 0.159217 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:-0.16 [[ 9.98011548e-01 1.00815812e-04 -6.30312684e-02 -1.35603371e-01] [ 6.73665358e-05 9.99996444e-01 2.66610586e-03 -1.49160846e-01] [ 6.30313130e-02 -2.66505064e-03 9.98007991e-01 -1.64367397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22463044 meters Centerline goodness : 0.335504 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:-0.16 [[ 9.98025045e-01 -1.24677208e-04 -6.28171501e-02 -1.36516741e-01] [ 3.07321697e-04 9.99995754e-01 2.89790402e-03 -1.51692158e-01] [ 6.28165221e-02 -2.91148587e-03 9.98020845e-01 -1.63633484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25463044 meters Centerline goodness : 0.459394 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:-0.16 [[ 9.98020302e-01 -3.45961536e-04 -6.28916236e-02 -1.36598168e-01] [ 5.48387944e-04 9.99994725e-01 3.20142141e-03 -1.54807231e-01] [ 6.28901843e-02 -3.22957257e-03 9.98015228e-01 -1.63121398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28463044 meters Centerline goodness : 0.098427 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:-0.16 [[ 9.97994261e-01 -5.03494602e-04 -6.33024609e-02 -1.35666596e-01] [ 7.32996701e-04 9.99993243e-01 3.60231337e-03 -1.58441186e-01] [ 6.33002194e-02 -3.64148856e-03 9.97987887e-01 -1.62916952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31463044 meters Centerline goodness : 0.461723 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:-0.16 [[ 9.97967676e-01 -6.21308165e-04 -6.37191699e-02 -1.34516110e-01] [ 8.81814935e-04 9.99991368e-01 4.06031655e-03 -1.62617338e-01] [ 6.37160971e-02 -4.10825318e-03 9.97959609e-01 -1.62981900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34463044 meters Centerline goodness : 0.466606 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:-0.16 [[ 0.99798774 -0.00144527 -0.06339068 -0.13494084] [ 0.00170014 0.99999069 0.00396674 -0.16967143] [ 0.06338436 -0.00406653 0.9979809 -0.16318051] [ 0. 0. 0. 1. ]] SLAMing on 95.37463043999999 meters Centerline goodness : 0.487582 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:-0.16 [[ 0.9979903 -0.00479592 -0.06318514 -0.13567262] [ 0.00492511 0.99998609 0.001889 -0.18003128] [ 0.0631752 -0.0021964 0.99800003 -0.16259271] [ 0. 0. 0. 1. ]] SLAMing on 95.40463043999999 meters Centerline goodness : 0.097653 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.16 [[ 0.99795383 -0.00488177 -0.06375203 -0.13441215] [ 0.00504055 0.99998458 0.00232998 -0.18664046] [ 0.06373968 -0.00264655 0.99796305 -0.16235153] [ 0. 0. 0. 1. ]] SLAMing on 95.43463043999999 meters Centerline goodness : 0.092699 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.16 [[ 0.99790768 -0.00483809 -0.06447373 -0.1328168 ] [ 0.00503281 0.99998325 0.00285807 -0.19273898] [ 0.06445883 -0.00317657 0.99791531 -0.16206674] [ 0. 0. 0. 1. ]] SLAMing on 95.46463044 meters Centerline goodness : 0.100570 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:-0.16 [[ 0.99787226 -0.00457054 -0.06503888 -0.13163716] [ 0.00481642 0.99998183 0.00362424 -0.19787691] [ 0.06502114 -0.00392978 0.99787615 -0.1617534 ] [ 0. 0. 0. 1. ]] SLAMing on 95.49463044 meters Centerline goodness : 0.098595 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.21, Z:-0.16 [[ 0.99791556 -0.00471304 -0.06436083 -0.13363534] [ 0.00502343 0.99997652 0.00466168 -0.20960482] [ 0.06433735 -0.00497528 0.9979158 -0.16092902] [ 0. 0. 0. 1. ]] SLAMing on 95.52463044 meters Centerline goodness : 0.099525 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.21, Z:-0.16 [[ 0.99793286 -0.0043848 -0.06411531 -0.13438799] [ 0.00474439 0.99997385 0.00545738 -0.21406793] [ 0.0640897 -0.00575028 0.99792757 -0.16057084] [ 0. 0. 0. 1. ]] SLAMing on 95.55463044 meters Centerline goodness : 0.162832 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.22, Z:-0.16 [[ 0.99794419 0.00331802 -0.06400305 -0.11606723] [-0.00304264 0.99998569 0.00439957 -0.22230085] [ 0.06401673 -0.00419578 0.99794001 -0.15773158] [ 0. 0. 0. 1. ]] SLAMing on 95.58463044 meters Centerline goodness : 0.243948 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:-0.16 [[ 0.99793621 0.00360979 -0.06411155 -0.11575863] [-0.00329385 0.99998191 0.00503296 -0.22576411] [ 0.06412856 -0.00481139 0.99793005 -0.15775236] [ 0. 0. 0. 1. ]] SLAMing on 95.61463044 meters Centerline goodness : 0.096021 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:-0.16 [[ 0.99793162 0.00385384 -0.06416877 -0.11565303] [-0.00350606 0.99997856 0.00553146 -0.2282737 ] [ 0.06418871 -0.00529504 0.99792373 -0.15766072] [ 0. 0. 0. 1. ]] SLAMing on 95.64463044 meters Centerline goodness : 0.102340 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:-0.16 [[ 0.99793529 0.0042053 -0.0640895 -0.11607334] [-0.00381051 0.99997301 0.00628095 -0.23263023] [ 0.06411419 -0.00602377 0.99792439 -0.15727842] [ 0. 0. 0. 1. ]] SLAMing on 95.67463044 meters Centerline goodness : 0.093753 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:-0.16 [[ 0.99794393 0.00432387 -0.06394703 -0.11655471] [-0.00391083 0.99997069 0.00658284 -0.2345249 ] [ 0.06397362 -0.00631922 0.99793158 -0.15704242] [ 0. 0. 0. 1. ]] SLAMing on 95.70463044 meters Centerline goodness : 0.103479 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 0.99795855 0.00440805 -0.06371267 -0.11721637] [-0.00398074 0.99996874 0.00683219 -0.23609928] [ 0.06374079 -0.00656462 0.9979449 -0.15685336] [ 0. 0. 0. 1. ]] SLAMing on 95.73463043999999 meters Centerline goodness : 0.104923 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 0.99797425 0.00446917 -0.06346198 -0.11793054] [-0.00403019 0.99996707 0.00704351 -0.2374792 ] [ 0.06349137 -0.00677348 0.9979594 -0.15663994] [ 0. 0. 0. 1. ]] SLAMing on 95.76463043999999 meters Centerline goodness : 0.097049 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 0.99798478 0.00450477 -0.06329368 -0.11838438] [-0.00405476 0.9999656 0.00723652 -0.23883434] [ 0.0633241 -0.0069653 0.99796871 -0.15652771] [ 0. 0. 0. 1. ]] SLAMing on 95.79463043999999 meters Centerline goodness : 0.104711 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 0.99798553 0.00452242 -0.06328052 -0.11835628] [-0.00406393 0.99996457 0.0073721 -0.2398434 ] [ 0.06331162 -0.00710008 0.99796855 -0.1566009 ] [ 0. 0. 0. 1. ]] SLAMing on 95.82463043999999 meters Centerline goodness : 0.090166 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 9.98004273e-01 9.18410709e-04 -6.31397495e-02 -1.18306493e-01] [-6.61932521e-04 9.99991446e-01 4.08286966e-03 -2.40581331e-01] [ 6.31429592e-02 -4.03292712e-03 9.97996344e-01 -1.57058579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85463044 meters Centerline goodness : 0.171604 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 9.97990298e-01 8.57689477e-04 -6.33611093e-02 -1.17689112e-01] [-5.92878597e-04 9.99991012e-01 4.19807488e-03 -2.41752364e-01] [ 6.33641404e-02 -4.15207255e-03 9.97981837e-01 -1.57098725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88463044 meters Centerline goodness : 0.464365 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 9.97996184e-01 8.68619231e-04 -6.32681805e-02 -1.17845570e-01] [-5.95057451e-04 9.99990394e-01 4.34255924e-03 -2.42652923e-01] [ 6.32713448e-02 -4.29620934e-03 9.97987114e-01 -1.57129132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91463044 meters Centerline goodness : 0.279480 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:-0.16 [[ 9.97989622e-01 8.70576526e-04 -6.33715786e-02 -1.17591417e-01] [-5.89733831e-04 9.99989924e-01 4.45025227e-03 -2.43267665e-01] [ 6.33748143e-02 -4.40393322e-03 9.97980079e-01 -1.57120646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94463044 meters Centerline goodness : 0.092618 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.24, Z:-0.16 [[ 9.97909130e-01 6.25162199e-04 -6.46295380e-02 -1.14194650e-01] [-3.41331469e-04 9.99990250e-01 4.40260480e-03 -2.43935285e-01] [ 6.46316602e-02 -4.37133943e-03 9.97899614e-01 -1.57659795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97463044 meters Centerline goodness : 0.106962 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.24, Z:-0.16 [[ 9.97872049e-01 5.34184568e-04 -6.52003708e-02 -1.12515206e-01] [-2.49260967e-04 9.99990385e-01 4.37802541e-03 -2.44206956e-01] [ 6.52020826e-02 -4.35245728e-03 9.97862588e-01 -1.58093925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00463044 meters Centerline goodness : 0.462436 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.24, Z:-0.16 [[ 9.97842563e-01 4.32861482e-04 -6.56508292e-02 -1.11081512e-01] [-1.47007356e-04 9.99990489e-01 4.35892694e-03 -2.44636133e-01] [ 6.56520917e-02 -4.33987168e-03 9.97833137e-01 -1.58584315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03463044 meters Centerline goodness : 0.256395 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:-0.16 [[ 9.97868718e-01 5.25204607e-03 -6.50418128e-02 -1.32918898e-01] [-5.18386117e-03 9.99985823e-01 1.21704345e-03 -2.48708641e-01] [ 6.50472827e-02 -8.77281862e-04 9.97881797e-01 -1.60451501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06463044 meters Centerline goodness : 0.223022 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:-0.16 [[ 0.9978677 0.00515112 -0.06506544 -0.1331729 ] [-0.00507493 0.99998623 0.00133612 -0.25013201] [ 0.06507143 -0.00100307 0.9978801 -0.15998946] [ 0. 0. 0. 1. ]] SLAMing on 96.09463044 meters Centerline goodness : 0.273743 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.25, Z:-0.16 [[ 0.99792675 -0.00268661 -0.06430384 -0.11392578] [ 0.00284417 0.99999317 0.00235884 -0.24844966] [ 0.06429706 -0.00253684 0.99792758 -0.15720671] [ 0. 0. 0. 1. ]] SLAMing on 96.12463043999999 meters Centerline goodness : 0.105412 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.25, Z:-0.16 [[ 0.99790009 -0.00285869 -0.06470889 -0.11314428] [ 0.00303782 0.99999182 0.00267014 -0.25146699] [ 0.06470073 -0.00286111 0.99790061 -0.15681123] [ 0. 0. 0. 1. ]] SLAMing on 96.15463043999999 meters Centerline goodness : 0.250425 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.16 [[ 0.99773257 -0.00386062 -0.06719238 -0.15665792] [ 0.00404837 0.99998827 0.00265824 -0.25420158] [ 0.06718132 -0.00292423 0.9977365 -0.15937009] [ 0. 0. 0. 1. ]] SLAMing on 96.18463043999999 meters Centerline goodness : 0.090256 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.16 [[ 0.9977199 -0.00384756 -0.06738092 -0.1558423 ] [ 0.00403916 0.99998818 0.00270746 -0.25470403] [ 0.0673697 -0.00297345 0.99772365 -0.15983982] [ 0. 0. 0. 1. ]] SLAMing on 96.21463044 meters Centerline goodness : 0.090256 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.16 [[ 0.9977199 -0.00384756 -0.06738092 -0.1558423 ] [ 0.00403916 0.99998818 0.00270746 -0.25470403] [ 0.0673697 -0.00297345 0.99772365 -0.15983982] [ 0. 0. 0. 1. ]] SLAMing on 96.24463044 meters Centerline goodness : 0.091254 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.16 [[ 0.99772092 -0.003852 -0.06736565 -0.15562854] [ 0.00404037 0.9999883 0.00266028 -0.25443692] [ 0.06735462 -0.00292639 0.99772481 -0.16014279] [ 0. 0. 0. 1. ]] SLAMing on 96.27463044 meters Centerline goodness : 0.463752 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.16 [[ 0.99773548 -0.00367896 -0.0671593 -0.15633918] [ 0.0038745 0.99998863 0.00278158 -0.2542697 ] [ 0.0671483 -0.00303549 0.99773839 -0.15983559] [ 0. 0. 0. 1. ]] SLAMing on 96.30463044 meters Centerline goodness : 0.274063 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:-0.16 [[ 0.99793033 0.00391568 -0.06418513 -0.17875458] [-0.00374124 0.99998898 0.0028377 -0.25959522] [ 0.06419554 -0.0025917 0.99793397 -0.1614786 ] [ 0. 0. 0. 1. ]] SLAMing on 96.33463044 meters Centerline goodness : 0.266623 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:-0.16 [[ 0.99793791 0.00391874 -0.06406694 -0.17921622] [-0.0037446 0.99998896 0.00283784 -0.25974383] [ 0.06407735 -0.00259208 0.99794157 -0.16123297] [ 0. 0. 0. 1. ]] SLAMing on 96.36463044 meters Centerline goodness : 0.465116 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:-0.16 [[ 0.99793687 0.00387314 -0.06408587 -0.17912715] [-0.00370063 0.9999892 0.00281033 -0.25995356] [ 0.06409606 -0.00256737 0.99794043 -0.16127626] [ 0. 0. 0. 1. ]] SLAMing on 96.39463044 meters Centerline goodness : 0.094067 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:-0.16 [[ 0.99793946 0.00377009 -0.06405163 -0.17905742] [-0.0035935 0.99998942 0.00287195 -0.26084294] [ 0.06406178 -0.00263586 0.99794245 -0.16150197] [ 0. 0. 0. 1. ]] SLAMing on 96.42463044 meters Centerline goodness : 0.092185 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:-0.16 [[ 0.99795275 0.00380268 -0.06384238 -0.17994238] [-0.00361633 0.99998886 0.0030343 -0.26170574] [ 0.06385321 -0.00279721 0.99795538 -0.16093175] [ 0. 0. 0. 1. ]] SLAMing on 96.45463044 meters Centerline goodness : 0.244926 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.16 [[ 0.99804569 -0.00363825 -0.06238234 -0.1619307 ] [ 0.00391664 0.99998291 0.00434105 -0.25898286] [ 0.06236548 -0.00457689 0.99804288 -0.15795132] [ 0. 0. 0. 1. ]] SLAMing on 96.48463043999999 meters Centerline goodness : 0.089664 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.16 [[ 0.99807292 -0.00369657 -0.06194178 -0.16355919] [ 0.00397878 0.99998226 0.00443328 -0.25984101] [ 0.06192429 -0.00467119 0.99806992 -0.15712815] [ 0. 0. 0. 1. ]] SLAMing on 96.51463043999999 meters Centerline goodness : 0.092952 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.26, Z:-0.16 [[ 0.99810698 -0.00385115 -0.06138101 -0.16532775] [ 0.00413758 0.99998113 0.00453993 -0.2607924 ] [ 0.06136236 -0.0047853 0.99810408 -0.1567418 ] [ 0. 0. 0. 1. ]] SLAMing on 96.54463043999999 meters Centerline goodness : 0.282737 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.26, Z:-0.16 [[ 0.99811533 -0.00400477 -0.06123512 -0.16574827] [ 0.0042966 0.99998003 0.00463469 -0.26175913] [ 0.06121534 -0.00488905 0.99811261 -0.15682342] [ 0. 0. 0. 1. ]] SLAMing on 96.57463043999999 meters Centerline goodness : 0.270830 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.16 [[ 0.99809191 -0.00423845 -0.06160012 -0.16445083] [ 0.00453826 0.99997853 0.00472788 -0.26262387] [ 0.06157876 -0.00499841 0.99808971 -0.15776609] [ 0. 0. 0. 1. ]] SLAMing on 96.60463044 meters Centerline goodness : 0.091222 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.16 [[ 0.99809038 -0.00423596 -0.06162501 -0.16428396] [ 0.00453808 0.99997836 0.00476327 -0.26256305] [ 0.0616035 -0.00503384 0.99808801 -0.15803023] [ 0. 0. 0. 1. ]] SLAMing on 96.63463044 meters Centerline goodness : 0.091621 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.16 [[ 0.99808971 -0.00417163 -0.06164029 -0.16405244] [ 0.00447895 0.99997822 0.00484849 -0.26237301] [ 0.06161872 -0.00511531 0.99808665 -0.15838059] [ 0. 0. 0. 1. ]] SLAMing on 96.66463044 meters Centerline goodness : 0.257423 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.16 [[ 0.99811544 0.00418425 -0.06122134 -0.18128815] [-0.00396623 0.99998535 0.00368233 -0.26767593] [ 0.06123585 -0.00343257 0.99811742 -0.1616148 ] [ 0. 0. 0. 1. ]] SLAMing on 96.69463044 meters Centerline goodness : 0.099723 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.16 [[ 0.99810111 0.00408732 -0.06146118 -0.1804186 ] [-0.0038751 0.99998611 0.00357182 -0.26735972] [ 0.06147493 -0.00332687 0.99810308 -0.1620461 ] [ 0. 0. 0. 1. ]] SLAMing on 96.72463044 meters Centerline goodness : 0.094675 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.16 [[ 0.99807477 0.00387481 -0.06190108 -0.17896021] [-0.00367312 0.99998757 0.00337183 -0.26717028] [ 0.06191338 -0.00313797 0.99807659 -0.16258498] [ 0. 0. 0. 1. ]] SLAMing on 96.75463044 meters Centerline goodness : 0.483891 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.27, Z:-0.16 [[ 0.99797132 0.00230208 -0.06362341 -0.17335063] [-0.0021726 0.99999543 0.00210427 -0.26695096] [ 0.06362796 -0.00196177 0.99797176 -0.16426259] [ 0. 0. 0. 1. ]] SLAMing on 96.78463044 meters Centerline goodness : 0.095091 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.27, Z:-0.16 [[ 0.99793371 0.00210846 -0.06421729 -0.17167147] [-0.00197733 0.99999583 0.00210551 -0.2676009 ] [ 0.06422146 -0.00197418 0.99793372 -0.16461693] [ 0. 0. 0. 1. ]] SLAMing on 96.81463044 meters Centerline goodness : 0.099752 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.27, Z:-0.16 [[ 0.99792333 0.00202297 -0.06438112 -0.17104999] [-0.0018917 0.99999601 0.00209993 -0.2676828 ] [ 0.06438511 -0.00197378 0.99792317 -0.16494462] [ 0. 0. 0. 1. ]] SLAMing on 96.84463044 meters Centerline goodness : 0.093491 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.27, Z:-0.16 [[ 0.99792523 0.00191713 -0.06435499 -0.17109163] [-0.00179181 0.99999638 0.00200504 -0.26716677] [ 0.0643586 -0.00188557 0.99792505 -0.16495619] [ 0. 0. 0. 1. ]] SLAMing on 96.87463043999999 meters Centerline goodness : 0.272569 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:-0.16 [[ 0.99798683 -0.00558541 -0.06317501 -0.15234776] [ 0.00577976 0.99997911 0.00289402 -0.26085856] [ 0.06315753 -0.00325333 0.99799827 -0.16227269] [ 0. 0. 0. 1. ]] SLAMing on 96.90463043999999 meters Centerline goodness : 0.462902 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:-0.16 [[ 0.99798579 -0.00572836 -0.06317869 -0.15230292] [ 0.00590261 0.99997927 0.00257168 -0.25952683] [ 0.06316265 -0.00293942 0.99799892 -0.16230827] [ 0. 0. 0. 1. ]] SLAMing on 96.93463043999999 meters Centerline goodness : 0.507625 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:-0.16 [[ 0.99798096 -0.00587641 -0.06324142 -0.15195265] [ 0.00602766 0.99997941 0.00220113 -0.25746806] [ 0.06322718 -0.00257788 0.99799583 -0.16258076] [ 0. 0. 0. 1. ]] SLAMing on 96.96463044 meters Centerline goodness : 0.091462 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:-0.16 [[ 0.99797311 -0.00601877 -0.06335171 -0.15151082] [ 0.00614663 0.99997945 0.00182344 -0.2553449 ] [ 0.06333944 -0.00220915 0.9979896 -0.16285148] [ 0. 0. 0. 1. ]] SLAMing on 96.99463044 meters Centerline goodness : 0.275430 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.26, Z:-0.16 [[ 9.98010092e-01 1.73037858e-03 -6.30306457e-02 -1.33114647e-01] [-1.71226412e-03 9.99998476e-01 3.41406404e-04 -2.56258885e-01] [ 6.30311404e-02 -2.32801923e-04 9.98011534e-01 -1.60638081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02463044 meters Centerline goodness : 0.092155 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:-0.16 [[ 9.98004293e-01 1.58660349e-03 -6.31261667e-02 -1.32669450e-01] [-1.59291248e-03 9.99998730e-01 -4.96152085e-05 -2.53985878e-01] [ 6.31260078e-02 1.50070650e-04 9.98005553e-01 -1.60956628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 97.08463044 meters Centerline goodness : 0.254886 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.24, Z:-0.16 [[ 9.97786256e-01 -4.09160048e-03 -6.63765433e-02 -1.13905079e-01] [ 4.09238392e-03 9.99991618e-01 -1.24166703e-04 -2.39153420e-01] [ 6.63764950e-02 -1.47746468e-04 9.97794638e-01 -1.58368312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11463044 meters Centerline goodness : 0.097968 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.24, Z:-0.16 [[ 9.97782650e-01 -4.30868606e-03 -6.64169999e-02 -1.14094835e-01] [ 4.27666701e-03 9.99990660e-01 -6.24263037e-04 -2.36370224e-01] [ 6.64190693e-02 3.38835435e-04 9.97791758e-01 -1.57994574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14463044 meters Centerline goodness : 0.259981 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:-0.16 [[ 9.97845889e-01 -2.62686429e-03 -6.55490828e-02 -1.17266859e-01] [ 2.65611710e-03 9.99996408e-01 3.59130526e-04 -2.29366958e-01] [ 6.55479040e-02 -5.32462959e-04 9.97849282e-01 -1.56828432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17463044 meters Centerline goodness : 0.090238 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:-0.16 [[ 9.97852050e-01 -2.75440303e-03 -6.54499702e-02 -1.17500116e-01] [ 2.75573092e-03 9.99996201e-01 -6.99894886e-05 -2.26610939e-01] [ 6.54499143e-02 -1.10523352e-04 9.97855850e-01 -1.56794911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20463044 meters Centerline goodness : 0.285300 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.22, Z:-0.16 [[ 9.97857460e-01 -2.93886982e-03 -6.53594179e-02 -1.17701844e-01] [ 2.90795322e-03 9.99995610e-01 -5.68152374e-04 -2.23689513e-01] [ 6.53608007e-02 3.76872955e-04 9.97861626e-01 -1.56771256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23463043999999 meters Centerline goodness : 0.270017 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.22, Z:-0.16 [[ 9.97863713e-01 -3.16063057e-03 -6.52535144e-02 -1.17883459e-01] [ 3.09144546e-03 9.99994547e-01 -1.16119561e-03 -2.20472852e-01] [ 6.52568287e-02 9.56987284e-04 9.97868043e-01 -1.56806488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26463043999999 meters Centerline goodness : 0.090885 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.22, Z:-0.16 [[ 0.99786629 -0.0033364 -0.06520529 -0.11803756] [ 0.00322967 0.99999327 -0.00174227 -0.21698973] [ 0.06521066 0.00152796 0.99787035 -0.15667666] [ 0. 0. 0. 1. ]] SLAMing on 97.29463043999999 meters Centerline goodness : 0.275522 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.22, Z:-0.15 [[ 0.99791111 0.00483945 -0.0644205 -0.09786285] [-0.00504038 0.99998293 -0.002957 -0.21540369] [ 0.06440509 0.00327553 0.99791846 -0.15476436] [ 0. 0. 0. 1. ]] SLAMing on 97.32463043999999 meters Centerline goodness : 0.093121 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.21, Z:-0.16 [[ 9.97883371e-01 7.97910999e-03 -6.45376693e-02 -9.61137326e-02] [-8.05963247e-03 9.99967033e-01 -9.87427694e-04 -2.06936837e-01] [ 6.45276629e-02 1.50548757e-03 9.97914783e-01 -1.56120672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35463044 meters Centerline goodness : 0.096422 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.20, Z:-0.16 [[ 0.99786298 0.00791174 -0.06486038 -0.09501946] [-0.00803352 0.99996642 -0.00161695 -0.20246263] [ 0.06484541 0.00213455 0.99789304 -0.15648275] [ 0. 0. 0. 1. ]] SLAMing on 97.38463044 meters Centerline goodness : 0.097331 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:-0.16 [[ 0.99784166 0.00786231 -0.06519354 -0.09408315] [-0.00802481 0.99996531 -0.00223115 -0.19793644] [ 0.06517374 0.0027495 0.99787014 -0.15659341] [ 0. 0. 0. 1. ]] SLAMing on 97.41463044 meters Centerline goodness : 0.223517 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:-0.16 [[ 0.99784033 0.00791403 -0.06520774 -0.09401536] [-0.0081073 0.99996349 -0.00269979 -0.19389979] [ 0.06518399 0.00322262 0.99786806 -0.15656057] [ 0. 0. 0. 1. ]] SLAMing on 97.44463044 meters Centerline goodness : 0.089319 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.16 [[ 9.97975467e-01 2.57425088e-03 -6.35479408e-02 -1.16360023e-01] [-2.59534725e-03 9.99996601e-01 -2.49429925e-04 -1.85820292e-01] [ 6.35470827e-02 4.13853919e-04 9.97978756e-01 -1.58157469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47463044 meters Centerline goodness : 0.096821 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.16 [[ 9.97984380e-01 2.47968437e-03 -6.34115791e-02 -1.16918111e-01] [-2.53165324e-03 9.99996522e-01 -7.39212671e-04 -1.82632288e-01] [ 6.34095256e-02 8.98258829e-04 9.97987187e-01 -1.57783993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50463044 meters Centerline goodness : 0.094475 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.16 [[ 0.99798558 0.00205653 -0.06340783 -0.11657447] [-0.00216324 0.99999636 -0.00161421 -0.1789735 ] [ 0.06340428 0.00174812 0.99798639 -0.15820896] [ 0. 0. 0. 1. ]] SLAMing on 97.53463044 meters Centerline goodness : 0.240697 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.16 [[ 0.99796827 0.00194801 -0.06368318 -0.11517674] [-0.00206378 0.99999634 -0.00175218 -0.17863574] [ 0.06367953 0.00188005 0.99796863 -0.15918422] [ 0. 0. 0. 1. ]] SLAMing on 97.56463044 meters Centerline goodness : 0.235598 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.99794868 0.00190544 -0.0639906 -0.11403771] [-0.0020235 0.99999637 -0.00178018 -0.17882061] [ 0.06398698 0.00190602 0.99794891 -0.15971387] [ 0. 0. 0. 1. ]] SLAMing on 97.59463044 meters Centerline goodness : 0.097036 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.99794106 0.00189517 -0.06410961 -0.11361316] [-0.00201376 0.99999638 -0.00178531 -0.17889723] [ 0.06410599 0.00191074 0.99794127 -0.15988608] [ 0. 0. 0. 1. ]] SLAMing on 97.62463043999999 meters Centerline goodness : 0.098679 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.9979297 0.00189043 -0.06428637 -0.1134918 ] [-0.00200917 0.99999639 -0.00178243 -0.1790944 ] [ 0.06428277 0.0019079 0.9979299 -0.15946979] [ 0. 0. 0. 1. ]] SLAMing on 97.65463043999999 meters Centerline goodness : 0.232414 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.99792676 0.00185524 -0.06433299 -0.11375938] [-0.00197566 0.99999641 -0.00180818 -0.1793567 ] [ 0.0643294 0.00193153 0.99792685 -0.15896996] [ 0. 0. 0. 1. ]] SLAMing on 97.68463043999999 meters Centerline goodness : 0.095266 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.9979179 0.00199159 -0.06446622 -0.11358588] [-0.00210489 0.99999636 -0.00168964 -0.17973821] [ 0.06446262 0.00182181 0.99791846 -0.15875554] [ 0. 0. 0. 1. ]] SLAMing on 97.71463044 meters Centerline goodness : 0.095452 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.99792536 0.00211718 -0.06434665 -0.1136778 ] [-0.0022284 0.99999614 -0.00165684 -0.17938862] [ 0.06434289 0.00179679 0.99792623 -0.1589926 ] [ 0. 0. 0. 1. ]] SLAMing on 97.74463044 meters Centerline goodness : 0.092289 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.99793968 0.00218747 -0.0641219 -0.11381736] [-0.0023031 0.99999585 -0.00172957 -0.17883094] [ 0.06411785 0.00187369 0.99794057 -0.15951912] [ 0. 0. 0. 1. ]] SLAMing on 97.77463044 meters Centerline goodness : 0.097673 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.16 [[ 0.99796972 0.00236277 -0.0636463 -0.11508121] [-0.00249301 0.99999496 -0.00196684 -0.17741027] [ 0.06364133 0.00212152 0.99797058 -0.15927051] [ 0. 0. 0. 1. ]] SLAMing on 97.80463044 meters Centerline goodness : 0.089412 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.16 [[ 0.99796278 0.00247917 -0.0637506 -0.11506763] [-0.00261074 0.99999463 -0.00198055 -0.17693843] [ 0.06374535 0.00214295 0.9979639 -0.15900105] [ 0. 0. 0. 1. ]] SLAMing on 97.83463044 meters Centerline goodness : 0.093941 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.9979453 0.00265008 -0.06401686 -0.11445231] [-0.00277429 0.99999444 -0.00185136 -0.17685847] [ 0.0640116 0.00202515 0.9979471 -0.15900774] [ 0. 0. 0. 1. ]] SLAMing on 97.86463044 meters Centerline goodness : 0.100690 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.99792293 0.00286258 -0.06435556 -0.11325688] [-0.00297301 0.99999427 -0.00162023 -0.17712343] [ 0.06435055 0.0018082 0.99792572 -0.15952987] [ 0. 0. 0. 1. ]] SLAMing on 97.89463044 meters Centerline goodness : 0.275172 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 0.99790776 0.00304181 -0.06458211 -0.11212978] [-0.00313449 0.9999942 -0.00133367 -0.17815501] [ 0.06457768 0.00153331 0.99791151 -0.16032449] [ 0. 0. 0. 1. ]] SLAMing on 97.92463044 meters Centerline goodness : 0.269610 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 9.97921612e-01 3.28360847e-03 -6.43558329e-02 -1.12158998e-01] [-3.33653752e-03 9.99994178e-01 -7.14986434e-04 -1.81692995e-01] [ 6.43531105e-02 9.28226065e-04 9.97926759e-01 -1.60948552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95463044 meters Centerline goodness : 0.105377 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 9.97951022e-01 3.39504445e-03 -6.38923437e-02 -1.13564211e-01] [-3.42883751e-03 9.99994034e-01 -4.19263114e-04 -1.83336814e-01] [ 6.38905391e-02 6.37480518e-04 9.97956709e-01 -1.60489746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98463043999999 meters Centerline goodness : 0.276043 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 9.97971727e-01 3.48948418e-03 -6.35630050e-02 -1.14747285e-01] [-3.50991469e-03 9.99993818e-01 -2.09760538e-04 -1.84620917e-01] [ 6.35618802e-02 4.32435811e-04 9.97977806e-01 -1.59894531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01463043999999 meters Centerline goodness : 0.093248 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.16 [[ 9.97985869e-01 3.50167578e-03 -6.33398974e-02 -1.15488759e-01] [-3.51880782e-03 9.99993796e-01 -1.58927021e-04 -1.85273275e-01] [ 6.33389480e-02 3.81487848e-04 9.97992000e-01 -1.59600974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04463043999999 meters Centerline goodness : 0.236136 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.16 [[ 9.97991148e-01 3.53461644e-03 -6.32548460e-02 -1.15774708e-01] [-3.54915406e-03 9.99993695e-01 -1.17464167e-04 -1.85700737e-01] [ 6.32540319e-02 3.41729391e-04 9.97997400e-01 -1.59499251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07463043999999 meters Centerline goodness : 0.106589 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.16 [[ 9.97990675e-01 3.74147373e-03 -6.32504069e-02 -1.15630308e-01] [-3.74868710e-03 9.99992974e-01 4.62711672e-06 -1.85542877e-01] [ 6.32499798e-02 2.32488165e-04 9.97997688e-01 -1.59734903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10463044 meters Centerline goodness : 0.106589 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.16 [[ 9.97990675e-01 3.74147373e-03 -6.32504069e-02 -1.15630308e-01] [-3.74868710e-03 9.99992974e-01 4.62711672e-06 -1.85542877e-01] [ 6.32499798e-02 2.32488165e-04 9.97997688e-01 -1.59734903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13463044 meters Centerline goodness : 0.093714 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.16 [[ 9.97994000e-01 5.00574412e-03 -6.31103747e-02 -1.15136966e-01] [-4.96209149e-03 9.99987329e-01 8.48405069e-04 -1.84785492e-01] [ 6.31138220e-02 -5.33543715e-04 9.98006193e-01 -1.60731011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16463044 meters Centerline goodness : 0.236082 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:-0.16 [[ 9.97997613e-01 5.03858979e-03 -6.30505878e-02 -1.15033214e-01] [-5.00925607e-03 9.99987259e-01 6.23308969e-04 -1.83361546e-01] [ 6.30529251e-02 -3.06224324e-04 9.98010138e-01 -1.61105388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19463044 meters Centerline goodness : 0.446469 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 9.97979017e-01 4.95216170e-03 -6.33510681e-02 -1.14097538e-01] [-4.94359616e-03 9.99987738e-01 2.91956252e-04 -1.81852679e-01] [ 6.33517371e-02 2.18158836e-05 9.97991261e-01 -1.61452203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22463044 meters Centerline goodness : 0.273177 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 9.97955111e-01 4.91184066e-03 -6.37296703e-02 -1.12906802e-01] [-4.91882179e-03 9.99987901e-01 4.73545056e-05 -1.80567762e-01] [ 6.37291319e-02 2.66217220e-04 9.97967197e-01 -1.61906831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25463044 meters Centerline goodness : 0.488331 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:-0.16 [[ 9.97929989e-01 4.94738094e-03 -6.41191079e-02 -1.11665055e-01] [-4.96356209e-03 9.99987677e-01 -9.30688846e-05 -1.79340918e-01] [ 6.41178573e-02 4.11135404e-04 9.97942248e-01 -1.62410258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28463044 meters Centerline goodness : 0.454258 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:-0.16 [[ 9.97829978e-01 5.40657588e-05 -6.58432323e-02 -8.79112585e-02] [ 1.06396325e-04 9.99997033e-01 2.43352333e-03 -1.73571519e-01] [ 6.58431685e-02 -2.43524801e-03 9.97827012e-01 -1.62019273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31463044 meters Centerline goodness : 0.456286 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:-0.16 [[ 9.97831057e-01 -6.02869874e-05 -6.58268807e-02 -8.79162930e-02] [ 2.13709437e-04 9.99997277e-01 2.32365697e-03 -1.73639253e-01] [ 6.58265614e-02 -2.33268491e-03 9.97828353e-01 -1.62092218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34463044 meters Centerline goodness : 0.096983 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:-0.16 [[ 9.97828900e-01 -2.32721258e-04 -6.58591799e-02 -8.81349022e-02] [ 3.80711657e-04 9.99997431e-01 2.23453184e-03 -1.74137822e-01] [ 6.58584906e-02 -2.25475381e-03 9.97826425e-01 -1.61654937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37463043999999 meters Centerline goodness : 0.450292 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:-0.16 [[ 9.97821444e-01 -2.90786669e-04 -6.59718297e-02 -8.81805105e-02] [ 4.46788816e-04 9.99997139e-01 2.34993671e-03 -1.75259304e-01] [ 6.59709577e-02 -2.37429272e-03 9.97818719e-01 -1.61218615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40463043999999 meters Centerline goodness : 0.093161 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:-0.16 [[ 9.97796123e-01 -3.01938222e-04 -6.63536444e-02 -8.73745892e-02] [ 4.71308247e-04 9.99996671e-01 2.53689645e-03 -1.76570253e-01] [ 6.63526575e-02 -2.56257846e-03 9.97792943e-01 -1.61022479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43463043999999 meters Centerline goodness : 0.491464 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:-0.16 [[ 9.97768414e-01 -3.19072482e-04 -6.67689372e-02 -8.62285867e-02] [ 5.04988450e-04 9.99996043e-01 2.76760891e-03 -1.78079485e-01] [ 6.67677899e-02 -2.79515029e-03 9.97764626e-01 -1.61180122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46463044 meters Centerline goodness : 0.446744 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:-0.16 [[ 9.97759057e-01 -4.07765760e-03 -6.67850019e-02 -8.56224897e-02] [ 4.06302172e-03 9.99991683e-01 -3.54974426e-04 -1.80968922e-01] [ 6.67858939e-02 8.28300354e-05 9.97767326e-01 -1.61722459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49463044 meters Centerline goodness : 0.248125 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:-0.16 [[ 9.97745438e-01 -3.98878895e-03 -6.69935098e-02 -8.47863021e-02] [ 3.99458283e-03 9.99992020e-01 -4.74720886e-05 -1.82766022e-01] [ 6.69931645e-02 -2.20246064e-04 9.97753410e-01 -1.62109242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52463044 meters Centerline goodness : 0.470180 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:-0.16 [[ 9.97726754e-01 -3.85881413e-03 -6.72787772e-02 -8.38994531e-02] [ 3.88250214e-03 9.99992439e-01 2.21337359e-04 -1.83994877e-01] [ 6.72774144e-02 -4.82044202e-04 9.97734192e-01 -1.62327569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.58463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.61463044 meters Centerline goodness : 0.406957 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:-0.16 [[ 0.9977494 -0.00328883 -0.06697258 -0.08527625] [ 0.00336403 0.99999383 0.00101003 -0.18706453] [ 0.06696884 -0.00123306 0.99775431 -0.16142318] [ 0. 0. 0. 1. ]] SLAMing on 98.64463044 meters Centerline goodness : 0.089633 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.17 [[ 9.98098650e-01 -7.67021340e-04 -6.16319437e-02 -1.25256714e-01] [ 8.89655571e-04 9.99997679e-01 1.96236655e-03 -1.92761862e-01] [ 6.16302954e-02 -2.01346661e-03 9.98097016e-01 -1.65471960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67463044 meters Centerline goodness : 0.279097 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.16 [[ 9.98130915e-01 -5.57569897e-04 -6.11094539e-02 -1.26999422e-01] [ 6.99888634e-04 9.99997093e-01 2.30753506e-03 -1.94163783e-01] [ 6.11079896e-02 -2.34599189e-03 9.98128404e-01 -1.64713183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70463044 meters Centerline goodness : 0.278229 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:-0.16 [[ 9.98152917e-01 -4.47190867e-04 -6.07499283e-02 -1.27771500e-01] [ 6.09964834e-04 9.99996274e-01 2.66089168e-03 -1.97081368e-01] [ 6.07485121e-02 -2.69303211e-03 9.98149471e-01 -1.64764658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73463043999999 meters Centerline goodness : 0.088958 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:-0.17 [[ 9.98155571e-01 -3.66116196e-04 -6.07068517e-02 -1.27687681e-01] [ 5.33556799e-04 9.99996098e-01 2.74199565e-03 -1.97536837e-01] [ 6.07056110e-02 -2.76932879e-03 9.98151872e-01 -1.65042286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76463043999999 meters Centerline goodness : 0.087285 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:-0.17 [[ 9.98167012e-01 -6.52142102e-05 -6.05195206e-02 -1.27897487e-01] [ 2.40735890e-04 9.99995786e-01 2.89296225e-03 -1.97093247e-01] [ 6.05190770e-02 -2.90222870e-03 9.98162822e-01 -1.65374773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79463043999999 meters Centerline goodness : 0.088203 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:-0.17 [[ 9.98189639e-01 3.78303964e-04 -6.01440061e-02 -1.28650299e-01] [-1.95362246e-04 9.99995337e-01 3.04757934e-03 -1.95902694e-01] [ 6.01448785e-02 -3.03031225e-03 9.98185058e-01 -1.65600389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82463043999999 meters Centerline goodness : 0.087391 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.17 [[ 9.98198498e-01 6.82984198e-04 -5.99940987e-02 -1.28834277e-01] [-5.03304862e-04 9.99995343e-01 3.01001039e-03 -1.94205405e-01] [ 5.99958751e-02 -2.97439253e-03 9.98194194e-01 -1.65903795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85463044 meters Centerline goodness : 0.088526 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:-0.17 [[ 9.98182910e-01 8.12845206e-04 -6.02512831e-02 -1.28007728e-01] [-6.47705858e-04 9.99995981e-01 2.76032329e-03 -1.92181681e-01] [ 6.02532846e-02 -2.71628243e-03 9.98179425e-01 -1.66321074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88463044 meters Centerline goodness : 0.205399 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.17 [[ 0.99809876 0.00135264 -0.06162009 -0.12401453] [-0.0011945 0.9999959 0.00260315 -0.18861992] [ 0.06162336 -0.00252459 0.99809628 -0.16763455] [ 0. 0. 0. 1. ]] SLAMing on 98.91463044 meters Centerline goodness : 0.089298 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.17 [[ 0.99807591 0.00132617 -0.06198968 -0.12284422] [-0.00117773 0.99999635 0.00243113 -0.18759587] [ 0.06199268 -0.00235344 0.99807383 -0.16814335] [ 0. 0. 0. 1. ]] SLAMing on 98.94463044 meters Centerline goodness : 0.466858 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.17 [[ 0.99805654 0.00118973 -0.06230355 -0.12203412] [-0.00104891 0.99999682 0.00229293 -0.18748922] [ 0.06230608 -0.00222313 0.99805461 -0.16822562] [ 0. 0. 0. 1. ]] SLAMing on 98.97463044 meters Centerline goodness : 0.108728 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.17 [[ 9.98053085e-01 1.00971018e-03 -6.23620147e-02 -1.22155520e-01] [-8.66790893e-04 9.99996936e-01 2.31877952e-03 -1.88708683e-01] [ 6.23641649e-02 -2.26021022e-03 9.98050902e-01 -1.67844910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00463044 meters Centerline goodness : 0.088748 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.17 [[ 9.98052850e-01 7.60802402e-04 -6.23693020e-02 -1.22399887e-01] [-6.10872115e-04 9.99996878e-01 2.42294472e-03 -1.90579401e-01] [ 6.23709507e-02 -2.38012721e-03 9.98050199e-01 -1.67367023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03463044 meters Centerline goodness : 0.087237 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:-0.17 [[ 9.98063323e-01 6.28541372e-04 -6.22029548e-02 -1.22925652e-01] [-4.62254788e-04 9.99996281e-01 2.68764540e-03 -1.92888694e-01] [ 6.22044128e-02 -2.65368669e-03 9.98059902e-01 -1.67014976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06463044 meters Centerline goodness : 0.086666 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:-0.17 [[ 9.98067470e-01 -2.78585314e-03 -6.20770777e-02 -1.23063291e-01] [ 2.79347056e-03 9.99996098e-01 3.59203465e-05 -1.96684199e-01] [ 6.20767354e-02 -2.09261418e-04 9.98071358e-01 -1.66980853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09463044 meters Centerline goodness : 0.089113 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:-0.17 [[ 9.98043574e-01 -2.81686288e-03 -6.24587100e-02 -1.21909624e-01] [ 2.83791999e-03 9.99995942e-01 2.48425878e-04 -1.98590481e-01] [ 6.24577568e-02 -4.25192673e-04 9.98047518e-01 -1.67263023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12463043999999 meters Centerline goodness : 0.089866 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:-0.17 [[ 9.98014747e-01 -2.86694828e-03 -6.29153906e-02 -1.20486163e-01] [ 2.89768378e-03 9.99995723e-01 3.97281587e-04 -2.00324912e-01] [ 6.29139825e-02 -5.78801789e-04 9.98018785e-01 -1.67663283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15463043999999 meters Centerline goodness : 0.088383 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:-0.17 [[ 9.97996003e-01 -2.82536392e-03 -6.32138867e-02 -1.19448670e-01] [ 2.86717942e-03 9.99995727e-01 5.70788312e-04 -2.01606695e-01] [ 6.32120038e-02 -7.50890009e-04 9.97999839e-01 -1.68074748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18463043999999 meters Centerline goodness : 0.102594 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:-0.17 [[ 0.99797828 -0.00253072 -0.06350549 -0.11843331] [ 0.00260311 0.99999605 0.00105712 -0.20357893] [ 0.06350256 -0.0012203 0.99798093 -0.16849831] [ 0. 0. 0. 1. ]] SLAMing on 99.21463044 meters Centerline goodness : 0.101801 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:-0.17 [[ 0.99798168 -0.00241426 -0.06345664 -0.11850766] [ 0.00249906 0.99999609 0.00125699 -0.20441775] [ 0.06345336 -0.00141304 0.9979838 -0.16851075] [ 0. 0. 0. 1. ]] SLAMing on 99.24463044 meters Centerline goodness : 0.087249 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.21, Z:-0.17 [[ 0.99798342 -0.00234229 -0.06343193 -0.11857764] [ 0.00243854 0.99999599 0.00144001 -0.20559134] [ 0.06342831 -0.00159179 0.99798513 -0.16847159] [ 0. 0. 0. 1. ]] SLAMing on 99.27463044 meters Centerline goodness : 0.089734 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.21, Z:-0.17 [[ 0.99798155 -0.00231641 -0.06346232 -0.11859824] [ 0.00242133 0.99999583 0.00157641 -0.20671826] [ 0.0634584 -0.00172689 0.99798299 -0.16835968] [ 0. 0. 0. 1. ]] SLAMing on 99.30463044 meters Centerline goodness : 0.096261 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.21, Z:-0.17 [[ 0.99797919 -0.00221689 -0.06350287 -0.1186578 ] [ 0.00233463 0.99999569 0.00177996 -0.2077796 ] [ 0.06349865 -0.00192462 0.99798007 -0.1681169 ] [ 0. 0. 0. 1. ]] SLAMing on 99.33463044 meters Centerline goodness : 0.087246 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.21, Z:-0.17 [[ 0.99798307 -0.00193859 -0.06345109 -0.11889055] [ 0.0020838 0.99999536 0.00222243 -0.20956824] [ 0.06344649 -0.00235017 0.99798247 -0.1679211 ] [ 0. 0. 0. 1. ]] SLAMing on 99.36463044 meters Centerline goodness : 0.145430 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.21, Z:-0.17 [[ 0.99798969 -0.00190609 -0.06334776 -0.11925941] [ 0.00206074 0.99999505 0.0023761 -0.2107378 ] [ 0.06334292 -0.00250186 0.99798868 -0.16773061] [ 0. 0. 0. 1. ]] SLAMing on 99.39463044 meters Centerline goodness : 0.452390 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.21, Z:-0.17 [[ 0.99799114 -0.00192986 -0.06332425 -0.11940554] [ 0.00209023 0.99999477 0.00246626 -0.21183087] [ 0.06331916 -0.00259367 0.99798996 -0.16759257] [ 0. 0. 0. 1. ]] SLAMing on 99.42463044 meters Centerline goodness : 0.103419 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.22, Z:-0.16 [[ 9.98007566e-01 5.75169671e-03 -6.28316559e-02 -1.00841061e-01] [-5.69869472e-03 9.99983239e-01 1.02273072e-03 -2.16573194e-01] [ 6.28364852e-02 -6.62634567e-04 9.98023615e-01 -1.64773816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45463044 meters Centerline goodness : 0.151744 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.22, Z:-0.16 [[ 9.98013035e-01 5.88754880e-03 -6.27321137e-02 -1.01346541e-01] [-5.81508802e-03 9.99982198e-01 1.33759790e-03 -2.18062276e-01] [ 6.27388721e-02 -9.70147379e-04 9.98029505e-01 -1.64404659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48463043999999 meters Centerline goodness : 0.085464 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.22, Z:-0.16 [[ 0.99801865 0.00602417 -0.06262981 -0.10183893] [-0.0059309 0.99998101 0.00167497 -0.21965048] [ 0.06263871 -0.0013002 0.99803542 -0.16402341] [ 0. 0. 0. 1. ]] SLAMing on 99.51463043999999 meters Centerline goodness : 0.103953 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:-0.16 [[ 0.99809874 -0.0012994 -0.06162153 -0.08183815] [ 0.00150185 0.99999363 0.0032392 -0.22023309] [ 0.06161693 -0.00332559 0.99809433 -0.16161744] [ 0. 0. 0. 1. ]] SLAMing on 99.54463043999999 meters Centerline goodness : 0.088932 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:-0.16 [[ 0.99810846 -0.00113758 -0.06146705 -0.08248846] [ 0.00136891 0.99999214 0.00372153 -0.22304844] [ 0.06146234 -0.00379863 0.99810217 -0.16113459] [ 0. 0. 0. 1. ]] SLAMing on 99.57463043999999 meters Centerline goodness : 0.156706 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:-0.16 [[ 9.98123184e-01 -9.55031489e-04 -6.12306924e-02 -8.33191884e-02] [ 1.21859694e-03 9.99990153e-01 4.26726790e-03 -2.26121842e-01] [ 6.12260141e-02 -4.33387455e-03 9.98114519e-01 -1.60655556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60463044 meters Centerline goodness : 0.120815 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:-0.16 [[ 9.98139611e-01 -7.47842300e-04 -6.09652241e-02 -8.42182373e-02] [ 1.04455714e-03 9.99987765e-01 4.83522710e-03 -2.29301869e-01] [ 6.09608621e-02 -4.88991335e-03 9.98128179e-01 -1.60211648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63463044 meters Centerline goodness : 0.141970 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.24, Z:-0.16 [[ 0.9981276 0.00614532 -0.06085655 -0.06462188] [-0.00597234 0.99997759 0.00302389 -0.23874926] [ 0.06087377 -0.00265477 0.99814194 -0.15786876] [ 0. 0. 0. 1. ]] SLAMing on 99.66463044 meters Centerline goodness : 0.095346 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.24, Z:-0.16 [[ 0.99794252 0.00512334 -0.06390988 -0.10675856] [-0.00495029 0.99998364 0.00286585 -0.24401412] [ 0.06392351 -0.00254358 0.99795156 -0.16095932] [ 0. 0. 0. 1. ]] SLAMing on 99.69463044 meters Centerline goodness : 0.092212 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 0.99790635 0.00526675 -0.06446068 -0.10497672] [-0.00508584 0.99998266 0.00297028 -0.24436388] [ 0.06447521 -0.00263623 0.99791583 -0.16161784] [ 0. 0. 0. 1. ]] SLAMing on 99.72463044 meters Centerline goodness : 0.092496 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 0.99788188 0.00550607 -0.06481852 -0.10356328] [-0.00532236 0.99998132 0.00300652 -0.24370788] [ 0.06483386 -0.00265517 0.99789254 -0.16244688] [ 0. 0. 0. 1. ]] SLAMing on 99.75463044 meters Centerline goodness : 0.098872 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 0.99787658 0.005744 -0.06487946 -0.1031053 ] [-0.00556234 0.99998009 0.00298025 -0.2425814 ] [ 0.06489529 -0.00261304 0.99788866 -0.16291312] [ 0. 0. 0. 1. ]] SLAMing on 99.78463044 meters Centerline goodness : 0.177592 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 0.99788789 0.00589245 -0.0646918 -0.10332735] [-0.00571996 0.99997958 0.00285116 -0.2412183 ] [ 0.06470728 -0.0024751 0.99790122 -0.16330795] [ 0. 0. 0. 1. ]] SLAMing on 99.81463044 meters Centerline goodness : 0.092741 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 0.99787321 0.00623768 -0.0648857 -0.10269795] [-0.00606935 0.99997769 0.00279098 -0.23952454] [ 0.06490167 -0.00239123 0.9978888 -0.16372499] [ 0. 0. 0. 1. ]] SLAMing on 99.84463044 meters Centerline goodness : 0.091738 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 0.99785741 0.00627011 -0.06512507 -0.1017634 ] [-0.00610657 0.99997768 0.00271 -0.23873236] [ 0.06514061 -0.0023065 0.99787343 -0.16425283] [ 0. 0. 0. 1. ]] SLAMing on 99.87463043999999 meters Centerline goodness : 0.091773 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 0.99784279 0.00631587 -0.06534432 -0.10088092] [-0.00615029 0.99997735 0.00273473 -0.23861571] [ 0.06536011 -0.00232694 0.99785903 -0.16478021] [ 0. 0. 0. 1. ]] SLAMing on 99.90463043999999 meters Centerline goodness : 0.092360 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.17 [[ 0.99783456 0.00631346 -0.06547014 -0.10038037] [-0.00613928 0.99997706 0.00286134 -0.2396882 ] [ 0.0654867 -0.00245321 0.99785043 -0.16501502] [ 0. 0. 0. 1. ]] SLAMing on 99.93463043999999 meters Centerline goodness : 0.099017 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.17 [[ 9.97864271e-01 2.44017987e-03 -6.52759004e-02 -1.00809893e-01] [-2.47554309e-03 9.99996830e-01 -4.60872579e-04 -2.41563070e-01] [ 6.52745688e-02 6.21481584e-04 9.97867148e-01 -1.65026781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96463044 meters Centerline goodness : 0.093697 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.24, Z:-0.16 [[ 9.97863344e-01 2.31944705e-03 -6.52944584e-02 -1.00964012e-01] [-2.34193739e-03 9.99997222e-01 -2.67907493e-04 -2.43376132e-01] [ 6.52936556e-02 4.20250601e-04 9.97866004e-01 -1.64658239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99463044 meters Centerline goodness : 0.076381 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.16 [[ 9.97869152e-01 2.32400864e-03 -6.52054797e-02 -1.01443506e-01] [-2.32354577e-03 9.99997297e-01 8.29334889e-05 -2.45565544e-01] [ 6.52054962e-02 6.87511461e-05 9.97871855e-01 -1.64195601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02463044 meters Centerline goodness : 0.076381 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.16 [[ 9.97869152e-01 2.32400864e-03 -6.52054797e-02 -1.01443506e-01] [-2.32354577e-03 9.99997297e-01 8.29334889e-05 -2.45565544e-01] [ 6.52054962e-02 6.87511461e-05 9.97871855e-01 -1.64195601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05463044 meters Centerline goodness : 0.094763 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.16 [[ 9.97866991e-01 2.38552337e-03 -6.52363233e-02 -1.01507184e-01] [-2.35610989e-03 9.99997085e-01 5.27806149e-04 -2.48017144e-01] [ 6.52373922e-02 -3.72976387e-04 9.97869703e-01 -1.63879102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08463044 meters Centerline goodness : 0.094264 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.16 [[ 9.97854756e-01 2.46459178e-03 -6.54202723e-02 -1.01106487e-01] [-2.41005095e-03 9.99996679e-01 9.12603815e-04 -2.50234424e-01] [ 6.54223043e-02 -7.52979867e-04 9.97857382e-01 -1.63729222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11463044 meters Centerline goodness : 0.093461 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.17 [[ 9.97784197e-01 1.73871383e-04 -6.65331976e-02 -9.63510524e-02] [-2.36183393e-04 9.99999541e-01 -9.28690584e-04 -2.54125905e-01] [ 6.65330056e-02 9.42346825e-04 9.97783780e-01 -1.65841685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14463044 meters Centerline goodness : 0.098593 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.26, Z:-0.17 [[ 9.97769440e-01 1.70609289e-04 -6.67541388e-02 -9.58132705e-02] [-2.26210427e-04 9.99999634e-01 -8.25366420e-04 -2.55089862e-01] [ 6.67539735e-02 8.38625873e-04 9.97769113e-01 -1.65832046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17463044 meters Centerline goodness : 0.098106 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.26, Z:-0.17 [[ 9.97773453e-01 2.62743257e-04 -6.66938350e-02 -9.60086079e-02] [-3.10541288e-04 9.99999702e-01 -7.06312270e-04 -2.55362409e-01] [ 6.66936295e-02 7.25450822e-04 9.97773238e-01 -1.65749027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20463044 meters Centerline goodness : 0.097088 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.17 [[ 9.97784773e-01 3.86207198e-04 -6.65236552e-02 -9.66875410e-02] [-4.30765040e-04 9.99999692e-01 -6.55461853e-04 -2.54873656e-01] [ 6.65233816e-02 6.82665922e-04 9.97784633e-01 -1.65404614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23463043999999 meters Centerline goodness : 0.099126 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.17 [[ 9.97804230e-01 4.88801610e-04 -6.62305041e-02 -9.75463110e-02] [-5.32344869e-04 9.99999654e-01 -6.39803703e-04 -2.54292012e-01] [ 6.62301684e-02 6.73656311e-04 9.97804145e-01 -1.65228422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26463043999999 meters Centerline goodness : 0.099492 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.17 [[ 9.97814288e-01 5.02373058e-04 -6.60786917e-02 -9.79486326e-02] [-5.50845411e-04 9.99999592e-01 -7.15337536e-04 -2.53705311e-01] [ 6.60783054e-02 7.50173158e-04 9.97814158e-01 -1.65218378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29463043999999 meters Centerline goodness : 0.114696 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.25, Z:-0.17 [[ 9.97814860e-01 4.01706817e-04 -6.60707434e-02 -9.73539077e-02] [-4.66669114e-04 9.99999423e-01 -9.67792836e-04 -2.52771642e-01] [ 6.60703165e-02 9.96511248e-04 9.97814472e-01 -1.66046417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32463043999999 meters Centerline goodness : 0.086585 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.26, Z:-0.17 [[ 0.99778284 0.00745418 -0.06613499 -0.1159697 ] [-0.00762892 0.99996804 -0.00238998 -0.25809903] [ 0.06611506 0.00288922 0.99780782 -0.16901377] [ 0. 0. 0. 1. ]] SLAMing on 100.35463044 meters Centerline goodness : 0.082935 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.17 [[ 0.99790906 0.0074988 -0.06419715 -0.07365521] [-0.00775515 0.99996292 -0.00374487 -0.2534773 ] [ 0.06416668 0.00423489 0.99793021 -0.16598253] [ 0. 0. 0. 1. ]] SLAMing on 100.38463044 meters Centerline goodness : 0.083574 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.17 [[ 0.99791481 0.00743462 -0.0641152 -0.07395825] [-0.00769358 0.99996321 -0.00379316 -0.25357126] [ 0.06408464 0.00427852 0.9979353 -0.16586241] [ 0. 0. 0. 1. ]] SLAMing on 100.41463044 meters Centerline goodness : 0.085515 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.17 [[ 0.99792141 0.00750161 -0.06400459 -0.07427275] [-0.00775177 0.99996325 -0.00366107 -0.2540551 ] [ 0.06397477 0.00414961 0.99794289 -0.16580581] [ 0. 0. 0. 1. ]] SLAMing on 100.44463044 meters Centerline goodness : 0.100778 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.25, Z:-0.17 [[ 0.99793195 0.00756201 -0.06383298 -0.07458171] [-0.00779969 0.99996354 -0.00347516 -0.25494443] [ 0.06380437 0.00396585 0.99795455 -0.16591716] [ 0. 0. 0. 1. ]] SLAMing on 100.47463044 meters Centerline goodness : 0.086323 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.26, Z:-0.17 [[ 0.99792984 0.0076224 -0.06385873 -0.07441274] [-0.00782766 0.99996497 -0.00296477 -0.25810105] [ 0.06383389 0.0034585 0.99795454 -0.16600489] [ 0. 0. 0. 1. ]] SLAMing on 100.50463044 meters Centerline goodness : 0.084436 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.26, Z:-0.16 [[ 9.97903417e-01 3.80341356e-04 -6.47195905e-02 -5.51001430e-02] [-5.03706716e-04 9.99998087e-01 -1.88984546e-03 -2.55272523e-01] [ 6.47187479e-02 1.91848294e-03 9.97901700e-01 -1.63386943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53463044 meters Centerline goodness : 0.083330 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.26, Z:-0.16 [[ 9.97877992e-01 4.65069335e-04 -6.51098844e-02 -5.39058291e-02] [-5.68371182e-04 9.99998609e-01 -1.56806308e-03 -2.57033598e-01] [ 6.51090646e-02 1.60174222e-03 9.97876868e-01 -1.63665627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56463044 meters Centerline goodness : 0.083910 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.26, Z:-0.16 [[ 9.97869879e-01 5.65147855e-04 -6.52333150e-02 -5.34103913e-02] [-6.48661855e-04 9.99998997e-01 -1.25906278e-03 -2.58703426e-01] [ 6.52325380e-02 1.29869518e-03 9.97869245e-01 -1.63896012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59463043999999 meters Centerline goodness : 0.083423 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.26, Z:-0.16 [[ 9.97878448e-01 4.66637567e-04 -6.51028774e-02 -5.37048069e-02] [-5.26810097e-04 9.99999450e-01 -9.07104797e-04 -2.62575190e-01] [ 6.51024183e-02 9.39477180e-04 9.97878145e-01 -1.63810900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62463043999999 meters Centerline goodness : 0.113133 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.26, Z:-0.16 [[ 9.97878678e-01 4.96306324e-04 -6.50991313e-02 -5.38767997e-02] [-5.38464487e-04 9.99999657e-01 -6.30055664e-04 -2.64670937e-01] [ 6.50987963e-02 6.63772683e-04 9.97878603e-01 -1.63532712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65463043999999 meters Centerline goodness : 0.108394 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.27, Z:-0.16 [[ 9.97872907e-01 5.88346179e-04 -6.51867665e-02 -5.37971124e-02] [-6.08949082e-04 9.99999771e-01 -2.96191199e-04 -2.66686994e-01] [ 6.51865773e-02 3.35256595e-04 9.97873037e-01 -1.63353703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68463043999999 meters Centerline goodness : 0.084793 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.27, Z:-0.16 [[ 9.97863714e-01 7.61846081e-04 -6.53255495e-02 -5.34313930e-02] [-7.54040050e-04 9.99999705e-01 1.44149593e-04 -2.68860135e-01] [ 6.53256401e-02 -9.45835681e-05 9.97863995e-01 -1.63360388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71463044 meters Centerline goodness : 0.108845 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.27, Z:-0.16 [[ 9.97845681e-01 8.76779599e-04 -6.55989909e-02 -5.26810919e-02] [-8.46713136e-04 9.99999523e-01 4.86137578e-04 -2.70685551e-01] [ 6.55993859e-02 -4.29546756e-04 9.97845948e-01 -1.63431271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74463044 meters Centerline goodness : 0.277237 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.27, Z:-0.16 [[ 0.9978363 -0.00276802 -0.06568915 -0.05166775] [ 0.00259309 0.99999286 -0.00274808 -0.27297676] [ 0.06569629 0.0025718 0.99783635 -0.16439271] [ 0. 0. 0. 1. ]] SLAMing on 100.77463044 meters Centerline goodness : 0.119815 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.28, Z:-0.16 [[ 0.99779991 0.00489523 -0.06611638 -0.0331111 ] [-0.0051913 0.99997725 -0.004307 -0.27799336] [ 0.06609379 0.00464076 0.99780262 -0.1615265 ] [ 0. 0. 0. 1. ]] SLAMing on 100.80463044 meters Centerline goodness : 0.120015 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.28, Z:-0.16 [[ 0.99780638 0.00503108 -0.06600841 -0.0332973 ] [-0.00530876 0.99997778 -0.00403205 -0.27926238] [ 0.06598666 0.00437363 0.99781092 -0.16163682] [ 0. 0. 0. 1. ]] SLAMing on 100.83463044 meters Centerline goodness : 0.280769 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.28, Z:-0.16 [[ 0.99780869 0.00526609 -0.06595522 -0.03330391] [-0.00552142 0.99997795 -0.00368953 -0.28023447] [ 0.06593434 0.00404561 0.99781576 -0.16178079] [ 0. 0. 0. 1. ]] SLAMing on 100.86463044 meters Centerline goodness : 0.083262 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 9.97745679e-01 -1.16084345e-03 -6.70985268e-02 -1.37912278e-02] [ 9.83165805e-04 9.99995923e-01 -2.68097218e-03 -2.74925003e-01] [ 6.71013654e-02 2.60895943e-03 9.97742752e-01 -1.59703953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89463044 meters Centerline goodness : 0.222693 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 0.9977317 -0.00133374 -0.06730293 -0.01300097] [ 0.00113777 0.999995 -0.00294999 -0.27433799] [ 0.06730653 0.00286672 0.99772823 -0.16010301] [ 0. 0. 0. 1. ]] SLAMing on 100.92463044 meters Centerline goodness : 0.119185 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 0.99772928 -0.00140648 -0.0673373 -0.01260008] [ 0.0011959 0.99999427 -0.00316744 -0.2733779 ] [ 0.06734137 0.00307972 0.99772524 -0.16056242] [ 0. 0. 0. 1. ]] SLAMing on 100.95463044 meters Centerline goodness : 0.084595 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 0.99774668 -0.0012681 -0.0670817 -0.01294143] [ 0.00105261 0.99999417 -0.00324755 -0.2720196 ] [ 0.06708543 0.00316962 0.9977422 -0.16098759] [ 0. 0. 0. 1. ]] SLAMing on 100.98463043999999 meters Centerline goodness : 0.082959 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 9.97759305e-01 -1.01555330e-03 -6.68979723e-02 -1.32200122e-02] [ 7.99304745e-04 9.99994369e-01 -3.25919945e-03 -2.70339243e-01] [ 6.69009055e-02 3.19842471e-03 9.97754498e-01 -1.61246851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01463043999999 meters Centerline goodness : 0.083522 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 9.97762575e-01 -9.55373798e-04 -6.68500705e-02 -1.27736207e-02] [ 7.13832307e-04 9.99993131e-01 -3.63697560e-03 -2.67478288e-01] [ 6.68530860e-02 3.58111839e-03 9.97756403e-01 -1.62102700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04463043999999 meters Centerline goodness : 0.083652 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 9.97752883e-01 -1.06316909e-03 -6.69929482e-02 -1.22557193e-02] [ 8.06713453e-04 9.99992244e-01 -3.85503520e-03 -2.66637604e-01] [ 6.69965271e-02 3.79232837e-03 9.97746002e-01 -1.62405618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07463043999999 meters Centerline goodness : 0.115545 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 9.97760123e-01 -1.08555357e-03 -6.68846667e-02 -1.26373294e-02] [ 8.22726483e-04 9.99991833e-01 -3.95697608e-03 -2.65943654e-01] [ 6.68884160e-02 3.89308515e-03 9.97752867e-01 -1.62263664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10463044 meters Centerline goodness : 0.102286 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.16 [[ 9.97789200e-01 -9.56546233e-04 -6.64514641e-02 -1.39454945e-02] [ 7.02572255e-04 9.99992360e-01 -3.84521124e-03 -2.65773509e-01] [ 6.64546346e-02 3.79002330e-03 9.97782249e-01 -1.61868328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13463044 meters Centerline goodness : 0.107762 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.26, Z:-0.16 [[ 9.97962232e-01 4.48008679e-04 -6.38058279e-02 2.67608949e-02] [-6.87916120e-04 9.99992777e-01 -3.73804197e-03 -2.61906301e-01] [ 6.38036924e-02 3.77431776e-03 9.97955331e-01 -1.58407667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16463044 meters Centerline goodness : 0.084291 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.26, Z:-0.16 [[ 9.97967810e-01 5.12333602e-04 -6.37180400e-02 2.63185291e-02] [-7.45062782e-04 9.99993138e-01 -3.62877743e-03 -2.62275168e-01] [ 6.37157437e-02 3.66887700e-03 9.97961344e-01 -1.58093310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19463044 meters Centerline goodness : 0.102162 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.26, Z:-0.16 [[ 9.97936941e-01 4.10190103e-04 -6.42004204e-02 2.79513088e-02] [-6.36075986e-04 9.99993680e-01 -3.49804896e-03 -2.63966984e-01] [ 6.41985798e-02 3.53166862e-03 9.97930894e-01 -1.58736610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22463044 meters Centerline goodness : 0.084200 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:-0.16 [[ 9.97924030e-01 4.38191443e-04 -6.44006067e-02 2.84865944e-02] [-6.49497024e-04 9.99994475e-01 -3.26021255e-03 -2.65647127e-01] [ 6.43988223e-02 3.29527245e-03 9.97918801e-01 -1.58777959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25463044 meters Centerline goodness : 0.083988 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:-0.16 [[ 9.97923020e-01 4.73124341e-04 -6.44160037e-02 2.83793241e-02] [-6.62932470e-04 9.99995502e-01 -2.92525692e-03 -2.67898537e-01] [ 6.44143299e-02 2.96188468e-03 9.97918845e-01 -1.58571344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28463044 meters Centerline goodness : 0.084313 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:-0.16 [[ 9.97920608e-01 5.25560153e-04 -6.44529536e-02 2.83463923e-02] [-6.89790245e-04 9.99996572e-01 -2.52583536e-03 -2.70550221e-01] [ 6.44514052e-02 2.56504218e-03 9.97917550e-01 -1.58324982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31463044 meters Centerline goodness : 0.084850 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.16 [[ 0.9979453 -0.00302845 -0.0640001 0.0276298 ] [ 0.00270092 0.99998281 -0.00520353 -0.27569485] [ 0.06401476 0.00501998 0.99793633 -0.15858425] [ 0. 0. 0. 1. ]] SLAMing on 101.34463043999999 meters Centerline goodness : 0.083199 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.16 [[ 0.9979324 -0.00295303 -0.06420443 0.02816185] [ 0.00265041 0.99998498 -0.00479811 -0.27830788] [ 0.06421764 0.00461802 0.99792523 -0.15860317] [ 0. 0. 0. 1. ]] SLAMing on 101.37463043999999 meters Centerline goodness : 0.259771 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.16 [[ 0.99791317 -0.0028243 -0.06450835 0.0292719 ] [ 0.00254446 0.999987 -0.00441979 -0.28041538] [ 0.06451999 0.00424643 0.99790738 -0.15908341] [ 0. 0. 0. 1. ]] SLAMing on 101.40463043999999 meters Centerline goodness : 0.109778 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.16 [[ 0.99788722 -0.00273713 -0.06491234 0.03070596] [ 0.00247126 0.99998823 -0.00417585 -0.28178008] [ 0.06492301 0.00400661 0.99788223 -0.15970492] [ 0. 0. 0. 1. ]] SLAMing on 101.43463043999999 meters Centerline goodness : 0.083641 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.16 [[ 0.99786588 -0.00260294 -0.06524506 0.03166007] [ 0.00235443 0.99998968 -0.00388548 -0.28320243] [ 0.0652545 0.00372358 0.99786171 -0.1599076 ] [ 0. 0. 0. 1. ]] SLAMing on 101.46463044 meters Centerline goodness : 0.100902 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.16 [[ 0.99786179 -0.00246169 -0.06531293 0.03174566] [ 0.00223517 0.99999123 -0.00354105 -0.28497551] [ 0.06532108 0.00338749 0.99785855 -0.1597661 ] [ 0. 0. 0. 1. ]] SLAMing on 101.49463044 meters Centerline goodness : 0.088799 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.29, Z:-0.16 [[ 0.99800437 0.00524451 -0.06292667 0.04860519] [-0.00557094 0.99997192 -0.00501311 -0.2931721 ] [ 0.06289861 0.00535367 0.99800556 -0.1565769 ] [ 0. 0. 0. 1. ]] SLAMing on 101.52463044 meters Centerline goodness : 0.101048 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:-0.16 [[ 0.99803171 0.00536067 -0.06248171 0.04722137] [-0.00565511 0.99997372 -0.00453662 -0.29620933] [ 0.06245575 0.00488104 0.9980358 -0.15605023] [ 0. 0. 0. 1. ]] SLAMing on 101.55463044 meters Centerline goodness : 0.084640 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.30, Z:-0.16 [[ 0.99813034 0.0038247 -0.06100157 0.04306178] [-0.00417403 0.99997561 -0.00560014 -0.30050047] [ 0.06097867 0.00584429 0.99812196 -0.15525925] [ 0. 0. 0. 1. ]] SLAMing on 101.58463044 meters Centerline goodness : 0.083472 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.30, Z:-0.15 [[ 0.99827613 0.00333313 -0.05859736 0.0858578 ] [-0.00378497 0.99996394 -0.00760179 -0.30161096] [ 0.0585699 0.00781047 0.99825275 -0.15357658] [ 0. 0. 0. 1. ]] SLAMing on 101.61463044 meters Centerline goodness : 0.097813 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.31, Z:-0.16 [[ 0.99810909 0.00278441 -0.06140434 0.0424897 ] [-0.00320552 0.99997201 -0.00676053 -0.30616814] [ 0.0613838 0.00694458 0.99809008 -0.15610393] [ 0. 0. 0. 1. ]] SLAMing on 101.64463044 meters Centerline goodness : 0.100598 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.31, Z:-0.16 [[ 0.9980976 0.00302247 -0.06157956 0.04354248] [-0.00344109 0.99997168 -0.00669317 -0.30527443] [ 0.06155759 0.00689233 0.99807974 -0.15700001] [ 0. 0. 0. 1. ]] SLAMing on 101.67463044 meters Centerline goodness : 0.085549 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.30, Z:-0.16 [[ 0.99808592 0.0033383 -0.0617524 0.04449597] [-0.00375384 0.99997108 -0.00661427 -0.30411951] [ 0.06172853 0.00683342 0.99806958 -0.15776173] [ 0. 0. 0. 1. ]] SLAMing on 101.70463044 meters Centerline goodness : 0.083958 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:-0.16 [[ 0.99807584 0.00347187 -0.06190771 0.04511177] [-0.00389585 0.99996977 -0.00672916 -0.30266517] [ 0.06188248 0.0069574 0.99805919 -0.15812839] [ 0. 0. 0. 1. ]] SLAMing on 101.73463043999999 meters Centerline goodness : 0.084050 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.30, Z:-0.16 [[ 0.99807735 0.0035802 -0.06187723 0.04484044] [-0.00401243 0.9999684 -0.00686249 -0.30141794] [ 0.0618507 0.00709757 0.99806018 -0.15796196] [ 0. 0. 0. 1. ]] SLAMing on 101.76463043999999 meters Centerline goodness : 0.097773 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.30, Z:-0.16 [[ 0.99807901 0.00353461 -0.06185294 0.04470581] [-0.00397048 0.99996814 -0.00692537 -0.30129144] [ 0.06182649 0.00715765 0.99806125 -0.15789398] [ 0. 0. 0. 1. ]] SLAMing on 101.79463043999999 meters Centerline goodness : 0.101521 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.30, Z:-0.16 [[ 0.99807481 0.00345948 -0.06192508 0.04490984] [-0.00389911 0.99996804 -0.00697988 -0.30137745] [ 0.06189895 0.0072079 0.99805639 -0.15795636] [ 0. 0. 0. 1. ]] SLAMing on 101.82463043999999 meters Centerline goodness : 0.100749 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:-0.16 [[ 0.99806725 0.00335909 -0.06205217 0.04561109] [-0.00379715 0.99996869 -0.00694296 -0.30217151] [ 0.06202691 0.00716517 0.99804876 -0.15846604] [ 0. 0. 0. 1. ]] SLAMing on 101.85463044 meters Centerline goodness : 0.084556 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:-0.16 [[ 0.99805554 0.00326209 -0.06224547 0.04621964] [-0.00369302 0.99997 -0.00680925 -0.3035559 ] [ 0.06222139 0.00702588 0.99803764 -0.15863339] [ 0. 0. 0. 1. ]] SLAMing on 101.88463044 meters Centerline goodness : 0.084913 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:-0.16 [[ 0.99805104 0.00325309 -0.06231803 0.04634692] [-0.00366411 0.99997228 -0.00648231 -0.30567617] [ 0.06229521 0.00669802 0.99803529 -0.15852461] [ 0. 0. 0. 1. ]] SLAMing on 101.91463044 meters Centerline goodness : 0.084913 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:-0.16 [[ 0.99805104 0.00325309 -0.06231803 0.04634692] [-0.00366411 0.99997228 -0.00648231 -0.30567617] [ 0.06229521 0.00669802 0.99803529 -0.15852461] [ 0. 0. 0. 1. ]] SLAMing on 101.94463044 meters Centerline goodness : 0.116271 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.31, Z:-0.16 [[ 0.99811655 0.00168649 -0.06132306 0.04334673] [-0.00211732 0.99997353 -0.00696133 -0.31318287] [ 0.0613097 0.00707806 0.99809369 -0.15749966] [ 0. 0. 0. 1. ]] SLAMing on 101.97463044 meters Centerline goodness : 0.091469 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.31, Z:-0.16 [[ 0.99811992 -0.0057817 -0.06101796 0.06362107] [ 0.00543651 0.99996828 -0.00582164 -0.31259762] [ 0.06104969 0.00547897 0.99811969 -0.15512453] [ 0. 0. 0. 1. ]] SLAMing on 102.00463044 meters Centerline goodness : 0.114229 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.32, Z:-0.15 [[ 0.99808997 -0.00574578 -0.06150937 0.06469294] [ 0.00542834 0.99997108 -0.00532673 -0.3160791 ] [ 0.0615382 0.00498267 0.99809229 -0.15493405] [ 0. 0. 0. 1. ]] SLAMing on 102.03463044 meters Centerline goodness : 0.161517 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.32, Z:-0.15 [[ 0.99807675 -0.00565793 -0.06173154 0.06526886] [ 0.00536761 0.99997375 -0.00486776 -0.31897995] [ 0.06175746 0.00452705 0.99808092 -0.15494171] [ 0. 0. 0. 1. ]] SLAMing on 102.06463044 meters Centerline goodness : 0.106790 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.32, Z:-0.15 [[ 0.99809927 -0.00540632 -0.06138904 0.06430962] [ 0.00515111 0.99997742 -0.00431474 -0.32189403] [ 0.06141098 0.00399032 0.99810459 -0.15463839] [ 0. 0. 0. 1. ]] SLAMing on 102.09463043999999 meters Centerline goodness : 0.148102 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.15 [[ 0.99817588 0.00306539 -0.06029522 0.0825242 ] [-0.00342786 0.99997667 -0.00590915 -0.32406014] [ 0.06027569 0.00610505 0.9981631 -0.15203751] [ 0. 0. 0. 1. ]] SLAMing on 102.12463043999999 meters Centerline goodness : 0.104333 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.15 [[ 0.9981803 0.00312619 -0.0602189 0.08259589] [-0.00349142 0.99997614 -0.00596078 -0.32353552] [ 0.06019883 0.00616018 0.9981674 -0.15241118] [ 0. 0. 0. 1. ]] SLAMing on 102.15463043999999 meters Centerline goodness : 0.110552 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.15 [[ 0.99816535 0.00318073 -0.06046329 0.08364677] [-0.00355386 0.9999753 -0.00606459 -0.32256458] [ 0.0604425 0.00626834 0.998152 -0.15305818] [ 0. 0. 0. 1. ]] SLAMing on 102.18463043999999 meters Centerline goodness : 0.097328 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.32, Z:-0.15 [[ 0.99814885 0.00319884 -0.06073411 0.08481686] [-0.00357986 0.99997458 -0.00616577 -0.32183185] [ 0.06071284 0.00637178 0.99813494 -0.15382549] [ 0. 0. 0. 1. ]] SLAMing on 102.21463044 meters Centerline goodness : 0.073098 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.32, Z:-0.15 [[ 0.99814037 0.00314478 -0.06087628 0.08541842] [-0.0035329 0.99997411 -0.00626894 -0.32147495] [ 0.06085499 0.00647235 0.99812563 -0.15416724] [ 0. 0. 0. 1. ]] SLAMing on 102.24463044 meters Centerline goodness : 0.118452 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.32, Z:-0.15 [[ 0.99813446 0.00274145 -0.06099248 0.08550685] [-0.00314041 0.99997429 -0.00644632 -0.32275074] [ 0.06097324 0.00662584 0.99811741 -0.15397055] [ 0. 0. 0. 1. ]] SLAMing on 102.27463044 meters Centerline goodness : 0.118931 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.32, Z:-0.15 [[ 0.99812529 0.00265697 -0.06114613 0.08587352] [-0.0030485 0.99997544 -0.00631089 -0.32406045] [ 0.06112786 0.00648547 0.99810887 -0.15396214] [ 0. 0. 0. 1. ]] SLAMing on 102.30463044 meters Centerline goodness : 0.118103 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.33, Z:-0.15 [[ 0.99811111 0.00264953 -0.0613774 0.08653297] [-0.00302702 0.99997707 -0.00605812 -0.32553464] [ 0.06135994 0.00623247 0.99809624 -0.15413765] [ 0. 0. 0. 1. ]] SLAMing on 102.33463044 meters Centerline goodness : 0.112914 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.33, Z:-0.15 [[ 0.99809458 0.0026587 -0.06164524 0.0872831 ] [-0.00302022 0.99997878 -0.00577208 -0.3271132 ] [ 0.06162858 0.00594726 0.99808143 -0.15427956] [ 0. 0. 0. 1. ]] SLAMing on 102.36463044 meters Centerline goodness : 0.145466 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.33, Z:-0.16 [[ 0.99804637 -0.00708541 -0.06207442 0.067233 ] [ 0.00679427 0.99996491 -0.00490002 -0.32829975] [ 0.06210697 0.00446869 0.9980595 -0.15623409] [ 0. 0. 0. 1. ]] SLAMing on 102.39463044 meters Centerline goodness : 0.108922 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.33, Z:-0.16 [[ 9.98154383e-01 -1.04151049e-03 -6.07185526e-02 8.84873826e-02] [ 5.52949606e-04 9.99967344e-01 -8.06256706e-03 -3.30338312e-01] [ 6.07249671e-02 8.01411235e-03 9.98122363e-01 -1.55351605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42463044 meters Centerline goodness : 0.123422 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.33, Z:-0.16 [[ 9.98154482e-01 -1.00779252e-03 -6.07174931e-02 8.84031554e-02] [ 5.36800768e-04 9.99969646e-01 -7.77291374e-03 -3.32291050e-01] [ 6.07234836e-02 7.72597549e-03 9.98124726e-01 -1.55244656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45463044 meters Centerline goodness : 0.150871 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.33, Z:-0.16 [[ 9.98154685e-01 -9.36993043e-04 -6.07152974e-02 8.85316568e-02] [ 4.84647506e-04 9.99972022e-01 -7.46457100e-03 -3.34093876e-01] [ 6.07205930e-02 7.42137100e-03 9.98127213e-01 -1.55424987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48463043999999 meters Centerline goodness : 0.086163 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.34, Z:-0.16 [[ 9.98104697e-01 -1.07421319e-03 -6.15293379e-02 9.12437456e-02] [ 6.44540717e-04 9.99975274e-01 -7.00263525e-03 -3.38907407e-01] [ 6.15353388e-02 6.94970497e-03 9.98080710e-01 -1.56322635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51463043999999 meters Centerline goodness : 0.120380 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.34, Z:-0.16 [[ 9.98070534e-01 -8.82737930e-04 -6.20840490e-02 9.30397103e-02] [ 4.75501498e-04 9.99978279e-01 -6.57390631e-03 -3.40649169e-01] [ 6.20885035e-02 6.53170112e-03 9.98049275e-01 -1.57110030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54463043999999 meters Centerline goodness : 0.118604 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.34, Z:-0.16 [[ 9.98046954e-01 -8.64886852e-04 -6.24622264e-02 9.41580637e-02] [ 4.65259518e-04 9.99979334e-01 -6.41216549e-03 -3.41879471e-01] [ 6.24664814e-02 6.37058109e-03 9.98026730e-01 -1.57403456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57463043999999 meters Centerline goodness : 0.107834 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.34, Z:-0.16 [[ 9.98034278e-01 -7.45029995e-04 -6.26659717e-02 9.48434870e-02] [ 3.56480750e-04 9.99980646e-01 -6.21127476e-03 -3.42660384e-01] [ 6.26693865e-02 6.17672591e-03 9.98015228e-01 -1.57663429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60463044 meters Centerline goodness : 0.151269 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.35, Z:-0.16 [[ 0.99804491 0.0087685 -0.06188271 0.07827174] [-0.00916868 0.99993883 -0.00618569 -0.34945943] [ 0.06182468 0.00674098 0.99806426 -0.15986145] [ 0. 0. 0. 1. ]] SLAMing on 102.63463044 meters Centerline goodness : 0.124288 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.35, Z:-0.16 [[ 0.99823877 0.00232687 -0.05927849 0.09586835] [-0.00260998 0.99998555 -0.00469907 -0.34682339] [ 0.0592667 0.00484551 0.99823042 -0.15770267] [ 0. 0. 0. 1. ]] SLAMing on 102.66463044 meters Centerline goodness : 0.117958 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.35, Z:-0.16 [[ 0.99823858 0.00236081 -0.05928038 0.09568685] [-0.00263869 0.99998589 -0.00460973 -0.34752127] [ 0.05926866 0.00475803 0.99823073 -0.15743691] [ 0. 0. 0. 1. ]] SLAMing on 102.69463044 meters Centerline goodness : 0.118687 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.35, Z:-0.16 [[ 0.99823202 0.0024765 -0.05938608 0.09621996] [-0.00274473 0.9999864 -0.00443546 -0.34817567] [ 0.05937429 0.00459062 0.99822524 -0.15781218] [ 0. 0. 0. 1. ]] SLAMing on 102.72463044 meters Centerline goodness : 0.117439 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.35, Z:-0.16 [[ 0.99817536 0.00322768 -0.0602953 0.09905856] [-0.00345558 0.99998727 -0.00367583 -0.3499197 ] [ 0.06028267 0.00387748 0.99817382 -0.15849994] [ 0. 0. 0. 1. ]] SLAMing on 102.75463044 meters Centerline goodness : 0.098860 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.35, Z:-0.16 [[ 0.99816449 0.00322607 -0.06047509 0.09935799] [-0.00345321 0.99998737 -0.00365184 -0.35037746] [ 0.06046254 0.00385397 0.99816303 -0.15827791] [ 0. 0. 0. 1. ]] SLAMing on 102.78463044 meters Centerline goodness : 0.107566 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.36, Z:-0.16 [[ 0.99816719 0.00973777 -0.05972799 0.08288768] [-0.01010055 0.99993231 -0.00577491 -0.35855013] [ 0.05966772 0.00636761 0.99819798 -0.16037666] [ 0. 0. 0. 1. ]] SLAMing on 102.81463044 meters Centerline goodness : 0.224332 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.36, Z:-0.16 [[ 0.99815247 0.00948653 -0.06001375 0.08325307] [-0.00985534 0.99993431 -0.00585239 -0.35958065] [ 0.05995429 0.00643303 0.99818039 -0.16007622] [ 0. 0. 0. 1. ]] SLAMing on 102.84463043999999 meters Centerline goodness : 0.109606 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.36, Z:-0.16 [[ 0.99814045 0.00943436 -0.06022151 0.08368131] [-0.00978046 0.99993729 -0.0054548 -0.3618112 ] [ 0.06016627 0.00603365 0.99817013 -0.1602813 ] [ 0. 0. 0. 1. ]] SLAMing on 102.87463043999999 meters Centerline goodness : 0.109656 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.36, Z:-0.16 [[ 0.99818583 0.00231915 -0.06016377 0.1032162 ] [-0.00256695 0.99998854 -0.00404188 -0.3604979 ] [ 0.06015371 0.00418899 0.99818034 -0.15781818] [ 0. 0. 0. 1. ]] SLAMing on 102.90463043999999 meters Centerline goodness : 0.090189 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.37, Z:-0.16 [[ 9.98240545e-01 1.58642041e-04 -5.92940925e-02 1.00760923e-01] [-4.62234005e-04 9.99986855e-01 -5.10642387e-03 -3.67576857e-01] [ 5.92925030e-02 5.12484709e-03 9.98227497e-01 -1.57195863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93463043999999 meters Centerline goodness : 0.086129 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.37, Z:-0.15 [[ 0.99825245 -0.00755751 -0.05860832 0.12082713] [ 0.0073198 0.99996409 -0.00426963 -0.36652036] [ 0.05863849 0.00383317 0.99827192 -0.15496008] [ 0. 0. 0. 1. ]] SLAMing on 102.96463044 meters Centerline goodness : 0.121190 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.37, Z:-0.15 [[ 0.99825859 -0.00794214 -0.0584527 0.12011855] [ 0.00771244 0.99996163 -0.00415428 -0.36831199] [ 0.05848345 0.00369623 0.99828154 -0.15497121] [ 0. 0. 0. 1. ]] SLAMing on 102.99463044 meters Centerline goodness : 0.173559 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.37, Z:-0.16 [[ 0.9982517 -0.00828654 -0.05852244 0.12005843] [ 0.00805863 0.999959 -0.0041292 -0.36958438] [ 0.05855426 0.00365037 0.99827755 -0.15502407] [ 0. 0. 0. 1. ]] SLAMing on 103.02463044 meters Centerline goodness : 0.108377 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.37, Z:-0.16 [[ 0.99824758 -0.00846809 -0.05856664 0.12009436] [ 0.00825363 0.99995832 -0.00390264 -0.37100532] [ 0.05859725 0.00341242 0.99827587 -0.15535957] [ 0. 0. 0. 1. ]] SLAMing on 103.05463044 meters Centerline goodness : 0.107901 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.38, Z:-0.16 [[ 9.98345490e-01 -3.00725568e-04 -5.74994949e-02 1.06077909e-01] [ 2.74550422e-05 9.99988703e-01 -4.75330355e-03 -3.77404788e-01] [ 5.75002747e-02 4.74386051e-03 9.98334220e-01 -1.58384406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08463044 meters Centerline goodness : 0.154484 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.37, Z:-0.16 [[ 0.99829421 -0.00741994 -0.05791044 0.12658065] [ 0.00721671 0.99996705 -0.00371778 -0.37417902] [ 0.05793612 0.00329351 0.99831486 -0.15598457] [ 0. 0. 0. 1. ]] SLAMing on 103.11463044 meters Centerline goodness : 0.158529 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.38, Z:-0.16 [[ 0.99834505 0.0011799 -0.05749581 0.1087917 ] [-0.0014661 0.99998674 -0.00493589 -0.37964699] [ 0.05748923 0.00501201 0.99833355 -0.15734555] [ 0. 0. 0. 1. ]] SLAMing on 103.14463044 meters Centerline goodness : 0.150929 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.38, Z:-0.16 [[ 0.9983529 0.00111234 -0.05736075 0.10820613] [-0.00139752 0.99998686 -0.00493168 -0.38009538] [ 0.05735451 0.00500372 0.99834134 -0.15701039] [ 0. 0. 0. 1. ]] SLAMing on 103.17463044 meters Centerline goodness : 0.151861 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.38, Z:-0.16 [[ 0.99836327 0.00112199 -0.0571797 0.10739071] [-0.00139813 0.99998755 -0.00478958 -0.38096066] [ 0.05717362 0.00486168 0.99835241 -0.15645533] [ 0. 0. 0. 1. ]] SLAMing on 103.20463044 meters Centerline goodness : 0.139669 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.38, Z:-0.15 [[ 0.99841458 -0.00598662 -0.05596867 0.12644397] [ 0.00579281 0.99997665 -0.00362457 -0.37788949] [ 0.05598906 0.0032946 0.99842595 -0.15408463] [ 0. 0. 0. 1. ]] SLAMing on 103.23463043999999 meters Centerline goodness : 0.093095 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.38, Z:-0.15 [[ 0.99840227 -0.00609317 -0.05617632 0.12711208] [ 0.00591278 0.99997682 -0.00337684 -0.37973466] [ 0.0561956 0.00303929 0.99841515 -0.15431215] [ 0. 0. 0. 1. ]] SLAMing on 103.26463043999999 meters Centerline goodness : 0.133385 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.38, Z:-0.15 [[ 0.99838597 -0.00621161 -0.05645246 0.12803926] [ 0.00603092 0.99997613 -0.00337046 -0.3804081 ] [ 0.05647205 0.00302456 0.9983996 -0.15471681] [ 0. 0. 0. 1. ]] SLAMing on 103.29463043999999 meters Centerline goodness : 0.114642 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.38, Z:-0.16 [[ 0.99836965 -0.00627551 -0.05673322 0.12898809] [ 0.00609902 0.99997601 -0.00328342 -0.38127596] [ 0.05675246 0.00293205 0.99838397 -0.15515645] [ 0. 0. 0. 1. ]] SLAMing on 103.32463043999999 meters Centerline goodness : 0.161535 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.38, Z:-0.16 [[ 0.99835825 -0.00624371 -0.05693702 0.12945086] [ 0.00607954 0.99997685 -0.00305609 -0.38243852] [ 0.05695479 0.00270492 0.99837309 -0.15521573] [ 0. 0. 0. 1. ]] SLAMing on 103.35463044 meters Centerline goodness : 0.110949 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.39, Z:-0.15 [[ 9.98427281e-01 6.01199842e-04 -5.60589302e-02 1.50577646e-01] [-9.04279799e-04 9.99985112e-01 -5.38124307e-03 -3.85541974e-01] [ 5.60548604e-02 5.42347285e-03 9.98412960e-01 -1.54755100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38463044 meters Centerline goodness : 0.094965 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.39, Z:-0.15 [[ 9.98444418e-01 8.64907676e-05 -5.57560414e-02 1.49652066e-01] [-3.89282415e-04 9.99985237e-01 -5.41981382e-03 -3.87417888e-01] [ 5.57547495e-02 5.43308770e-03 9.98429712e-01 -1.54430634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41463044 meters Centerline goodness : 0.093853 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.39, Z:-0.15 [[ 9.98427187e-01 -5.98506072e-05 -5.60637837e-02 1.50158409e-01] [-2.41304369e-04 9.99985580e-01 -5.36486421e-03 -3.88523060e-01] [ 5.60632963e-02 5.36995472e-03 9.98412776e-01 -1.54139712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44463044 meters Centerline goodness : 0.104449 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.39, Z:-0.15 [[ 9.98398291e-01 -2.15252040e-04 -5.65756681e-02 1.51343469e-01] [-8.82608608e-05 9.99985620e-01 -5.36217154e-03 -3.89184578e-01] [ 5.65760087e-02 5.35857632e-03 9.98383915e-01 -1.54163318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47463044 meters Centerline goodness : 0.142291 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.39, Z:-0.15 [[ 9.98346178e-01 -4.74702534e-04 -5.74863823e-02 1.53834159e-01] [ 1.75336737e-04 9.99986399e-01 -5.21252694e-03 -3.91089383e-01] [ 5.74880748e-02 5.19382687e-03 9.98332683e-01 -1.54677500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 103.53463044 meters Centerline goodness : 0.153883 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.39, Z:-0.15 [[ 9.98313008e-01 -9.52940575e-04 -5.80536851e-02 1.55222396e-01] [ 6.59202252e-04 9.99986886e-01 -5.07871110e-03 -3.94398588e-01] [ 5.80577635e-02 5.03187424e-03 9.98300544e-01 -1.54697014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56463044 meters Centerline goodness : 0.114557 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.40, Z:-0.15 [[ 9.98305991e-01 -8.81955880e-04 -5.81753435e-02 1.55485171e-01] [ 6.06668115e-04 9.99988537e-01 -4.74952685e-03 -3.96233350e-01] [ 5.81788655e-02 4.70618798e-03 9.98295082e-01 -1.54717257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59463043999999 meters Centerline goodness : 0.094077 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.39, Z:-0.15 [[ 0.99823567 -0.00777796 -0.05886475 0.17553179] [ 0.00757655 0.99996466 -0.00364393 -0.39426899] [ 0.05889101 0.00319151 0.99825932 -0.15247406] [ 0. 0. 0. 1. ]] SLAMing on 103.62463043999999 meters Centerline goodness : 0.118599 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.40, Z:-0.15 [[ 9.98260119e-01 9.10511801e-04 -5.89568178e-02 1.95297762e-01] [-1.17397943e-03 9.99989479e-01 -4.43434074e-03 -3.99979657e-01] [ 5.89521600e-02 4.49583961e-03 9.98250685e-01 -1.50847866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65463043999999 meters Centerline goodness : 0.163851 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.40, Z:-0.15 [[ 9.98226750e-01 9.51979491e-04 -5.95184778e-02 1.96828345e-01] [-1.22206706e-03 9.99989121e-01 -4.50164232e-03 -4.00049524e-01] [ 5.95135448e-02 4.56639536e-03 9.98217054e-01 -1.50965392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68463043999999 meters Centerline goodness : 0.144498 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.40, Z:-0.15 [[ 0.99822569 0.00939365 -0.05879824 0.21605914] [-0.00978295 0.99993207 -0.00633647 -0.40244498] [ 0.05873472 0.00690045 0.99824978 -0.14858533] [ 0. 0. 0. 1. ]] SLAMing on 103.71463044 meters Centerline goodness : 0.091846 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.40, Z:-0.15 [[ 0.99823958 0.00961126 -0.05852658 0.2150175 ] [-0.0100081 0.99992885 -0.00649115 -0.40068592] [ 0.05846003 0.00706547 0.99826475 -0.14794006] [ 0. 0. 0. 1. ]] SLAMing on 103.74463044 meters Centerline goodness : 0.162384 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.40, Z:-0.15 [[ 0.9982105 0.01374527 -0.05819673 0.2135365 ] [-0.01395831 0.99989728 -0.00325562 -0.39675363] [ 0.05814601 0.00406212 0.99829983 -0.14672813] [ 0. 0. 0. 1. ]] SLAMing on 103.77463044 meters Centerline goodness : 0.088144 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.39, Z:-0.15 [[ 0.99821068 0.0138655 -0.05816522 0.21369167] [-0.01410038 0.999894 -0.00362966 -0.39388501] [ 0.05810873 0.00444332 0.99830037 -0.14686542] [ 0. 0. 0. 1. ]] SLAMing on 103.80463044 meters Centerline goodness : 0.088557 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.39, Z:-0.15 [[ 0.99820624 0.01388541 -0.05823648 0.21415674] [-0.01414745 0.99989156 -0.0040897 -0.39102876] [ 0.05817338 0.00490626 0.99829444 -0.14714609] [ 0. 0. 0. 1. ]] SLAMing on 103.83463044 meters Centerline goodness : 0.088557 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.39, Z:-0.15 [[ 0.99820624 0.01388541 -0.05823648 0.21415674] [-0.01414745 0.99989156 -0.0040897 -0.39102876] [ 0.05817338 0.00490626 0.99829444 -0.14714609] [ 0. 0. 0. 1. ]] SLAMing on 103.86463044 meters Centerline goodness : 0.139533 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.39, Z:-0.15 [[ 0.99821099 0.01380466 -0.05817439 0.21423104] [-0.0140964 0.99989002 -0.00460764 -0.38816868] [ 0.05810439 0.00541945 0.9982958 -0.14736298] [ 0. 0. 0. 1. ]] SLAMing on 103.89463044 meters Centerline goodness : 0.087127 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.39, Z:-0.15 [[ 0.99822023 0.01374935 -0.05802862 0.21405965] [-0.01406562 0.99988835 -0.00504526 -0.38554872] [ 0.05795277 0.00585249 0.99830217 -0.14754024] [ 0. 0. 0. 1. ]] SLAMing on 103.92463044 meters Centerline goodness : 0.109131 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.38, Z:-0.15 [[ 0.99823333 0.01374588 -0.05780379 0.21357268] [-0.01407968 0.99988645 -0.00537133 -0.38320024] [ 0.0577234 0.0061757 0.99831351 -0.1475591 ] [ 0. 0. 0. 1. ]] SLAMing on 103.95463044 meters Centerline goodness : 0.155138 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.37, Z:-0.14 [[ 0.9981884 0.0084555 -0.05956861 0.22991949] [-0.00873379 0.99995212 -0.00441299 -0.37406109] [ 0.05952844 0.00492525 0.99821446 -0.14402776] [ 0. 0. 0. 1. ]] SLAMing on 103.98463043999999 meters Centerline goodness : 0.155349 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.37, Z:-0.14 [[ 0.99816816 0.00822291 -0.05993913 0.23108972] [-0.00852782 0.99995196 -0.00483294 -0.37241826] [ 0.05989651 0.00533524 0.99819033 -0.14442324] [ 0. 0. 0. 1. ]] SLAMing on 104.01463043999999 meters Centerline goodness : 0.093754 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.37, Z:-0.14 [[ 0.99807005 0.00158326 -0.06207794 0.25081264] [-0.00188101 0.99998701 -0.00473821 -0.36572537] [ 0.06206963 0.00484584 0.99806006 -0.14196892] [ 0. 0. 0. 1. ]] SLAMing on 104.04463043999999 meters Centerline goodness : 0.188937 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.36, Z:-0.14 [[ 0.9979883 -0.00695515 -0.0630157 0.23209829] [ 0.00675647 0.99997151 -0.00336534 -0.36027022] [ 0.06303732 0.0029328 0.99800686 -0.14387986] [ 0. 0. 0. 1. ]] SLAMing on 104.07463043999999 meters Centerline goodness : 0.195000 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.36, Z:-0.14 [[ 0.99806973 -0.00513035 -0.06189098 0.22699935] [ 0.00502839 0.99998573 -0.00180303 -0.35738376] [ 0.06189934 0.00148834 0.99808129 -0.14137029] [ 0. 0. 0. 1. ]] SLAMing on 104.10463044 meters Centerline goodness : 0.110999 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.36, Z:-0.14 [[ 0.99819204 0.00309273 -0.0600257 0.245149 ] [-0.00330191 0.99998882 -0.00338588 -0.35952297] [ 0.06001456 0.00357796 0.99819109 -0.13951092] [ 0. 0. 0. 1. ]] SLAMing on 104.13463044 meters Centerline goodness : 0.112650 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.36, Z:-0.14 [[ 0.99819568 0.00298846 -0.05997041 0.24494508] [-0.00320485 0.9999887 -0.00351243 -0.35942854] [ 0.05995923 0.00369829 0.99819398 -0.13939347] [ 0. 0. 0. 1. ]] SLAMing on 104.16463044 meters Centerline goodness : 0.180746 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.36, Z:-0.14 [[ 0.99819077 0.00286962 -0.06005799 0.24525814] [-0.00309374 0.99998859 -0.00363909 -0.35940566] [ 0.06004686 0.00381831 0.99818826 -0.13951525] [ 0. 0. 0. 1. ]] SLAMing on 104.19463044 meters Centerline goodness : 0.181755 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.36, Z:-0.14 [[ 0.9981837 0.00286216 -0.06017563 0.24577084] [-0.00308776 0.99998855 -0.00365639 -0.35937232] [ 0.06016447 0.00383556 0.99818111 -0.13981339] [ 0. 0. 0. 1. ]] SLAMing on 104.22463044 meters Centerline goodness : 0.158411 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.36, Z:-0.14 [[ 0.99817437 0.00295466 -0.06032577 0.24635274] [-0.00317456 0.99998866 -0.00354973 -0.35952174] [ 0.06031459 0.00373476 0.99817243 -0.14010678] [ 0. 0. 0. 1. ]] SLAMing on 104.25463044 meters Centerline goodness : 0.111521 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 0.99812451 -0.00324727 -0.06113032 0.26604309] [ 0.00312362 0.99999288 -0.00211807 -0.35565107] [ 0.06113676 0.00192315 0.99812755 -0.1379094 ] [ 0. 0. 0. 1. ]] SLAMing on 104.28463044 meters Centerline goodness : 0.182626 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 0.998125 -0.00317508 -0.0611262 0.26604315] [ 0.00306214 0.99999343 -0.00194122 -0.35672016] [ 0.06113196 0.00175041 0.99812816 -0.13789227] [ 0. 0. 0. 1. ]] SLAMing on 104.31463044 meters Centerline goodness : 0.126519 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 0.99811547 -0.00312276 -0.06128418 0.26626625] [ 0.00301922 0.99999385 -0.00178199 -0.3578152 ] [ 0.06128937 0.0015936 0.99811877 -0.13767892] [ 0. 0. 0. 1. ]] SLAMing on 104.34463043999999 meters Centerline goodness : 0.163630 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 0.99810058 -0.0030409 -0.06153043 0.26703909] [ 0.00294572 0.99999432 -0.0016375 -0.3585517 ] [ 0.06153506 0.00145314 0.99810386 -0.13789928] [ 0. 0. 0. 1. ]] SLAMing on 104.37463043999999 meters Centerline goodness : 0.182416 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 0.99808445 -0.00294116 -0.06179633 0.26791413] [ 0.00285192 0.99999476 -0.00153228 -0.35893654] [ 0.06180051 0.00135311 0.9980876 -0.13818944] [ 0. 0. 0. 1. ]] SLAMing on 104.40463043999999 meters Centerline goodness : 0.162032 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 0.99806514 -0.00277046 -0.06211517 0.26882702] [ 0.00268824 0.9999954 -0.00140711 -0.35905813] [ 0.06211879 0.00123741 0.998068 -0.13834396] [ 0. 0. 0. 1. ]] SLAMing on 104.43463043999999 meters Centerline goodness : 0.177769 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 9.98055140e-01 -2.22155725e-03 -6.22976956e-02 2.69591429e-01] [ 2.15718827e-03 9.99997068e-01 -1.10048836e-03 -3.58957684e-01] [ 6.22999577e-02 9.63960206e-04 9.98057005e-01 -1.38791123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46463044 meters Centerline goodness : 0.119950 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 9.98043007e-01 -2.13239686e-03 -6.24948768e-02 2.70085645e-01] [ 2.06988187e-03 9.99997291e-01 -1.06504652e-03 -3.58923469e-01] [ 6.24969786e-02 9.33605216e-04 9.98044716e-01 -1.38776343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49463044 meters Centerline goodness : 0.153345 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 9.98037292e-01 -2.02377526e-03 -6.25896812e-02 2.70276694e-01] [ 1.96428714e-03 9.99997559e-01 -1.01196400e-03 -3.58843848e-01] [ 6.25915763e-02 8.87033705e-04 9.98038831e-01 -1.38751377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52463044 meters Centerline goodness : 0.124634 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 9.98043057e-01 -1.91248385e-03 -6.25011894e-02 2.69869243e-01] [ 1.86244544e-03 9.99997897e-01 -8.58849050e-04 -3.59379608e-01] [ 6.25027005e-02 7.40763276e-04 9.98044520e-01 -1.38523892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55463044 meters Centerline goodness : 0.099458 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.36, Z:-0.14 [[ 9.98046983e-01 -1.82583353e-03 -6.24410676e-02 2.69489586e-01] [ 1.78925040e-03 9.99998193e-01 -6.41793348e-04 -3.60421569e-01] [ 6.24421266e-02 5.28817209e-04 9.98048446e-01 -1.38185187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58463044 meters Centerline goodness : 0.118972 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.36, Z:-0.14 [[ 0.99812245 0.00462872 -0.06107492 0.28965073] [-0.00485908 0.99998163 -0.0036237 -0.3639457 ] [ 0.06105702 0.00391367 0.99812661 -0.13690805] [ 0. 0. 0. 1. ]] SLAMing on 104.61463044 meters Centerline goodness : 0.125242 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.36, Z:-0.14 [[ 0.99812521 0.00468863 -0.06102527 0.28935847] [-0.00490811 0.99998201 -0.00344719 -0.36481022] [ 0.06100801 0.00374025 0.99813027 -0.13666114] [ 0. 0. 0. 1. ]] SLAMing on 104.64463044 meters Centerline goodness : 0.149727 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.36, Z:-0.13 [[ 0.99811897 -0.0019659 -0.0612752 0.30852881] [ 0.00183091 0.99999577 -0.00225907 -0.36096689] [ 0.06127938 0.00214263 0.99811835 -0.13391946] [ 0. 0. 0. 1. ]] SLAMing on 104.67463044 meters Centerline goodness : 0.121425 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.36, Z:-0.13 [[ 0.99811026 -0.00190171 -0.06141906 0.30867689] [ 0.00177225 0.99999609 -0.00216215 -0.36120588] [ 0.06142294 0.00204921 0.99810973 -0.13361988] [ 0. 0. 0. 1. ]] SLAMing on 104.70463044 meters Centerline goodness : 0.093623 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.36, Z:-0.13 [[ 0.99811379 -0.00190882 -0.06136132 0.30821912] [ 0.00177525 0.99999594 -0.00223108 -0.36093397] [ 0.06136533 0.00211794 0.99811313 -0.13314617] [ 0. 0. 0. 1. ]] SLAMing on 104.73463043999999 meters Centerline goodness : 0.171814 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.36, Z:-0.13 [[ 0.99812177 -0.00193795 -0.06123055 0.30788018] [ 0.00179956 0.9999957 -0.00231517 -0.36059785] [ 0.06123477 0.00220064 0.99812096 -0.13306438] [ 0. 0. 0. 1. ]] SLAMing on 104.76463043999999 meters Centerline goodness : 0.088526 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.36, Z:-0.13 [[ 0.99813265 -0.00192902 -0.06105313 0.30744465] [ 0.00178717 0.99999558 -0.002378 -0.36012265] [ 0.06105745 0.00226445 0.99813169 -0.13304799] [ 0. 0. 0. 1. ]] SLAMing on 104.79463043999999 meters Centerline goodness : 0.169214 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.36, Z:-0.13 [[ 0.99813703 -0.00189934 -0.06098241 0.30728849] [ 0.00175389 0.99999549 -0.00243855 -0.35952586] [ 0.06098677 0.00232705 0.99813586 -0.13308807] [ 0. 0. 0. 1. ]] SLAMing on 104.82463043999999 meters Centerline goodness : 0.109020 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.36, Z:-0.13 [[ 0.99807358 0.00607752 -0.06174301 0.32261248] [-0.00623797 0.99997765 -0.00240627 -0.36427882] [ 0.06172701 0.00278679 0.99808918 -0.13133329] [ 0. 0. 0. 1. ]] SLAMing on 104.85463044 meters Centerline goodness : 0.108129 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.36, Z:-0.13 [[ 0.99807304 0.00606237 -0.06175323 0.32261264] [-0.0062283 0.99997749 -0.00249479 -0.36371339] [ 0.06173672 0.0028746 0.99808833 -0.13128296] [ 0. 0. 0. 1. ]] SLAMing on 104.88463044 meters Centerline goodness : 0.110254 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.36, Z:-0.13 [[ 0.99809531 0.00601528 -0.06139684 0.32107486] [-0.00618415 0.9999776 -0.00256081 -0.36355496] [ 0.06138006 0.00293562 0.99811015 -0.13034429] [ 0. 0. 0. 1. ]] SLAMing on 104.91463044 meters Centerline goodness : 0.157144 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.36, Z:-0.13 [[ 9.98156139e-01 -8.98336219e-04 -6.06919751e-02 3.38592934e-01] [ 8.18070351e-04 9.99998758e-01 -1.34734716e-03 -3.60124667e-01] [ 6.06931101e-02 1.29521254e-03 9.98155634e-01 -1.27093934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94463044 meters Centerline goodness : 0.108144 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.36, Z:-0.13 [[ 9.98165900e-01 -7.97939921e-04 -6.05326384e-02 3.38047291e-01] [ 7.34709257e-04 9.99999161e-01 -1.06682158e-03 -3.61528850e-01] [ 6.05334389e-02 1.02039103e-03 9.98165648e-01 -1.26887129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97463044 meters Centerline goodness : 0.098430 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.36, Z:-0.13 [[ 9.98117545e-01 -8.38257132e-04 -6.13242529e-02 3.40873753e-01] [ 8.01716832e-04 9.99999486e-01 -6.20457047e-04 -3.64776944e-01] [ 6.13247415e-02 5.70124379e-04 9.98117704e-01 -1.28016497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00463044 meters Centerline goodness : 0.136737 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.37, Z:-0.13 [[ 9.98087395e-01 -8.14587182e-04 -6.18133371e-02 3.42603766e-01] [ 7.93617015e-04 9.99999619e-01 -3.63800656e-04 -3.66609295e-01] [ 6.18136099e-02 3.14048733e-04 9.98087661e-01 -1.28723476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03463044 meters Centerline goodness : 0.150172 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.37, Z:-0.13 [[ 9.98042253e-01 -9.33401510e-04 -6.25363018e-02 3.44755966e-01] [ 9.21218433e-04 9.99999551e-01 -2.23648819e-04 -3.68451357e-01] [ 6.25364825e-02 1.65601377e-04 9.98042665e-01 -1.29217771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06463044 meters Centerline goodness : 0.109338 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.38, Z:-0.13 [[ 0.99799007 0.00771151 -0.06289953 0.32969709] [-0.00780269 0.99996883 -0.00120407 -0.3768826 ] [ 0.06288829 0.00169244 0.99801914 -0.13122736] [ 0. 0. 0. 1. ]] SLAMing on 105.09463043999999 meters Centerline goodness : 0.133813 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.38, Z:-0.13 [[ 9.98030539e-01 3.92519901e-04 -6.27286979e-02 3.50095134e-01] [-4.14217060e-04 9.99999859e-01 -3.32884805e-04 -3.76139506e-01] [ 6.27285584e-02 3.58212498e-04 9.98030560e-01 -1.28960942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12463043999999 meters Centerline goodness : 0.088984 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.38, Z:-0.13 [[ 9.98033884e-01 5.62063214e-04 -6.26741616e-02 3.49531875e-01] [-5.51729121e-04 9.99999831e-01 1.82192490e-04 -3.78852197e-01] [ 6.26742534e-02 -1.47255118e-04 9.98034026e-01 -1.28337300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15463043999999 meters Centerline goodness : 0.090860 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.38, Z:-0.13 [[ 0.99808788 -0.00669276 -0.06144747 0.36913719] [ 0.00679472 0.99997586 0.00145055 -0.37980856] [ 0.06143627 -0.0018653 0.99810927 -0.1261317 ] [ 0. 0. 0. 1. ]] SLAMing on 105.18463043999999 meters Centerline goodness : 0.086322 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.38, Z:-0.13 [[ 0.99808617 -0.00676752 -0.06146706 0.36915395] [ 0.00688886 0.99997472 0.00176234 -0.3815556 ] [ 0.06145358 -0.0021824 0.99810756 -0.12636047] [ 0. 0. 0. 1. ]] SLAMing on 105.21463044 meters Centerline goodness : 0.107932 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.38, Z:-0.13 [[ 0.99808317 -0.00685846 -0.06150565 0.36919521] [ 0.0069957 0.9999735 0.00201626 -0.38292227] [ 0.06149019 -0.00244267 0.9981047 -0.12660019] [ 0. 0. 0. 1. ]] SLAMing on 105.24463044 meters Centerline goodness : 0.108287 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.39, Z:-0.13 [[ 9.98268267e-01 -1.70217195e-04 -5.88254924e-02 3.54877446e-01] [ 2.52546260e-04 9.99998999e-01 1.39211572e-03 -3.90548007e-01] [ 5.88251965e-02 -1.40456111e-03 9.98267311e-01 -1.30108884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27463044 meters Centerline goodness : 0.108982 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.40, Z:-0.13 [[ 9.98301054e-01 -3.19718968e-03 -5.81788949e-02 3.52037247e-01] [ 3.15519102e-03 9.99994691e-01 -8.13734722e-04 -3.95288273e-01] [ 5.81811877e-02 6.28786704e-04 9.98305842e-01 -1.28595542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30463044 meters Centerline goodness : 0.110495 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.40, Z:-0.13 [[ 9.98304873e-01 -3.45758088e-03 -5.80984186e-02 3.51263769e-01] [ 3.42559704e-03 9.99993921e-01 -6.50097573e-04 -3.97608704e-01] [ 5.81003132e-02 4.49973804e-04 9.98310649e-01 -1.27745716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33463044 meters Centerline goodness : 0.088011 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.40, Z:-0.13 [[ 9.98310979e-01 -3.69468521e-03 -5.79787694e-02 3.50372040e-01] [ 3.67483137e-03 9.99993147e-01 -4.49050326e-04 -4.00073168e-01] [ 5.79800311e-02 2.35229670e-04 9.98317715e-01 -1.26910917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36463044 meters Centerline goodness : 0.110529 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.40, Z:-0.13 [[ 9.98314466e-01 -3.76454446e-03 -5.79142108e-02 3.49680611e-01] [ 3.76512168e-03 9.99992907e-01 -9.91522095e-05 -4.02599228e-01] [ 5.79141733e-02 -1.19068966e-04 9.98321559e-01 -1.26175659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39463044 meters Centerline goodness : 0.158144 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.40, Z:-0.13 [[ 9.98316570e-01 -3.68261079e-03 -5.78831996e-02 3.49341345e-01] [ 3.70856277e-03 9.99993065e-01 3.40935003e-04 -4.04962575e-01] [ 5.78815427e-02 -5.55024542e-04 9.98323304e-01 -1.25798221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42463044 meters Centerline goodness : 0.096577 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99840376 0.00314199 -0.0563921 0.37038613] [-0.00326359 0.99999254 -0.00206433 -0.40932226] [ 0.05638519 0.00224507 0.99840657 -0.12568816] [ 0. 0. 0. 1. ]] SLAMing on 105.45463044 meters Centerline goodness : 0.253613 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99839566 0.00313107 -0.05653584 0.37100746] [-0.0032497 0.99999271 -0.00200657 -0.40997268] [ 0.05652915 0.00218708 0.99839855 -0.12601746] [ 0. 0. 0. 1. ]] SLAMing on 105.48463043999999 meters Centerline goodness : 0.097055 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99837981 0.0030907 -0.0568173 0.37192936] [-0.00321012 0.99999283 -0.00201068 -0.41037696] [ 0.05681068 0.00218981 0.99838257 -0.12629068] [ 0. 0. 0. 1. ]] SLAMing on 105.51463043999999 meters Centerline goodness : 0.111135 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99835955 0.00316564 -0.05716805 0.37285961] [-0.00327725 0.9999929 -0.00185862 -0.41116807] [ 0.05716176 0.00204293 0.99836284 -0.12636103] [ 0. 0. 0. 1. ]] SLAMing on 105.54463043999999 meters Centerline goodness : 0.142617 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99834143 0.00320762 -0.05748133 0.3737405 ] [-0.00331742 0.99999285 -0.00181485 -0.41140084] [ 0.0574751 0.00200253 0.99834493 -0.126504 ] [ 0. 0. 0. 1. ]] SLAMing on 105.57463043999999 meters Centerline goodness : 0.098784 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99832709 0.00326513 -0.05772662 0.37443628] [-0.00337691 0.99999261 -0.00183896 -0.41109229] [ 0.05772019 0.00203082 0.99833073 -0.12657131] [ 0. 0. 0. 1. ]] SLAMing on 105.60463044 meters Centerline goodness : 0.144120 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99832288 0.00361689 -0.05777835 0.37479709] [-0.00373519 0.99999114 -0.0019396 -0.40929093] [ 0.05777082 0.00215216 0.99832755 -0.12682468] [ 0. 0. 0. 1. ]] SLAMing on 105.63463044 meters Centerline goodness : 0.167303 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99834088 0.00368963 -0.05746201 0.37416334] [-0.00381952 0.99999039 -0.0021508 -0.40756154] [ 0.05745352 0.00236671 0.99834538 -0.12693215] [ 0. 0. 0. 1. ]] SLAMing on 105.66463044 meters Centerline goodness : 0.163517 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.13 [[ 0.99837345 0.00391721 -0.05687808 0.37298989] [-0.00404973 0.99998935 -0.00221493 -0.40592181] [ 0.05686879 0.00244167 0.99837867 -0.12716541] [ 0. 0. 0. 1. ]] SLAMing on 105.69463044 meters Centerline goodness : 0.108603 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98400589e-01 1.46029500e-05 -5.65355113e-02 3.93528689e-01] [ 4.38696729e-05 9.99999465e-01 1.03302240e-03 -4.01694026e-01] [ 5.65354962e-02 -1.03385036e-03 9.98400055e-01 -1.25587520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72463044 meters Centerline goodness : 0.108603 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98400589e-01 1.46029500e-05 -5.65355113e-02 3.93528689e-01] [ 4.38696729e-05 9.99999465e-01 1.03302240e-03 -4.01694026e-01] [ 5.65354962e-02 -1.03385036e-03 9.98400055e-01 -1.25587520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75463044 meters Centerline goodness : 0.145027 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98419808e-01 1.54524288e-04 -5.61948736e-02 3.92740757e-01] [-1.07017943e-04 9.99999634e-01 8.48394064e-04 -3.99534940e-01] [ 5.61949842e-02 -8.41039578e-04 9.98419459e-01 -1.25612691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78463044 meters Centerline goodness : 0.107418 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98408320e-01 -4.70309870e-05 -5.63987915e-02 3.93158611e-01] [ 8.15784597e-05 9.99999810e-01 6.10254827e-04 -3.99101943e-01] [ 5.63987522e-02 -6.13884423e-04 9.98408135e-01 -1.25536217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81463044 meters Centerline goodness : 0.108246 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98395330e-01 -2.25893554e-04 -5.66278508e-02 3.93493584e-01] [ 2.52023828e-04 9.99999865e-01 4.54297468e-04 -3.99116091e-01] [ 5.66277405e-02 -4.67840039e-04 9.98395252e-01 -1.25290631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84463043999999 meters Centerline goodness : 0.150387 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98386917e-01 -3.11849705e-04 -5.67755813e-02 3.93719472e-01] [ 3.37274237e-04 9.99999847e-01 4.38225881e-04 -3.99284959e-01] [ 5.67754360e-02 -4.56667927e-04 9.98386870e-01 -1.25129569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87463043999999 meters Centerline goodness : 0.152592 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.12 [[ 9.98396869e-01 -1.82630953e-04 -5.66008681e-02 3.93137614e-01] [ 2.17817291e-04 9.99999787e-01 6.15488569e-04 -3.99460927e-01] [ 5.66007436e-02 -6.26830508e-04 9.98396696e-01 -1.24945863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90463043999999 meters Centerline goodness : 0.152044 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.12 [[ 9.98415998e-01 -3.77590233e-05 -5.62627174e-02 3.92227560e-01] [ 7.87593189e-05 9.99999733e-01 7.26512203e-04 -3.99063894e-01] [ 5.62626749e-02 -7.29792620e-04 9.98415734e-01 -1.24826927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93463043999999 meters Centerline goodness : 0.152941 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.12 [[ 9.98442965e-01 -7.59665138e-05 -5.57820734e-02 3.91204935e-01] [ 9.88771449e-05 9.99999912e-01 4.07956915e-04 -3.96768955e-01] [ 5.57820375e-02 -4.12837284e-04 9.98442885e-01 -1.24833485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96463044 meters Centerline goodness : 0.151236 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.12 [[ 9.98451621e-01 -1.27823357e-04 -5.56268360e-02 3.90784885e-01] [ 1.38853540e-04 9.99999971e-01 1.94423941e-04 -3.95561846e-01] [ 5.56268096e-02 -2.01846882e-04 9.98451610e-01 -1.24762360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99463044 meters Centerline goodness : 0.100733 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.12 [[ 9.98459258e-01 -1.04546730e-04 -5.54896318e-02 3.90405105e-01] [ 1.07492529e-04 9.99999993e-01 5.01027268e-05 -3.94365159e-01] [ 5.54896262e-02 -5.59902523e-05 9.98459262e-01 -1.24662908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02463044 meters Centerline goodness : 0.107732 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.13 [[ 9.98452182e-01 9.55750248e-05 -5.56168175e-02 3.91263861e-01] [-9.49425990e-05 9.99999995e-01 1.40133729e-05 -3.92769080e-01] [ 5.56168186e-02 -8.71127759e-06 9.98452187e-01 -1.25365517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05463044 meters Centerline goodness : 0.106754 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.13 [[ 9.98437457e-01 1.90359568e-05 -5.58806156e-02 3.92240604e-01] [-2.13835709e-05 9.99999999e-01 -4.14133118e-05 -3.93054802e-01] [ 5.58806148e-02 4.25435288e-05 9.98437457e-01 -1.25785308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08463044 meters Centerline goodness : 0.153070 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.13 [[ 9.98426685e-01 -6.09332861e-05 -5.60727319e-02 3.92920611e-01] [ 6.09917785e-05 9.99999998e-01 -6.68182229e-07 -3.94161050e-01] [ 5.60727318e-02 -2.75284468e-06 9.98426687e-01 -1.26074306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11463044 meters Centerline goodness : 0.165515 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98418856e-01 -5.30121147e-05 -5.62119633e-02 3.93306217e-01] [ 6.33374893e-05 9.99999981e-01 1.81904870e-04 -3.95698016e-01] [ 5.62119526e-02 -1.85177576e-04 9.98418841e-01 -1.26134366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14463044 meters Centerline goodness : 0.107069 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98423920e-01 6.47687915e-05 -5.61219428e-02 3.92952877e-01] [-3.50772361e-05 9.99999859e-01 5.30039221e-04 -3.97561037e-01] [ 5.61219693e-02 -5.27235234e-04 9.98423781e-01 -1.25961359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17463044 meters Centerline goodness : 0.107323 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98428571e-01 2.52848491e-04 -5.60386053e-02 3.92797504e-01] [-1.84038941e-04 9.99999223e-01 1.23305279e-03 -4.02069205e-01] [ 5.60388736e-02 -1.22080185e-03 9.98427841e-01 -1.25943226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20463044 meters Centerline goodness : 0.107213 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.13 [[ 9.98408270e-01 2.62187032e-04 -5.63991010e-02 3.93987789e-01] [-1.73182549e-04 9.99998732e-01 1.58300060e-03 -4.04829173e-01] [ 5.63994445e-02 -1.57071354e-03 9.98407049e-01 -1.26318772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23463043999999 meters Centerline goodness : 0.106864 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.41, Z:-0.13 [[ 9.98390405e-01 4.02508883e-04 -5.67136477e-02 3.95030448e-01] [-2.86198399e-04 9.99997839e-01 2.05894493e-03 -4.07771617e-01] [ 5.67143539e-02 -2.03939951e-03 9.98388363e-01 -1.26648902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26463043999999 meters Centerline goodness : 0.158491 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.41, Z:-0.13 [[ 9.98374603e-01 5.32392581e-04 -5.69900794e-02 3.95994345e-01] [-3.89854224e-04 9.99996768e-01 2.51219697e-03 -4.10603207e-01] [ 5.69912328e-02 -2.48589582e-03 9.98371584e-01 -1.26992174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29463043999999 meters Centerline goodness : 0.106433 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.12 [[ 9.98300299e-01 9.01390646e-03 -5.75783145e-02 4.14870350e-01] [-8.95080428e-03 9.99959024e-01 1.35374788e-03 -4.18462239e-01] [ 5.75881578e-02 -8.36074690e-04 9.98340075e-01 -1.24418273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32463043999999 meters Centerline goodness : 0.108436 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.43, Z:-0.13 [[ 0.9982161 0.00779098 -0.05919384 0.37033234] [-0.00762145 0.99996618 0.00308917 -0.42946456] [ 0.05921591 -0.00263252 0.99824173 -0.12542199] [ 0. 0. 0. 1. ]] SLAMing on 106.35463044 meters Centerline goodness : 0.105244 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.43, Z:-0.12 [[ 0.99831514 0.00919736 -0.05729121 0.41230982] [-0.00909989 0.99995667 0.00196195 -0.43148846] [ 0.05730677 -0.0014373 0.99835558 -0.1229398 ] [ 0. 0. 0. 1. ]] SLAMing on 106.38463044 meters Centerline goodness : 0.263729 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.43, Z:-0.12 [[ 0.99831121 0.00941459 -0.05732443 0.41247304] [-0.00928547 0.99995372 0.00251834 -0.43476848] [ 0.05734549 -0.00198181 0.99835243 -0.12300031] [ 0. 0. 0. 1. ]] SLAMing on 106.41463044 meters Centerline goodness : 0.270982 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.44, Z:-0.12 [[ 0.99830242 0.00965879 -0.05743675 0.4129865 ] [-0.00949615 0.99995009 0.00310397 -0.43791925] [ 0.05746386 -0.00255328 0.99834432 -0.1232689 ] [ 0. 0. 0. 1. ]] SLAMing on 106.44463044 meters Centerline goodness : 0.103292 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.44, Z:-0.12 [[ 0.9982975 0.01000402 -0.05746315 0.41326728] [-0.00980198 0.99994475 0.00379675 -0.44104153] [ 0.05749796 -0.00322703 0.99834041 -0.1235398 ] [ 0. 0. 0. 1. ]] SLAMing on 106.47463044 meters Centerline goodness : 0.101655 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.45, Z:-0.12 [[ 0.99829395 0.01054533 -0.05742803 0.41359642] [-0.01028365 0.99993536 0.00485033 -0.44748598] [ 0.05747546 -0.00425149 0.99833787 -0.12397019] [ 0. 0. 0. 1. ]] SLAMing on 106.50463044 meters Centerline goodness : 0.260324 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.45, Z:-0.12 [[ 0.99827688 0.01064212 -0.05770632 0.41449642] [-0.01035764 0.9999327 0.00522676 -0.45000938] [ 0.05775806 -0.00462005 0.99831992 -0.12421269] [ 0. 0. 0. 1. ]] SLAMing on 106.53463044 meters Centerline goodness : 0.265310 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.45, Z:-0.12 [[ 0.99822384 0.0042911 -0.05942009 0.43433889] [-0.0039538 0.9999754 0.00579297 -0.44813782] [ 0.05944348 -0.00554774 0.99821626 -0.12226431] [ 0. 0. 0. 1. ]] SLAMing on 106.56463044 meters Centerline goodness : 0.153481 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.45, Z:-0.12 [[ 0.99821307 0.00448973 -0.05958617 0.43513823] [-0.00412774 0.99997228 0.00619668 -0.45000574] [ 0.05961234 -0.00593965 0.99820393 -0.12275195] [ 0. 0. 0. 1. ]] SLAMing on 106.59463043999999 meters Centerline goodness : 0.135499 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.45, Z:-0.12 [[ 0.99824243 0.00502007 -0.05904961 0.4334128 ] [-0.00460923 0.99996423 0.00709171 -0.45330914] [ 0.0590831 -0.00680708 0.99822986 -0.12207816] [ 0. 0. 0. 1. ]] SLAMing on 106.62463043999999 meters Centerline goodness : 0.123965 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.12 [[ 0.99826382 0.00516127 -0.05867461 0.43206299] [-0.00473129 0.99996095 0.00746475 -0.45515423] [ 0.05871084 -0.00717418 0.99824925 -0.12143468] [ 0. 0. 0. 1. ]] SLAMing on 106.65463043999999 meters Centerline goodness : 0.133636 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.12 [[ 0.99827687 0.00519765 -0.05844889 0.43122227] [-0.00475425 0.99995888 0.00772262 -0.45687675] [ 0.05848662 -0.00743143 0.99826053 -0.12100067] [ 0. 0. 0. 1. ]] SLAMing on 106.68463043999999 meters Centerline goodness : 0.119754 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.12 [[ 0.99827113 0.00517366 -0.05854893 0.43156654] [-0.00471741 0.99995744 0.00792827 -0.45851541] [ 0.05858746 -0.00763836 0.99825306 -0.12112191] [ 0. 0. 0. 1. ]] SLAMing on 106.71463044 meters Centerline goodness : 0.103986 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.12 [[ 0.99824854 0.00504287 -0.05894416 0.43285779] [-0.0045798 0.9999576 0.00798843 -0.45961529] [ 0.05898194 -0.00770449 0.99822932 -0.12153877] [ 0. 0. 0. 1. ]] SLAMing on 106.74463044 meters Centerline goodness : 0.143202 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.12 [[ 0.99823094 0.00502057 -0.0592434 0.43386945] [-0.00454494 0.99995637 0.00816041 -0.46089709] [ 0.05928178 -0.00787672 0.99821021 -0.12195692] [ 0. 0. 0. 1. ]] SLAMing on 106.77463044 meters Centerline goodness : 0.097807 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.12 [[ 0.99822721 0.00496879 -0.05931059 0.43357462] [-0.00447404 0.99995411 0.00847166 -0.46282254] [ 0.05934996 -0.00819128 0.99820363 -0.12136098] [ 0. 0. 0. 1. ]] SLAMing on 106.80463044 meters Centerline goodness : 0.152799 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.12 [[ 0.99825194 -0.00191961 -0.05907093 0.45211539] [ 0.00247669 0.99995314 0.00935897 -0.45977614] [ 0.05905019 -0.00948891 0.99820992 -0.11837877] [ 0. 0. 0. 1. ]] SLAMing on 106.83463044 meters Centerline goodness : 0.101108 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.12 [[ 0.9982635 -0.00194091 -0.0588746 0.45120032] [ 0.00250767 0.99995121 0.00955421 -0.46120232] [ 0.05885318 -0.00968526 0.99821966 -0.11773787] [ 0. 0. 0. 1. ]] SLAMing on 106.86463044 meters Centerline goodness : 0.092938 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.46, Z:-0.12 [[ 0.99835609 0.00461123 -0.05713015 0.4710618 ] [-0.00425358 0.9999706 0.0063803 -0.46421613] [ 0.05715789 -0.0061268 0.99834635 -0.11677004] [ 0. 0. 0. 1. ]] SLAMing on 106.89463044 meters Centerline goodness : 0.267754 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.47, Z:-0.12 [[ 0.99841337 0.00165132 -0.05628517 0.4686147 ] [-0.00142189 0.99999052 0.00411597 -0.46820868] [ 0.05629143 -0.00402941 0.99840625 -0.11629477] [ 0. 0. 0. 1. ]] SLAMing on 106.92463044 meters Centerline goodness : 0.126331 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.47, Z:-0.12 [[ 0.99840751 0.00168082 -0.05638809 0.46883752] [-0.00143039 0.99998894 0.00448132 -0.47042342] [ 0.05639499 -0.00439353 0.99839887 -0.11623044] [ 0. 0. 0. 1. ]] SLAMing on 106.95463044 meters Centerline goodness : 0.269858 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.47, Z:-0.12 [[ 0.99838748 0.00166092 -0.05674231 0.46974942] [-0.00139071 0.99998751 0.00480118 -0.47271186] [ 0.05674957 -0.00471452 0.99837731 -0.11633075] [ 0. 0. 0. 1. ]] SLAMing on 106.98463043999999 meters Centerline goodness : 0.104855 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.47, Z:-0.12 [[ 0.99836292 0.00162717 -0.05717364 0.47100233] [-0.00134058 0.99998635 0.0050507 -0.47469088] [ 0.05718108 -0.00496578 0.99835147 -0.11659999] [ 0. 0. 0. 1. ]] SLAMing on 107.01463043999999 meters Centerline goodness : 0.132539 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.48, Z:-0.12 [[ 0.99834695 0.00156828 -0.05745357 0.47200863] [-0.00127321 0.99998581 0.00517201 -0.47599086] [ 0.05746086 -0.00509031 0.99833478 -0.11699825] [ 0. 0. 0. 1. ]] SLAMing on 107.04463043999999 meters Centerline goodness : 0.105752 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.48, Z:-0.12 [[ 0.99834195 0.00161004 -0.05753916 0.47247109] [-0.0012996 0.9999844 0.0054323 -0.47768745] [ 0.05754701 -0.00534851 0.99832847 -0.11729134] [ 0. 0. 0. 1. ]] SLAMing on 107.07463043999999 meters Centerline goodness : 0.095770 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.48, Z:-0.12 [[ 0.9983373 0.0017236 -0.05761651 0.47272838] [-0.00140203 0.99998322 0.00562111 -0.47827787] [ 0.05762523 -0.00553098 0.99832296 -0.11738449] [ 0. 0. 0. 1. ]] SLAMing on 107.10463044 meters Centerline goodness : 0.106235 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.48, Z:-0.12 [[ 0.99833225 0.00175321 -0.05770313 0.47319092] [-0.00142542 0.99998262 0.00572139 -0.47879055] [ 0.05771216 -0.00562959 0.99831739 -0.11766226] [ 0. 0. 0. 1. ]] SLAMing on 107.13463044 meters Centerline goodness : 0.142150 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.48, Z:-0.12 [[ 0.99833078 0.00171404 -0.05772968 0.47341971] [-0.00137389 0.99998147 0.00593132 -0.48087779] [ 0.05773877 -0.00584211 0.99831463 -0.11781447] [ 0. 0. 0. 1. ]] SLAMing on 107.16463044 meters Centerline goodness : 0.101122 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.48, Z:-0.12 [[ 0.99835804 0.0084723 -0.05665192 0.4938841 ] [-0.00832718 0.99996142 0.0027972 -0.48379144] [ 0.05667344 -0.00232086 0.99839007 -0.11715416] [ 0. 0. 0. 1. ]] SLAMing on 107.19463044 meters Centerline goodness : 0.094747 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.49, Z:-0.12 [[ 0.99836427 0.00851913 -0.056535 0.49354646] [-0.00836118 0.99996045 0.00302982 -0.48510676] [ 0.05655858 -0.00255217 0.99839602 -0.11713562] [ 0. 0. 0. 1. ]] SLAMing on 107.22463044 meters Centerline goodness : 0.102752 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.49, Z:-0.12 [[ 0.99836671 0.00860522 -0.05647884 0.49328213] [-0.00843234 0.99995901 0.00329865 -0.48634744] [ 0.05650491 -0.00281702 0.99839835 -0.11702132] [ 0. 0. 0. 1. ]] SLAMing on 107.25463044 meters Centerline goodness : 0.142436 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.49, Z:-0.12 [[ 0.99836643 0.00861889 -0.05648171 0.49334602] [-0.00843771 0.99995847 0.00344536 -0.48716391] [ 0.05650906 -0.00296316 0.99839769 -0.11709573] [ 0. 0. 0. 1. ]] SLAMing on 107.28463044 meters Centerline goodness : 0.150333 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.49, Z:-0.12 [[ 0.99836453 0.0085136 -0.0565312 0.49369896] [-0.00833365 0.99995943 0.00341821 -0.48751874] [ 0.056558 -0.00294151 0.99839498 -0.11741354] [ 0. 0. 0. 1. ]] SLAMing on 107.31463044 meters Centerline goodness : 0.150223 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.49, Z:-0.12 [[ 0.99834126 0.00823772 -0.05698134 0.49556596] [-0.00806722 0.99996227 0.00322167 -0.48748025] [ 0.05700573 -0.00275664 0.99837005 -0.11850202] [ 0. 0. 0. 1. ]] SLAMing on 107.34463043999999 meters Centerline goodness : 0.129267 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.49, Z:-0.12 [[ 0.99833387 0.00813925 -0.05712473 0.4965769 ] [-0.00797498 0.99996338 0.00310296 -0.48715271] [ 0.0571479 -0.00264222 0.99836223 -0.11938797] [ 0. 0. 0. 1. ]] SLAMing on 107.37463043999999 meters Centerline goodness : 0.102738 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.49, Z:-0.12 [[ 0.998327 0.00810201 -0.05725002 0.49741271] [-0.00793997 0.9999638 0.00305731 -0.48696638] [ 0.05727272 -0.00259763 0.99835519 -0.12010916] [ 0. 0. 0. 1. ]] SLAMing on 107.40463043999999 meters Centerline goodness : 0.189661 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.49, Z:-0.12 [[ 0.99831037 0.00797193 -0.05755744 0.49857609] [-0.0078195 0.9999653 0.00287297 -0.48629885] [ 0.05757834 -0.00241805 0.99833806 -0.1206613 ] [ 0. 0. 0. 1. ]] SLAMing on 107.43463043999999 meters Centerline goodness : 0.091529 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.48, Z:-0.12 [[ 0.99826267 0.00760822 -0.05842738 0.50133217] [-0.00747949 0.9999691 0.00242175 -0.48495544] [ 0.058444 -0.00198054 0.99828872 -0.12152382] [ 0. 0. 0. 1. ]] SLAMing on 107.46463044 meters Centerline goodness : 0.157295 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.48, Z:-0.12 [[ 0.99824262 0.00744768 -0.05878953 0.50269571] [-0.00733127 0.99997072 0.00219542 -0.48426442] [ 0.05880415 -0.00176056 0.99826799 -0.12217788] [ 0. 0. 0. 1. ]] SLAMing on 107.49463044 meters Centerline goodness : 0.131635 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.48, Z:-0.12 [[ 0.99823916 0.00736841 -0.05885818 0.50319024] [-0.00726205 0.99997159 0.00202063 -0.48338793] [ 0.0588714 -0.00158964 0.99826431 -0.12258994] [ 0. 0. 0. 1. ]] SLAMing on 107.52463044 meters Centerline goodness : 0.141444 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.48, Z:-0.12 [[ 0.99826146 0.0073259 -0.05848402 0.50244379] [-0.00722937 0.99997213 0.00186183 -0.48243364] [ 0.05849603 -0.0014358 0.99828661 -0.12273745] [ 0. 0. 0. 1. ]] SLAMing on 107.55463044 meters Centerline goodness : 0.103476 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.48, Z:-0.12 [[ 0.9982934 0.00730212 -0.05793934 0.50108547] [-0.00722023 0.99997262 0.00162245 -0.4810208 ] [ 0.0579496 -0.00120134 0.99831879 -0.12258554] [ 0. 0. 0. 1. ]] SLAMing on 107.58463044 meters Centerline goodness : 0.103346 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.47, Z:-0.12 [[ 9.98344453e-01 9.50036453e-04 -5.75104406e-02 5.18706269e-01] [-8.23857408e-04 9.99997202e-01 2.21768987e-03 -4.74565170e-01] [ 5.75123866e-02 -2.16663798e-03 9.98342442e-01 -1.19986177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61463044 meters Centerline goodness : 0.103229 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.47, Z:-0.12 [[ 0.99832243 0.00351257 -0.05779263 0.51891014] [-0.00330086 0.99998749 0.00375829 -0.46741099] [ 0.05780511 -0.00356122 0.99832154 -0.11963621] [ 0. 0. 0. 1. ]] SLAMing on 107.64463044 meters Centerline goodness : 0.103229 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.47, Z:-0.12 [[ 0.99832243 0.00351257 -0.05779263 0.51891014] [-0.00330086 0.99998749 0.00375829 -0.46741099] [ 0.05780511 -0.00356122 0.99832154 -0.11963621] [ 0. 0. 0. 1. ]] SLAMing on 107.67463044 meters Centerline goodness : 0.143738 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.46, Z:-0.12 [[ 0.99833367 0.00362563 -0.05759109 0.51895277] [-0.00343689 0.9999884 0.00337592 -0.4640515 ] [ 0.05760267 -0.00317236 0.99833455 -0.12031043] [ 0. 0. 0. 1. ]] SLAMing on 107.70463044 meters Centerline goodness : 0.103163 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.46, Z:-0.12 [[ 0.99833492 0.00360851 -0.05757057 0.51942381] [-0.00344826 0.9999899 0.00288272 -0.46055984] [ 0.05758039 -0.00267941 0.99833728 -0.12099463] [ 0. 0. 0. 1. ]] SLAMing on 107.73463043999999 meters Centerline goodness : 0.136151 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.45, Z:-0.12 [[ 0.9983216 0.00511839 -0.05768694 0.52010873] [-0.00493067 0.99998208 0.00339597 -0.45214216] [ 0.05770329 -0.00310583 0.99832895 -0.12162356] [ 0. 0. 0. 1. ]] SLAMing on 107.76463043999999 meters Centerline goodness : 0.144312 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.45, Z:-0.12 [[ 0.99832061 0.00496103 -0.0577179 0.52048534] [-0.00480256 0.99998431 0.00288393 -0.44921361] [ 0.0577313 -0.00260189 0.99832877 -0.12201795] [ 0. 0. 0. 1. ]] SLAMing on 107.79463043999999 meters Centerline goodness : 0.117652 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.45, Z:-0.12 [[ 0.99832439 0.00481499 -0.05766483 0.52065392] [-0.00468163 0.99998605 0.0024476 -0.44657239] [ 0.05767581 -0.00217353 0.998333 -0.12244543] [ 0. 0. 0. 1. ]] SLAMing on 107.82463043999999 meters Centerline goodness : 0.105724 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.44, Z:-0.12 [[ 0.99832968 0.0047046 -0.05758232 0.52062482] [-0.00458925 0.99998719 0.00213535 -0.44472227] [ 0.05759163 -0.00186753 0.99833848 -0.1226531 ] [ 0. 0. 0. 1. ]] SLAMing on 107.85463044 meters Centerline goodness : 0.169614 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.44, Z:-0.12 [[ 0.99834599 0.00455847 -0.05731061 0.51990743] [-0.00445925 0.99998833 0.00185902 -0.44349059] [ 0.05731842 -0.00160038 0.99835467 -0.12257458] [ 0. 0. 0. 1. ]] SLAMing on 107.88463044 meters Centerline goodness : 0.105772 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.44, Z:-0.12 [[ 0.99841715 -0.00228852 -0.05619566 0.53822223] [ 0.00244027 0.99999356 0.00263185 -0.43904638] [ 0.05618928 -0.00276482 0.99841631 -0.1199549 ] [ 0. 0. 0. 1. ]] SLAMing on 107.91463044 meters Centerline goodness : 0.106500 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.44, Z:-0.12 [[ 0.99845268 -0.00228017 -0.05556128 0.53653502] [ 0.00243349 0.99999342 0.0026919 -0.43901183] [ 0.05555477 -0.00282295 0.99845165 -0.11978684] [ 0. 0. 0. 1. ]] SLAMing on 107.94463044 meters Centerline goodness : 0.181426 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.44, Z:-0.12 [[ 0.99845696 -0.00221007 -0.05548714 0.53667235] [ 0.00237193 0.99999312 0.00285133 -0.43943439] [ 0.05548045 -0.00297854 0.99845533 -0.12023747] [ 0. 0. 0. 1. ]] SLAMing on 107.97463044 meters Centerline goodness : 0.092113 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.44, Z:-0.12 [[ 0.99846078 -0.0021642 -0.05542007 0.5367474 ] [ 0.0023358 0.99999268 0.00303165 -0.44037164] [ 0.0554131 -0.00315644 0.99845852 -0.12056644] [ 0. 0. 0. 1. ]] SLAMing on 108.00463044 meters Centerline goodness : 0.091169 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.44, Z:-0.12 [[ 0.9984641 -0.00216577 -0.05536028 0.53667118] [ 0.0023467 0.99999212 0.00320347 -0.44174725] [ 0.0553529 -0.00332847 0.99846131 -0.12062369] [ 0. 0. 0. 1. ]] SLAMing on 108.03463044 meters Centerline goodness : 0.154888 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.44, Z:-0.12 [[ 0.99846896 -0.00217053 -0.05527234 0.53635871] [ 0.00236005 0.99999156 0.00336376 -0.44313522] [ 0.05526458 -0.00348906 0.99846565 -0.12042412] [ 0. 0. 0. 1. ]] SLAMing on 108.06463044 meters Centerline goodness : 0.110252 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.45, Z:-0.12 [[ 0.99850491 0.00599155 -0.05433273 0.55634909] [-0.00592768 0.99998154 0.00133669 -0.44745839] [ 0.05433974 -0.00101262 0.99852199 -0.11944103] [ 0. 0. 0. 1. ]] SLAMing on 108.09463043999999 meters Centerline goodness : 0.110478 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.45, Z:-0.12 [[ 0.99849598 0.00606899 -0.05448799 0.55745057] [-0.00600414 0.99998106 0.00135381 -0.4472458 ] [ 0.05449517 -0.00102462 0.99851351 -0.12035961] [ 0. 0. 0. 1. ]] SLAMing on 108.12463043999999 meters Centerline goodness : 0.111187 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.45, Z:-0.12 [[ 0.99848007 0.00614601 -0.05477028 0.5589186 ] [-0.00608063 0.99998059 0.0013604 -0.4470299 ] [ 0.05477758 -0.0010253 0.99849806 -0.12134658] [ 0. 0. 0. 1. ]] SLAMing on 108.15463043999999 meters Centerline goodness : 0.155502 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.45, Z:-0.12 [[ 9.98462323e-01 6.15508230e-03 -5.50917842e-02 5.60506955e-01] [-6.09459978e-03 9.99980627e-01 1.26579312e-03 -4.46572435e-01] [ 5.50985080e-02 -9.28084362e-04 9.98480492e-01 -1.22415855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18463043999999 meters Centerline goodness : 0.151714 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.45, Z:-0.12 [[ 9.98450005e-01 6.18829934e-03 -5.53108624e-02 5.61655262e-01] [-6.13515453e-03 9.99980541e-01 1.13058886e-03 -4.45803857e-01] [ 5.53167825e-02 -7.89495761e-04 9.98468542e-01 -1.23245566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21463044 meters Centerline goodness : 0.119126 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.45, Z:-0.12 [[ 9.98445831e-01 6.23866230e-03 -5.53805220e-02 5.62152233e-01] [-6.19149095e-03 9.99980309e-01 1.02330426e-03 -4.45039238e-01] [ 5.53858155e-02 -6.78825871e-04 9.98464797e-01 -1.23658473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24463044 meters Centerline goodness : 0.259278 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.44, Z:-0.12 [[ 9.98377295e-01 5.71747919e-04 -5.69425110e-02 5.79676097e-01] [-4.67288481e-04 9.99998184e-01 1.84777014e-03 -4.40116454e-01] [ 5.69434640e-02 -1.81816317e-03 9.98375749e-01 -1.20753267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27463044 meters Centerline goodness : 0.252030 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.44, Z:-0.12 [[ 9.98380098e-01 6.03303515e-04 -5.68930185e-02 5.79961541e-01] [-5.02537072e-04 9.99998280e-01 1.78544694e-03 -4.40067631e-01] [ 5.68939978e-02 -1.75396384e-03 9.98378684e-01 -1.21267422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30463044 meters Centerline goodness : 0.149293 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.44, Z:-0.12 [[ 9.98382629e-01 6.47132725e-04 -5.68481050e-02 5.80141502e-01] [-5.43728204e-04 9.99998170e-01 1.83441025e-03 -4.40279463e-01] [ 5.68491880e-02 -1.80053341e-03 9.98381154e-01 -1.21634548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33463044 meters Centerline goodness : 0.126820 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.44, Z:-0.12 [[ 9.98387037e-01 6.83759060e-04 -5.67702144e-02 5.80253431e-01] [-5.79363339e-04 9.99998111e-01 1.85535536e-03 -4.40258371e-01] [ 5.67713758e-02 -1.81947215e-03 9.98385547e-01 -1.22058018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36463044 meters Centerline goodness : 0.154991 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.44, Z:-0.12 [[ 9.98418811e-01 8.14405989e-04 -5.62068821e-02 5.79039042e-01] [-7.18876956e-04 9.99998263e-01 1.71979472e-03 -4.38837035e-01] [ 5.62081851e-02 -1.67666957e-03 9.98417662e-01 -1.22204945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39463044 meters Centerline goodness : 0.163721 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.44, Z:-0.12 [[ 9.98438279e-01 8.35448640e-04 -5.58596956e-02 5.78436548e-01] [-7.55400152e-04 9.99998657e-01 1.45412698e-03 -4.36925811e-01] [ 5.58608355e-02 -1.40965962e-03 9.98437569e-01 -1.22522940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42463044 meters Centerline goodness : 0.125117 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.43, Z:-0.12 [[ 9.98458929e-01 9.32070637e-04 -5.54878178e-02 5.77999159e-01] [-8.68617936e-04 9.99998941e-01 1.16764938e-03 -4.34346350e-01] [ 5.54888474e-02 -1.11765223e-03 9.98458682e-01 -1.23161062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45463044 meters Centerline goodness : 0.126686 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.43, Z:-0.12 [[ 9.98448382e-01 1.06935893e-02 -5.46486536e-02 5.98500646e-01] [-1.06891947e-02 9.99942799e-01 3.72717242e-04 -4.33359059e-01] [ 5.46495134e-02 2.12011173e-04 9.98505576e-01 -1.22652183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48463043999999 meters Centerline goodness : 0.118741 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.43, Z:-0.12 [[ 9.98454563e-01 1.05978759e-02 -5.45542931e-02 5.98903489e-01] [-1.06201569e-02 9.99943598e-01 -1.18523151e-04 -4.30339426e-01] [ 5.45499600e-02 6.97715131e-04 9.98510799e-01 -1.23499942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51463043999999 meters Centerline goodness : 0.119950 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.43, Z:-0.12 [[ 9.98448884e-01 1.03899605e-02 -5.46980402e-02 5.99755583e-01] [-1.04415150e-02 9.99945270e-01 -6.56827934e-04 -4.27736840e-01] [ 5.46882222e-02 1.22693953e-03 9.98502726e-01 -1.24178864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54463043999999 meters Centerline goodness : 0.105657 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.42, Z:-0.12 [[ 0.99842406 0.00993077 -0.05523389 0.60116431] [-0.01003568 0.99994833 -0.00162231 -0.42339284] [ 0.05521492 0.00217407 0.99847213 -0.12446452] [ 0. 0. 0. 1. ]] SLAMing on 108.57463043999999 meters Centerline goodness : 0.154044 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.42, Z:-0.12 [[ 0.99841294 0.00975291 -0.05546601 0.60178516] [-0.00987737 0.99994928 -0.00197014 -0.42168428] [ 0.05544399 0.00251488 0.99845863 -0.12459873] [ 0. 0. 0. 1. ]] SLAMing on 108.60463044 meters Centerline goodness : 0.130223 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.42, Z:-0.13 [[ 0.99840299 0.00955034 -0.05567994 0.60263258] [-0.00969535 0.99995027 -0.00233489 -0.41993692] [ 0.05565488 0.002871 0.99844594 -0.12510724] [ 0. 0. 0. 1. ]] SLAMing on 108.63463044 meters Centerline goodness : 0.129384 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.41, Z:-0.12 [[ 0.99836744 0.00279373 -0.05704957 0.62218884] [-0.00291695 0.99999359 -0.0020766 -0.41366811] [ 0.0570434 0.00223962 0.99836919 -0.12288962] [ 0. 0. 0. 1. ]] SLAMing on 108.66463044 meters Centerline goodness : 0.101656 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.41, Z:-0.12 [[ 0.99836154 0.00252851 -0.05716498 0.62253523] [-0.00266703 0.99999369 -0.0023469 -0.413062 ] [ 0.05715869 0.00249552 0.99836199 -0.12301682] [ 0. 0. 0. 1. ]] SLAMing on 108.69463044 meters Centerline goodness : 0.112411 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.41, Z:-0.12 [[ 0.99838129 0.00172214 -0.05684916 0.62139774] [-0.0019005 0.99999344 -0.00308347 -0.41189791] [ 0.05684348 0.00318652 0.99837802 -0.12244977] [ 0. 0. 0. 1. ]] SLAMing on 108.72463044 meters Centerline goodness : 0.105162 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.41, Z:-0.12 [[ 0.99837122 -0.00505036 -0.0568278 0.640157 ] [ 0.0049277 0.99998522 -0.00229835 -0.40625406] [ 0.05683857 0.00201458 0.99838135 -0.11963883] [ 0. 0. 0. 1. ]] SLAMing on 108.75463044 meters Centerline goodness : 0.123132 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.41, Z:-0.12 [[ 0.99841547 0.00190119 -0.05624006 0.62057357] [-0.00206689 0.99999369 -0.00288827 -0.40927556] [ 0.05623422 0.00299994 0.9984131 -0.12190608] [ 0. 0. 0. 1. ]] SLAMing on 108.78463044 meters Centerline goodness : 0.119765 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.41, Z:-0.12 [[ 0.99841622 0.00177238 -0.05623083 0.62093153] [-0.00195465 0.99999301 -0.00318675 -0.40766042] [ 0.05622479 0.00329162 0.99841271 -0.12246496] [ 0. 0. 0. 1. ]] SLAMing on 108.81463044 meters Centerline goodness : 0.106359 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.40, Z:-0.12 [[ 0.99842822 0.00147702 -0.05602587 0.62116672] [-0.00169761 0.99999099 -0.00388976 -0.40416091] [ 0.05601962 0.00397876 0.99842174 -0.12340637] [ 0. 0. 0. 1. ]] SLAMing on 108.84463043999999 meters Centerline goodness : 0.104253 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.40, Z:-0.12 [[ 0.99842913 0.00126434 -0.05601486 0.62140114] [-0.00151064 0.99998938 -0.00435496 -0.40217725] [ 0.05600876 0.00443274 0.99842044 -0.12375138] [ 0. 0. 0. 1. ]] SLAMing on 108.87463043999999 meters Centerline goodness : 0.163469 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.40, Z:-0.12 [[ 0.99842818 0.00111917 -0.05603499 0.62153491] [-0.0013889 0.99998764 -0.00477493 -0.40003835] [ 0.05602895 0.00484525 0.99841739 -0.12385757] [ 0. 0. 0. 1. ]] SLAMing on 108.90463043999999 meters Centerline goodness : 0.107134 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.40, Z:-0.12 [[ 0.99843225 0.00103549 -0.05596406 0.62146571] [-0.00132838 0.99998562 -0.00519658 -0.39747239] [ 0.05595787 0.00526277 0.99841926 -0.12399736] [ 0. 0. 0. 1. ]] SLAMing on 108.93463043999999 meters Centerline goodness : 0.160625 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.39, Z:-0.12 [[ 9.98433242e-01 9.92626554e-04 -5.59470899e-02 6.21539759e-01] [-1.31039431e-03 9.99983217e-01 -5.64339169e-03 -3.94409474e-01] [ 5.59405492e-02 5.70786261e-03 9.98417786e-01 -1.24171406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96463044 meters Centerline goodness : 0.105045 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.39, Z:-0.12 [[ 9.98439950e-01 8.73449021e-04 -5.58292384e-02 6.21561283e-01] [-1.22279891e-03 9.99979885e-01 -6.22361757e-03 -3.90858929e-01] [ 5.58226795e-02 6.28217634e-03 9.98420935e-01 -1.24557728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99463044 meters Centerline goodness : 0.106244 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.38, Z:-0.13 [[ 0.99844826 0.00245227 -0.05563334 0.62134513] [-0.0027826 0.99997895 -0.00586102 -0.38111876] [ 0.05561779 0.00600673 0.99843406 -0.12501834] [ 0. 0. 0. 1. ]] SLAMing on 109.02463044 meters Centerline goodness : 0.103885 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.38, Z:-0.13 [[ 0.99846734 0.00236349 -0.05529369 0.62079651] [-0.00272868 0.99997496 -0.00653006 -0.37636378] [ 0.05527688 0.00667093 0.99844878 -0.12535007] [ 0. 0. 0. 1. ]] SLAMing on 109.05463044 meters Centerline goodness : 0.103932 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.37, Z:-0.13 [[ 0.99848602 0.0024273 -0.05495247 0.62005021] [-0.00281694 0.99997143 -0.00701406 -0.37174551] [ 0.05493388 0.00715824 0.99846434 -0.1254777 ] [ 0. 0. 0. 1. ]] SLAMing on 109.08463044 meters Centerline goodness : 0.128128 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.37, Z:-0.12 [[ 0.99843063 0.01166923 -0.05477328 0.63914993] [-0.0120933 0.99989936 -0.00741713 -0.37145277] [ 0.05468122 0.00806788 0.99847127 -0.12433922] [ 0. 0. 0. 1. ]] SLAMing on 109.11463044 meters Centerline goodness : 0.109120 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.36, Z:-0.13 [[ 0.99846176 0.00298473 -0.05536434 0.62233309] [-0.00336324 0.9999716 -0.00674479 -0.35907254] [ 0.05534264 0.00692062 0.99844344 -0.12739847] [ 0. 0. 0. 1. ]] SLAMing on 109.14463044 meters Centerline goodness : 0.109227 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.36, Z:-0.13 [[ 0.99844791 0.00267855 -0.05562907 0.62327953] [-0.00308678 0.99996893 -0.00725379 -0.35696216] [ 0.05560791 0.00741425 0.99842515 -0.12781943] [ 0. 0. 0. 1. ]] SLAMing on 109.17463044 meters Centerline goodness : 0.104454 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.36, Z:-0.13 [[ 0.99843728 0.00248033 -0.05582874 0.62409109] [-0.00290855 0.99996696 -0.00759026 -0.35550181] [ 0.05580806 0.00774078 0.99841151 -0.12830384] [ 0. 0. 0. 1. ]] SLAMing on 109.20463044 meters Centerline goodness : 0.107167 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.35, Z:-0.13 [[ 0.99842395 0.00223797 -0.05607684 0.62500965] [-0.00268521 0.99996518 -0.00790138 -0.3543658 ] [ 0.0560572 0.00803951 0.99839519 -0.1287578 ] [ 0. 0. 0. 1. ]] SLAMing on 109.23463043999999 meters Centerline goodness : 0.191928 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.35, Z:-0.13 [[ 0.99841423 0.00204386 -0.05625703 0.62555405] [-0.00250732 0.99996349 -0.00816898 -0.35325753] [ 0.05623828 0.00829708 0.9983829 -0.12888573] [ 0. 0. 0. 1. ]] SLAMing on 109.26463043999999 meters Centerline goodness : 0.115167 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.35, Z:-0.13 [[ 0.99839979 0.00184405 -0.0565196 0.62637075] [-0.00232973 0.99996092 -0.00852833 -0.35167896] [ 0.05650167 0.00864636 0.99836506 -0.12913402] [ 0. 0. 0. 1. ]] SLAMing on 109.29463043999999 meters Centerline goodness : 0.157730 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.35, Z:-0.13 [[ 0.99838028 0.00147574 -0.0568739 0.62794769] [-0.00201137 0.99995415 -0.00936188 -0.3474251 ] [ 0.05685748 0.00946112 0.99833748 -0.13011956] [ 0. 0. 0. 1. ]] SLAMing on 109.32463043999999 meters Centerline goodness : 0.126726 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.34, Z:-0.13 [[ 0.99838104 0.00134796 -0.05686365 0.62821716] [-0.001908 0.9999502 -0.00979563 -0.34491312] [ 0.05684761 0.00988827 0.9983339 -0.13050927] [ 0. 0. 0. 1. ]] SLAMing on 109.35463044 meters Centerline goodness : 0.106802 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.34, Z:-0.13 [[ 0.99838574 0.00124441 -0.05678356 0.62819005] [-0.00182762 0.99994611 -0.0102199 -0.34223514] [ 0.05676778 0.01030719 0.9983342 -0.13070457] [ 0. 0. 0. 1. ]] SLAMing on 109.38463044 meters Centerline goodness : 0.127605 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.34, Z:-0.13 [[ 0.99838937 0.00108589 -0.05672298 0.62816898] [-0.00169795 0.99994085 -0.0107433 -0.33932964] [ 0.05670796 0.01082231 0.99833215 -0.13084113] [ 0. 0. 0. 1. ]] SLAMing on 109.41463044 meters Centerline goodness : 0.157484 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.34, Z:-0.13 [[ 9.98384485e-01 8.75086407e-04 -5.68124519e-02 6.28562843e-01] [-1.51864372e-03 9.99935163e-01 -1.12855657e-02 -3.36569083e-01] [ 5.67988925e-02 1.13536116e-02 9.98321081e-01 -1.31051604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44463044 meters Centerline goodness : 0.130978 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.13 [[ 9.98383321e-01 5.35279138e-04 -5.68371154e-02 6.28951791e-01] [-1.22602728e-03 9.99925811e-01 -1.21189430e-02 -3.31997681e-01] [ 5.68264117e-02 1.21690344e-02 9.98309909e-01 -1.31481936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47463044 meters Centerline goodness : 0.172177 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.13 [[ 9.98384059e-01 4.07893807e-04 -5.68252012e-02 6.29010515e-01] [-1.11786545e-03 9.99921712e-01 -1.24627306e-02 -3.30082413e-01] [ 5.68156690e-02 1.25061145e-02 9.98306354e-01 -1.31606320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50463044 meters Centerline goodness : 0.167859 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.13 [[ 9.98393281e-01 3.29165106e-04 -5.66634663e-02 6.28577579e-01] [-1.05574198e-03 9.99917606e-01 -1.27932116e-02 -3.27944213e-01] [ 5.66545865e-02 1.28324785e-02 9.98311367e-01 -1.31550664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53463044 meters Centerline goodness : 0.167859 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.13 [[ 9.98393281e-01 3.29165106e-04 -5.66634663e-02 6.28577579e-01] [-1.05574198e-03 9.99917606e-01 -1.27932116e-02 -3.27944213e-01] [ 5.66545865e-02 1.28324785e-02 9.98311367e-01 -1.31550664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56463044 meters Centerline goodness : 0.187073 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.13 [[ 9.98413786e-01 2.23834836e-04 -5.63015332e-02 6.27753129e-01] [-9.67741711e-04 9.99912593e-01 -1.31859889e-02 -3.25476528e-01] [ 5.62936605e-02 1.32195585e-02 9.98326734e-01 -1.31607582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59463043999999 meters Centerline goodness : 0.131276 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.13 [[ 9.98443580e-01 -2.17583984e-04 -5.57706969e-02 6.26795703e-01] [-5.78325983e-04 9.99898231e-01 -1.42545772e-02 -3.19698731e-01] [ 5.57681227e-02 1.42646448e-02 9.98341843e-01 -1.31891375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62463043999999 meters Centerline goodness : 0.176343 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.13 [[ 9.98441834e-01 -5.12503633e-04 -5.58000043e-02 6.27318763e-01] [-3.23601795e-04 9.99887833e-01 -1.49739006e-02 -3.16151835e-01] [ 5.58014195e-02 1.49686258e-02 9.98329676e-01 -1.32509055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65463043999999 meters Centerline goodness : 0.452055 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.31, Z:-0.13 [[ 9.98433275e-01 -7.04044381e-04 -5.59508659e-02 6.28168956e-01] [-1.72119837e-04 9.99877467e-01 -1.56531677e-02 -3.12157592e-01] [ 5.59550306e-02 1.56382737e-02 9.98310813e-01 -1.33151323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68463043999999 meters Centerline goodness : 0.109852 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.31, Z:-0.13 [[ 0.99839172 0.0019351 -0.05665883 0.63095028] [-0.00270999 0.9999038 -0.01360287 -0.30760288] [ 0.05662705 0.01373453 0.99830093 -0.13418241] [ 0. 0. 0. 1. ]] SLAMing on 109.71463044 meters Centerline goodness : 0.228399 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.30, Z:-0.13 [[ 0.99839307 0.00179691 -0.05663967 0.63120981] [-0.00261232 0.99989397 -0.01432572 -0.30273962] [ 0.05660793 0.01445066 0.9982919 -0.13456619] [ 0. 0. 0. 1. ]] SLAMing on 109.74463044 meters Centerline goodness : 0.166034 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.30, Z:-0.13 [[ 0.99837683 0.00164682 -0.0569298 0.63218464] [-0.0025071 0.9998837 -0.01504305 -0.29828914] [ 0.0568984 0.01516136 0.99826485 -0.13491937] [ 0. 0. 0. 1. ]] SLAMing on 109.77463044 meters Centerline goodness : 0.195931 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.29, Z:-0.14 [[ 0.99829594 0.00267649 -0.05829284 0.63604306] [-0.00357031 0.99987757 -0.01523449 -0.28808449] [ 0.05824493 0.01541665 0.99818328 -0.13575992] [ 0. 0. 0. 1. ]] SLAMing on 109.80463044 meters Centerline goodness : 0.220845 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.28, Z:-0.14 [[ 0.99828445 0.00240353 -0.05850103 0.63666157] [-0.00334544 0.99986627 -0.01600812 -0.28401137] [ 0.05845473 0.01617636 0.99815899 -0.1359078 ] [ 0. 0. 0. 1. ]] SLAMing on 109.83463044 meters Centerline goodness : 0.401328 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.28, Z:-0.14 [[ 0.99828838 0.00218895 -0.05844241 0.63660632] [-0.00316905 0.99985581 -0.01668284 -0.28014955] [ 0.05839746 0.01683949 0.99815138 -0.13603521] [ 0. 0. 0. 1. ]] SLAMing on 109.86463044 meters Centerline goodness : 0.094995 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.28, Z:-0.14 [[ 0.99830174 0.00197988 -0.0582212 0.63599927] [-0.0029894 0.99984661 -0.01725743 -0.27738162] [ 0.0581781 0.01740217 0.99815453 -0.13594302] [ 0. 0. 0. 1. ]] SLAMing on 109.89463044 meters Centerline goodness : 0.108504 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.27, Z:-0.14 [[ 0.99830988 0.00170943 -0.05809018 0.63579857] [-0.00275527 0.99983548 -0.01792844 -0.27391212] [ 0.05804998 0.0180582 0.99815034 -0.13606447] [ 0. 0. 0. 1. ]] SLAMing on 109.92463044 meters Centerline goodness : 0.105879 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.27, Z:-0.14 [[ 0.99831827 0.00142015 -0.05795364 0.6357458 ] [-0.00250029 0.99982444 -0.01856973 -0.27095492] [ 0.05791709 0.01868341 0.99814655 -0.13647856] [ 0. 0. 0. 1. ]] SLAMing on 109.95463044 meters Centerline goodness : 0.164321 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.26, Z:-0.14 [[ 0.99831403 0.00188883 -0.05801318 0.6360357 ] [-0.00299517 0.9998152 -0.0189895 -0.26071707] [ 0.05796659 0.01913124 0.9981352 -0.13654935] [ 0. 0. 0. 1. ]] SLAMing on 109.98463043999999 meters Centerline goodness : 0.109555 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.26, Z:-0.14 [[ 0.99830446 0.00171675 -0.05818291 0.63641429] [-0.00285938 0.99980458 -0.01956101 -0.25776454] [ 0.05813796 0.01969421 0.99811428 -0.13648221] [ 0. 0. 0. 1. ]] SLAMing on 110.01463043999999 meters Centerline goodness : 0.159757 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.25, Z:-0.14 [[ 0.99828735 0.00150758 -0.05848163 0.63704879] [-0.00269545 0.99979155 -0.02023835 -0.25443249] [ 0.05843893 0.02036132 0.99808332 -0.1362533 ] [ 0. 0. 0. 1. ]] SLAMing on 110.04463043999999 meters Centerline goodness : 0.121657 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.14 [[ 0.99826139 0.00179688 -0.05891485 0.63811476] [-0.00303418 0.99977657 -0.02091884 -0.24439263] [ 0.05886409 0.02106123 0.99804381 -0.13619512] [ 0. 0. 0. 1. ]] SLAMing on 110.07463043999999 meters Centerline goodness : 0.099376 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.14 [[ 0.99825075 0.00148081 -0.05910373 0.63884734] [-0.00276389 0.99976216 -0.02163308 -0.24093231] [ 0.05905764 0.0217586 0.99801741 -0.13659168] [ 0. 0. 0. 1. ]] SLAMing on 110.10463044 meters Centerline goodness : 0.447637 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.14 [[ 0.99824942 0.0012926 -0.0591305 0.63933922] [-0.0026082 0.99975065 -0.02217723 -0.23772084] [ 0.05908709 0.02229263 0.99800388 -0.13719403] [ 0. 0. 0. 1. ]] SLAMing on 110.13463044 meters Centerline goodness : 0.111390 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.14 [[ 0.99824529 0.00122111 -0.05920185 0.63994229] [-0.00255676 0.99974379 -0.02249045 -0.23526382] [ 0.05915921 0.02260235 0.99799265 -0.13776869] [ 0. 0. 0. 1. ]] SLAMing on 110.16463044 meters Centerline goodness : 0.157855 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.14 [[ 0.99824831 0.00120175 -0.05915129 0.64019532] [-0.00254209 0.99974159 -0.02258941 -0.23403099] [ 0.05910886 0.0227002 0.99799341 -0.13823066] [ 0. 0. 0. 1. ]] SLAMing on 110.19463044 meters Centerline goodness : 0.106804 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.14 [[ 0.99824774 0.00108069 -0.05916323 0.64016133] [-0.00242957 0.99973864 -0.02273203 -0.23343608] [ 0.0591232 0.02283594 0.99798946 -0.13811141] [ 0. 0. 0. 1. ]] SLAMing on 110.22463044 meters Centerline goodness : 0.115055 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.14 [[ 9.98254195e-01 4.24165105e-04 -5.90625277e-02 6.39636354e-01] [-1.81390356e-03 9.99722701e-01 -2.34783272e-02 -2.31723587e-01] [ 5.90361910e-02 2.35444724e-02 9.97978149e-01 -1.37606028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25463044 meters Centerline goodness : 0.103596 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.13 [[ 0.99816735 -0.00646565 -0.06016761 0.65857445] [ 0.00509942 0.99972629 -0.02283294 -0.22444079] [ 0.06029877 0.02248427 0.99792711 -0.1347486 ] [ 0. 0. 0. 1. ]] SLAMing on 110.28463044 meters Centerline goodness : 0.110897 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.14 [[ 0.99813951 -0.00325951 -0.06088433 0.6606102 ] [ 0.00204717 0.99979861 -0.01996393 -0.22256979] [ 0.06093714 0.01980215 0.99794516 -0.13513038] [ 0. 0. 0. 1. ]] SLAMing on 110.31463044 meters Centerline goodness : 0.177873 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.14 [[ 9.98098363e-01 1.82299069e-04 -6.16411005e-02 6.62959753e-01] [-1.23039892e-03 9.99855315e-01 -1.69657330e-02 -2.20319076e-01] [ 6.16290891e-02 1.70093135e-02 9.97954177e-01 -1.35767846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34463043999999 meters Centerline goodness : 0.112772 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.14 [[ 0.99805034 0.00339286 -0.0623218 0.66499125] [-0.0043136 0.99988345 -0.01464536 -0.21466056] [ 0.06226485 0.01488564 0.99794865 -0.13616383] [ 0. 0. 0. 1. ]] SLAMing on 110.37463043999999 meters Centerline goodness : 0.178935 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.14 [[ 0.99806835 0.00327546 -0.06203903 0.66406908] [-0.00421778 0.99987763 -0.01506441 -0.21217298] [ 0.0619821 0.01529697 0.99796003 -0.1358645 ] [ 0. 0. 0. 1. ]] SLAMing on 110.40463043999999 meters Centerline goodness : 0.115874 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.14 [[ 0.99809492 0.00308247 -0.06162011 0.66266341] [-0.00404484 0.9998717 -0.0154992 -0.20994771] [ 0.06156443 0.01571891 0.99797933 -0.13536852] [ 0. 0. 0. 1. ]] SLAMing on 110.43463043999999 meters Centerline goodness : 0.123364 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.14 [[ 9.98363005e-01 -4.20529771e-04 -5.71938254e-02 6.86412049e-01] [-3.40579632e-04 9.99911531e-01 -1.32971464e-02 -2.02481376e-01] [ 5.71943574e-02 1.32948581e-02 9.98274538e-01 -1.35048725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46463044 meters Centerline goodness : 0.098377 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.13 [[ 9.98381791e-01 -5.87625498e-04 -5.68634662e-02 6.85523885e-01] [-1.98710316e-04 9.99904454e-01 -1.38218467e-02 -1.99625124e-01] [ 5.68661552e-02 1.38107794e-02 9.98286283e-01 -1.34911752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49463044 meters Centerline goodness : 0.099621 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.14 [[ 9.98393233e-01 -7.42585087e-04 -5.66604026e-02 6.85228820e-01] [-7.83313318e-05 9.99895087e-01 -1.44847656e-02 -1.95788569e-01] [ 5.66652143e-02 1.44659303e-02 9.98288430e-01 -1.35182117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52463044 meters Centerline goodness : 0.105784 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.14 [[ 9.98390107e-01 -8.80810042e-04 -5.67134765e-02 6.85506092e-01] [ 2.15071607e-05 9.99885225e-01 -1.51504803e-02 -1.91605357e-01] [ 5.67203119e-02 1.51248699e-02 9.98275535e-01 -1.35422532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55463044 meters Centerline goodness : 0.103845 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.14 [[ 0.9983374 0.00136349 -0.05762442 0.68897536] [-0.00214678 0.99990612 -0.01353336 -0.18675444] [ 0.05760056 0.01363457 0.9982466 -0.13658087] [ 0. 0. 0. 1. ]] SLAMing on 110.58463044 meters Centerline goodness : 0.108523 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.14 [[ 0.99828934 0.00278424 -0.05840076 0.69092602] [-0.0035647 0.99990568 -0.01326382 -0.17681791] [ 0.05835832 0.01344931 0.9982051 -0.13677316] [ 0. 0. 0. 1. ]] SLAMing on 110.61463044 meters Centerline goodness : 0.093471 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.14 [[ 0.9982847 0.0025177 -0.05849201 0.69119407] [-0.00333654 0.99989774 -0.01390574 -0.17347473] [ 0.05845101 0.01407705 0.99819102 -0.13686341] [ 0. 0. 0. 1. ]] SLAMing on 110.64463044 meters Centerline goodness : 0.095807 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.14 [[ 0.99828045 0.00224755 -0.05857549 0.69160235] [-0.00309833 0.99989097 -0.01443772 -0.17102628] [ 0.05853666 0.01459438 0.99817857 -0.13714021] [ 0. 0. 0. 1. ]] SLAMing on 110.67463044 meters Centerline goodness : 0.144850 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 0.99821934 -0.00495006 -0.05944448 0.71005362] [ 0.00414102 0.99989723 -0.01372551 -0.16368922] [ 0.05950631 0.01345491 0.99813725 -0.13443663] [ 0. 0. 0. 1. ]] SLAMing on 110.70463044 meters Centerline goodness : 0.100393 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 0.99821577 -0.00513972 -0.05948835 0.71006579] [ 0.00431396 0.99989267 -0.01400122 -0.16268812] [ 0.05955393 0.01371961 0.9981308 -0.13430846] [ 0. 0. 0. 1. ]] SLAMing on 110.73463043999999 meters Centerline goodness : 0.100242 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 0.99820948 -0.00529317 -0.05958035 0.71000351] [ 0.00445396 0.99988912 -0.01420946 -0.16197739] [ 0.05964896 0.01391865 0.99812237 -0.13389337] [ 0. 0. 0. 1. ]] SLAMing on 110.76463043999999 meters Centerline goodness : 0.102596 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 0.99820934 -0.00549839 -0.05956403 0.70946102] [ 0.00463704 0.99988282 -0.01458946 -0.16023979] [ 0.05963727 0.01428713 0.99811787 -0.1331665 ] [ 0. 0. 0. 1. ]] SLAMing on 110.79463043999999 meters Centerline goodness : 0.091540 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 0.99819694 -0.00555297 -0.05976647 0.71006319] [ 0.00467501 0.99987925 -0.01481967 -0.15884544] [ 0.05984154 0.01451354 0.99810237 -0.13332728] [ 0. 0. 0. 1. ]] SLAMing on 110.82463043999999 meters Centerline goodness : 0.107618 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 0.99818058 -0.00565461 -0.06002959 0.71111869] [ 0.00475404 0.99987417 -0.0151344 -0.15706393] [ 0.06010762 0.01482148 0.99808186 -0.13391511] [ 0. 0. 0. 1. ]] SLAMing on 110.85463044 meters Centerline goodness : 0.104220 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.13 [[ 0.99814956 -0.00577126 -0.06053228 0.71282877] [ 0.00483869 0.99986752 -0.01554137 -0.15477695] [ 0.06061395 0.01521971 0.99804524 -0.13458271] [ 0. 0. 0. 1. ]] SLAMing on 110.88463044 meters Centerline goodness : 0.099589 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.14 [[ 0.99812638 -0.0059616 -0.06089496 0.71407144] [ 0.00499064 0.99985818 -0.01608455 -0.15183918] [ 0.06098221 0.0157505 0.99801457 -0.13507306] [ 0. 0. 0. 1. ]] SLAMing on 110.91463044 meters Centerline goodness : 0.090830 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.14 [[ 0.9979648 -0.00459751 -0.06360125 0.66970367] [ 0.00365899 0.99988282 -0.01486486 -0.14531799] [ 0.06366214 0.01460189 0.99786468 -0.13704294] [ 0. 0. 0. 1. ]] SLAMing on 110.94463044 meters Centerline goodness : 0.107171 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.14 [[ 0.99800391 -0.00238641 -0.06310701 0.66735377] [ 0.00155745 0.9999119 -0.01318172 -0.14039067] [ 0.06313291 0.01305713 0.99791971 -0.13590897] [ 0. 0. 0. 1. ]] SLAMing on 110.97463044 meters Centerline goodness : 0.099441 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.14 [[ 0.99800325 -0.0026238 -0.06310812 0.66725175] [ 0.00175115 0.99990215 -0.01387921 -0.1362538 ] [ 0.06313836 0.01374098 0.99791018 -0.13579002] [ 0. 0. 0. 1. ]] SLAMing on 111.00463044 meters Centerline goodness : 0.110830 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.14 [[ 0.99800088 -0.00290396 -0.06313332 0.66725847] [ 0.00198862 0.99989207 -0.01455651 -0.13266595] [ 0.06316878 0.01440186 0.99789894 -0.13572015] [ 0. 0. 0. 1. ]] SLAMing on 111.03463044 meters Centerline goodness : 0.474649 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.14 [[ 0.99798884 -0.00316372 -0.06331086 0.66778405] [ 0.00221112 0.99988338 -0.01511079 -0.12968431] [ 0.06335129 0.01494041 0.99787945 -0.13588288] [ 0. 0. 0. 1. ]] SLAMing on 111.06463044 meters Centerline goodness : 0.111574 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.14 [[ 0.997962 -0.00357649 -0.06371071 0.66885927] [ 0.00257156 0.9998711 -0.01584839 -0.12522297] [ 0.06375918 0.01565225 0.99784256 -0.13599927] [ 0. 0. 0. 1. ]] SLAMing on 111.09463043999999 meters Centerline goodness : 0.094050 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.14 [[ 0.99797069 -0.00378862 -0.0635621 0.66829804] [ 0.00276964 0.99986636 -0.01611167 -0.12403437] [ 0.06361465 0.01590293 0.99784782 -0.13573949] [ 0. 0. 0. 1. ]] SLAMing on 111.12463043999999 meters Centerline goodness : 0.440576 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.14 [[ 0.99827272 -0.00201624 -0.05871556 0.63238357] [ 0.00102821 0.99985745 -0.01685287 -0.1256085 ] [ 0.05874117 0.01676338 0.99813249 -0.1407775 ] [ 0. 0. 0. 1. ]] SLAMing on 111.15463043999999 meters Centerline goodness : 0.439972 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.14 [[ 0.99830297 -0.01082855 -0.05721826 0.65214085] [ 0.00988581 0.99981111 -0.01673362 -0.12116166] [ 0.05738865 0.01613958 0.99822145 -0.13890983] [ 0. 0. 0. 1. ]] SLAMing on 111.18463043999999 meters Centerline goodness : 0.449401 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.14 [[ 0.99832369 -0.01161547 -0.05669999 0.65071225] [ 0.01064204 0.99979128 -0.0174399 -0.1192905 ] [ 0.05689072 0.01680727 0.99823893 -0.13860682] [ 0. 0. 0. 1. ]] SLAMing on 111.21463044 meters Centerline goodness : 0.442793 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.14 [[ 0.99839071 -0.00325705 -0.05661603 0.63020871] [ 0.00223875 0.99983475 -0.01804029 -0.12113051] [ 0.05666544 0.01788451 0.99823303 -0.14063457] [ 0. 0. 0. 1. ]] SLAMing on 111.24463044 meters Centerline goodness : 0.331039 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.14 [[ 0.99839085 -0.00338726 -0.0566059 0.63040124] [ 0.00234358 0.99982623 -0.01849386 -0.11850241] [ 0.0566587 0.01833144 0.9982253 -0.1408795 ] [ 0. 0. 0. 1. ]] SLAMing on 111.27463044 meters Centerline goodness : 0.096839 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.14 [[ 0.99834259 0.00468025 -0.05735999 0.60985607] [-0.00582499 0.99978687 -0.01980616 -0.11918079] [ 0.05725507 0.02010745 0.99815708 -0.14267878] [ 0. 0. 0. 1. ]] SLAMing on 111.30463044 meters Centerline goodness : 0.091307 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.14 [[ 0.99829404 -0.00243917 -0.05833578 0.62881149] [ 0.00132578 0.99981637 -0.01911709 -0.11110174] [ 0.0583717 0.01900713 0.99811396 -0.13958678] [ 0. 0. 0. 1. ]] SLAMing on 111.33463044 meters Centerline goodness : 0.447817 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99828457 -0.0026092 -0.05849021 0.62830721] [ 0.00145118 0.99980227 -0.01983225 -0.10488753] [ 0.05853039 0.01971335 0.99809097 -0.1384994 ] [ 0. 0. 0. 1. ]] SLAMing on 111.36463044 meters Centerline goodness : 0.097861 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99827533 -0.00269339 -0.05864394 0.62873511] [ 0.00151418 0.99979596 -0.020143 -0.10289724] [ 0.05868623 0.02001946 0.99807572 -0.13855525] [ 0. 0. 0. 1. ]] SLAMing on 111.39463044 meters Centerline goodness : 0.244800 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99826991 -0.00284336 -0.058729 0.62919497] [ 0.00164356 0.99978916 -0.0204677 -0.10127613] [ 0.05877482 0.02033577 0.99806411 -0.13891203] [ 0. 0. 0. 1. ]] SLAMing on 111.42463044 meters Centerline goodness : 0.444194 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99826434 -0.00303504 -0.05881415 0.62950943] [ 0.0018144 0.99978208 -0.02079649 -0.10006106] [ 0.05886445 0.02065369 0.9980523 -0.1390392 ] [ 0. 0. 0. 1. ]] SLAMing on 111.45463044 meters Centerline goodness : 0.444194 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99826404 -0.00303748 -0.05881906 0.62951064] [ 0.00181655 0.99978201 -0.02079977 -0.10005806] [ 0.05886942 0.02065681 0.99805195 -0.13903158] [ 0. 0. 0. 1. ]] SLAMing on 111.48463043999999 meters Centerline goodness : 0.453658 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99827202 -0.00348716 -0.05865843 0.62878709] [ 0.00224394 0.99977175 -0.02124667 -0.09867378] [ 0.05871913 0.02107833 0.99805199 -0.13853257] [ 0. 0. 0. 1. ]] SLAMing on 111.51463043999999 meters Centerline goodness : 0.319552 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99827728 -0.00361762 -0.05856097 0.62821507] [ 0.0023719 0.99976972 -0.02132779 -0.09852601] [ 0.05862464 0.02115214 0.99805598 -0.13807982] [ 0. 0. 0. 1. ]] SLAMing on 111.54463043999999 meters Centerline goodness : 0.450843 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.14 [[ 0.99826828 -0.00369351 -0.05870943 0.62856676] [ 0.00244354 0.99976911 -0.02134826 -0.09848744] [ 0.05877473 0.02116783 0.99804682 -0.13809473] [ 0. 0. 0. 1. ]] SLAMing on 111.57463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.60463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.63463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.66463044 meters Centerline goodness : 0.105353 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.14 [[ 0.99823103 -0.00462676 -0.059274 0.63064558] [ 0.0032959 0.99974072 -0.02253077 -0.09457591] [ 0.05936288 0.02229555 0.99798745 -0.13893581] [ 0. 0. 0. 1. ]] SLAMing on 111.69463044 meters Centerline goodness : 0.183870 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.14 [[ 0.99821396 -0.0047095 -0.05955431 0.6314601 ] [ 0.00335194 0.99973272 -0.02287469 -0.09245965] [ 0.05964612 0.02263422 0.99796294 -0.13907005] [ 0. 0. 0. 1. ]] SLAMing on 111.72463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.75463044 meters Centerline goodness : 0.161232 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.14 [[ 0.99811482 -0.00277293 -0.06131158 0.6374894 ] [ 0.00145838 0.99976833 -0.02147479 -0.08769126] [ 0.06135692 0.02134489 0.99788763 -0.14090089] [ 0. 0. 0. 1. ]] SLAMing on 111.78463044 meters Centerline goodness : 0.105777 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.14 [[ 0.99811439 -0.00283615 -0.06131579 0.63748875] [ 0.0015154 0.99976606 -0.02157597 -0.08724952] [ 0.06136264 0.02144237 0.99788519 -0.14089171] [ 0. 0. 0. 1. ]] SLAMing on 111.81463044 meters Centerline goodness : 0.107690 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.14 [[ 0.99813321 -0.00295203 -0.06100306 0.63642317] [ 0.00162551 0.99976139 -0.02178329 -0.08647247] [ 0.06105281 0.02164346 0.99789985 -0.14045192] [ 0. 0. 0. 1. ]] SLAMing on 111.84463043999999 meters Centerline goodness : 0.104842 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.14 [[ 0.99816005 -0.0029819 -0.06056088 0.63470978] [ 0.00165493 0.9997577 -0.02194979 -0.08540051] [ 0.06061166 0.02180918 0.99792314 -0.13953664] [ 0. 0. 0. 1. ]] SLAMing on 111.87463043999999 meters Centerline goodness : 0.093576 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.14 [[ 9.98344703e-01 -1.30738529e-03 -5.74990843e-02 6.74357772e-01] [ 1.24188295e-04 9.99788275e-01 -2.05764278e-02 -8.08222642e-02] [ 5.75138117e-02 2.05352270e-02 9.98133491e-01 -1.35507515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90463043999999 meters Centerline goodness : 0.104968 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.14 [[ 9.98325157e-01 -1.39336955e-03 -5.78354463e-02 6.75434667e-01] [ 1.77099431e-04 9.99778837e-01 -2.10296393e-02 -7.80109190e-02] [ 5.78519573e-02 2.09841753e-02 9.98104611e-01 -1.35809844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93463043999999 meters Centerline goodness : 0.116704 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.14 [[ 9.98286594e-01 -1.54138799e-03 -5.84936002e-02 6.77529652e-01] [ 2.78480644e-04 9.99766815e-01 -2.15925343e-02 -7.48770602e-02] [ 5.85132428e-02 2.15392482e-02 9.98054238e-01 -1.36454820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96463044 meters Centerline goodness : 0.104107 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.14 [[ 9.98257406e-01 -1.70473957e-03 -5.89851227e-02 6.79258428e-01] [ 3.97847559e-04 9.99754337e-01 -2.21609526e-02 -7.18698599e-02] [ 5.90084109e-02 2.20988680e-02 9.98012849e-01 -1.37165780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99463044 meters Centerline goodness : 0.103704 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.14 [[ 9.98245463e-01 -1.85744058e-03 -5.91823107e-02 6.80199376e-01] [ 5.16480323e-04 9.99742974e-01 -2.26653710e-02 -6.90673116e-02] [ 5.92091989e-02 2.25950373e-02 9.97989847e-01 -1.37781884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02463044 meters Centerline goodness : 0.103709 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.14 [[ 9.98241260e-01 -1.92608479e-03 -5.92509651e-02 6.80543261e-01] [ 5.62931673e-04 9.99734972e-01 -2.30145230e-02 -6.68150990e-02] [ 5.92795899e-02 2.29406922e-02 9.97977783e-01 -1.37977868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05463044 meters Centerline goodness : 0.103167 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.14 [[ 9.98238323e-01 -2.11111510e-03 -5.92941249e-02 6.80470179e-01] [ 7.18577077e-04 9.99723654e-01 -2.34967718e-02 -6.37620736e-02] [ 5.93273436e-02 2.34127707e-02 9.97963982e-01 -1.37615184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08463044 meters Centerline goodness : 0.105282 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.14 [[ 9.98237106e-01 -2.22582098e-03 -5.93104138e-02 6.80043767e-01] [ 8.22573748e-04 9.99719410e-01 -2.36732928e-02 -6.30557723e-02] [ 5.93464644e-02 2.35827721e-02 9.97958842e-01 -1.36946936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11463044 meters Centerline goodness : 0.094379 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.14 [[ 9.98230289e-01 -2.41611161e-03 -5.94176184e-02 6.80054423e-01] [ 9.90054614e-04 9.99711028e-01 -2.40183124e-02 -6.16638551e-02] [ 5.94584793e-02 2.39169802e-02 9.97944221e-01 -1.36558875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14463044 meters Centerline goodness : 0.103325 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.13 [[ 9.98273953e-01 -2.24597223e-03 -5.86862022e-02 7.25910780e-01] [ 8.23184521e-04 9.99705419e-01 -2.42569273e-02 -5.70824300e-02] [ 5.87233947e-02 2.41667491e-02 9.97981729e-01 -1.34945011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17463044 meters Centerline goodness : 0.101255 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.14 [[ 9.98270379e-01 -2.34608746e-03 -5.87430585e-02 7.26237533e-01] [ 8.96304631e-04 9.99694648e-01 -2.46942660e-02 -5.44727564e-02] [ 5.87830562e-02 2.45989026e-02 9.97967658e-01 -1.35139296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20463044 meters Centerline goodness : 0.108460 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.13 [[ 9.98276621e-01 -2.37864146e-03 -5.86355617e-02 7.25880696e-01] [ 9.04595001e-04 9.99683208e-01 -2.51528567e-02 -5.13539392e-02] [ 5.86768160e-02 2.50564673e-02 9.97962527e-01 -1.34903122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23463043999999 meters Centerline goodness : 0.175970 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.05, Z:-0.13 [[ 0.99828909 -0.00764042 -0.05796991 0.74669843] [ 0.00635826 0.99973177 -0.02227005 -0.0453727 ] [ 0.05812451 0.02186336 0.9980699 -0.13312638] [ 0. 0. 0. 1. ]] SLAMing on 112.26463043999999 meters Centerline goodness : 0.103993 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.13 [[ 0.99827877 0.00158677 -0.05862578 0.72510865] [-0.00293526 0.99973293 -0.02292271 -0.0442054 ] [ 0.05857374 0.02305533 0.99801682 -0.13399545] [ 0. 0. 0. 1. ]] SLAMing on 112.29463043999999 meters Centerline goodness : 0.102058 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.13 [[ 0.99823712 0.00175697 -0.05932598 0.72701159] [-0.00315465 0.99971947 -0.0234739 -0.03925576] [ 0.05926809 0.02361967 0.99796263 -0.13416909] [ 0. 0. 0. 1. ]] SLAMing on 112.32463043999999 meters Centerline goodness : 0.106788 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.14 [[ 0.99822311 0.00399681 -0.05945291 0.72847822] [-0.0053722 0.99972121 -0.02299233 -0.02803957] [ 0.05934444 0.02327087 0.99796628 -0.13510872] [ 0. 0. 0. 1. ]] SLAMing on 112.35463044 meters Centerline goodness : 0.102411 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.13 [[ 0.99823818 0.003873 -0.05920761 0.72765227] [-0.00528231 0.99970599 -0.02366481 -0.02398627] [ 0.05909855 0.02393587 0.99796515 -0.13476624] [ 0. 0. 0. 1. ]] SLAMing on 112.38463044 meters Centerline goodness : 0.185300 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.13 [[ 0.99823809 0.0037763 -0.05921537 0.72739462] [-0.00521685 0.99969373 -0.02419169 -0.02086611] [ 0.05910588 0.02445798 0.99795205 -0.13436635] [ 0. 0. 0. 1. ]] SLAMing on 112.41463044 meters Centerline goodness : 0.186411 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.13 [[ 0.99822407 0.00366526 -0.05945822 0.72773386] [-0.00513896 0.9996829 -0.02465157 -0.01813322] [ 0.05934901 0.02491335 0.99792636 -0.13396874] [ 0. 0. 0. 1. ]] SLAMing on 112.44463044 meters Centerline goodness : 0.118057 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.01, Z:-0.13 [[ 0.99821318 0.00320432 -0.05966728 0.72799811] [-0.00474816 0.99965713 -0.0257503 -0.01342732] [ 0.05956431 0.02598759 0.99788613 -0.1335604 ] [ 0. 0. 0. 1. ]] SLAMing on 112.47463044 meters Centerline goodness : 0.128747 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.01, Z:-0.13 [[ 0.99821403 -0.004618 -0.05956034 0.74608459] [ 0.00314224 0.99968632 -0.02484733 -0.00594771] [ 0.0596564 0.0246158 0.99791542 -0.13085374] [ 0. 0. 0. 1. ]] SLAMing on 112.50463044 meters Centerline goodness : 0.172644 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.00, Z:-0.13 [[ 0.99822401 -0.00470216 -0.0593862 0.74522774] [ 0.0032093 0.99967706 -0.02520853 -0.00381583] [ 0.05948556 0.02497317 0.99791673 -0.13025848] [ 0. 0. 0. 1. ]] SLAMing on 112.53463044 meters Centerline goodness : 0.108706 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.00, Z:-0.13 [[ 0.99823332 -0.0046669 -0.05923227 0.74447052] [ 0.0031627 0.99967075 -0.02546341 -0.00163907] [ 0.0593316 0.0252311 0.99791941 -0.12971391] [ 0. 0. 0. 1. ]] SLAMing on 112.56463044 meters Centerline goodness : 0.104802 Centerline is valid? [False, False] Translation: X:0.74, Y:0.00, Z:-0.13 [[ 9.98242095e-01 -4.68102955e-03 -5.90830564e-02 7.43894760e-01] [ 3.16339480e-03 9.99663308e-01 -2.57539085e-02 4.96703913e-04] [ 5.91837184e-02 2.55217326e-02 9.97920803e-01 -1.29384576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59463043999999 meters Centerline goodness : 0.102005 Centerline is valid? [False, False] Translation: X:0.74, Y:0.00, Z:-0.13 [[ 0.99823881 -0.00486629 -0.05912357 0.74396819] [ 0.00331175 0.99964696 -0.02636271 0.00352285] [ 0.05923098 0.02612047 0.99790251 -0.12932257] [ 0. 0. 0. 1. ]] SLAMing on 112.62463043999999 meters Centerline goodness : 0.110272 Centerline is valid? [False, False] Translation: X:0.74, Y:0.00, Z:-0.13 [[ 0.99823477 -0.00486952 -0.05919152 0.7441924 ] [ 0.00330472 0.9996432 -0.02650552 0.00454096] [ 0.05929947 0.02626312 0.99789469 -0.1294366 ] [ 0. 0. 0. 1. ]] SLAMing on 112.65463043999999 meters Centerline goodness : 0.102111 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:-0.13 [[ 0.99823458 -0.00478475 -0.0592016 0.74414625] [ 0.00321317 0.99964065 -0.02661305 0.00586878] [ 0.05930767 0.02637585 0.99789123 -0.12934363] [ 0. 0. 0. 1. ]] SLAMing on 112.68463043999999 meters Centerline goodness : 0.115725 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:-0.13 [[ 0.99822815 -0.00468993 -0.05931751 0.74448952] [ 0.0031061 0.99963693 -0.02676494 0.00752838] [ 0.05942149 0.02653327 0.99788029 -0.12943776] [ 0. 0. 0. 1. ]] SLAMing on 112.71463044 meters Centerline goodness : 0.105401 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.13 [[ 0.99820656 -0.00474468 -0.05967539 0.74557997] [ 0.00311752 0.99962159 -0.02733047 0.01068371] [ 0.05978248 0.02709541 0.99784362 -0.129753 ] [ 0. 0. 0. 1. ]] SLAMing on 112.74463044 meters Centerline goodness : 0.121951 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.13 [[ 0.99819599 -0.00483704 -0.05984457 0.74611225] [ 0.00318841 0.99961359 -0.02761347 0.0120199 ] [ 0.05995502 0.02737284 0.9978257 -0.12996406] [ 0. 0. 0. 1. ]] SLAMing on 112.77463044 meters Centerline goodness : 0.108621 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.13 [[ 0.99818114 -0.00485359 -0.06009045 0.74683509] [ 0.00318664 0.99960828 -0.0278054 0.01334049] [ 0.06020186 0.02756334 0.99780559 -0.13016822] [ 0. 0. 0. 1. ]] SLAMing on 112.80463044 meters Centerline goodness : 0.107800 Centerline is valid? [False, False] Translation: X:0.73, Y:0.02, Z:-0.13 [[ 0.99804236 -0.01190202 -0.06139863 0.72850179] [ 0.01032164 0.99960884 -0.02599297 0.01776876] [ 0.06168398 0.02530835 0.99777481 -0.1327301 ] [ 0. 0. 0. 1. ]] SLAMing on 112.83463044 meters Centerline goodness : 0.118806 Centerline is valid? [False, False] Translation: X:0.73, Y:0.02, Z:-0.13 [[ 0.99804807 -0.01189012 -0.06130806 0.7283266 ] [ 0.01031968 0.99961208 -0.0258689 0.01706027] [ 0.06159186 0.02518573 0.9977836 -0.13274307] [ 0. 0. 0. 1. ]] SLAMing on 112.86463044 meters Centerline goodness : 0.118547 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.14 [[ 0.99815282 -0.00410476 -0.06061436 0.70839935] [ 0.00246224 0.9996284 -0.02714785 0.01083372] [ 0.06070327 0.02694845 0.99779201 -0.13519794] [ 0. 0. 0. 1. ]] SLAMing on 112.89463044 meters Centerline goodness : 0.177806 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.13 [[ 0.99816252 -0.0042156 -0.06044672 0.70779494] [ 0.00257535 0.99962703 -0.02718777 0.01038123] [ 0.06053879 0.02698214 0.99780109 -0.13494009] [ 0. 0. 0. 1. ]] SLAMing on 112.92463044 meters Centerline goodness : 0.127688 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.13 [[ 0.99815472 -0.00421346 -0.06057565 0.70812292] [ 0.00256618 0.99962547 -0.02724595 0.01043313] [ 0.06066777 0.02704022 0.99779169 -0.13493708] [ 0. 0. 0. 1. ]] SLAMing on 112.95463044 meters Centerline goodness : 0.122028 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.14 [[ 0.9981292 -0.00413777 -0.06099984 0.70938304] [ 0.00247237 0.99962281 -0.02735188 0.011683 ] [ 0.06109001 0.02714989 0.99776294 -0.13525111] [ 0. 0. 0. 1. ]] SLAMing on 112.98463043999999 meters Centerline goodness : 0.190314 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.14 [[ 0.99810857 -0.00412398 -0.06133745 0.7104469 ] [ 0.00244036 0.99961888 -0.02749817 0.01285821] [ 0.06142747 0.02729647 0.99773823 -0.13556273] [ 0. 0. 0. 1. ]] SLAMing on 113.01463043999999 meters Centerline goodness : 0.187871 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.14 [[ 0.99808875 -0.0040882 -0.0616614 0.71147948] [ 0.00238656 0.99961495 -0.02764505 0.01411561] [ 0.06175067 0.02744505 0.9977142 -0.13596185] [ 0. 0. 0. 1. ]] SLAMing on 113.04463043999999 meters Centerline goodness : 0.114705 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.14 [[ 0.99808199 -0.00408584 -0.061771 0.71194174] [ 0.0023706 0.99961026 -0.02781559 0.01524074] [ 0.06186058 0.0276158 0.99770268 -0.13622401] [ 0. 0. 0. 1. ]] SLAMing on 113.07463043999999 meters Centerline goodness : 0.120620 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.14 [[ 0.99810397 -0.00408838 -0.0614146 0.71063545] [ 0.00236308 0.99960123 -0.02813893 0.01736468] [ 0.06150516 0.02794045 0.99771561 -0.13564229] [ 0. 0. 0. 1. ]] SLAMing on 113.10463044 meters Centerline goodness : 0.194404 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.14 [[ 0.99811048 -0.00406987 -0.06130995 0.71006348] [ 0.00234336 0.99959939 -0.02820585 0.01789145] [ 0.06140018 0.02800888 0.99772016 -0.13522836] [ 0. 0. 0. 1. ]] SLAMing on 113.13463044 meters Centerline goodness : 0.119255 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.14 [[ 0.99810978 -0.00402905 -0.06132396 0.71004021] [ 0.00230435 0.99960051 -0.02816919 0.0178161 ] [ 0.06141296 0.02797463 0.99772034 -0.13516839] [ 0. 0. 0. 1. ]] SLAMing on 113.16463044 meters Centerline goodness : 0.111985 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.14 [[ 0.99810355 -0.00401913 -0.06142596 0.71041964] [ 0.00229123 0.9996004 -0.02817438 0.01784813] [ 0.06151465 0.02798021 0.99771391 -0.13537449] [ 0. 0. 0. 1. ]] SLAMing on 113.19463044 meters Centerline goodness : 0.109048 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.14 [[ 0.99788123 -0.00348856 -0.06496838 0.66884996] [ 0.00163534 0.99959085 -0.02855633 0.01613368] [ 0.06504141 0.02838958 0.99747864 -0.13816269] [ 0. 0. 0. 1. ]] SLAMing on 113.22463044 meters Centerline goodness : 0.119608 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.14 [[ 0.99787637 -0.00347069 -0.06504391 0.66906639] [ 0.00161484 0.99959069 -0.02856304 0.01625629] [ 0.06511642 0.02839735 0.99747353 -0.13821252] [ 0. 0. 0. 1. ]] SLAMing on 113.25463044 meters Centerline goodness : 0.303979 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.14 [[ 0.99788663 -0.0034816 -0.06488567 0.66836094] [ 0.00162344 0.99958766 -0.02866821 0.01688549] [ 0.06495873 0.02850229 0.99748082 -0.13780836] [ 0. 0. 0. 1. ]] SLAMing on 113.28463044 meters Centerline goodness : 0.266975 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.14 [[ 0.99790033 -0.00353244 -0.06467185 0.66741816] [ 0.00166863 0.99958233 -0.02885085 0.01782742] [ 0.06474675 0.02868236 0.99748944 -0.13723021] [ 0. 0. 0. 1. ]] SLAMing on 113.31463044 meters Centerline goodness : 0.093301 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.14 [[ 0.9979007 -0.00366287 -0.06465891 0.66715942] [ 0.00177722 0.99957211 -0.02919647 0.01939708] [ 0.06473818 0.02902027 0.99748022 -0.13694242] [ 0. 0. 0. 1. ]] SLAMing on 113.34463043999999 meters Centerline goodness : 0.093301 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.14 [[ 0.9979007 -0.00366287 -0.06465891 0.66715942] [ 0.00177722 0.99957211 -0.02919647 0.01939708] [ 0.06473818 0.02902027 0.99748022 -0.13694242] [ 0. 0. 0. 1. ]] SLAMing on 113.37463043999999 meters Centerline goodness : 0.120701 Centerline is valid? [False, False] Translation: X:0.62, Y:0.02, Z:-0.14 [[ 9.97725246e-01 -2.45202675e-03 -6.73670559e-02 6.23232031e-01] [ 4.72548930e-04 9.99568094e-01 -2.93837051e-02 1.96392037e-02] [ 6.74100093e-02 2.92850302e-02 9.97295482e-01 -1.39163142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40463043999999 meters Centerline goodness : 0.100289 Centerline is valid? [False, False] Translation: X:0.63, Y:0.03, Z:-0.14 [[ 9.97589105e-01 -7.81498725e-06 -6.93972491e-02 6.30677453e-01] [-1.94921750e-03 9.99602298e-01 -2.81326716e-02 2.68302459e-02] [ 6.93698695e-02 2.82001170e-02 9.97192346e-01 -1.42088079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43463043999999 meters Centerline goodness : 0.041987 Centerline is valid? [False, False] Translation: X:0.63, Y:0.03, Z:-0.14 [[ 0.99756 0.00381758 -0.06970991 0.63212016] [-0.00556647 0.99967417 -0.02491105 0.02951696] [ 0.0695921 0.02523831 0.99725622 -0.14287274] [ 0. 0. 0. 1. ]] SLAMing on 113.46463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 113.49463044 meters Centerline goodness : 0.157344 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.14 [[ 0.9975487 0.00770523 -0.06955019 0.6315515 ] [-0.00926307 0.99971276 -0.02210412 0.0363155 ] [ 0.0693599 0.02269419 0.99733353 -0.14263798] [ 0. 0. 0. 1. ]] SLAMing on 113.52463044 meters Centerline goodness : 0.123512 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.14 [[ 0.99762128 0.00964892 -0.06825446 0.62617169] [-0.01109425 0.99972151 -0.02082828 0.04209829] [ 0.06803449 0.02153596 0.99745051 -0.1401185 ] [ 0. 0. 0. 1. ]] SLAMing on 113.55463044 meters Centerline goodness : 0.213293 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.14 [[ 0.99764193 0.00123463 -0.06862254 0.64493781] [-0.00262176 0.99979398 -0.02012751 0.04852697] [ 0.06858355 0.02025996 0.99743964 -0.13742167] [ 0. 0. 0. 1. ]] SLAMing on 113.58463044 meters Centerline goodness : 0.109633 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.14 [[ 0.99761983 0.00116602 -0.06894425 0.64593782] [-0.00255965 0.99979411 -0.02012901 0.04830893] [ 0.06890659 0.02025757 0.99741742 -0.13770998] [ 0. 0. 0. 1. ]] SLAMing on 113.61463044 meters Centerline goodness : 0.092563 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.14 [[ 0.99759291 0.00110014 -0.06933374 0.64726356] [-0.00249807 0.99979528 -0.02007883 0.04778475] [ 0.06929745 0.0202037 0.99739143 -0.13814426] [ 0. 0. 0. 1. ]] SLAMing on 113.64463044 meters Centerline goodness : 0.128898 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.14 [[ 9.97559957e-01 4.35442734e-04 -6.98136308e-02 6.48744782e-01] [-1.86316498e-03 9.99790434e-01 -2.03866678e-02 4.66870034e-02] [ 6.97901230e-02 2.04669977e-02 9.97351714e-01 -1.38475920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67463044 meters Centerline goodness : 0.179041 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.14 [[ 9.97578227e-01 3.20868780e-04 -6.95526995e-02 6.47702889e-01] [-1.73572633e-03 9.99792777e-01 -2.02827571e-02 4.54289393e-02] [ 6.95317785e-02 2.03543613e-02 9.97372063e-01 -1.37888691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70463044 meters Centerline goodness : 0.121624 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 9.97601017e-01 3.26954412e-04 -6.92250314e-02 6.46562939e-01] [-1.71786108e-03 9.99797824e-01 -2.00339620e-02 4.39239704e-02] [ 6.92044856e-02 2.01048199e-02 9.97399887e-01 -1.37346661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73463043999999 meters Centerline goodness : 0.125673 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 9.97620721e-01 4.73084901e-04 -6.89396378e-02 6.45661459e-01] [-1.83033471e-03 9.99805723e-01 -1.96256737e-02 4.22649381e-02] [ 6.89169598e-02 1.97051614e-02 9.97427771e-01 -1.36983960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76463043999999 meters Centerline goodness : 0.164364 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 9.97634066e-01 6.04916461e-04 -6.87452138e-02 6.45270459e-01] [-1.93180047e-03 9.99813093e-01 -1.92366346e-02 4.05424068e-02] [ 6.87207282e-02 1.93239241e-02 9.97448769e-01 -1.37037961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79463043999999 meters Centerline goodness : 0.127096 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 9.97608460e-01 8.23465525e-05 -6.91183977e-02 6.46804909e-01] [-1.41113323e-03 9.99815124e-01 -1.91761841e-02 3.72272675e-02] [ 6.91040403e-02 1.92278587e-02 9.97424143e-01 -1.37814968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82463043999999 meters Centerline goodness : 0.125149 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 9.97579978e-01 1.55131069e-04 -6.95281485e-02 6.48087551e-01] [-1.46558599e-03 9.99822243e-01 -1.87972178e-02 3.48859776e-02] [ 6.95128733e-02 1.88536276e-02 9.97402878e-01 -1.38159912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85463044 meters Centerline goodness : 0.128018 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 9.97558908e-01 3.17407795e-04 -6.98292516e-02 6.49071435e-01] [-1.60576070e-03 9.99829514e-01 -1.83946867e-02 3.29072356e-02] [ 6.98115081e-02 1.84619127e-02 9.97389348e-01 -1.38500010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88463044 meters Centerline goodness : 0.130069 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 9.97550454e-01 4.85106855e-04 -6.99489568e-02 6.49371869e-01] [-1.75145880e-03 9.99835664e-01 -1.80437486e-02 3.12910090e-02] [ 6.99287085e-02 1.81220623e-02 9.97387370e-01 -1.38505632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91463044 meters Centerline goodness : 0.128401 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 9.97543694e-01 5.31773100e-04 -7.00449596e-02 6.49471979e-01] [-1.78944297e-03 9.99838294e-01 -1.78936564e-02 3.02827514e-02] [ 7.00241176e-02 1.79750455e-02 9.97383337e-01 -1.38325992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94463044 meters Centerline goodness : 0.100063 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 9.97548041e-01 6.30381714e-04 -6.99822016e-02 6.49158643e-01] [-1.88545066e-03 9.99838550e-01 -1.78695104e-02 3.00535967e-02] [ 6.99596383e-02 1.79576431e-02 9.97388175e-01 -1.38136775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97463044 meters Centerline goodness : 0.125855 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 9.97544425e-01 7.75678266e-04 -7.00322615e-02 6.49372069e-01] [-2.03829070e-03 9.99836640e-01 -1.79593512e-02 3.12243824e-02] [ 7.00068904e-02 1.80579967e-02 9.97383048e-01 -1.38304868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00463044 meters Centerline goodness : 0.094882 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 0.99755067 0.00104876 -0.06993975 0.64907371] [-0.0023101 0.9998361 -0.01795633 0.03248134] [ 0.06990945 0.01807392 0.99738959 -0.13825688] [ 0. 0. 0. 1. ]] SLAMing on 114.03463044 meters Centerline goodness : 0.124200 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 0.9975668 0.00119753 -0.0697069 0.64822037] [-0.00246138 0.99983409 -0.01804785 0.03383293] [ 0.06967372 0.01817551 0.99740424 -0.13792132] [ 0. 0. 0. 1. ]] SLAMing on 114.06463044 meters Centerline goodness : 0.131514 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 0.99757184 0.00130416 -0.06963279 0.64774657] [-0.00257776 0.99983098 -0.01820351 0.03528233] [ 0.06959728 0.01833881 0.99740659 -0.13757581] [ 0. 0. 0. 1. ]] SLAMing on 114.09463043999999 meters Centerline goodness : 0.096119 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 0.99756884 0.00136704 -0.06967454 0.64774017] [-0.00267559 0.99982173 -0.01869099 0.03809587] [ 0.06963657 0.01883197 0.99739466 -0.13752797] [ 0. 0. 0. 1. ]] SLAMing on 114.12463043999999 meters Centerline goodness : 0.122796 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 0.99757586 0.00135197 -0.06957421 0.64729378] [-0.0026799 0.99981595 -0.01899681 0.03982601] [ 0.06953572 0.01913721 0.99739588 -0.13736513] [ 0. 0. 0. 1. ]] SLAMing on 114.15463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.18463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.21463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.24463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.27463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.30463044 meters Centerline goodness : 0.091772 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.14 [[ 0.99755664 0.00718054 -0.06949242 0.64687828] [-0.00830036 0.9998401 -0.01583904 0.05670209] [ 0.06936757 0.01637716 0.99745673 -0.13722544] [ 0. 0. 0. 1. ]] SLAMing on 114.33463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.36463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.39463044 meters Centerline goodness : 0.267778 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.14 [[ 9.97725290e-01 -1.55012439e-03 -6.73932007e-02 6.21354607e-01] [ 4.56135825e-04 9.99867933e-01 -1.62452802e-02 6.02353198e-02] [ 6.74094825e-02 1.61775864e-02 9.97594230e-01 -1.36617596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.45463044 meters Centerline goodness : 0.090734 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.14 [[ 0.99756103 -0.01006082 -0.06907083 0.64391235] [ 0.00899438 0.99983577 -0.01573341 0.06611283] [ 0.06921778 0.01507379 0.99748768 -0.13516513] [ 0. 0. 0. 1. ]] SLAMing on 114.48463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.51463043999999 meters Centerline goodness : 0.158239 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.14 [[ 0.99738387 -0.00972432 -0.07162995 0.59991466] [ 0.00856312 0.99982719 -0.0165004 0.06696404] [ 0.07177803 0.01584386 0.99729478 -0.13766112] [ 0. 0. 0. 1. ]] SLAMing on 114.54463043999999 meters Centerline goodness : 0.093061 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.14 [[ 0.99749007 -0.00226485 -0.07077028 0.61943879] [ 0.00100913 0.99984151 -0.01777438 0.06622283] [ 0.07079932 0.01765835 0.99733427 -0.13512058] [ 0. 0. 0. 1. ]] SLAMing on 114.57463043999999 meters Centerline goodness : 0.155914 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.13 [[ 0.99748429 -0.00236776 -0.07084828 0.61944689] [ 0.00108696 0.99983539 -0.01811118 0.06807834] [ 0.0708795 0.01798861 0.99732267 -0.13494766] [ 0. 0. 0. 1. ]] SLAMing on 114.60463044 meters Centerline goodness : 0.171347 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.13 [[ 0.99746372 -0.00236183 -0.07113755 0.62011242] [ 0.00105595 0.99983035 -0.01838914 0.07031562] [ 0.07116892 0.01826738 0.99729699 -0.13494929] [ 0. 0. 0. 1. ]] SLAMing on 114.63463044 meters Centerline goodness : 0.201577 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.14 [[ 0.99757839 -0.00718872 -0.06917865 0.59736673] [ 0.00612768 0.9998605 -0.01553778 0.07453093] [ 0.0692807 0.01507625 0.99748328 -0.13638243] [ 0. 0. 0. 1. ]] SLAMing on 114.66463044 meters Centerline goodness : 0.156641 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.14 [[ 0.99760067 -0.00722751 -0.06885245 0.59592443] [ 0.0061851 0.99986319 -0.01534087 0.0732483 ] [ 0.06895391 0.01487821 0.9975089 -0.13539536] [ 0. 0. 0. 1. ]] SLAMing on 114.69463044 meters Centerline goodness : 0.232100 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.99761236 -0.00733486 -0.06867151 0.59513492] [ 0.0063104 0.99986572 -0.01512328 0.07141607] [ 0.06877322 0.01465383 0.99752469 -0.13480436] [ 0. 0. 0. 1. ]] SLAMing on 114.72463044 meters Centerline goodness : 0.158807 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.99760513 -0.00737299 -0.06877243 0.59554056] [ 0.00636403 0.99986905 -0.0148786 0.06953574] [ 0.06887313 0.0144053 0.99752142 -0.13490207] [ 0. 0. 0. 1. ]] SLAMing on 114.75463044 meters Centerline goodness : 0.106198 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.14 [[ 0.99758034 -0.0073758 -0.06913082 0.59677596] [ 0.00638207 0.99987327 -0.01458449 0.06741225] [ 0.06922963 0.014108 0.99750099 -0.13527663] [ 0. 0. 0. 1. ]] SLAMing on 114.78463044 meters Centerline goodness : 0.089760 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.14 [[ 0.99757032 -0.00741381 -0.06927117 0.59714381] [ 0.00644709 0.99987883 -0.01416887 0.06427755] [ 0.06936782 0.01368785 0.99749724 -0.13517692] [ 0. 0. 0. 1. ]] SLAMing on 114.81463044 meters Centerline goodness : 0.146706 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.14 [[ 0.99741434 -0.00627776 -0.07159073 0.5515279 ] [ 0.00527769 0.99988596 -0.01414986 0.06091542] [ 0.0716714 0.01373543 0.99733372 -0.13658643] [ 0. 0. 0. 1. ]] SLAMing on 114.84463043999999 meters Centerline goodness : 0.224324 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.14 [[ 0.99741935 -0.00618395 -0.07152903 0.55151517] [ 0.00519035 0.99988756 -0.01406847 0.06088171] [ 0.07160799 0.0136609 0.9973393 -0.13675355] [ 0. 0. 0. 1. ]] SLAMing on 114.87463043999999 meters Centerline goodness : 0.147586 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.14 [[ 0.99741938 -0.00613287 -0.07153301 0.55147343] [ 0.00513592 0.99988722 -0.01411253 0.06131111] [ 0.07161149 0.01370872 0.99733839 -0.13672468] [ 0. 0. 0. 1. ]] SLAMing on 114.90463043999999 meters Centerline goodness : 0.154668 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.14 [[ 0.99741242 -0.00618464 -0.07162547 0.55158931] [ 0.00516913 0.9998836 -0.01435485 0.0625048 ] [ 0.07170591 0.01394747 0.9973283 -0.13664718] [ 0. 0. 0. 1. ]] SLAMing on 114.93463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.96463044 meters Centerline goodness : 0.155488 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.9973981 -0.00241566 -0.07205 0.55262341] [ 0.00160015 0.99993403 -0.01137423 0.06562411] [ 0.07207272 0.01122935 0.99733616 -0.13686033] [ 0. 0. 0. 1. ]] SLAMing on 114.99463044 meters Centerline goodness : 0.150478 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.99738851 -0.00233622 -0.07218525 0.55306789] [ 0.00151554 0.99993362 -0.01142171 0.0662811 ] [ 0.07220714 0.01128249 0.99732584 -0.13704358] [ 0. 0. 0. 1. ]] SLAMing on 115.02463044 meters Centerline goodness : 0.093153 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.99738639 -0.0022879 -0.07221599 0.55308322] [ 0.00146582 0.99993355 -0.01143454 0.06652329] [ 0.07223735 0.01129879 0.99732347 -0.13700422] [ 0. 0. 0. 1. ]] SLAMing on 115.05463044 meters Centerline goodness : 0.108439 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.99739508 -0.00232995 -0.07209452 0.55265091] [ 0.00150513 0.99993282 -0.01149299 0.06659657] [ 0.07211645 0.01135454 0.99733159 -0.13681418] [ 0. 0. 0. 1. ]] SLAMing on 115.08463044 meters Centerline goodness : 0.135842 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.99738005 -0.00233942 -0.07230186 0.55257274] [ 0.00150836 0.9999322 -0.01154668 0.06686529] [ 0.07232397 0.01140737 0.99731596 -0.1360731 ] [ 0. 0. 0. 1. ]] SLAMing on 115.11463044 meters Centerline goodness : 0.174701 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.9973585 -0.00233761 -0.07259855 0.55343181] [ 0.00150085 0.99993184 -0.01157827 0.06692253] [ 0.07262067 0.01143873 0.99729404 -0.13622859] [ 0. 0. 0. 1. ]] SLAMing on 115.14463044 meters Centerline goodness : 0.124395 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.99735173 -0.00237935 -0.07269023 0.55377685] [ 0.00153804 0.99993121 -0.01162779 0.06684767] [ 0.0727129 0.0114852 0.99728678 -0.13638256] [ 0. 0. 0. 1. ]] SLAMing on 115.17463044 meters Centerline goodness : 0.117854 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.14 [[ 0.99736344 -0.00239275 -0.07252892 0.55331956] [ 0.0015529 0.99993112 -0.0116337 0.06667978] [ 0.07255176 0.0114904 0.99729846 -0.13629469] [ 0. 0. 0. 1. ]] SLAMing on 115.20463043999999 meters Centerline goodness : 0.193929 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.99757126 0.00528141 -0.06945274 0.57262686] [-0.00613466 0.99990824 -0.0120777 0.06400303] [ 0.06938258 0.01247443 0.99751213 -0.13401354] [ 0. 0. 0. 1. ]] SLAMing on 115.23463043999999 meters Centerline goodness : 0.107455 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.99758133 0.00537845 -0.06930051 0.57204478] [-0.00621958 0.99990952 -0.01192744 0.06349244] [ 0.06923009 0.01232961 0.99752452 -0.13373442] [ 0. 0. 0. 1. ]] SLAMing on 115.26463043999999 meters Centerline goodness : 0.107455 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.99758133 0.00537845 -0.06930051 0.57204478] [-0.00621958 0.99990952 -0.01192744 0.06349244] [ 0.06923009 0.01232961 0.99752452 -0.13373442] [ 0. 0. 0. 1. ]] SLAMing on 115.29463043999999 meters Centerline goodness : 0.198624 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.99756581 0.00542126 -0.06952029 0.57269385] [-0.00626243 0.99990973 -0.01188741 0.06327959] [ 0.06944957 0.01229384 0.99750971 -0.13387211] [ 0. 0. 0. 1. ]] SLAMing on 115.32463043999999 meters Centerline goodness : 0.106400 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.99752767 0.00550119 -0.07005918 0.57443824] [-0.0063447 0.99990997 -0.01182319 0.06305528] [ 0.06998783 0.01223846 0.99747277 -0.13451076] [ 0. 0. 0. 1. ]] SLAMing on 115.35463044 meters Centerline goodness : 0.120478 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.14 [[ 0.99748112 0.00562057 -0.07070942 0.57650358] [-0.00646449 0.99991052 -0.01171187 0.062764 ] [ 0.07063727 0.01213946 0.9974282 -0.13517619] [ 0. 0. 0. 1. ]] SLAMing on 115.38463044 meters Centerline goodness : 0.152595 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.14 [[ 0.99745888 0.00573652 -0.07101323 0.57740928] [-0.00657132 0.99991196 -0.01152739 0.06196134] [ 0.07094085 0.01196475 0.99740876 -0.1354165 ] [ 0. 0. 0. 1. ]] SLAMing on 115.41463044 meters Centerline goodness : 0.193997 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.13 [[ 0.99748614 0.00581013 -0.07062325 0.57579278] [-0.00661545 0.99991568 -0.01117457 0.05992201] [ 0.07055237 0.01161369 0.99744047 -0.1344355 ] [ 0. 0. 0. 1. ]] SLAMing on 115.44463044 meters Centerline goodness : 0.156865 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.99750458 0.0057845 -0.07036442 0.5748479 ] [-0.00657883 0.99991717 -0.01106232 0.05897337] [ 0.0702946 0.01149763 0.99746001 -0.13395075] [ 0. 0. 0. 1. ]] SLAMing on 115.47463044 meters Centerline goodness : 0.112955 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:-0.13 [[ 0.99757414 -0.00239576 -0.06957081 0.59379091] [ 0.00170413 0.99994856 -0.00999906 0.06359559] [ 0.06959118 0.00985624 0.9975269 -0.13209121] [ 0. 0. 0. 1. ]] SLAMing on 115.50463044 meters Centerline goodness : 0.182094 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:-0.13 [[ 0.99756691 -0.00244288 -0.06967274 0.59407906] [ 0.00174728 0.99994804 -0.01004302 0.06362241] [ 0.06969365 0.00989685 0.99751935 -0.13213325] [ 0. 0. 0. 1. ]] SLAMing on 115.53463044 meters Centerline goodness : 0.124181 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.99753669 -0.0023813 -0.07010616 0.59530479] [ 0.001672 0.99994684 -0.01017449 0.06513226] [ 0.07012667 0.01003221 0.99748765 -0.13239643] [ 0. 0. 0. 1. ]] SLAMing on 115.56463044 meters Centerline goodness : 0.103938 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.9975314 -0.0023865 -0.07018123 0.59564441] [ 0.00167046 0.99994597 -0.01025963 0.06583863] [ 0.07020192 0.01011706 0.9974815 -0.13260741] [ 0. 0. 0. 1. ]] SLAMing on 115.59463043999999 meters Centerline goodness : 0.158134 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.99752624 -0.00241345 -0.07025361 0.59586067] [ 0.00168928 0.99994485 -0.01036554 0.0664763 ] [ 0.07027475 0.01022122 0.99747531 -0.13266711] [ 0. 0. 0. 1. ]] SLAMing on 115.62463043999999 meters Centerline goodness : 0.203831 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.99752586 -0.00239659 -0.07025968 0.5957573 ] [ 0.00166756 0.99994418 -0.01043298 0.06717655] [ 0.07028076 0.01029001 0.99747418 -0.13254035] [ 0. 0. 0. 1. ]] SLAMing on 115.65463043999999 meters Centerline goodness : 0.100576 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.99752243 -0.00241366 -0.07030766 0.59550572] [ 0.00167299 0.99994251 -0.01059167 0.06827163] [ 0.07032918 0.01044781 0.99746912 -0.13201788] [ 0. 0. 0. 1. ]] SLAMing on 115.68463043999999 meters Centerline goodness : 0.102864 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.13 [[ 0.99773487 0.00172833 -0.06724691 0.55702683] [-0.00246618 0.99993765 -0.01089078 0.06912479] [ 0.0672239 0.01103195 0.99767692 -0.13462221] [ 0. 0. 0. 1. ]] SLAMing on 115.71463044 meters Centerline goodness : 0.164062 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.13 [[ 0.9977291 0.00164906 -0.06733444 0.55692562] [-0.00240892 0.99993432 -0.01120516 0.07101163] [ 0.06731154 0.01134192 0.99766754 -0.13424847] [ 0. 0. 0. 1. ]] SLAMing on 115.74463044 meters Centerline goodness : 0.106422 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.13 [[ 0.99773132 0.00152506 -0.06730449 0.55671929] [-0.00230672 0.99993078 -0.01153756 0.07280603] [ 0.06728223 0.01166664 0.99766577 -0.13407867] [ 0. 0. 0. 1. ]] SLAMing on 115.77463044 meters Centerline goodness : 0.102152 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.13 [[ 0.99772596 0.0014014 -0.06738656 0.55708757] [-0.0022018 0.99992789 -0.01180503 0.07411527] [ 0.06736515 0.01192656 0.9976571 -0.13431313] [ 0. 0. 0. 1. ]] SLAMing on 115.80463044 meters Centerline goodness : 0.105479 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.13 [[ 0.99772853 0.00131049 -0.06735036 0.55726397] [-0.00212047 0.99992627 -0.01195635 0.0747975 ] [ 0.06732973 0.01207201 0.99765774 -0.13464231] [ 0. 0. 0. 1. ]] SLAMing on 115.83463044 meters Centerline goodness : 0.132512 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.14 [[ 0.9977663 -0.00612018 -0.06652026 0.53680498] [ 0.00539422 0.99992398 -0.01108755 0.07883954] [ 0.06658306 0.01070396 0.99772347 -0.13722315] [ 0. 0. 0. 1. ]] SLAMing on 115.86463044 meters Centerline goodness : 0.159718 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.14 [[ 0.99776886 -0.00625323 -0.06646947 0.53570028] [ 0.00551986 0.99992192 -0.01121124 0.07918675] [ 0.06653439 0.01081933 0.99772547 -0.13582543] [ 0. 0. 0. 1. ]] SLAMing on 115.89463044 meters Centerline goodness : 0.099346 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.14 [[ 0.9977471 -0.00631411 -0.06678969 0.53620102] [ 0.00557555 0.9999213 -0.01123861 0.07906469] [ 0.0668554 0.0108409 0.99770378 -0.1353953 ] [ 0. 0. 0. 1. ]] SLAMing on 115.92463044 meters Centerline goodness : 0.108230 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.14 [[ 0.99772505 -0.00634024 -0.06711577 0.53706287] [ 0.00559604 0.99992083 -0.01127051 0.07915174] [ 0.06718192 0.01086929 0.99768154 -0.13546281] [ 0. 0. 0. 1. ]] SLAMing on 115.95463043999999 meters Centerline goodness : 0.103840 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.14 [[ 0.99770388 -0.00636613 -0.06742728 0.53826599] [ 0.00561397 0.99991995 -0.01133879 0.07946266] [ 0.06749407 0.01093422 0.99765976 -0.13604542] [ 0. 0. 0. 1. ]] SLAMing on 115.98463043999999 meters Centerline goodness : 0.102407 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.14 [[ 0.99769476 -0.00644443 -0.06755468 0.53883682] [ 0.00567544 0.99991697 -0.01156903 0.08056361] [ 0.06762363 0.01115896 0.9976485 -0.1363543 ] [ 0. 0. 0. 1. ]] SLAMing on 116.01463043999999 meters Centerline goodness : 0.164211 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.14 [[ 0.99770313 -0.00646283 -0.06742916 0.53794115] [ 0.00569104 0.99991615 -0.01163169 0.08094087] [ 0.06749868 0.01122123 0.99765626 -0.1355626 ] [ 0. 0. 0. 1. ]] SLAMing on 116.04463043999999 meters Centerline goodness : 0.130694 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.13 [[ 0.99771513 -0.00644447 -0.06725318 0.53691523] [ 0.00567395 0.99991613 -0.01164171 0.08112932] [ 0.06732256 0.01123352 0.99766802 -0.13475323] [ 0. 0. 0. 1. ]] SLAMing on 116.07463043999999 meters Centerline goodness : 0.186133 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.13 [[ 0.99771456 -0.00638215 -0.06726763 0.53652068] [ 0.00561411 0.99991695 -0.01160061 0.08125912] [ 0.06733608 0.01119645 0.99766753 -0.13418787] [ 0. 0. 0. 1. ]] SLAMing on 116.10463044 meters Centerline goodness : 0.182422 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.13 [[ 0.99771185 -0.0063257 -0.06731306 0.53653433] [ 0.00556062 0.99991787 -0.01154721 0.08112147] [ 0.06738058 0.01114648 0.99766508 -0.13406787] [ 0. 0. 0. 1. ]] SLAMing on 116.13463044 meters Centerline goodness : 0.120350 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.13 [[ 0.99770713 -0.00633186 -0.0673824 0.5367422 ] [ 0.00556753 0.99991808 -0.01152502 0.08069158] [ 0.06744985 0.01112344 0.99766066 -0.13411469] [ 0. 0. 0. 1. ]] SLAMing on 116.16463044 meters Centerline goodness : 0.178972 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.13 [[ 0.99771157 -0.0063172 -0.06731801 0.53667113] [ 0.00556949 0.99992077 -0.01128909 0.0789079 ] [ 0.06738399 0.01088832 0.9976677 -0.13419266] [ 0. 0. 0. 1. ]] SLAMing on 116.19463044 meters Centerline goodness : 0.104290 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.13 [[ 0.99770528 0.00102038 -0.06769882 0.55635405] [-0.00182433 0.99992854 -0.01181465 0.0746059 ] [ 0.06768193 0.01191104 0.99763585 -0.13159717] [ 0. 0. 0. 1. ]] SLAMing on 116.22463044 meters Centerline goodness : 0.108559 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.13 [[ 0.99771575 0.00119192 -0.06754153 0.55590229] [-0.00197002 0.99993245 -0.01145496 0.07309148] [ 0.06752332 0.01156185 0.9976507 -0.13144632] [ 0. 0. 0. 1. ]] SLAMing on 116.25463044 meters Centerline goodness : 0.165338 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:-0.13 [[ 0.99774144 -0.00668968 -0.06683767 0.57438823] [ 0.00605348 0.99993447 -0.0097166 0.07647295] [ 0.06689829 0.00929006 0.99771655 -0.12906621] [ 0. 0. 0. 1. ]] SLAMing on 116.28463044 meters Centerline goodness : 0.147058 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.13 [[ 0.99773909 -0.00657837 -0.06688378 0.57433946] [ 0.00596247 0.99993801 -0.00940399 0.07475636] [ 0.0669415 0.00898393 0.99771645 -0.12876595] [ 0. 0. 0. 1. ]] SLAMing on 116.31463044 meters Centerline goodness : 0.192956 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.13 [[ 0.99772834 -0.00649626 -0.06705184 0.57479171] [ 0.00589258 0.99994035 -0.00919693 0.07354784] [ 0.06710758 0.00878092 0.99770711 -0.12878604] [ 0. 0. 0. 1. ]] SLAMing on 116.34463043999999 meters Centerline goodness : 0.105681 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.13 [[ 0.99771093 -0.00620706 -0.06733773 0.57553685] [ 0.00560981 0.99994327 -0.00905488 0.07379754] [ 0.06739012 0.0086564 0.99768915 -0.12893046] [ 0. 0. 0. 1. ]] SLAMing on 116.37463043999999 meters Centerline goodness : 0.103255 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.13 [[ 0.99772811 -0.00250694 -0.06732258 0.57592292] [ 0.00213105 0.99998174 -0.00565466 0.073935 ] [ 0.06733553 0.00549834 0.99771524 -0.12937928] [ 0. 0. 0. 1. ]] SLAMing on 116.40463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 116.43463043999999 meters Centerline goodness : 0.135165 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:-0.13 [[ 0.9977044 -0.00203915 -0.06768874 0.5773711 ] [ 0.00164662 0.99998151 -0.00585434 0.07724676] [ 0.06769942 0.00572945 0.99768931 -0.13033207] [ 0. 0. 0. 1. ]] SLAMing on 116.46463044 meters Centerline goodness : 0.147414 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:-0.13 [[ 0.99769135 -0.00202105 -0.06788146 0.57805016] [ 0.00161497 0.99998048 -0.00603657 0.0784946 ] [ 0.06789233 0.00591301 0.99767513 -0.13070885] [ 0. 0. 0. 1. ]] SLAMing on 116.49463044 meters Centerline goodness : 0.095915 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:-0.13 [[ 0.99767372 -0.00181461 -0.06814589 0.57816621] [ 0.00142016 0.99998196 -0.00583634 0.07859581] [ 0.06815525 0.00572599 0.9976583 -0.13007048] [ 0. 0. 0. 1. ]] SLAMing on 116.52463044 meters Centerline goodness : 0.097496 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:-0.13 [[ 0.99767005 -0.00173345 -0.0682016 0.57781385] [ 0.00135451 0.99998339 -0.00560206 0.07756938] [ 0.06821018 0.00549663 0.99765583 -0.12934602] [ 0. 0. 0. 1. ]] SLAMing on 116.55463044 meters Centerline goodness : 0.168505 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:-0.13 [[ 0.99766394 -0.0018846 -0.06828702 0.57768367] [ 0.00150436 0.99998308 -0.00561919 0.07687531] [ 0.06829645 0.00550334 0.99764989 -0.12882398] [ 0. 0. 0. 1. ]] SLAMing on 116.58463044 meters Centerline goodness : 0.171474 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:-0.13 [[ 0.99765907 -0.00210429 -0.06835168 0.5778257 ] [ 0.00172138 0.9999825 -0.00566046 0.07590655] [ 0.0683624 0.00552955 0.99764523 -0.12871114] [ 0. 0. 0. 1. ]] SLAMing on 116.61463044 meters Centerline goodness : 0.170792 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.13 [[ 0.99765652 -0.00225372 -0.06838406 0.57798024] [ 0.00187409 0.99998248 -0.00561511 0.07484474] [ 0.06839552 0.00547379 0.99764327 -0.12871552] [ 0. 0. 0. 1. ]] SLAMing on 116.64463044 meters Centerline goodness : 0.103286 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.13 [[ 0.99764498 -0.00225044 -0.06855232 0.578501 ] [ 0.0018757 0.99998295 -0.00553039 0.0743449 ] [ 0.06856359 0.00538878 0.99763219 -0.12880282] [ 0. 0. 0. 1. ]] SLAMing on 116.67463044 meters Centerline goodness : 0.106717 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.13 [[ 0.99764401 -0.00207809 -0.06857193 0.57823755] [ 0.00172624 0.99998504 -0.00518998 0.07323877] [ 0.06858169 0.00505938 0.99763268 -0.12828547] [ 0. 0. 0. 1. ]] SLAMing on 116.70463043999999 meters Centerline goodness : 0.100581 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.13 [[ 0.99766951 -0.00220328 -0.06819597 0.5768588 ] [ 0.00185954 0.99998525 -0.00510352 0.07178488] [ 0.0682062 0.00496481 0.99765889 -0.1275938 ] [ 0. 0. 0. 1. ]] SLAMing on 116.73463043999999 meters Centerline goodness : 0.094500 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.13 [[ 0.99773205 -0.00423399 -0.06717757 0.57209939] [ 0.00378969 0.99997011 -0.00673977 0.06931883] [ 0.0672041 0.0064699 0.99771827 -0.12523914] [ 0. 0. 0. 1. ]] SLAMing on 116.76463043999999 meters Centerline goodness : 0.106240 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.12 [[ 0.99777091 -0.00455623 -0.06657666 0.57029863] [ 0.00412583 0.9999697 -0.00660074 0.06674196] [ 0.06660472 0.00631134 0.99775948 -0.12458866] [ 0. 0. 0. 1. ]] SLAMing on 116.79463043999999 meters Centerline goodness : 0.095709 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:-0.12 [[ 0.9977662 -0.01354805 -0.06541454 0.59024589] [ 0.01323465 0.99989878 -0.00522187 0.06458673] [ 0.06547866 0.00434446 0.99784451 -0.12272401] [ 0. 0. 0. 1. ]] SLAMing on 116.82463043999999 meters Centerline goodness : 0.144229 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.99789332 -0.00605749 -0.06459285 0.57408206] [ 0.00566374 0.99996426 -0.00627728 0.05579813] [ 0.06462857 0.00589822 0.99789196 -0.12630909] [ 0. 0. 0. 1. ]] SLAMing on 116.85463044 meters Centerline goodness : 0.100052 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.13 [[ 0.99788344 -0.00605962 -0.0647451 0.57444952] [ 0.00567908 0.99996551 -0.00605989 0.05395254] [ 0.06477959 0.00567938 0.99788343 -0.12624308] [ 0. 0. 0. 1. ]] SLAMing on 116.88463044 meters Centerline goodness : 0.135300 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.13 [[ 0.99788151 -0.00607097 -0.06477371 0.57433183] [ 0.00569999 0.99996629 -0.00591051 0.05252068] [ 0.06480741 0.00552878 0.99788247 -0.12596101] [ 0. 0. 0. 1. ]] SLAMing on 116.91463044 meters Centerline goodness : 0.164158 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.13 [[ 0.99787899 -0.00598795 -0.06482019 0.57396748] [ 0.00562717 0.99996765 -0.00574708 0.05168755] [ 0.06485251 0.00537013 0.99788041 -0.12533702] [ 0. 0. 0. 1. ]] SLAMing on 116.94463044 meters Centerline goodness : 0.122140 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.12 [[ 0.99788165 -0.005746 -0.0648012 0.57356612] [ 0.0054005 0.99997026 -0.00550556 0.05147377] [ 0.06483091 0.00514393 0.99788301 -0.12487562] [ 0. 0. 0. 1. ]] SLAMing on 116.97463044 meters Centerline goodness : 0.096227 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.13 [[ 0.99791411 -0.00529827 -0.06433777 0.57282331] [ 0.00497482 0.99997417 -0.00518661 0.05143888] [ 0.06436359 0.00485573 0.9979147 -0.12532761] [ 0. 0. 0. 1. ]] SLAMing on 117.00463044 meters Centerline goodness : 0.105521 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.9978732 0.00175502 -0.06516127 0.59234227] [-0.00218931 0.99997586 -0.00659401 0.04805622] [ 0.06514812 0.00672264 0.99785296 -0.12235651] [ 0. 0. 0. 1. ]] SLAMing on 117.03463044 meters Centerline goodness : 0.094036 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99786972 0.00171268 -0.06521572 0.59251901] [-0.00215417 0.99997524 -0.00669991 0.04818047] [ 0.06520263 0.00682612 0.9978487 -0.12253542] [ 0. 0. 0. 1. ]] SLAMing on 117.06463044 meters Centerline goodness : 0.101848 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99784928 0.00176607 -0.06552626 0.59324833] [-0.00221277 0.9999748 -0.00674513 0.0486003 ] [ 0.0655127 0.00687561 0.99782805 -0.12259459] [ 0. 0. 0. 1. ]] SLAMing on 117.09463043999999 meters Centerline goodness : 0.163718 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99783465 0.00190912 -0.06574464 0.59392623] [-0.00235743 0.99997449 -0.00674198 0.04927893] [ 0.06573009 0.00688236 0.9978137 -0.12288028] [ 0. 0. 0. 1. ]] SLAMing on 117.12463043999999 meters Centerline goodness : 0.094715 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.9978367 0.00236385 -0.06569887 0.59377353] [-0.00280206 0.99997443 -0.00657875 0.05063904] [ 0.06568164 0.00674861 0.99781781 -0.12291705] [ 0. 0. 0. 1. ]] SLAMing on 117.15463043999999 meters Centerline goodness : 0.094715 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.9978367 0.00236385 -0.06569887 0.59377353] [-0.00280206 0.99997443 -0.00657875 0.05063904] [ 0.06568164 0.00674861 0.99781781 -0.12291705] [ 0. 0. 0. 1. ]] SLAMing on 117.18463043999999 meters Centerline goodness : 0.098119 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99782981 0.0023492 -0.06580391 0.59415369] [-0.0027993 0.99997331 -0.0067486 0.05172064] [ 0.0657863 0.00691816 0.99780975 -0.12314995] [ 0. 0. 0. 1. ]] SLAMing on 117.21463044 meters Centerline goodness : 0.159546 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99782501 0.00235648 -0.06587632 0.59449907] [-0.00281413 0.99997254 -0.00685513 0.0526091 ] [ 0.06585836 0.00702561 0.99780425 -0.1234408 ] [ 0. 0. 0. 1. ]] SLAMing on 117.24463044 meters Centerline goodness : 0.186245 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99782324 0.00239526 -0.06590177 0.59461283] [-0.00285796 0.99997192 -0.0069277 0.05356037] [ 0.06588332 0.00710097 0.99780207 -0.12351566] [ 0. 0. 0. 1. ]] SLAMing on 117.27463044 meters Centerline goodness : 0.103747 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99784997 0.00223411 -0.06550154 0.59302999] [-0.002704 0.99997124 -0.0070859 0.05384144] [ 0.06548383 0.00724778 0.99782731 -0.12268186] [ 0. 0. 0. 1. ]] SLAMing on 117.30463044 meters Centerline goodness : 0.099404 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99784733 0.00211501 -0.06554562 0.59283448] [-0.00258366 0.9999717 -0.00706601 0.05302461] [ 0.06552882 0.00722014 0.99782456 -0.12221706] [ 0. 0. 0. 1. ]] SLAMing on 117.33463044 meters Centerline goodness : 0.098028 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99783198 0.00211206 -0.06577901 0.5934475 ] [-0.00257257 0.99997277 -0.00691693 0.05200908] [ 0.06576261 0.00707115 0.99781024 -0.12220526] [ 0. 0. 0. 1. ]] SLAMing on 117.36463044 meters Centerline goodness : 0.100855 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99781914 0.00217501 -0.06597143 0.59407006] [-0.00262369 0.99997401 -0.00671528 0.0510407 ] [ 0.06595511 0.00687373 0.99779892 -0.12237215] [ 0. 0. 0. 1. ]] SLAMing on 117.39463044 meters Centerline goodness : 0.104205 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99782087 0.0021915 -0.06594469 0.59410969] [-0.00263308 0.99997469 -0.00660991 0.05037123] [ 0.06592854 0.00676915 0.99780139 -0.12251074] [ 0. 0. 0. 1. ]] SLAMing on 117.42463044 meters Centerline goodness : 0.180509 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.12 [[ 0.99784408 0.0021141 -0.06559521 0.59284487] [-0.00254902 0.99997532 -0.00654742 0.04947808] [ 0.06557975 0.00670051 0.99782483 -0.12187333] [ 0. 0. 0. 1. ]] SLAMing on 117.45463043999999 meters Centerline goodness : 0.103389 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.12 [[ 0.99788343 -0.00563595 -0.06478343 0.61108932] [ 0.00532113 0.99997319 -0.00503121 0.05406132] [ 0.06481005 0.00467584 0.99788666 -0.11942177] [ 0. 0. 0. 1. ]] SLAMing on 117.48463043999999 meters Centerline goodness : 0.138650 Centerline is valid? [False, False] Translation: X:0.63, Y:0.05, Z:-0.12 [[ 0.99781012 0.00138758 -0.06612902 0.62992673] [-0.00178078 0.99998108 -0.00588742 0.05069155] [ 0.0661196 0.00599229 0.99779371 -0.11589599] [ 0. 0. 0. 1. ]] SLAMing on 117.51463043999999 meters Centerline goodness : 0.136742 Centerline is valid? [False, False] Translation: X:0.63, Y:0.05, Z:-0.12 [[ 0.99780028 0.00140378 -0.06627698 0.63043881] [-0.00179552 0.99998127 -0.00585149 0.05043507] [ 0.06626753 0.00595762 0.99778411 -0.11610576] [ 0. 0. 0. 1. ]] SLAMing on 117.54463043999999 meters Centerline goodness : 0.098228 Centerline is valid? [False, False] Translation: X:0.63, Y:0.05, Z:-0.12 [[ 0.99779167 0.0013424 -0.06640773 0.63114531] [-0.00173935 0.99998096 -0.00592 0.05032955] [ 0.06639852 0.00602244 0.99777501 -0.11664425] [ 0. 0. 0. 1. ]] SLAMing on 117.57463043999999 meters Centerline goodness : 0.099345 Centerline is valid? [False, False] Translation: X:0.63, Y:0.05, Z:-0.12 [[ 0.99778441 0.0012386 -0.06651874 0.63171185] [-0.00164928 0.99997992 -0.00611931 0.05083164] [ 0.06650982 0.00621546 0.99776641 -0.11710519] [ 0. 0. 0. 1. ]] SLAMing on 117.60463044 meters Centerline goodness : 0.187024 Centerline is valid? [False, False] Translation: X:0.63, Y:0.05, Z:-0.12 [[ 0.99777382 0.00143325 -0.06667341 0.6321422 ] [-0.00186131 0.99997805 -0.00635859 0.05337576] [ 0.06666283 0.00646853 0.99775459 -0.11738886] [ 0. 0. 0. 1. ]] SLAMing on 117.63463044 meters Centerline goodness : 0.108460 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.99774564 -0.0035992 -0.06701252 0.60950792] [ 0.0033784 0.99998849 -0.00340787 0.05602704] [ 0.06702402 0.00317379 0.99774631 -0.11885464] [ 0. 0. 0. 1. ]] SLAMing on 117.66463044 meters Centerline goodness : 0.100807 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.99774246 -0.00354807 -0.06706259 0.60963889] [ 0.0033144 0.99998804 -0.00359524 0.05770937] [ 0.06707455 0.00336485 0.99774229 -0.11894886] [ 0. 0. 0. 1. ]] SLAMing on 117.69463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 117.72463044 meters Centerline goodness : 0.106962 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.99778173 -0.00391571 -0.06645507 0.60738349] [ 0.00364547 0.99998459 -0.00418724 0.05975697] [ 0.06647044 0.00393569 0.99778063 -0.11794823] [ 0. 0. 0. 1. ]] SLAMing on 117.75463044 meters Centerline goodness : 0.111325 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.99778519 -0.00403955 -0.0663957 0.60677028] [ 0.00376072 0.99998358 -0.00432407 0.05998788] [ 0.06641207 0.0040648 0.997784 -0.11733777] [ 0. 0. 0. 1. ]] SLAMing on 117.78463044 meters Centerline goodness : 0.154302 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.9977631 -0.00389574 -0.06673544 0.60719289] [ 0.00361928 0.99998436 -0.00426295 0.06106819] [ 0.06675101 0.00401188 0.9977616 -0.11683857] [ 0. 0. 0. 1. ]] SLAMing on 117.81463044 meters Centerline goodness : 0.106059 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.99777114 -0.0038592 -0.06661721 0.60674272] [ 0.00358027 0.99998432 -0.00430596 0.06177535] [ 0.06663279 0.00405786 0.99776931 -0.11660085] [ 0. 0. 0. 1. ]] SLAMing on 117.84463043999999 meters Centerline goodness : 0.097892 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.9977901 -0.00393417 -0.0663283 0.60569308] [ 0.0036471 0.99998345 -0.00444854 0.0623504 ] [ 0.06634471 0.00419681 0.99778794 -0.11612918] [ 0. 0. 0. 1. ]] SLAMing on 117.87463043999999 meters Centerline goodness : 0.097539 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.12 [[ 0.99781077 -0.00398435 -0.06601359 0.60450829] [ 0.00369391 0.99998296 -0.00452119 0.06253565] [ 0.06603048 0.00426745 0.99780848 -0.11560263] [ 0. 0. 0. 1. ]] SLAMing on 117.90463043999999 meters Centerline goodness : 0.173903 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.11 [[ 0.99783133 -0.00381474 -0.06571218 0.60325982] [ 0.00354368 0.99998473 -0.00424105 0.06159712] [ 0.06572736 0.00399899 0.99782961 -0.11491532] [ 0. 0. 0. 1. ]] SLAMing on 117.93463043999999 meters Centerline goodness : 0.149287 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.12 [[ 0.9978187 -0.00373949 -0.06590796 0.60396889] [ 0.0034862 0.99998609 -0.00395761 0.05986547] [ 0.06592184 0.00371921 0.99781786 -0.11518467] [ 0. 0. 0. 1. ]] SLAMing on 117.96463044 meters Centerline goodness : 0.104676 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.12 [[ 0.9977888 -0.00376965 -0.06635736 0.60554203] [ 0.00353416 0.99998704 -0.00366573 0.0572784 ] [ 0.06637032 0.00342311 0.99778919 -0.11579355] [ 0. 0. 0. 1. ]] SLAMing on 117.99463044 meters Centerline goodness : 0.144168 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.12 [[ 0.99774641 -0.00380396 -0.06698983 0.60755476] [ 0.00359274 0.99998819 -0.00327324 0.05383196] [ 0.06700149 0.00302518 0.99774829 -0.11627804] [ 0. 0. 0. 1. ]] SLAMing on 118.02463044 meters Centerline goodness : 0.105621 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.12 [[ 0.99772091 -0.00383932 -0.06736651 0.60866567] [ 0.00365637 0.99998929 -0.00283877 0.05044152] [ 0.06737669 0.00258599 0.99772426 -0.11643165] [ 0. 0. 0. 1. ]] SLAMing on 118.05463044 meters Centerline goodness : 0.105035 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.12 [[ 0.99772175 -0.00370491 -0.06736155 0.60861617] [ 0.00356725 0.9999913 -0.00216387 0.04656423] [ 0.06736898 0.00191865 0.99772628 -0.11616256] [ 0. 0. 0. 1. ]] SLAMing on 118.08463044 meters Centerline goodness : 0.110617 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.11 [[ 0.997786 -0.00503378 -0.06631557 0.6049695 ] [ 0.0048819 0.99998508 -0.00245207 0.03862646] [ 0.06632693 0.0021229 0.99779569 -0.11459673] [ 0. 0. 0. 1. ]] SLAMing on 118.11463044 meters Centerline goodness : 0.146220 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:-0.11 [[ 0.99776719 -0.00483642 -0.06661268 0.60577651] [ 0.00471713 0.99998698 -0.00194792 0.03594235] [ 0.06662123 0.00162935 0.99777701 -0.11460773] [ 0. 0. 0. 1. ]] SLAMing on 118.14463044 meters Centerline goodness : 0.210721 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.11 [[ 0.99774167 -0.00466 -0.06700632 0.60703268] [ 0.00456383 0.99998832 -0.00158817 0.03408467] [ 0.06701294 0.00127878 0.99775129 -0.11497458] [ 0. 0. 0. 1. ]] SLAMing on 118.17463044 meters Centerline goodness : 0.105376 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.12 [[ 9.97722374e-01 -4.43207658e-03 -6.73084028e-02 6.07971073e-01] [ 4.35509794e-03 9.99989684e-01 -1.29036195e-03 3.30342104e-02] [ 6.73134274e-02 9.94288300e-04 9.97731384e-01 -1.15296246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20463043999999 meters Centerline goodness : 0.178295 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.12 [[ 9.97714046e-01 -4.12748268e-03 -6.74510653e-02 6.08540187e-01] [ 4.07114800e-03 9.99991240e-01 -9.72630705e-04 3.24273537e-02] [ 6.74544889e-02 6.95804046e-04 9.97722109e-01 -1.15631807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23463043999999 meters Centerline goodness : 0.106173 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.12 [[ 9.97752769e-01 -3.71363653e-03 -6.69000811e-02 6.07200364e-01] [ 3.67821607e-03 9.99993022e-01 -6.52620246e-04 3.17150711e-02] [ 6.69020379e-02 4.05080705e-04 9.97759467e-01 -1.15680985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26463043999999 meters Centerline goodness : 0.105594 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.12 [[ 9.97775396e-01 -3.70795820e-03 -6.65620711e-02 6.05914911e-01] [ 3.66761368e-03 9.99993009e-01 -7.28306506e-04 3.19630974e-02] [ 6.65643063e-02 4.82562350e-04 9.97782020e-01 -1.15134258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29463043999999 meters Centerline goodness : 0.094546 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.11 [[ 9.97779971e-01 -3.81083332e-03 -6.64876529e-02 6.05208972e-01] [ 3.75340071e-03 9.99992467e-01 -9.88703234e-04 3.28716199e-02] [ 6.64909198e-02 7.36953480e-04 9.97786758e-01 -1.14554989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32463043999999 meters Centerline goodness : 0.093279 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.11 [[ 9.97781253e-01 -3.87734523e-03 -6.64645534e-02 6.05025097e-01] [ 3.80592332e-03 9.99992036e-01 -1.20117288e-03 3.38061297e-02] [ 6.64686814e-02 9.45548784e-04 9.97788064e-01 -1.14509166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35463044 meters Centerline goodness : 0.094924 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:-0.11 [[ 0.99777584 -0.00386097 -0.06654665 0.60528415] [ 0.00377892 0.99999194 -0.00135877 0.03501495] [ 0.06655136 0.00110427 0.99778239 -0.11472583] [ 0. 0. 0. 1. ]] SLAMing on 118.38463044 meters Centerline goodness : 0.171065 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.11 [[ 0.99779183 -0.0037335 -0.06631386 0.60461694] [ 0.00365205 0.99999242 -0.00134932 0.03588097] [ 0.0663184 0.00110416 0.9977979 -0.11465336] [ 0. 0. 0. 1. ]] SLAMing on 118.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 118.44463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 118.47463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 118.50463044 meters Centerline goodness : 0.102330 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.11 [[ 0.99780151 -0.00410093 -0.06614627 0.60240034] [ 0.00396308 0.99998969 -0.00221512 0.04226938] [ 0.06615467 0.00194811 0.99780748 -0.11274866] [ 0. 0. 0. 1. ]] SLAMing on 118.53463044 meters Centerline goodness : 0.095016 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.11 [[ 0.99779222 -0.00443552 -0.06626468 0.6021573 ] [ 0.00425353 0.99998679 -0.0028871 0.04578834] [ 0.06627661 0.00259886 0.9977979 -0.11213008] [ 0. 0. 0. 1. ]] SLAMing on 118.56463044 meters Centerline goodness : 0.094030 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.11 [[ 0.99779697 -0.00458107 -0.06618317 0.60167001] [ 0.00437219 0.99998499 -0.00330058 0.0483567 ] [ 0.0661973 0.00300394 0.99780203 -0.11177548] [ 0. 0. 0. 1. ]] SLAMing on 118.59463043999999 meters Centerline goodness : 0.093580 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.11 [[ 0.99780478 -0.00475168 -0.06605338 0.60117317] [ 0.00450426 0.99998227 -0.00389419 0.05193755] [ 0.06607072 0.00358812 0.99780849 -0.11164641] [ 0. 0. 0. 1. ]] SLAMing on 118.62463043999999 meters Centerline goodness : 0.094139 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.11 [[ 0.99779846 -0.00494838 -0.06613426 0.60135398] [ 0.0046569 0.99997876 -0.00456093 0.05592799] [ 0.06615543 0.00424291 0.99780031 -0.11176505] [ 0. 0. 0. 1. ]] SLAMing on 118.65463043999999 meters Centerline goodness : 0.093531 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.11 [[ 0.99777195 -0.00508863 -0.06652242 0.60233023] [ 0.00475423 0.99997526 -0.00518409 0.05968013] [ 0.06654715 0.00485628 0.99777146 -0.11202869] [ 0. 0. 0. 1. ]] SLAMing on 118.68463043999999 meters Centerline goodness : 0.093998 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.11 [[ 0.99775449 -0.00524615 -0.06677166 0.60271683] [ 0.00487088 0.99997142 -0.00578171 0.0631995 ] [ 0.06680008 0.00544349 0.99775153 -0.11189351] [ 0. 0. 0. 1. ]] SLAMing on 118.71463044 meters Centerline goodness : 0.095627 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.11 [[ 0.99784174 0.00166806 -0.06564355 0.62121796] [-0.00217938 0.99996784 -0.00771851 0.06706755] [ 0.06562856 0.00784491 0.99781328 -0.10840289] [ 0. 0. 0. 1. ]] SLAMing on 118.74463044 meters Centerline goodness : 0.094073 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.11 [[ 0.99784237 0.00145189 -0.06563913 0.62093698] [-0.00198401 0.99996569 -0.00804235 0.06829719] [ 0.0656252 0.00815523 0.99781102 -0.10803426] [ 0. 0. 0. 1. ]] SLAMing on 118.77463044 meters Centerline goodness : 0.094414 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.11 [[ 0.99783476 0.00135964 -0.06575668 0.62113583] [-0.00190343 0.9999645 -0.00820773 0.06930669] [ 0.06574319 0.00831513 0.99780193 -0.10791378] [ 0. 0. 0. 1. ]] SLAMing on 118.80463044 meters Centerline goodness : 0.092738 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.11 [[ 0.99782843 0.00131045 -0.0658537 0.62126022] [-0.00186296 0.99996358 -0.00832922 0.0703149 ] [ 0.06584039 0.00843382 0.99779453 -0.10774262] [ 0. 0. 0. 1. ]] SLAMing on 118.83463044 meters Centerline goodness : 0.095630 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.11 [[ 0.99783173 0.00123415 -0.06580511 0.62109235] [-0.00180075 0.99996181 -0.00855155 0.07174537] [ 0.06579204 0.00865151 0.99779585 -0.10765008] [ 0. 0. 0. 1. ]] SLAMing on 118.86463044 meters Centerline goodness : 0.092791 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.11 [[ 0.99783522 0.00107339 -0.06575504 0.62081817] [-0.00166052 0.99995924 -0.00887503 0.07323029] [ 0.06574284 0.00896501 0.99779633 -0.10744074] [ 0. 0. 0. 1. ]] SLAMing on 118.89463044 meters Centerline goodness : 0.096743 Centerline is valid? [False, False] Translation: X:0.62, Y:0.08, Z:-0.11 [[ 9.97865469e-01 8.03086238e-04 -6.52982508e-02 6.19005674e-01] [-1.41989342e-03 9.99954810e-01 -9.40013942e-03 7.54475698e-02] [ 6.52877509e-02 9.47279109e-03 9.97821515e-01 -1.06562223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92463044 meters Centerline goodness : 0.095781 Centerline is valid? [False, False] Translation: X:0.62, Y:0.08, Z:-0.11 [[ 9.97873080e-01 8.17168867e-04 -6.51816539e-02 6.18534175e-01] [-1.43722010e-03 9.99954160e-01 -9.46634214e-03 7.61045182e-02] [ 6.51709304e-02 9.53988837e-03 9.97828513e-01 -1.06314309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95463043999999 meters Centerline goodness : 0.097373 Centerline is valid? [False, False] Translation: X:0.62, Y:0.08, Z:-0.11 [[ 9.97870729e-01 8.83186515e-04 -6.52167734e-02 6.18620293e-01] [-1.50100656e-03 9.99954458e-01 -9.42494061e-03 7.63856268e-02] [ 6.52054793e-02 9.50276317e-03 9.97826610e-01 -1.06330124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98463043999999 meters Centerline goodness : 0.094308 Centerline is valid? [False, False] Translation: X:0.62, Y:0.08, Z:-0.11 [[ 9.97857600e-01 8.86652445e-04 -6.54173002e-02 6.19187692e-01] [-1.50839915e-03 9.99954158e-01 -9.45553788e-03 7.66492479e-02] [ 6.54059175e-02 9.53395574e-03 9.97813194e-01 -1.06441979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01463043999999 meters Centerline goodness : 0.095864 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99782356 -0.00715444 -0.06555115 0.63809294] [ 0.00661726 0.99994275 -0.00840826 0.08226826] [ 0.06560755 0.00795619 0.99781378 -0.10444982] [ 0. 0. 0. 1. ]] SLAMing on 119.04463043999999 meters Centerline goodness : 0.095373 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99784185 -0.00727143 -0.0652593 0.63687354] [ 0.00673416 0.99994163 -0.00844896 0.08176774] [ 0.06531693 0.00799126 0.99783257 -0.10374568] [ 0. 0. 0. 1. ]] SLAMing on 119.07463043999999 meters Centerline goodness : 0.095373 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99784185 -0.00727143 -0.0652593 0.63687354] [ 0.00673416 0.99994163 -0.00844896 0.08176774] [ 0.06531693 0.00799126 0.99783257 -0.10374568] [ 0. 0. 0. 1. ]] SLAMing on 119.10463044 meters Centerline goodness : 0.094993 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99785727 -0.00724688 -0.06502582 0.63593919] [ 0.00671794 0.99994258 -0.00834923 0.08126812] [ 0.06508259 0.0078945 0.99784865 -0.10325026] [ 0. 0. 0. 1. ]] SLAMing on 119.13463044 meters Centerline goodness : 0.097460 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99786362 -0.0071598 -0.06493792 0.6354146 ] [ 0.00664116 0.99994433 -0.008199 0.0808314 ] [ 0.06499301 0.00775022 0.99785562 -0.10279668] [ 0. 0. 0. 1. ]] SLAMing on 119.16463044 meters Centerline goodness : 0.093209 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99786137 -0.00714735 -0.0649738 0.63545958] [ 0.00663023 0.99994464 -0.00817111 0.08069383] [ 0.0650286 0.00772284 0.99785352 -0.10274152] [ 0. 0. 0. 1. ]] SLAMing on 119.19463044 meters Centerline goodness : 0.092907 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99781337 -0.00720591 -0.06570052 0.63758575] [ 0.00667838 0.9999437 -0.00824539 0.08037337] [ 0.06575623 0.00778859 0.99780532 -0.10329151] [ 0. 0. 0. 1. ]] SLAMing on 119.22463044 meters Centerline goodness : 0.275814 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99779226 -0.00713015 -0.06602852 0.63849724] [ 0.00660715 0.99994508 -0.00813574 0.07994654] [ 0.0660829 0.00768151 0.99778457 -0.10346911] [ 0. 0. 0. 1. ]] SLAMing on 119.25463044 meters Centerline goodness : 0.090695 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99777926 -0.00692649 -0.06624628 0.63902898] [ 0.00641925 0.99994845 -0.00786676 0.07932569] [ 0.06629735 0.00742404 0.99777229 -0.10347927] [ 0. 0. 0. 1. ]] SLAMing on 119.28463044 meters Centerline goodness : 0.102877 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.10 [[ 0.99777144 -0.00668804 -0.06638846 0.63909917] [ 0.00620628 0.99995291 -0.00746016 0.07795934] [ 0.06643523 0.00703151 0.99776596 -0.10308664] [ 0. 0. 0. 1. ]] SLAMing on 119.31463044 meters Centerline goodness : 0.279678 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.11 [[ 0.99780253 0.00138252 -0.06624344 0.62029144] [-0.0019417 0.99996302 -0.00837765 0.07001396] [ 0.06622941 0.00848787 0.99776832 -0.10507929] [ 0. 0. 0. 1. ]] SLAMing on 119.34463043999999 meters Centerline goodness : 0.095003 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.10 [[ 0.99780097 0.00136244 -0.06626734 0.62019776] [-0.00190547 0.99996512 -0.00813196 0.06799962] [ 0.06625395 0.00824035 0.99776877 -0.10481271] [ 0. 0. 0. 1. ]] SLAMing on 119.37463043999999 meters Centerline goodness : 0.095246 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.9978039 -0.00245057 -0.06619195 0.61961499] [ 0.00170419 0.99993436 -0.01133011 0.06498013] [ 0.06621537 0.01119242 0.99774258 -0.10429903] [ 0. 0. 0. 1. ]] SLAMing on 119.40463043999999 meters Centerline goodness : 0.094252 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.11 [[ 0.99778101 0.00372314 -0.06647707 0.59788624] [-0.00466525 0.9998908 -0.0140224 0.05907566] [ 0.06641761 0.01430142 0.99768942 -0.1053561 ] [ 0. 0. 0. 1. ]] SLAMing on 119.43463043999999 meters Centerline goodness : 0.092824 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99777917 -0.00439246 -0.06646383 0.61769467] [ 0.00354293 0.99991059 -0.0128943 0.06261617] [ 0.06651453 0.01263019 0.99770552 -0.10372015] [ 0. 0. 0. 1. ]] SLAMing on 119.46463044 meters Centerline goodness : 0.091683 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99777554 -0.00427446 -0.06652589 0.61803284] [ 0.00343903 0.99991385 -0.01266742 0.06161772] [ 0.0665743 0.01241046 0.99770429 -0.1039676 ] [ 0. 0. 0. 1. ]] SLAMing on 119.49463044 meters Centerline goodness : 0.091642 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99776185 -0.00416628 -0.06673783 0.61868708] [ 0.00333528 0.99991558 -0.01255826 0.0613869 ] [ 0.06678452 0.01230756 0.99769151 -0.10418551] [ 0. 0. 0. 1. ]] SLAMing on 119.52463044 meters Centerline goodness : 0.094420 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99773787 -0.0040667 -0.06710145 0.61974648] [ 0.00323242 0.99991619 -0.01253692 0.06166124] [ 0.06714681 0.01229166 0.99766739 -0.10450861] [ 0. 0. 0. 1. ]] SLAMing on 119.55463044 meters Centerline goodness : 0.097229 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99771357 -0.00390165 -0.06747154 0.62068677] [ 0.00305443 0.99991525 -0.01265531 0.0629695 ] [ 0.0675152 0.01242029 0.99764093 -0.10473155] [ 0. 0. 0. 1. ]] SLAMing on 119.58463044 meters Centerline goodness : 0.093095 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99773392 -0.00380917 -0.0671753 0.6195986 ] [ 0.00296492 0.99991542 -0.01266318 0.06358629] [ 0.06721786 0.01243532 0.99766083 -0.10427935] [ 0. 0. 0. 1. ]] SLAMing on 119.61463044 meters Centerline goodness : 0.092405 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.9977683 -0.00365723 -0.06667117 0.61769726] [ 0.00282914 0.99991774 -0.01251062 0.06350181] [ 0.06671144 0.01229407 0.99769657 -0.10336912] [ 0. 0. 0. 1. ]] SLAMing on 119.64463044 meters Centerline goodness : 0.092769 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99779464 -0.00356411 -0.06628084 0.6162077 ] [ 0.00274904 0.99991953 -0.01238449 0.06318059] [ 0.06631965 0.01217497 0.99772415 -0.10262994] [ 0. 0. 0. 1. ]] SLAMing on 119.67463044 meters Centerline goodness : 0.093785 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99779943 -0.00355284 -0.06620933 0.61577423] [ 0.00274734 0.99992115 -0.01225314 0.06225806] [ 0.06624765 0.01204428 0.99773052 -0.10226461] [ 0. 0. 0. 1. ]] SLAMing on 119.70463043999999 meters Centerline goodness : 0.091573 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99777687 -0.00379619 -0.06653496 0.61661991] [ 0.00299468 0.9999218 -0.01214217 0.05960541] [ 0.06657585 0.01191592 0.99771021 -0.10228337] [ 0. 0. 0. 1. ]] SLAMing on 119.73463043999999 meters Centerline goodness : 0.091272 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99777714 -0.00372143 -0.06653518 0.61649153] [ 0.00294247 0.99992603 -0.01180165 0.05756248] [ 0.06657418 0.01157964 0.99771428 -0.10204047] [ 0. 0. 0. 1. ]] SLAMing on 119.76463043999999 meters Centerline goodness : 0.089784 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.10 [[ 0.99778093 -0.00354672 -0.06648781 0.61636276] [ 0.00280163 0.99993227 -0.01129631 0.05506518] [ 0.06652337 0.01108496 0.99772329 -0.10189625] [ 0. 0. 0. 1. ]] SLAMing on 119.79463043999999 meters Centerline goodness : 0.099536 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99761269 -0.00300763 -0.06899191 0.57239558] [ 0.00224221 0.99993511 -0.01116918 0.04881544] [ 0.06902103 0.01098782 0.99755469 -0.10397675] [ 0. 0. 0. 1. ]] SLAMing on 119.82463043999999 meters Centerline goodness : 0.091769 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.10 [[ 0.99756028 -0.00290366 -0.06974992 0.57497416] [ 0.00217024 0.99994159 -0.01058841 0.04422855] [ 0.06977659 0.0104112 0.99750831 -0.10484007] [ 0. 0. 0. 1. ]] SLAMing on 119.85463044 meters Centerline goodness : 0.106772 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.10 [[ 0.99755865 -0.0028418 -0.06977588 0.5749624 ] [ 0.00212966 0.99994491 -0.01027835 0.0419918 ] [ 0.06980124 0.01010466 0.99750974 -0.10468603] [ 0. 0. 0. 1. ]] SLAMing on 119.88463044 meters Centerline goodness : 0.090780 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.10 [[ 0.99756388 -0.00272108 -0.06970577 0.57453042] [ 0.00203057 0.99994819 -0.00997499 0.04019047] [ 0.0697293 0.00980915 0.99751772 -0.10430072] [ 0. 0. 0. 1. ]] SLAMing on 119.91463044 meters Centerline goodness : 0.161516 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.10 [[ 0.99758063 -0.00255238 -0.06947214 0.57369716] [ 0.00188269 0.99995115 -0.0097035 0.03918319] [ 0.06949351 0.00954923 0.9975367 -0.10394003] [ 0. 0. 0. 1. ]] SLAMing on 119.94463044 meters Centerline goodness : 0.095399 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.10 [[ 0.99759756 -0.00233748 -0.06923616 0.57266125] [ 0.00168501 0.99995364 -0.00948083 0.03886577] [ 0.06925511 0.00934139 0.99755525 -0.103328 ] [ 0. 0. 0. 1. ]] SLAMing on 119.97463044 meters Centerline goodness : 0.091419 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.10 [[ 0.99774255 0.00659254 -0.06683069 0.59197685] [-0.00724778 0.99992797 -0.0095667 0.03839255] [ 0.06676281 0.01002947 0.99771847 -0.10158588] [ 0. 0. 0. 1. ]] SLAMing on 120.00463044 meters Centerline goodness : 0.122909 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.10 [[ 0.99762402 0.00763942 -0.06846856 0.54668401] [-0.00833931 0.9999158 -0.00994211 0.0363537 ] [ 0.06838685 0.01048947 0.99760373 -0.10389263] [ 0. 0. 0. 1. ]] SLAMing on 120.03463044 meters Centerline goodness : 0.150231 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.10 [[ 0.99761706 0.00749501 -0.06858587 0.54708838] [-0.00822206 0.9999129 -0.01032442 0.03786257] [ 0.06850252 0.01086373 0.99759179 -0.10419829] [ 0. 0. 0. 1. ]] SLAMing on 120.06463044 meters Centerline goodness : 0.093974 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.10 [[ 0.99758852 0.00742266 -0.06900756 0.54822556] [-0.00817791 0.99990965 -0.01066833 0.03956941] [ 0.06892214 0.01120695 0.99755909 -0.10451811] [ 0. 0. 0. 1. ]] SLAMing on 120.09463043999999 meters Centerline goodness : 0.161451 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.10 [[ 0.99756059 0.00746453 -0.06940576 0.54918617] [-0.00823549 0.99990745 -0.01082859 0.04086246] [ 0.06931851 0.01137376 0.99752974 -0.10467084] [ 0. 0. 0. 1. ]] SLAMing on 120.12463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 120.15463043999999 meters Centerline goodness : 0.094170 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99750142 0.00249399 -0.07060233 0.56954765] [-0.00304599 0.99996562 -0.00771187 0.0488411 ] [ 0.07058067 0.00790765 0.99747473 -0.10288635] [ 0. 0. 0. 1. ]] SLAMing on 120.18463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 120.21463044 meters Centerline goodness : 0.230040 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99750704 0.00204926 -0.07053725 0.56871039] [-0.00262279 0.99996425 -0.00803918 0.0486004 ] [ 0.07051826 0.00820414 0.99747675 -0.10198858] [ 0. 0. 0. 1. ]] SLAMing on 120.24463044 meters Centerline goodness : 0.091857 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.9975009 0.00202714 -0.07062466 0.56855505] [-0.00259356 0.9999652 -0.00792939 0.04785984] [ 0.07060613 0.00809274 0.99747144 -0.1014185 ] [ 0. 0. 0. 1. ]] SLAMing on 120.27463044 meters Centerline goodness : 0.093187 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99750179 0.00215843 -0.0706082 0.56820281] [-0.00270684 0.9999669 -0.00767222 0.04705527] [ 0.07058931 0.00784418 0.99747462 -0.10097557] [ 0. 0. 0. 1. ]] SLAMing on 120.30463044 meters Centerline goodness : 0.094742 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99750464 0.00224679 -0.07056514 0.5680344 ] [-0.00277443 0.99996892 -0.0073802 0.04575768] [ 0.07054636 0.00755756 0.99747987 -0.10074849] [ 0. 0. 0. 1. ]] SLAMing on 120.33463044 meters Centerline goodness : 0.094269 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99749936 0.00220304 -0.07064113 0.56839347] [-0.00273147 0.999969 -0.00738466 0.04542942] [ 0.07062267 0.00755914 0.99747446 -0.10096366] [ 0. 0. 0. 1. ]] SLAMing on 120.36463044 meters Centerline goodness : 0.093152 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99748651 0.00219017 -0.07082282 0.56913892] [-0.002723 0.99996871 -0.00742778 0.04560312] [ 0.07080433 0.00760196 0.99746126 -0.10140863] [ 0. 0. 0. 1. ]] SLAMing on 120.39463044 meters Centerline goodness : 0.168067 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.10 [[ 0.99747347 0.00217057 -0.07100679 0.56981178] [-0.00271425 0.99996773 -0.0075611 0.04638995] [ 0.07098808 0.00773472 0.99744717 -0.10178451] [ 0. 0. 0. 1. ]] SLAMing on 120.42463044 meters Centerline goodness : 0.165902 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.10 [[ 0.997471 -0.00338029 -0.07099426 0.59119315] [ 0.00305617 0.99998441 -0.00467352 0.05105861] [ 0.07100895 0.00444473 0.99746578 -0.1009075 ] [ 0. 0. 0. 1. ]] SLAMing on 120.45463043999999 meters Centerline goodness : 0.092613 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.10 [[ 0.99757816 -0.0018609 -0.06952949 0.58589554] [ 0.0016331 0.99999311 -0.00333313 0.05109247] [ 0.06953521 0.00321151 0.99757433 -0.09904952] [ 0. 0. 0. 1. ]] SLAMing on 120.48463043999999 meters Centerline goodness : 0.094351 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.10 [[ 0.99759966 -0.00188374 -0.06921976 0.5846811 ] [ 0.00165051 0.99999277 -0.00342656 0.05177268] [ 0.06922572 0.00330409 0.99759555 -0.09845854] [ 0. 0. 0. 1. ]] SLAMing on 120.51463043999999 meters Centerline goodness : 0.094219 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.10 [[ 0.99760877 -0.00193123 -0.06908694 0.58404969] [ 0.0016908 0.99999231 -0.00353844 0.05233138] [ 0.06909325 0.00341316 0.99760437 -0.0980538 ] [ 0. 0. 0. 1. ]] SLAMing on 120.54463043999999 meters Centerline goodness : 0.130983 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.10 [[ 0.99760435 -0.00197728 -0.06914946 0.58420345] [ 0.00172546 0.99999166 -0.00370119 0.0532211 ] [ 0.06915621 0.00357301 0.99759945 -0.09811525] [ 0. 0. 0. 1. ]] SLAMing on 120.57463043999999 meters Centerline goodness : 0.121784 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.10 [[ 0.99759505 -0.00203016 -0.06928194 0.58461164] [ 0.00176271 0.99999076 -0.00392124 0.05459623] [ 0.06928926 0.00378969 0.99758941 -0.09831417] [ 0. 0. 0. 1. ]] SLAMing on 120.60463044 meters Centerline goodness : 0.092365 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:-0.10 [[ 0.99758079 -0.00201423 -0.06948748 0.58512089] [ 0.00172685 0.99998971 -0.00419558 0.05657321] [ 0.06949521 0.00406544 0.997574 -0.09846107] [ 0. 0. 0. 1. ]] SLAMing on 120.63463044 meters Centerline goodness : 0.093346 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.10 [[ 0.99760415 -0.00188781 -0.06915487 0.58410127] [ 0.00156772 0.99998781 -0.00468249 0.06163231] [ 0.06916286 0.00456286 0.99759495 -0.09844081] [ 0. 0. 0. 1. ]] SLAMing on 120.66463044 meters Centerline goodness : 0.093024 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.10 [[ 0.99758712 0.00639089 -0.06913097 0.56443412] [-0.0068191 0.99995899 -0.00595999 0.05839883] [ 0.06909005 0.00641702 0.99758979 -0.10063855] [ 0. 0. 0. 1. ]] SLAMing on 120.69463044 meters Centerline goodness : 0.125262 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.10 [[ 9.97602300e-01 -9.67352251e-04 -6.92005401e-02 5.82294214e-01] [ 6.34662698e-04 9.99988137e-01 -4.82943929e-03 6.66828852e-02] [ 6.92043909e-02 4.77394074e-03 9.97591079e-01 -9.83029448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72463044 meters Centerline goodness : 0.090251 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.10 [[ 9.97607627e-01 -1.05790180e-03 -6.91223776e-02 5.82064931e-01] [ 7.08047090e-04 9.99986817e-01 -5.08568558e-03 6.81150628e-02] [ 6.91268465e-02 5.02457682e-03 9.97595225e-01 -9.83464368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75463044 meters Centerline goodness : 0.110133 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.10 [[ 9.97602132e-01 -1.11975679e-03 -6.92006728e-02 5.82053068e-01] [ 7.60079936e-04 9.99986068e-01 -5.22370394e-03 6.89532699e-02] [ 6.92055579e-02 5.15858014e-03 9.97589084e-01 -9.80818150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78463044 meters Centerline goodness : 0.090122 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.10 [[ 0.99756971 -0.00156007 -0.06965799 0.5828596 ] [ 0.0011826 0.9999844 -0.00545974 0.06850329] [ 0.06966542 0.00536409 0.99755599 -0.09761206] [ 0. 0. 0. 1. ]] SLAMing on 120.81463044 meters Centerline goodness : 0.093880 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.10 [[ 0.99755059 -0.00171823 -0.06992759 0.58359706] [ 0.0013436 0.9999845 -0.00540399 0.06738077] [ 0.0699358 0.0052968 0.99753743 -0.09759838] [ 0. 0. 0. 1. ]] SLAMing on 120.84463043999999 meters Centerline goodness : 0.092746 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.10 [[ 0.99753968 -0.00184034 -0.0700799 0.58415728] [ 0.00147188 0.99998482 -0.00530896 0.06625832] [ 0.07008861 0.00519275 0.99752725 -0.09774445] [ 0. 0. 0. 1. ]] SLAMing on 120.87463043999999 meters Centerline goodness : 0.089441 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.10 [[ 0.99753635 -0.00188712 -0.0701261 0.58442709] [ 0.00152998 0.99998559 -0.00514622 0.06508956] [ 0.0701348 0.00502625 0.99752486 -0.09784934] [ 0. 0. 0. 1. ]] SLAMing on 120.90463043999999 meters Centerline goodness : 0.095551 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.10 [[ 0.99755693 -0.0021062 -0.06982641 0.58347171] [ 0.00176485 0.99998619 -0.00494996 0.06286249] [ 0.06983587 0.00481464 0.99754688 -0.0973011 ] [ 0. 0. 0. 1. ]] SLAMing on 120.93463043999999 meters Centerline goodness : 0.090070 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.10 [[ 0.99755565 -0.00215412 -0.06984325 0.58320276] [ 0.00181988 0.99998659 -0.00484885 0.06182511] [ 0.06985276 0.00470989 0.99754619 -0.09681954] [ 0. 0. 0. 1. ]] SLAMing on 120.96463044 meters Centerline goodness : 0.090070 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.10 [[ 0.99755565 -0.00215412 -0.06984325 0.58320276] [ 0.00181988 0.99998659 -0.00484885 0.06182511] [ 0.06985276 0.00470989 0.99754619 -0.09681954] [ 0. 0. 0. 1. ]] SLAMing on 120.99463044 meters Centerline goodness : 0.089117 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.10 [[ 0.997547 -0.00210504 -0.06996826 0.58323613] [ 0.00178542 0.99998769 -0.00463032 0.06056623] [ 0.06997714 0.00449404 0.99753847 -0.09639785] [ 0. 0. 0. 1. ]] SLAMing on 121.02463044 meters Centerline goodness : 0.089018 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.10 [[ 0.99752685 -0.00198599 -0.07025834 0.58394497] [ 0.00168403 0.99998909 -0.00435683 0.05940618] [ 0.07026622 0.00422774 0.99751932 -0.09634566] [ 0. 0. 0. 1. ]] SLAMing on 121.05463044 meters Centerline goodness : 0.090822 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.10 [[ 0.99750852 -0.00188587 -0.07052092 0.58488024] [ 0.00160328 0.99999046 -0.0040635 0.05794858] [ 0.07052791 0.00394031 0.99750202 -0.09667197] [ 0. 0. 0. 1. ]] SLAMing on 121.08463044 meters Centerline goodness : 0.099978 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:-0.10 [[ 0.99749357 -0.00191538 -0.07073124 0.58567609] [ 0.00165103 0.99999143 -0.0037956 0.05571431] [ 0.0707379 0.00366931 0.99748819 -0.09695309] [ 0. 0. 0. 1. ]] SLAMing on 121.11463044 meters Centerline goodness : 0.077100 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.09 [[ 0.99753663 -0.01180401 -0.06914717 0.60526331] [ 0.01157724 0.99992621 -0.00367932 0.05325278] [ 0.0691855 0.00286972 0.99759968 -0.09499483] [ 0. 0. 0. 1. ]] SLAMing on 121.14463044 meters Centerline goodness : 0.056605 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.09 [[ 0.99755737 -0.011829 -0.068843 0.60420701] [ 0.0116338 0.99992709 -0.00323566 0.05003836] [ 0.06887626 0.00242685 0.99762226 -0.094334 ] [ 0. 0. 0. 1. ]] SLAMing on 121.17463044 meters Centerline goodness : 0.090039 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.09 [[ 0.997566 -0.01177401 -0.0687274 0.60366198] [ 0.0116132 0.99992881 -0.00273883 0.04687237] [ 0.06875475 0.00193402 0.99763172 -0.09376322] [ 0. 0. 0. 1. ]] SLAMing on 121.20463043999999 meters Centerline goodness : 0.090528 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.09 [[ 0.99756846 -0.01161764 -0.06871829 0.60345061] [ 0.01149237 0.9999315 -0.00221812 0.04389679] [ 0.06873936 0.00142299 0.99763364 -0.09339266] [ 0. 0. 0. 1. ]] SLAMing on 121.23463043999999 meters Centerline goodness : 0.089852 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.09 [[ 9.97571664e-01 -1.14666141e-02 -6.86971020e-02 6.03438826e-01] [ 1.13714047e-02 9.99933765e-01 -1.77683508e-03 4.14303309e-02] [ 6.87129261e-02 9.91337773e-04 9.97635981e-01 -9.33214493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26463043999999 meters Centerline goodness : 0.088347 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.09 [[ 9.97580099e-01 -1.12967843e-02 -6.86026887e-02 6.03380116e-01] [ 1.12312484e-02 9.99936028e-01 -1.34093475e-03 3.90947954e-02] [ 6.86134483e-02 5.67195982e-04 9.97643159e-01 -9.34347235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29463043999999 meters Centerline goodness : 0.066707 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.10 [[ 0.99772083 -0.00309159 -0.06740608 0.58400266] [ 0.00299783 0.99999439 -0.00149221 0.02837745] [ 0.06741031 0.00128674 0.99772451 -0.09590925] [ 0. 0. 0. 1. ]] SLAMing on 121.32463043999999 meters Centerline goodness : 0.056503 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.10 [[ 9.97703286e-01 -2.88715995e-03 -6.76743484e-02 5.84856134e-01] [ 2.81852491e-03 9.99995412e-01 -1.10965444e-03 2.64830363e-02] [ 6.76772416e-02 9.16364042e-04 9.97706846e-01 -9.61734327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35463044 meters Centerline goodness : 0.089840 Centerline is valid? [False, False] Translation: X:0.59, Y:0.02, Z:-0.10 [[ 9.97671405e-01 -2.89881839e-03 -6.81422424e-02 5.86512824e-01] [ 2.85268258e-03 9.99995631e-01 -7.74349087e-04 2.22681731e-02] [ 6.81441894e-02 5.78157753e-04 9.97675316e-01 -9.68206914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38463044 meters Centerline goodness : 0.089994 Centerline is valid? [False, False] Translation: X:0.59, Y:0.02, Z:-0.10 [[ 9.97668634e-01 -2.80091557e-03 -6.81868860e-02 5.86693227e-01] [ 2.77618383e-03 9.99996042e-01 -4.57462612e-04 2.02341108e-02] [ 6.81878975e-02 2.67096768e-04 9.97672461e-01 -9.69064984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41463044 meters Centerline goodness : 0.099459 Centerline is valid? [False, False] Translation: X:0.59, Y:0.02, Z:-0.10 [[ 9.97675580e-01 -2.61425379e-03 -6.80926113e-02 5.86410664e-01] [ 2.61814944e-03 9.99996572e-01 -3.20308206e-05 1.82066744e-02] [ 6.80924616e-02 -1.46320265e-04 9.97679004e-01 -9.67872555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44463044 meters Centerline goodness : 0.088499 Centerline is valid? [False, False] Translation: X:0.59, Y:0.02, Z:-0.10 [[ 9.97688731e-01 -2.42185532e-03 -6.79067832e-02 5.86019216e-01] [ 2.45713662e-03 9.99996886e-01 4.36035029e-04 1.58864294e-02] [ 6.79055158e-02 -6.01883479e-04 9.97691575e-01 -9.67611426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47463044 meters Centerline goodness : 0.088825 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.10 [[ 9.97706454e-01 -2.29081799e-03 -6.76504512e-02 5.85634769e-01] [ 2.35473058e-03 9.99996853e-01 8.65021729e-04 1.32359365e-02] [ 6.76482567e-02 -1.02233635e-03 9.97708709e-01 -9.69663313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50463044 meters Centerline goodness : 0.094120 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.10 [[ 0.99770843 -0.00226633 -0.06762218 0.5857229 ] [ 0.00235273 0.99999651 0.00119805 0.01033932] [ 0.06761923 -0.0013544 0.99771028 -0.09709309] [ 0. 0. 0. 1. ]] SLAMing on 121.53463044 meters Centerline goodness : 0.280052 Centerline is valid? [False, False] Translation: X:0.61, Y:0.00, Z:-0.09 [[ 9.97519709e-01 2.45032442e-03 -7.03450536e-02 6.08269929e-01] [-2.51590999e-03 9.99996479e-01 -8.43755222e-04 1.13990220e-03] [ 7.03427384e-02 1.01864429e-03 9.97522361e-01 -9.46198965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56463044 meters Centerline goodness : 0.099355 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:-0.10 [[ 9.97328691e-01 3.02669377e-03 -7.29816489e-02 5.64707377e-01] [-3.06934179e-03 9.99995178e-01 -4.72220756e-04 -4.33963734e-03] [ 7.29798677e-02 6.94964933e-04 9.97333172e-01 -9.71859094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59463043999999 meters Centerline goodness : 0.232798 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:-0.10 [[ 9.97316242e-01 3.21884924e-03 -7.31433715e-02 5.65451823e-01] [-3.23543710e-03 9.99994760e-01 -1.08302194e-04 -5.93271340e-03] [ 7.31426396e-02 3.44662315e-04 9.97321430e-01 -9.76114198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62463043999999 meters Centerline goodness : 0.093921 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:-0.10 [[ 9.97311244e-01 3.25736528e-03 -7.32097864e-02 5.65889538e-01] [-3.26347531e-03 9.99994674e-01 3.61605649e-05 -7.14971147e-03] [ 7.32095143e-02 2.02854993e-04 9.97316563e-01 -9.79599274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65463043999999 meters Centerline goodness : 0.253860 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:-0.10 [[ 9.97310193e-01 3.23683674e-03 -7.32250137e-02 5.66154279e-01] [-3.24038459e-03 9.99994747e-01 7.03469970e-05 -8.04433634e-03] [ 7.32248568e-02 1.67119429e-04 9.97315443e-01 -9.83030019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68463043999999 meters Centerline goodness : 0.222630 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:-0.10 [[ 9.97322945e-01 3.62305339e-03 -7.30329911e-02 5.65574776e-01] [-3.60486518e-03 9.99993430e-01 3.80852989e-04 -8.68879422e-03] [ 7.30338911e-02 -1.16559338e-04 9.97329453e-01 -9.82617189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71463044 meters Centerline goodness : 0.111210 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99735739 -0.00155683 -0.07263481 0.54331856] [ 0.00181047 0.99999249 0.00342624 -0.00702022] [ 0.07262893 -0.00354869 0.99735272 -0.09988718] [ 0. 0. 0. 1. ]] SLAMing on 121.74463044 meters Centerline goodness : 0.096731 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.9973441 -0.00134453 -0.07282134 0.54377494] [ 0.00160328 0.99999261 0.0034949 -0.00625353] [ 0.0728161 -0.00360237 0.99733888 -0.09998284] [ 0. 0. 0. 1. ]] SLAMing on 121.77463044 meters Centerline goodness : 0.232580 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99733356 -0.00132497 -0.07296588 0.54423363] [ 0.0015782 0.99999293 0.00341297 -0.00571114] [ 0.07296085 -0.00351902 0.9973286 -0.10012939] [ 0. 0. 0. 1. ]] SLAMing on 121.80463044 meters Centerline goodness : 0.092853 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99733498 -0.00140044 -0.07294499 0.54414627] [ 0.00164698 0.99999313 0.00331976 -0.00563177] [ 0.07293984 -0.00343105 0.99733044 -0.10010737] [ 0. 0. 0. 1. ]] SLAMing on 121.83463044 meters Centerline goodness : 0.091404 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99733659 -0.00148008 -0.07292139 0.54407592] [ 0.00172183 0.99999323 0.00325239 -0.00578298] [ 0.07291609 -0.00336929 0.99733239 -0.10010478] [ 0. 0. 0. 1. ]] SLAMing on 121.86463044 meters Centerline goodness : 0.278510 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99736327 -0.00151421 -0.07255495 0.54314549] [ 0.00176611 0.99999263 0.00340792 -0.00687901] [ 0.07254925 -0.00352708 0.99735859 -0.0999576 ] [ 0. 0. 0. 1. ]] SLAMing on 121.89463044 meters Centerline goodness : 0.104003 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99737243 -0.00150207 -0.07242918 0.54274845] [ 0.00176666 0.999992 0.00358915 -0.00797962] [ 0.07242321 -0.00370768 0.9973671 -0.09972653] [ 0. 0. 0. 1. ]] SLAMing on 121.92463044 meters Centerline goodness : 0.099473 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99738139 -0.00153534 -0.0723049 0.54223384] [ 0.00181037 0.99999137 0.00373839 -0.00914962] [ 0.07229854 -0.0038595 0.99737557 -0.0993517 ] [ 0. 0. 0. 1. ]] SLAMing on 121.95463043999999 meters Centerline goodness : 0.270473 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99737998 -0.00154864 -0.07232416 0.54180423] [ 0.00183729 0.99999061 0.00392468 -0.01065546] [ 0.0723174 -0.00404728 0.99737346 -0.09863362] [ 0. 0. 0. 1. ]] SLAMing on 121.98463043999999 meters Centerline goodness : 0.278820 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99738561 -0.00157595 -0.07224582 0.54114677] [ 0.00187502 0.99998995 0.00407192 -0.01191587] [ 0.07223868 -0.00419673 0.99737854 -0.09792113] [ 0. 0. 0. 1. ]] SLAMing on 122.01463043999999 meters Centerline goodness : 0.096286 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99738188 -0.00150435 -0.07229891 0.54103629] [ 0.00182186 0.99998898 0.00432586 -0.01339456] [ 0.07229161 -0.00444625 0.99737363 -0.09753722] [ 0. 0. 0. 1. ]] SLAMing on 122.04463043999999 meters Centerline goodness : 0.097558 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.10 [[ 0.99736355 0.00449265 -0.07242759 0.52052544] [-0.00436069 0.99998853 0.00198008 -0.02057522] [ 0.07243566 -0.00165903 0.99737171 -0.09977554] [ 0. 0. 0. 1. ]] SLAMing on 122.07463043999999 meters Centerline goodness : 0.092796 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.10 [[ 0.99735788 0.00461419 -0.07249806 0.52095931] [-0.00445401 0.99998727 0.00237095 -0.02271805] [ 0.07250808 -0.00204177 0.99736573 -0.10003128] [ 0. 0. 0. 1. ]] SLAMing on 122.10463044 meters Centerline goodness : 0.092220 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.10 [[ 0.99737042 0.00471682 -0.07231872 0.52057999] [-0.00452944 0.99998595 0.00275477 -0.02503645] [ 0.0723307 -0.00241996 0.99737777 -0.10000755] [ 0. 0. 0. 1. ]] SLAMing on 122.13463044 meters Centerline goodness : 0.268349 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.10 [[ 0.99738927 0.00478494 -0.07205379 0.51972616] [-0.00457196 0.99998468 0.00312048 -0.02742877] [ 0.07206762 -0.0027829 0.99739587 -0.09964961] [ 0. 0. 0. 1. ]] SLAMing on 122.16463044 meters Centerline goodness : 0.268674 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.10 [[ 0.99745072 -0.00352522 -0.07127161 0.54035383] [ 0.00382274 0.99998454 0.00403856 -0.0279092 ] [ 0.07125627 -0.00430072 0.99744877 -0.09813017] [ 0. 0. 0. 1. ]] SLAMing on 122.19463044 meters Centerline goodness : 0.093717 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.10 [[ 0.99744762 -0.00341981 -0.07132 0.54072625] [ 0.00374204 0.99998338 0.00438493 -0.03008349] [ 0.07130382 -0.00464062 0.99744385 -0.09840332] [ 0. 0. 0. 1. ]] SLAMing on 122.22463044 meters Centerline goodness : 0.103884 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.10 [[ 0.99743907 -0.00331804 -0.07144434 0.54131845] [ 0.00366174 0.99998234 0.00468027 -0.0318324 ] [ 0.07142755 -0.0049299 0.99743361 -0.09874318] [ 0. 0. 0. 1. ]] SLAMing on 122.25463044 meters Centerline goodness : 0.247943 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.10 [[ 0.99743481 -0.00318732 -0.07150966 0.54164833] [ 0.00354686 0.9999817 0.00490137 -0.03286957] [ 0.07149273 -0.00514243 0.99742786 -0.09896169] [ 0. 0. 0. 1. ]] SLAMing on 122.28463044 meters Centerline goodness : 0.275060 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.10 [[ 0.99744083 -0.00232868 -0.07145881 0.54165408] [ 0.00271583 0.99998215 0.00532114 -0.03178379] [ 0.07144515 -0.00550159 0.99742936 -0.09932116] [ 0. 0. 0. 1. ]] SLAMing on 122.31463044 meters Centerline goodness : 0.101364 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.10 [[ 0.99746429 0.00576176 -0.07093513 0.56142582] [-0.00548861 0.99997676 0.00404493 -0.03129298] [ 0.07095679 -0.00364534 0.99747273 -0.09694425] [ 0. 0. 0. 1. ]] SLAMing on 122.34463043999999 meters Centerline goodness : 0.321634 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.10 [[ 0.99746703 0.00579435 -0.0708939 0.56120409] [-0.00554468 0.99997772 0.00371792 -0.02921317] [ 0.07091386 -0.00331542 0.99747693 -0.09695872] [ 0. 0. 0. 1. ]] SLAMing on 122.37463043999999 meters Centerline goodness : 0.259177 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.10 [[ 0.99748175 0.0057693 -0.07068851 0.56062932] [-0.005545 0.99997895 0.00336889 -0.02706591] [ 0.07070646 -0.00296844 0.99749275 -0.0969795 ] [ 0. 0. 0. 1. ]] SLAMing on 122.40463043999999 meters Centerline goodness : 0.095010 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.10 [[ 0.99748384 0.00581842 -0.0706551 0.56043687] [-0.0056141 0.99997947 0.00308993 -0.0248188 ] [ 0.07067163 -0.00268549 0.99749602 -0.09697849] [ 0. 0. 0. 1. ]] SLAMing on 122.43463043999999 meters Centerline goodness : 0.106812 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.10 [[ 0.9975491 -0.00176079 -0.06994772 0.54002714] [ 0.00203208 0.99999069 0.00380742 -0.01973835] [ 0.06994037 -0.00394023 0.99754339 -0.0998282 ] [ 0. 0. 0. 1. ]] SLAMing on 122.46463044 meters Centerline goodness : 0.256874 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.10 [[ 0.99751851 -0.00194619 -0.07037777 0.54133696] [ 0.00218009 0.99999235 0.00324673 -0.01677962] [ 0.07037091 -0.00339211 0.99751513 -0.10035906] [ 0. 0. 0. 1. ]] SLAMing on 122.49463044 meters Centerline goodness : 0.100171 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.10 [[ 0.99750244 -0.00206603 -0.0706018 0.54194042] [ 0.00228395 0.99999287 0.00300611 -0.01570779] [ 0.07059509 -0.00315985 0.99750005 -0.10050777] [ 0. 0. 0. 1. ]] SLAMing on 122.52463044 meters Centerline goodness : 0.094360 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99749341 -0.00210697 -0.07072805 0.5420948 ] [ 0.00231569 0.9999932 0.00286908 -0.01471051] [ 0.07072152 -0.00302568 0.99749151 -0.1003466 ] [ 0. 0. 0. 1. ]] SLAMing on 122.55463044 meters Centerline goodness : 0.101542 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99749709 -0.00202412 -0.07067854 0.54147254] [ 0.00223049 0.99999348 0.00284095 -0.01358933] [ 0.07067233 -0.00299149 0.9974951 -0.09972074] [ 0. 0. 0. 1. ]] SLAMing on 122.58463044 meters Centerline goodness : 0.093540 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.9975237 -0.00200504 -0.07030249 0.54019611] [ 0.00218071 0.99999469 0.00242211 -0.00987934] [ 0.07029726 -0.00256942 0.99752278 -0.09930465] [ 0. 0. 0. 1. ]] SLAMing on 122.61463044 meters Centerline goodness : 0.103222 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.10 [[ 0.99750815 -0.00228139 -0.07051441 0.54098231] [ 0.00241604 0.99999542 0.00182436 -0.00738274] [ 0.07050992 -0.00199018 0.99750909 -0.09978669] [ 0. 0. 0. 1. ]] SLAMing on 122.64463044 meters Centerline goodness : 0.227305 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:-0.10 [[ 0.99748565 -0.00255629 -0.07082258 0.5421032 ] [ 0.00264842 0.99999576 0.00120693 -0.00481655] [ 0.0708192 -0.00139147 0.9974882 -0.10043925] [ 0. 0. 0. 1. ]] SLAMing on 122.67463044 meters Centerline goodness : 0.280988 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:-0.10 [[ 9.97463115e-01 -2.70946893e-03 -7.11336260e-02 5.43023150e-01] [ 2.76761660e-03 9.99995912e-01 7.18895262e-04 -2.30481139e-03] [ 7.11313874e-02 -9.13942112e-04 9.97466536e-01 -1.00842831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70463043999999 meters Centerline goodness : 0.101109 Centerline is valid? [False, False] Translation: X:0.54, Y:0.00, Z:-0.10 [[ 9.97456420e-01 -2.72732587e-03 -7.12267707e-02 5.43040194e-01] [ 2.76473458e-03 9.99996087e-01 4.26624134e-04 1.76074737e-05] [ 7.12253285e-02 -6.22462097e-04 9.97460057e-01 -1.00695771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73463043999999 meters Centerline goodness : 0.169152 Centerline is valid? [False, False] Translation: X:0.54, Y:0.00, Z:-0.10 [[ 9.97526179e-01 -6.73106621e-04 -7.02927374e-02 5.38275950e-01] [ 8.27339158e-04 9.99997314e-01 2.16505519e-03 3.56581463e-03] [ 7.02910913e-02 -2.21785517e-03 9.97524057e-01 -9.80635890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76463043999999 meters Centerline goodness : 0.165746 Centerline is valid? [False, False] Translation: X:0.54, Y:0.00, Z:-0.10 [[ 9.97532582e-01 -8.03172306e-04 -7.02004532e-02 5.37464869e-01] [ 9.44939355e-04 9.99997581e-01 1.98627537e-03 4.23177018e-03] [ 7.01986880e-02 -2.04770957e-03 9.97530927e-01 -9.72716631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79463043999999 meters Centerline goodness : 0.160400 Centerline is valid? [False, False] Translation: X:0.54, Y:0.00, Z:-0.10 [[ 9.97530344e-01 -9.90862512e-04 -7.02298396e-02 5.37290008e-01] [ 1.12023428e-03 9.99997748e-01 1.80275798e-03 4.39995234e-03] [ 7.02278951e-02 -1.87697966e-03 9.97529207e-01 -9.69132455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82463043999999 meters Centerline goodness : 0.279498 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:-0.09 [[ 9.97511992e-01 6.00977442e-03 -7.02403581e-02 5.56718884e-01] [-5.98820531e-03 9.99981937e-01 5.17640526e-04 2.61658075e-03] [ 7.02422002e-02 -9.57389472e-05 9.97529962e-01 -9.41700940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85463044 meters Centerline goodness : 0.092684 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:-0.09 [[ 9.97522670e-01 5.96811156e-03 -7.00921136e-02 5.56291013e-01] [-5.93692057e-03 9.99982163e-01 6.53315284e-04 2.30628295e-03] [ 7.00947625e-02 -2.35565495e-04 9.97540309e-01 -9.39348156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88463044 meters Centerline goodness : 0.092684 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:-0.09 [[ 9.97522670e-01 5.96811156e-03 -7.00921136e-02 5.56291013e-01] [-5.93692057e-03 9.99982163e-01 6.53315284e-04 2.30628295e-03] [ 7.00947625e-02 -2.35565495e-04 9.97540309e-01 -9.39348156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91463044 meters Centerline goodness : 0.092892 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:-0.09 [[ 9.97536200e-01 5.90351304e-03 -6.99047824e-02 5.55745911e-01] [-5.87102048e-03 9.99982541e-01 6.70261938e-04 2.02287327e-03] [ 6.99075188e-02 -2.58198138e-04 9.97553443e-01 -9.37422056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94463044 meters Centerline goodness : 0.268670 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:-0.09 [[ 9.97546758e-01 5.76883727e-03 -6.97652226e-02 5.55198955e-01] [-5.73690802e-03 9.99983327e-01 6.58022532e-04 1.34307394e-03] [ 6.97678554e-02 -2.56171578e-04 9.97563221e-01 -9.34179763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97463044 meters Centerline goodness : 0.280067 Centerline is valid? [False, False] Translation: X:0.57, Y:0.01, Z:-0.09 [[ 0.99756011 -0.00250538 -0.0697679 0.57397738] [ 0.00262722 0.99999518 0.00165469 0.00519718] [ 0.06976342 -0.00183395 0.99756188 -0.09064964] [ 0. 0. 0. 1. ]] SLAMing on 123.00463044 meters Centerline goodness : 0.279490 Centerline is valid? [False, False] Translation: X:0.57, Y:0.00, Z:-0.09 [[ 0.99753838 -0.00249402 -0.0700782 0.57478956] [ 0.00263308 0.99999474 0.00189205 0.00359274] [ 0.07007312 -0.00207191 0.99753971 -0.09062543] [ 0. 0. 0. 1. ]] SLAMing on 123.03463044 meters Centerline goodness : 0.088721 Centerline is valid? [False, False] Translation: X:0.58, Y:0.00, Z:-0.09 [[ 0.9974998 -0.00240587 -0.07062839 0.57648681] [ 0.0025725 0.99999412 0.00226847 0.00154417] [ 0.07062252 -0.00244449 0.99750012 -0.09102169] [ 0. 0. 0. 1. ]] SLAMing on 123.06463044 meters Centerline goodness : 0.099503 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.09 [[ 9.97392519e-01 -4.57292808e-03 -7.20225712e-02 5.82025077e-01] [ 4.64181766e-03 9.99988915e-01 7.89152883e-04 -3.42838150e-03] [ 7.20181642e-02 -1.12141083e-03 9.97402690e-01 -9.30970062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09463043999999 meters Centerline goodness : 0.103004 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.09 [[ 9.97378424e-01 -4.67800069e-03 -7.22107673e-02 5.82857674e-01] [ 4.75923237e-03 9.99988221e-01 9.52906360e-04 -5.54941636e-03] [ 7.22054590e-02 -1.29407607e-03 9.97388940e-01 -9.34480008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12463043999999 meters Centerline goodness : 0.240220 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.10 [[ 9.97507318e-01 4.78105320e-04 -7.05614755e-02 5.62058093e-01] [-6.20250490e-04 9.99997822e-01 -1.99259048e-03 -1.23877144e-02] [ 7.05603692e-02 2.03138937e-03 9.97505442e-01 -9.56302864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15463043999999 meters Centerline goodness : 0.109853 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.10 [[ 9.97523547e-01 4.70219042e-04 -7.03317237e-02 5.61393754e-01] [-5.92067735e-04 9.99998360e-01 -1.71164916e-03 -1.44280615e-02] [ 7.03308035e-02 1.74905149e-03 9.97522190e-01 -9.53771455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18463043999999 meters Centerline goodness : 0.096903 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.09 [[ 9.97656790e-01 -5.68578944e-04 -6.84149618e-02 6.03700182e-01] [ 4.79704921e-04 9.99999020e-01 -1.31546540e-03 -1.77023741e-02] [ 6.84156427e-02 1.27956399e-03 9.97656084e-01 -9.22941611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21463044 meters Centerline goodness : 0.229131 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.09 [[ 0.99752172 -0.00123505 -0.07034842 0.5592234 ] [ 0.00111703 0.9999979 -0.00171685 -0.02388677] [ 0.07035039 0.00163402 0.997521 -0.09459872] [ 0. 0. 0. 1. ]] SLAMing on 123.24463044 meters Centerline goodness : 0.100610 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.09 [[ 0.99750499 -0.00112276 -0.07058708 0.55998267] [ 0.00104089 0.99999874 -0.0011966 -0.02712866] [ 0.07058834 0.00112014 0.9975049 -0.09475961] [ 0. 0. 0. 1. ]] SLAMing on 123.27463044 meters Centerline goodness : 0.263609 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.10 [[ 9.97480968e-01 -1.03773057e-03 -7.09270128e-02 5.61070627e-01] [ 9.89134775e-04 9.99999251e-01 -7.20271087e-04 -3.04385662e-02] [ 7.09277071e-02 6.48300327e-04 9.97481248e-01 -9.50339397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30463044 meters Centerline goodness : 0.110576 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.10 [[ 9.97462922e-01 -9.88686278e-04 -7.11810487e-02 5.61991839e-01] [ 9.68615060e-04 9.99999481e-01 -3.16490936e-04 -3.34877196e-02] [ 7.11813247e-02 2.46740938e-04 9.97463362e-01 -9.53935922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33463044 meters Centerline goodness : 0.248959 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.10 [[ 9.97450377e-01 -8.87480563e-04 -7.13579542e-02 5.62625072e-01] [ 8.94925029e-04 9.99999597e-01 7.23549558e-05 -3.61227026e-02] [ 7.13578612e-02 -1.36030497e-04 9.97450769e-01 -9.55714132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36463044 meters Centerline goodness : 0.274320 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.10 [[ 9.97456085e-01 -6.55032988e-04 -7.12806443e-02 5.62505587e-01] [ 7.11473454e-04 9.99999453e-01 7.66419780e-04 -4.09026867e-02] [ 7.12801033e-02 -8.15184359e-04 9.97456005e-01 -9.55848371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39463044 meters Centerline goodness : 0.273035 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.10 [[ 9.97455664e-01 -4.84349724e-04 -7.12878894e-02 5.62405116e-01] [ 5.69136066e-04 9.99999155e-01 1.16904399e-03 -4.31314305e-02] [ 7.12872629e-02 -1.20664206e-03 9.97455097e-01 -9.53763617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42463044 meters Centerline goodness : 0.260516 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:-0.10 [[ 9.97456972e-01 -3.06608921e-04 -7.12705741e-02 5.62197497e-01] [ 4.19654740e-04 9.99998678e-01 1.57118183e-03 -4.52471307e-02] [ 7.12699981e-02 -1.59709530e-03 9.97455782e-01 -9.51367517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45463043999999 meters Centerline goodness : 0.275247 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:-0.09 [[ 9.97456189e-01 -4.45873798e-05 -7.12821799e-02 5.62164144e-01] [ 1.93237328e-04 9.99997821e-01 2.07847861e-03 -4.75409229e-02] [ 7.12819319e-02 -2.08696573e-03 9.97454024e-01 -9.49832579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48463043999999 meters Centerline goodness : 0.103387 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:-0.09 [[ 9.97469012e-01 1.36520002e-04 -7.11023994e-02 5.61666870e-01] [ 4.26064840e-05 9.99996830e-01 2.51775211e-03 -4.99033810e-02] [ 7.11025177e-02 -2.51440913e-03 9.97465844e-01 -9.48417142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51463043999999 meters Centerline goodness : 0.240885 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:-0.09 [[ 0.99755557 -0.00200134 -0.06984891 0.55710162] [ 0.0020882 0.99999713 0.00117054 -0.05630373] [ 0.06984637 -0.00131353 0.9975569 -0.09315672] [ 0. 0. 0. 1. ]] SLAMing on 123.54463043999999 meters Centerline goodness : 0.283050 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:-0.09 [[ 0.99755881 -0.00192432 -0.06980482 0.55707148] [ 0.00203987 0.99999666 0.00158417 -0.05922539] [ 0.06980154 -0.00172269 0.99755941 -0.09320531] [ 0. 0. 0. 1. ]] SLAMing on 123.57463043999999 meters Centerline goodness : 0.238117 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:-0.09 [[ 9.97563993e-01 3.65123403e-03 -6.96616727e-02 5.78662266e-01] [-3.72334915e-03 9.99992658e-01 -9.05402032e-04 -6.29756007e-02] [ 6.96578555e-02 1.16257120e-03 9.97570264e-01 -9.14722746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60463044 meters Centerline goodness : 0.242828 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.07, Z:-0.09 [[ 9.97583478e-01 3.95337609e-03 -6.93655251e-02 5.77537945e-01] [-3.97395603e-03 9.99992091e-01 -1.58696286e-04 -6.73218004e-02] [ 6.93643491e-02 4.33968340e-04 9.97591298e-01 -9.08870851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63463044 meters Centerline goodness : 0.280670 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.09 [[ 0.99758259 -0.00366174 -0.06939432 0.55743231] [ 0.0037516 0.99999228 0.00116462 -0.06671635] [ 0.06938952 -0.00142214 0.99758863 -0.09304703] [ 0. 0. 0. 1. ]] SLAMing on 123.66463044 meters Centerline goodness : 0.282806 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.09 [[ 0.99758764 -0.00352181 -0.06932884 0.55730363] [ 0.00362992 0.99999238 0.00143344 -0.06817903] [ 0.06932326 -0.00168164 0.99759283 -0.09306023] [ 0. 0. 0. 1. ]] SLAMing on 123.69463044 meters Centerline goodness : 0.281695 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.09 [[ 0.99758482 -0.00337185 -0.06937688 0.55745858] [ 0.00349833 0.99999243 0.00170172 -0.06950897] [ 0.06937062 -0.00194031 0.99758907 -0.09313689] [ 0. 0. 0. 1. ]] SLAMing on 123.72463044 meters Centerline goodness : 0.283389 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.09 [[ 0.99757572 -0.00319699 -0.06951597 0.55780768] [ 0.00333732 0.99999262 0.00190258 -0.07014636] [ 0.06950937 -0.00212996 0.99757902 -0.09318367] [ 0. 0. 0. 1. ]] SLAMing on 123.75463044 meters Centerline goodness : 0.281448 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.09 [[ 0.99757326 -0.00300579 -0.06955978 0.55802747] [ 0.00315746 0.99999287 0.00207053 -0.07040372] [ 0.06955306 -0.00228514 0.99757564 -0.09338274] [ 0. 0. 0. 1. ]] SLAMing on 123.78463044 meters Centerline goodness : 0.092913 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.10 [[ 9.97516058e-01 5.64562003e-03 -7.02128195e-02 5.38615693e-01] [-5.56545153e-03 9.99983618e-01 1.33736641e-03 -7.49295743e-02] [ 7.02192195e-02 -9.43278425e-04 9.97531138e-01 -9.63205178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81463044 meters Centerline goodness : 0.080939 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.10 [[ 9.97505595e-01 5.68259273e-03 -7.03583448e-02 5.39336358e-01] [-5.61407493e-03 9.99983555e-01 1.17154723e-03 -7.38732459e-02] [ 7.03638452e-02 -7.73627901e-04 9.97521093e-01 -9.69324164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84463043999999 meters Centerline goodness : 0.092738 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.10 [[ 9.97491517e-01 5.71846914e-03 -7.05547425e-02 5.40047497e-01] [-5.66315526e-03 9.99983480e-01 9.83992449e-04 -7.25785521e-02] [ 7.05592039e-02 -5.81961659e-04 9.97507424e-01 -9.73424846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87463043999999 meters Centerline goodness : 0.092462 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.10 [[ 9.97481073e-01 5.78224207e-03 -7.06970575e-02 5.40522204e-01] [-5.73815307e-03 9.99983195e-01 8.26707958e-04 -7.11438395e-02] [ 7.07006496e-02 -4.18955004e-04 9.97497490e-01 -9.75828845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90463043999999 meters Centerline goodness : 0.093246 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.10 [[ 9.97475122e-01 6.08134480e-03 -7.07559043e-02 5.40671510e-01] [-6.04682606e-03 9.99981471e-01 7.02041111e-04 -6.87348142e-02] [ 7.07588627e-02 -2.72419896e-04 9.97493413e-01 -9.77625740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93463043999999 meters Centerline goodness : 0.091616 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.10 [[ 9.97480184e-01 6.00710426e-03 -7.06908604e-02 5.40262855e-01] [-5.99364681e-03 9.99981957e-01 4.02484046e-04 -6.69940077e-02] [ 7.06920027e-02 2.22261907e-05 9.97498191e-01 -9.75188976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96463044 meters Centerline goodness : 0.094230 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.10 [[ 9.97488613e-01 5.92028126e-03 -7.05791507e-02 5.39926769e-01] [-5.92869591e-03 9.99982421e-01 9.02606208e-05 -6.51850767e-02] [ 7.05784443e-02 3.28408381e-04 9.97506178e-01 -9.75082356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99463044 meters Centerline goodness : 0.082900 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.10 [[ 9.97493705e-01 5.86734649e-03 -7.05115811e-02 5.39735912e-01] [-5.89514782e-03 9.99982606e-01 -1.86188021e-04 -6.34462291e-02] [ 7.05092622e-02 6.01397572e-04 9.97510943e-01 -9.75628849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02463044 meters Centerline goodness : 0.085390 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.10 [[ 9.97503595e-01 5.77853890e-03 -7.03788806e-02 5.39458027e-01] [-5.82958418e-03 9.99982873e-01 -5.19918024e-04 -6.14065693e-02] [ 7.03746708e-02 9.28899707e-04 9.97520197e-01 -9.76977482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05463044 meters Centerline goodness : 0.095767 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.10 [[ 9.97501881e-01 5.72316219e-03 -7.04076872e-02 5.39585454e-01] [-5.79324926e-03 9.99982906e-01 -7.91286829e-04 -5.95148554e-02] [ 7.04019550e-02 1.19719938e-03 9.97517986e-01 -9.78275707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08463044 meters Centerline goodness : 0.097252 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.10 [[ 0.99749391 0.00555246 -0.07053421 0.53998331] [-0.00565659 0.99998319 -0.00127669 -0.05664261] [ 0.07052594 0.00167247 0.99750854 -0.09802587] [ 0. 0. 0. 1. ]] SLAMing on 124.11463044 meters Centerline goodness : 0.097644 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.10 [[ 0.99748405 0.00543242 -0.07068283 0.54032664] [-0.00555386 0.99998342 -0.00152171 -0.05545235] [ 0.07067339 0.00191044 0.99749768 -0.0980252 ] [ 0. 0. 0. 1. ]] SLAMing on 124.14463044 meters Centerline goodness : 0.093860 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:-0.10 [[ 0.9974676 0.00532212 -0.07092288 0.5409215 ] [-0.00546015 0.99998356 -0.00175258 -0.05420975] [ 0.07091239 0.00213539 0.99748026 -0.09803306] [ 0. 0. 0. 1. ]] SLAMing on 124.17463044 meters Centerline goodness : 0.097399 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97435607e-01 -2.44809510e-03 -7.15277293e-02 5.22355015e-01] [ 2.40297032e-03 9.99996856e-01 -7.16914164e-04 -4.91321779e-02] [ 7.15292595e-02 5.43196704e-04 9.97438354e-01 -1.00709595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20463043999999 meters Centerline goodness : 0.091996 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97435882e-01 -2.48700795e-03 -7.15225629e-02 5.22129745e-01] [ 2.44011854e-03 9.99996747e-01 -7.42955431e-04 -4.87249327e-02] [ 7.15241779e-02 5.66526874e-04 9.97438705e-01 -1.00385319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23463043999999 meters Centerline goodness : 0.094524 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97459057e-01 -2.65417094e-03 -7.11925906e-02 5.21060221e-01] [ 2.60049819e-03 9.99996260e-01 -8.46584541e-04 -4.85333176e-02] [ 7.11945714e-02 6.59297215e-04 9.97462229e-01 -9.99574514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26463043999999 meters Centerline goodness : 0.092439 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97497843e-01 -2.90902383e-03 -7.06370412e-02 5.19472991e-01] [ 2.84875975e-03 9.99995487e-01 -9.53876284e-04 -4.87767243e-02] [ 7.06394973e-02 7.50261575e-04 9.97501628e-01 -9.94664243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29463043999999 meters Centerline goodness : 0.092499 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97513278e-01 -3.17092850e-03 -7.04074304e-02 5.18723030e-01] [ 3.10279477e-03 9.99994606e-01 -1.07705143e-03 -4.91006155e-02] [ 7.04104659e-02 8.55913299e-04 9.97517736e-01 -9.90679431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32463043999999 meters Centerline goodness : 0.091551 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97519561e-01 -3.42590869e-03 -7.03063865e-02 5.18558183e-01] [ 3.35149044e-03 9.99993692e-01 -1.17641952e-03 -4.94663498e-02] [ 7.03099733e-02 9.37870301e-04 9.97524751e-01 -9.90686956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35463044 meters Centerline goodness : 0.284249 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97554241e-01 -3.81088426e-03 -6.97926509e-02 5.17292879e-01] [ 3.73807374e-03 9.99992324e-01 -1.17381545e-03 -5.00688126e-02] [ 6.97965885e-02 9.10054501e-04 9.97560829e-01 -9.88435600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38463044 meters Centerline goodness : 0.095380 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97577597e-01 -3.92397708e-03 -6.94517150e-02 5.16412757e-01] [ 3.86071609e-03 9.99992001e-01 -1.04506875e-03 -5.10719236e-02] [ 6.94552603e-02 7.74403818e-04 9.97584767e-01 -9.85838553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41463044 meters Centerline goodness : 0.079595 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97591758e-01 -4.12947539e-03 -6.92360607e-02 5.15781961e-01] [ 4.06978003e-03 9.99991215e-01 -1.00323583e-03 -5.22564669e-02] [ 6.92395953e-02 7.19044259e-04 9.97599800e-01 -9.82779418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44463044 meters Centerline goodness : 0.094802 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.10 [[ 9.97581449e-01 -4.40622570e-03 -6.93674130e-02 5.16045722e-01] [ 4.35005430e-03 9.99990077e-01 -9.60804178e-04 -5.39600710e-02] [ 6.93709582e-02 6.56728411e-04 9.97590717e-01 -9.80884740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47463044 meters Centerline goodness : 0.095512 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.10 [[ 9.97569175e-01 -4.63548621e-03 -6.95287998e-02 5.16492640e-01] [ 4.58781233e-03 9.99989119e-01 -8.45341953e-04 -5.58537680e-02] [ 6.95319618e-02 5.24301989e-04 9.97579586e-01 -9.80284302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50463044 meters Centerline goodness : 0.104843 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.10 [[ 9.97531058e-01 -5.15824621e-03 -7.00369915e-02 5.18445959e-01] [ 5.12105641e-03 9.99986635e-01 -7.10545211e-04 -6.05044353e-02] [ 7.00397206e-02 3.50127532e-04 9.97544142e-01 -9.87150970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53463044 meters Centerline goodness : 0.091700 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.10 [[ 9.97511377e-01 -5.21226971e-03 -7.03127676e-02 5.19517839e-01] [ 5.19431595e-03 9.99986413e-01 -4.38179830e-04 -6.28171374e-02] [ 7.03140962e-02 7.18626352e-05 9.97524898e-01 -9.91276379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56463044 meters Centerline goodness : 0.264332 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.10 [[ 9.97511003e-01 -5.30377955e-03 -7.03112302e-02 5.19872360e-01] [ 5.30133294e-03 9.99985923e-01 -2.21400634e-04 -6.50657899e-02] [ 7.03114147e-02 -1.51893672e-04 9.97525078e-01 -9.95336450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59463043999999 meters Centerline goodness : 0.274343 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.10 [[ 9.97499217e-01 -5.35919396e-03 -7.04740443e-02 5.20273586e-01] [ 5.37313401e-03 9.99985565e-01 8.23520463e-06 -6.72244061e-02] [ 7.04729828e-02 -3.86881094e-04 9.97513613e-01 -9.94866056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62463043999999 meters Centerline goodness : 0.260387 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.10 [[ 9.97446900e-01 -5.28976954e-03 -7.12158646e-02 5.22209398e-01] [ 5.34243478e-03 9.99985578e-01 5.49059696e-04 -7.10355787e-02] [ 7.12119331e-02 -9.28124005e-04 9.97460776e-01 -9.96058511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65463043999999 meters Centerline goodness : 0.103061 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.10 [[ 9.97421359e-01 -5.18473029e-03 -7.15803815e-02 5.23176650e-01] [ 5.26298963e-03 9.99985741e-01 9.04743815e-04 -7.30673474e-02] [ 7.15746699e-02 -1.27913761e-03 9.97434424e-01 -9.96877279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68463043999999 meters Centerline goodness : 0.282897 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.10 [[ 0.99739856 -0.0051399 -0.0719006 0.52410619] [ 0.00524068 0.99998553 0.00121316 -0.0753736 ] [ 0.07189333 -0.00158681 0.99741106 -0.09988443] [ 0. 0. 0. 1. ]] SLAMing on 124.71463044 meters Centerline goodness : 0.094238 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.10 [[ 9.97208870e-01 -5.98010154e-03 -7.44224990e-02 4.80848662e-01] [ 6.03618317e-03 9.99981642e-01 5.28652511e-04 -7.98705441e-02] [ 7.44179714e-02 -9.76404809e-04 9.97226660e-01 -1.02833866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74463044 meters Centerline goodness : 0.091768 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.10 [[ 9.97225537e-01 -8.79108104e-04 -7.44342395e-02 5.01978936e-01] [ 7.07256906e-04 9.99997024e-01 -2.33509257e-03 -8.46368712e-02] [ 7.44360708e-02 2.27596981e-03 9.97223190e-01 -1.01107741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77463044 meters Centerline goodness : 0.091768 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.10 [[ 9.97225537e-01 -8.79108104e-04 -7.44342395e-02 5.01978936e-01] [ 7.07256906e-04 9.99997024e-01 -2.33509257e-03 -8.46368712e-02] [ 7.44360708e-02 2.27596981e-03 9.97223190e-01 -1.01107741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80463044 meters Centerline goodness : 0.270156 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.10 [[ 9.97220203e-01 -8.39640658e-04 -7.45061158e-02 5.02246967e-01] [ 7.01061377e-04 9.99997976e-01 -1.88610542e-03 -8.77597323e-02] [ 7.45075486e-02 1.82862907e-03 9.97218773e-01 -1.01183433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83463044 meters Centerline goodness : 0.281883 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.09, Z:-0.10 [[ 0.99736135 -0.0020229 -0.07256891 0.54417923] [ 0.00190621 0.99999678 -0.00167714 -0.0937678 ] [ 0.07257207 0.00153438 0.99736199 -0.09744302] [ 0. 0. 0. 1. ]] SLAMing on 124.86463044 meters Centerline goodness : 0.103502 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.10 [[ 0.99724083 -0.00217374 -0.07420246 0.49787088] [ 0.00207368 0.99999683 -0.00142553 -0.09777518] [ 0.07420532 0.00126773 0.99724218 -0.09928304] [ 0. 0. 0. 1. ]] SLAMing on 124.89463044 meters Centerline goodness : 0.261864 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.10 [[ 9.97235972e-01 -2.05424247e-03 -7.42710993e-02 4.97786591e-01] [ 1.97626467e-03 9.99997416e-01 -1.12338374e-03 -9.94802706e-02] [ 7.42732151e-02 9.73499329e-04 9.97237455e-01 -9.89284089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92463044 meters Centerline goodness : 0.268900 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.10 [[ 9.97245803e-01 -1.95550663e-03 -7.41416571e-02 4.97396101e-01] [ 1.89589500e-03 9.99997821e-01 -8.74394138e-04 -1.00947149e-01] [ 7.41432054e-02 7.31421087e-04 9.97247336e-01 -9.88270620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95463043999999 meters Centerline goodness : 0.279412 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.10 [[ 0.99733536 0.00555192 -0.0727417 0.47826532] [-0.00569959 0.9999821 -0.0018226 -0.10732536] [ 0.07273028 0.00223234 0.99734915 -0.10216581] [ 0. 0. 0. 1. ]] SLAMing on 124.98463043999999 meters Centerline goodness : 0.283915 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.10 [[ 0.99733711 0.00553092 -0.0727193 0.47848404] [-0.00568162 0.99998212 -0.00186564 -0.10724703] [ 0.07270768 0.00227384 0.9973507 -0.10251671] [ 0. 0. 0. 1. ]] SLAMing on 125.01463043999999 meters Centerline goodness : 0.268125 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.10 [[ 9.97310001e-01 -1.72715393e-03 -7.32787732e-02 4.97249321e-01] [ 1.67910972e-03 9.99998333e-01 -7.17235501e-04 -1.02863369e-01] [ 7.32798899e-02 5.92263038e-04 9.97311239e-01 -9.97579110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04463043999999 meters Centerline goodness : 0.281503 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.10 [[ 0.99750509 0.00365289 -0.07050008 0.48259136] [-0.00380024 0.99999087 -0.00195593 -0.10766989] [ 0.07049229 0.00221896 0.99750986 -0.10391599] [ 0. 0. 0. 1. ]] SLAMing on 125.07463043999999 meters Centerline goodness : 0.093937 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.10 [[ 0.9975099 0.00362185 -0.07043347 0.48211952] [-0.00376855 0.999991 -0.00195 -0.10799865] [ 0.07042577 0.00221058 0.99751457 -0.10351285] [ 0. 0. 0. 1. ]] SLAMing on 125.10463044 meters Centerline goodness : 0.089318 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.10 [[ 0.99751579 0.00360642 -0.07035086 0.48169327] [-0.00374714 0.99999123 -0.00186838 -0.10879586] [ 0.07034351 0.00212735 0.99752056 -0.10321998] [ 0. 0. 0. 1. ]] SLAMing on 125.13463044 meters Centerline goodness : 0.091204 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.10 [[ 0.99751635 0.00361458 -0.07034255 0.4817024 ] [-0.00373047 0.99999189 -0.00151619 -0.11119188] [ 0.07033649 0.00177484 0.99752174 -0.10326953] [ 0. 0. 0. 1. ]] SLAMing on 125.16463044 meters Centerline goodness : 0.237546 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.10 [[ 0.99750738 0.00357496 -0.07047159 0.48209175] [-0.00367875 0.99999233 -0.00134303 -0.11285194] [ 0.07046624 0.00159893 0.99751288 -0.10333241] [ 0. 0. 0. 1. ]] SLAMing on 125.19463044 meters Centerline goodness : 0.261777 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.11 [[ 0.99751106 0.00851234 -0.06999444 0.46072536] [-0.00886757 0.99994932 -0.00476605 -0.1168365 ] [ 0.06995032 0.00537487 0.997536 -0.10525537] [ 0. 0. 0. 1. ]] SLAMing on 125.22463044 meters Centerline goodness : 0.093106 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.10 [[ 0.99750245 0.00845573 -0.07012396 0.46081021] [-0.00880325 0.99995045 -0.00464823 -0.11812734] [ 0.07008118 0.00525394 0.99752746 -0.10497554] [ 0. 0. 0. 1. ]] SLAMing on 125.25463044 meters Centerline goodness : 0.089979 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.10 [[ 0.99755587 0.00123366 -0.0698624 0.4804942 ] [-0.0014482 0.99999439 -0.00302038 -0.11653518] [ 0.06985828 0.00311417 0.99755206 -0.10251833] [ 0. 0. 0. 1. ]] SLAMing on 125.28463044 meters Centerline goodness : 0.090635 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.10 [[ 0.9975557 0.00139073 -0.06986196 0.48071037] [-0.00158482 0.99999504 -0.00272295 -0.11791698] [ 0.06985783 0.00282702 0.99755295 -0.1028098 ] [ 0. 0. 0. 1. ]] SLAMing on 125.31463044 meters Centerline goodness : 0.099432 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.11 [[ 0.9973969 0.00115114 -0.07209784 0.43674255] [-0.00135981 0.99999503 -0.00284517 -0.12063546] [ 0.0720942 0.0029358 0.99739351 -0.10584658] [ 0. 0. 0. 1. ]] SLAMing on 125.34463043999999 meters Centerline goodness : 0.095791 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.11 [[ 0.99739196 0.00127434 -0.07216403 0.43714952] [-0.00145908 0.99999579 -0.00250721 -0.12266723] [ 0.07216053 0.00260596 0.99738963 -0.10617323] [ 0. 0. 0. 1. ]] SLAMing on 125.37463043999999 meters Centerline goodness : 0.108708 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.11 [[ 0.99738452 0.00139398 -0.07226459 0.43731952] [-0.00155593 0.9999964 -0.00218475 -0.12467569] [ 0.07226128 0.00229148 0.9973831 -0.10609411] [ 0. 0. 0. 1. ]] SLAMing on 125.40463043999999 meters Centerline goodness : 0.095916 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.11 [[ 0.99737831 0.00168073 -0.07234419 0.4375637 ] [-0.0018032 0.99999705 -0.00162752 -0.12756942] [ 0.07234124 0.00175371 0.9973784 -0.10615281] [ 0. 0. 0. 1. ]] SLAMing on 125.43463043999999 meters Centerline goodness : 0.089619 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.11 [[ 0.99737376 0.00180224 -0.07240392 0.43768451] [-0.00191364 0.99999709 -0.00146927 -0.1283561 ] [ 0.07240107 0.00160396 0.99737431 -0.10611223] [ 0. 0. 0. 1. ]] SLAMing on 125.46463044 meters Centerline goodness : 0.092750 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.11 [[ 0.99737444 0.00195068 -0.07239069 0.43777446] [-0.00205725 0.99999691 -0.00139768 -0.12833223] [ 0.07238774 0.00154293 0.99737537 -0.10630997] [ 0. 0. 0. 1. ]] SLAMing on 125.49463044 meters Centerline goodness : 0.101589 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.11 [[ 0.99734988 0.00230066 -0.07271811 0.43860196] [-0.00239778 0.99999635 -0.00124832 -0.12784116] [ 0.07271498 0.00141938 0.99735175 -0.10637944] [ 0. 0. 0. 1. ]] SLAMing on 125.52463044 meters Centerline goodness : 0.268145 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.13, Z:-0.11 [[ 9.97087095e-01 5.67355742e-03 -7.60600758e-02 3.97256251e-01] [-5.63437052e-03 9.99983861e-01 7.29787719e-04 -1.26597820e-01] [ 7.60629887e-02 -2.99111268e-04 9.97102970e-01 -1.09592453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55463044 meters Centerline goodness : 0.267729 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.11 [[ 9.97048074e-01 5.75714781e-03 -7.65636567e-02 3.98703727e-01] [-5.74114003e-03 9.99983427e-01 4.29182637e-04 -1.24508829e-01] [ 7.65648587e-02 1.16469531e-05 9.97064603e-01 -1.10021758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58463044 meters Centerline goodness : 0.099433 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.11 [[ 9.97028165e-01 5.76761902e-03 -7.68216926e-02 3.99463896e-01] [-5.77672726e-03 9.99983309e-01 1.03655255e-04 -1.22443961e-01] [ 7.68210082e-02 3.40430757e-04 9.97044842e-01 -1.10314530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61463044 meters Centerline goodness : 0.093215 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.11 [[ 9.97058787e-01 5.86952258e-03 -7.64154660e-02 3.98467389e-01] [-5.89429956e-03 9.99982624e-01 -9.87049376e-05 -1.20421595e-01] [ 7.64135589e-02 5.48830274e-04 9.97076059e-01 -1.10336100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64463044 meters Centerline goodness : 0.092577 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.11 [[ 9.97078357e-01 5.87416186e-03 -7.61593377e-02 3.97725717e-01] [-5.89555050e-03 9.99982620e-01 -5.60146299e-05 -1.20612158e-01] [ 7.61576850e-02 5.04852197e-04 9.97095658e-01 -1.10188141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67463044 meters Centerline goodness : 0.093944 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.11 [[ 9.97082259e-01 5.83781367e-03 -7.61110233e-02 3.97607768e-01] [-5.85224025e-03 9.99982875e-01 3.34874290e-05 -1.21410792e-01] [ 7.61099154e-02 4.12030273e-04 9.97099349e-01 -1.10144090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70463043999999 meters Centerline goodness : 0.104136 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.11 [[ 9.97067006e-01 5.71956039e-03 -7.63195363e-02 3.98134580e-01] [-5.72899830e-03 9.99983585e-01 9.52746139e-05 -1.22563116e-01] [ 7.63188284e-02 3.42239319e-04 9.97083406e-01 -1.10150796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73463043999999 meters Centerline goodness : 0.274106 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:-0.11 [[ 9.97069407e-01 -2.47189695e-03 -7.64623254e-02 4.18965935e-01] [ 2.53442768e-03 9.99996529e-01 7.20772457e-04 -1.19456918e-01] [ 7.64602783e-02 -9.12448401e-04 9.97072211e-01 -1.07990276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76463043999999 meters Centerline goodness : 0.107102 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:-0.11 [[ 9.97063611e-01 -2.49107111e-03 -7.65372415e-02 4.19170843e-01] [ 2.56630639e-03 9.99996316e-01 8.84651508e-04 -1.20774318e-01] [ 7.65347558e-02 -1.07847184e-03 9.97066331e-01 -1.07978487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79463043999999 meters Centerline goodness : 0.264696 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:-0.11 [[ 0.99710844 -0.00251046 -0.07595029 0.41763385] [ 0.00262054 0.99999566 0.00134975 -0.12366171] [ 0.07594657 -0.00154488 0.99711069 -0.10770543] [ 0. 0. 0. 1. ]] SLAMing on 125.82463043999999 meters Centerline goodness : 0.096634 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:-0.11 [[ 0.99712718 -0.00246488 -0.07570546 0.41696555] [ 0.00259766 0.99999526 0.00165546 -0.12566286] [ 0.07570102 -0.00184736 0.99712885 -0.10750116] [ 0. 0. 0. 1. ]] SLAMing on 125.85463044 meters Centerline goodness : 0.278542 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:-0.11 [[ 0.99713835 -0.00243237 -0.0755592 0.4164788 ] [ 0.00258694 0.99999476 0.00194783 -0.12774772] [ 0.07555407 -0.00213772 0.99713941 -0.10730023] [ 0. 0. 0. 1. ]] SLAMing on 125.88463044 meters Centerline goodness : 0.273001 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:-0.11 [[ 0.997118 -0.00232221 -0.07583069 0.41734836] [ 0.00251901 0.9999937 0.00249973 -0.13181799] [ 0.07582441 -0.00268355 0.99711757 -0.10749534] [ 0. 0. 0. 1. ]] SLAMing on 125.91463044 meters Centerline goodness : 0.092295 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:-0.11 [[ 0.9971021 -0.00218201 -0.0760437 0.41816767] [ 0.00239905 0.99999331 0.00276292 -0.13301424] [ 0.07603716 -0.00293734 0.99710066 -0.10789645] [ 0. 0. 0. 1. ]] SLAMing on 125.94463044 meters Centerline goodness : 0.100350 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:-0.11 [[ 0.99708476 -0.00207932 -0.07627359 0.41910294] [ 0.00231142 0.99999296 0.00295487 -0.13395576] [ 0.07626691 -0.00312256 0.99708255 -0.10838751] [ 0. 0. 0. 1. ]] SLAMing on 125.97463044 meters Centerline goodness : 0.093156 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99707499 0.00560961 -0.0762233 0.43868561] [-0.00548674 0.99998329 0.00182129 -0.13820086] [ 0.07623224 -0.00139774 0.99708911 -0.10601522] [ 0. 0. 0. 1. ]] SLAMing on 126.00463044 meters Centerline goodness : 0.282206 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99708965 0.00562401 -0.07603029 0.43819424] [-0.00549934 0.99998317 0.00184902 -0.13861037] [ 0.07603941 -0.00142552 0.99710379 -0.10597727] [ 0. 0. 0. 1. ]] SLAMing on 126.03463044 meters Centerline goodness : 0.267527 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99710018 0.00574857 -0.07588266 0.43766857] [-0.00561249 0.99998224 0.00200646 -0.13928522] [ 0.07589285 -0.00157475 0.99711474 -0.10575537] [ 0. 0. 0. 1. ]] SLAMing on 126.06463044 meters Centerline goodness : 0.286556 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99708555 0.00620942 -0.07603841 0.4381719 ] [-0.00603832 0.99997869 0.00247982 -0.140464 ] [ 0.07605219 -0.00201345 0.99710181 -0.10596357] [ 0. 0. 0. 1. ]] SLAMing on 126.09463043999999 meters Centerline goodness : 0.092387 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99706637 0.0062676 -0.07628482 0.43888276] [-0.00609189 0.99997823 0.00253579 -0.14088769] [ 0.07629905 -0.00206364 0.99708284 -0.10614261] [ 0. 0. 0. 1. ]] SLAMing on 126.12463043999999 meters Centerline goodness : 0.270004 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99705517 0.00623306 -0.07643387 0.43947678] [-0.00605827 0.99997848 0.00251844 -0.14138911] [ 0.07644793 -0.00204796 0.99707147 -0.10644784] [ 0. 0. 0. 1. ]] SLAMing on 126.15463043999999 meters Centerline goodness : 0.271451 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99704819 0.00626242 -0.07652245 0.43977146] [-0.00608518 0.99997824 0.00254918 -0.14182678] [ 0.07653675 -0.00207601 0.9970646 -0.10659417] [ 0. 0. 0. 1. ]] SLAMing on 126.18463043999999 meters Centerline goodness : 0.279247 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99704288 0.00661501 -0.07656199 0.43986452] [-0.00640948 0.99997517 0.00292992 -0.1427773 ] [ 0.07657947 -0.00243054 0.99706052 -0.10660352] [ 0. 0. 0. 1. ]] SLAMing on 126.21463044 meters Centerline goodness : 0.274273 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99702521 0.0067242 -0.07678224 0.44061376] [-0.00650719 0.9999741 0.00307617 -0.14339025] [ 0.07680094 -0.00256738 0.99704314 -0.10691052] [ 0. 0. 0. 1. ]] SLAMing on 126.24463044 meters Centerline goodness : 0.100898 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.11 [[ 0.99699886 0.00679961 -0.07711703 0.44163535] [-0.00656843 0.99997314 0.00325105 -0.1444145 ] [ 0.07713707 -0.00273476 0.99701675 -0.10717868] [ 0. 0. 0. 1. ]] SLAMing on 126.27463044 meters Centerline goodness : 0.087366 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.11 [[ 0.99698806 0.00688363 -0.07724916 0.44206817] [-0.00663675 0.99997202 0.0034521 -0.1456504 ] [ 0.07727076 -0.00292902 0.99700584 -0.1073335 ] [ 0. 0. 0. 1. ]] SLAMing on 126.30463044 meters Centerline goodness : 0.089730 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.11 [[ 0.99702103 -0.00157123 -0.07711424 0.42088607] [ 0.00190288 0.99998925 0.00422744 -0.14398506] [ 0.07710677 -0.00436159 0.9970133 -0.10936435] [ 0. 0. 0. 1. ]] SLAMing on 126.33463044 meters Centerline goodness : 0.088090 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.11 [[ 0.99718024 0.00450008 -0.0749087 0.44098454] [-0.0043831 0.9999889 0.00172601 -0.1466573 ] [ 0.07491563 -0.00139281 0.9971889 -0.10782371] [ 0. 0. 0. 1. ]] SLAMing on 126.36463044 meters Centerline goodness : 0.089471 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.15, Z:-0.11 [[ 0.99722511 -0.00451705 -0.07430794 0.41720736] [ 0.0047039 0.9999862 0.00233971 -0.14887911] [ 0.07429635 -0.00268276 0.9972326 -0.10905362] [ 0. 0. 0. 1. ]] SLAMing on 126.39463044 meters Centerline goodness : 0.266949 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.15, Z:-0.11 [[ 0.99722886 -0.00439243 -0.07426516 0.4170394 ] [ 0.00460587 0.99998574 0.00270299 -0.15081714] [ 0.07425222 -0.00303756 0.99723487 -0.10890203] [ 0. 0. 0. 1. ]] SLAMing on 126.42463044 meters Centerline goodness : 0.089758 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.15, Z:-0.11 [[ 0.99723358 -0.00427298 -0.07420866 0.41674819] [ 0.0045114 0.99998519 0.00304552 -0.1526311 ] [ 0.07419455 -0.00337188 0.99723809 -0.10866716] [ 0. 0. 0. 1. ]] SLAMing on 126.45463043999999 meters Centerline goodness : 0.276753 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99723656 -0.00419005 -0.07417334 0.41603764] [ 0.00445898 0.99998407 0.00346055 -0.15509876] [ 0.07415766 -0.00378172 0.99723936 -0.10776151] [ 0. 0. 0. 1. ]] SLAMing on 126.48463043999999 meters Centerline goodness : 0.102734 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99722501 -0.00413637 -0.07433145 0.41643864] [ 0.00441677 0.99998374 0.00360825 -0.1559133 ] [ 0.07431532 -0.00392655 0.99722706 -0.1077446 ] [ 0. 0. 0. 1. ]] SLAMing on 126.51463043999999 meters Centerline goodness : 0.266323 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99721069 -0.00409036 -0.07452588 0.4169875 ] [ 0.00437958 0.9999835 0.00371778 -0.1564709 ] [ 0.07450944 -0.0040338 0.99721215 -0.10784555] [ 0. 0. 0. 1. ]] SLAMing on 126.54463043999999 meters Centerline goodness : 0.282425 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99720261 -0.00409665 -0.07463357 0.41726884] [ 0.00438609 0.99998348 0.00371453 -0.15668229] [ 0.07461712 -0.00403149 0.99720411 -0.10788015] [ 0. 0. 0. 1. ]] SLAMing on 126.57463043999999 meters Centerline goodness : 0.087433 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99721781 -0.00406729 -0.07443188 0.41641602] [ 0.00436188 0.99998328 0.00379579 -0.15711837] [ 0.07441519 -0.00410989 0.99721888 -0.10739674] [ 0. 0. 0. 1. ]] SLAMing on 126.60463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.63463044 meters Centerline goodness : 0.087471 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99725158 -0.00379378 -0.0739925 0.41538071] [ 0.00412902 0.99998189 0.00437827 -0.15993865] [ 0.07397455 -0.00467175 0.99724919 -0.10732925] [ 0. 0. 0. 1. ]] SLAMing on 126.66463044 meters Centerline goodness : 0.344766 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99724444 -0.00377023 -0.07408993 0.41587669] [ 0.00411795 0.99998121 0.004541 -0.16128394] [ 0.07407142 -0.00483358 0.99724123 -0.10764216] [ 0. 0. 0. 1. ]] SLAMing on 126.69463044 meters Centerline goodness : 0.344766 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99724444 -0.00377023 -0.07408993 0.41587669] [ 0.00411795 0.99998121 0.004541 -0.16128394] [ 0.07407142 -0.00483358 0.99724123 -0.10764216] [ 0. 0. 0. 1. ]] SLAMing on 126.72463044 meters Centerline goodness : 0.088849 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.11 [[ 0.99722454 -0.0037342 -0.07435904 0.41682895] [ 0.00410017 0.99998022 0.00476963 -0.16317861] [ 0.07433976 -0.00506127 0.99722013 -0.10798734] [ 0. 0. 0. 1. ]] SLAMing on 126.75463044 meters Centerline goodness : 0.420488 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.11 [[ 0.99720115 -0.00371509 -0.07467306 0.41792269] [ 0.00410038 0.99997906 0.005007 -0.16526826] [ 0.07465289 -0.00529918 0.9971955 -0.10839929] [ 0. 0. 0. 1. ]] SLAMing on 126.78463044 meters Centerline goodness : 0.090543 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.11 [[ 0.99716577 -0.00356561 -0.07515129 0.4197904 ] [ 0.00399796 0.99997631 0.0056035 -0.17019313] [ 0.07512953 -0.00588808 0.9971564 -0.10922622] [ 0. 0. 0. 1. ]] SLAMing on 126.81463044 meters Centerline goodness : 0.096359 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.11 [[ 0.99717566 -0.00338666 -0.07502819 0.4195568 ] [ 0.00384279 0.999975 0.0059358 -0.17173884] [ 0.07500621 -0.00620735 0.99716375 -0.10924558] [ 0. 0. 0. 1. ]] SLAMing on 126.84463043999999 meters Centerline goodness : 0.102318 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.11 [[ 0.99718809 -0.00325728 -0.07486856 0.41934961] [ 0.00372808 0.99997414 0.00614947 -0.17263626] [ 0.07484659 -0.0064113 0.99717445 -0.10942688] [ 0. 0. 0. 1. ]] SLAMing on 126.87463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.90463043999999 meters Centerline goodness : 0.100236 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.11 [[ 0.99716283 -0.00292651 -0.07521785 0.4209019 ] [ 0.003407 0.9999746 0.00626043 -0.17230173] [ 0.07519762 -0.00649893 0.99714747 -0.11041667] [ 0. 0. 0. 1. ]] SLAMing on 126.93463043999999 meters Centerline goodness : 0.087575 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.11 [[ 0.99706591 -0.00226454 -0.0765143 0.42450199] [ 0.00276546 0.99997543 0.00644153 -0.17061891] [ 0.07649783 -0.00663423 0.99704768 -0.111326 ] [ 0. 0. 0. 1. ]] SLAMing on 126.96463044 meters Centerline goodness : 0.089261 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.17, Z:-0.11 [[ 0.9970359 -0.00223802 -0.07690519 0.42578798] [ 0.00272879 0.99997658 0.00627712 -0.16941447] [ 0.07688934 -0.00646837 0.99701865 -0.11186497] [ 0. 0. 0. 1. ]] SLAMing on 126.99463044 meters Centerline goodness : 0.082071 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.11 [[ 0.99699674 0.00569922 -0.07723354 0.44630599] [-0.00533881 0.99997388 0.00487214 -0.17069131] [ 0.07725929 -0.00444517 0.99700112 -0.10970915] [ 0. 0. 0. 1. ]] SLAMing on 127.02463044 meters Centerline goodness : 0.096566 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.17, Z:-0.11 [[ 0.99705291 -0.00224048 -0.07668421 0.42740236] [ 0.00270796 0.99997838 0.00599271 -0.16673055] [ 0.07666913 -0.00618271 0.99703742 -0.11287137] [ 0. 0. 0. 1. ]] SLAMing on 127.05463044 meters Centerline goodness : 0.085851 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.11 [[ 0.99710676 -0.00207767 -0.07598551 0.42436459] [ 0.00255966 0.99997722 0.0062463 -0.16706042] [ 0.0759708 -0.00642273 0.99708936 -0.11113228] [ 0. 0. 0. 1. ]] SLAMing on 127.08463044 meters Centerline goodness : 0.095389 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.11 [[ 0.9972373 0.00545642 -0.07408102 0.44240505] [-0.005106 0.99997487 0.00491891 -0.16994963] [ 0.074106 -0.00452706 0.99724009 -0.10853512] [ 0. 0. 0. 1. ]] SLAMing on 127.11463044 meters Centerline goodness : 0.088215 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.11 [[ 0.9972401 0.0053623 -0.0740502 0.44214009] [-0.00501108 0.9999753 0.00492803 -0.17057485] [ 0.0740748 -0.00454336 0.99724234 -0.10823314] [ 0. 0. 0. 1. ]] SLAMing on 127.14463044 meters Centerline goodness : 0.107679 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.11 [[ 0.99723718 0.00524483 -0.0740979 0.44210628] [-0.0048925 0.99997585 0.00493557 -0.17139061] [ 0.07412199 -0.00455941 0.99723876 -0.10798256] [ 0. 0. 0. 1. ]] SLAMing on 127.17463044 meters Centerline goodness : 0.095528 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.17, Z:-0.11 [[ 0.99726081 -0.00260669 -0.07391945 0.46142658] [ 0.0030349 0.99997926 0.00568114 -0.1680844 ] [ 0.0739031 -0.00588992 0.99724803 -0.10560205] [ 0. 0. 0. 1. ]] SLAMing on 127.20463043999999 meters Centerline goodness : 0.088200 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.11 [[ 0.99732111 0.00257595 -0.07310246 0.43903375] [-0.00235462 0.99999238 0.00311369 -0.173559 ] [ 0.07310993 -0.00293322 0.99731958 -0.10728539] [ 0. 0. 0. 1. ]] SLAMing on 127.23463043999999 meters Centerline goodness : 0.099665 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.11 [[ 0.99731058 0.00245888 -0.07325004 0.43948072] [-0.0022 0.99999105 0.0036147 -0.17749062] [ 0.07325828 -0.00344383 0.99730706 -0.10726185] [ 0. 0. 0. 1. ]] SLAMing on 127.26463043999999 meters Centerline goodness : 0.089265 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.11 [[ 0.99728507 0.00247242 -0.073596 0.44051884] [-0.00218867 0.99998986 0.0039358 -0.17983535] [ 0.07360498 -0.00376404 0.99728037 -0.10745467] [ 0. 0. 0. 1. ]] SLAMing on 127.29463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.32463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.35463044 meters Centerline goodness : 0.103210 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.11 [[ 0.99728108 -0.00106388 -0.07368389 0.44086046] [ 0.001182 0.99999809 0.00155945 -0.18807828] [ 0.07368209 -0.0016423 0.99728043 -0.10749091] [ 0. 0. 0. 1. ]] SLAMing on 127.38463044 meters Centerline goodness : 0.130868 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.11 [[ 9.97290403e-01 -8.65472689e-04 -7.35601993e-02 4.40546955e-01] [ 1.01153858e-03 9.99997590e-01 1.94843291e-03 -1.89716571e-01] [ 7.35583357e-02 -2.01756242e-03 9.97288875e-01 -1.07432581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.44463044 meters Centerline goodness : 0.175012 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.10 [[ 9.97476482e-01 3.49560278e-04 -7.09968033e-02 4.82464817e-01] [-1.70974121e-04 9.99996806e-01 2.52147264e-03 -1.91537329e-01] [ 7.09974580e-02 -2.50297104e-03 9.97473356e-01 -1.04304202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47463044 meters Centerline goodness : 0.094399 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.10 [[ 9.97466886e-01 5.02848292e-04 -7.11305762e-02 4.82906208e-01] [-2.96826612e-04 9.99995731e-01 2.90692750e-03 -1.93684707e-01] [ 7.11317343e-02 -2.87845048e-03 9.97462777e-01 -1.04438959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50463044 meters Centerline goodness : 0.136486 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.20, Z:-0.11 [[ 0.99734853 -0.00159499 -0.07275554 0.48860324] [ 0.00170911 0.99999741 0.00150624 -0.20015563] [ 0.07275295 -0.0016266 0.99734867 -0.10624975] [ 0. 0. 0. 1. ]] SLAMing on 127.53463044 meters Centerline goodness : 0.198296 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.21, Z:-0.11 [[ 0.99739641 0.0031994 -0.07204282 0.46928403] [-0.00330026 0.99999373 -0.0012809 -0.20844106] [ 0.07203827 0.00151533 0.99740072 -0.10917056] [ 0. 0. 0. 1. ]] SLAMing on 127.56463044 meters Centerline goodness : 0.462079 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.21, Z:-0.11 [[ 9.97440989e-01 -4.56829017e-03 -7.13484769e-02 4.89772454e-01] [ 4.56968329e-03 9.99989549e-01 -1.43703255e-04 -2.09655898e-01] [ 7.13483877e-02 -1.82704426e-04 9.97451440e-01 -1.07209723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59463043999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.62463043999999 meters Centerline goodness : 0.266711 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.22, Z:-0.11 [[ 9.97500469e-01 -6.65164715e-03 -7.03460794e-02 4.86073544e-01] [ 6.59793895e-03 9.99977738e-01 -9.95817684e-04 -2.19312919e-01] [ 7.03511372e-02 5.29189469e-04 9.97522149e-01 -1.05485073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65463043999999 meters Centerline goodness : 0.092288 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.23, Z:-0.10 [[ 9.97483367e-01 -6.49159236e-03 -7.06030587e-02 4.86180847e-01] [ 6.48897128e-03 9.99978911e-01 -2.66483328e-04 -2.26804593e-01] [ 7.06032996e-02 -1.92328532e-04 9.97504455e-01 -1.04741785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68463043999999 meters Centerline goodness : 0.420382 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.23, Z:-0.11 [[ 9.97467753e-01 -6.28933491e-03 -7.08415615e-02 4.86948250e-01] [ 6.31191047e-03 9.99980075e-01 9.48250494e-05 -2.28440160e-01] [ 7.08395537e-02 -5.41730523e-04 9.97487576e-01 -1.05013867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71463044 meters Centerline goodness : 0.107419 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.11 [[ 9.97517775e-01 1.29767953e-03 -7.04031513e-02 4.68511173e-01] [-1.33864010e-03 9.99998961e-01 -5.34622514e-04 -2.34902329e-01] [ 7.04023844e-02 6.27539943e-04 9.97518476e-01 -1.08276279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74463044 meters Centerline goodness : 0.247483 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.11 [[ 9.97521617e-01 1.49489003e-03 -7.03447822e-02 4.68511121e-01] [-1.52229791e-03 9.99998785e-01 -3.36014375e-04 -2.35322591e-01] [ 7.03441944e-02 4.42267317e-04 9.97522681e-01 -1.08432915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77463044 meters Centerline goodness : 0.099743 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.11 [[ 9.97533688e-01 1.59789265e-03 -7.01711311e-02 4.68144334e-01] [-1.61538924e-03 9.99998677e-01 -1.92595626e-04 -2.35959788e-01] [ 7.01707305e-02 3.05474315e-04 9.97534949e-01 -1.08478617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80463044 meters Centerline goodness : 0.186936 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.11 [[ 9.97536193e-01 1.78269599e-03 -7.01310657e-02 4.67790137e-01] [-1.78385889e-03 9.99998408e-01 4.60472660e-05 -2.37256972e-01] [ 7.01310361e-02 7.91701107e-05 9.97537784e-01 -1.08094091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83463044 meters Centerline goodness : 0.090802 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.11 [[ 9.97518850e-01 1.90554660e-03 -7.03740874e-02 4.68333391e-01] [-1.89344275e-03 9.99998179e-01 2.38700059e-04 -2.38093462e-01] [ 7.03744141e-02 -1.04858503e-04 9.97520642e-01 -1.08068419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86463044 meters Centerline goodness : 0.286074 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.11 [[ 9.97494744e-01 2.01131174e-03 -7.07120288e-02 4.69272726e-01] [-1.98186852e-03 9.99997918e-01 4.86538463e-04 -2.39418868e-01] [ 7.07128602e-02 -3.45177616e-04 9.97496653e-01 -1.08232630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.92463044 meters Centerline goodness : 0.083391 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.11 [[ 9.97449335e-01 1.97639850e-03 -7.13506735e-02 4.71483752e-01] [-1.92412979e-03 9.99997828e-01 8.01285045e-04 -2.42661056e-01] [ 7.13521022e-02 -6.61953278e-04 9.97450971e-01 -1.09019310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95463043999999 meters Centerline goodness : 0.122290 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.25, Z:-0.11 [[ 9.97316922e-01 5.87874951e-04 -7.32025362e-02 4.26729015e-01] [-5.14098642e-04 9.99999341e-01 1.02667602e-03 -2.47733617e-01] [ 7.32030915e-02 -9.86288041e-04 9.97316567e-01 -1.11350923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98463043999999 meters Centerline goodness : 0.093987 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.25, Z:-0.11 [[ 9.97426252e-01 9.02640505e-03 -7.11294336e-02 4.45477533e-01] [-9.02296840e-03 9.99959224e-01 3.69628046e-04 -2.52046938e-01] [ 7.11298696e-02 2.73121915e-04 9.97467026e-01 -1.09142525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01463044 meters Centerline goodness : 0.172839 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.25, Z:-0.11 [[ 9.97435630e-01 9.10591691e-03 -7.09876456e-02 4.44933665e-01] [-9.09730694e-03 9.99958520e-01 4.44600168e-04 -2.52099982e-01] [ 7.09887495e-02 2.02336352e-04 9.97477096e-01 -1.08838071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04463044 meters Centerline goodness : 0.093784 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.25, Z:-0.11 [[ 9.97437733e-01 9.05548018e-03 -7.09645458e-02 4.44859961e-01] [-9.05644479e-03 9.99958942e-01 3.08162574e-04 -2.51413601e-01] [ 7.09644227e-02 3.35313512e-04 9.97478791e-01 -1.08762940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07463044 meters Centerline goodness : 0.094524 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.25, Z:-0.11 [[ 9.97437778e-01 8.98351108e-03 -7.09730683e-02 4.44893242e-01] [-9.01708503e-03 9.99959334e-01 -1.52670554e-04 -2.49000228e-01] [ 7.09688106e-02 7.92249570e-04 9.97478220e-01 -1.08696043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10463044 meters Centerline goodness : 0.092357 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.25, Z:-0.11 [[ 9.97443235e-01 8.92757127e-03 -7.09033925e-02 4.44544184e-01] [-8.98045490e-03 9.99959584e-01 -4.27109788e-04 -2.47233206e-01] [ 7.08967138e-02 1.06276249e-03 9.97483096e-01 -1.08456439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13463044 meters Centerline goodness : 0.092364 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.25, Z:-0.11 [[ 9.97456323e-01 8.95189501e-03 -7.07159613e-02 4.43855798e-01] [-9.01755049e-03 9.99959155e-01 -6.09245388e-04 -2.45649769e-01] [ 7.07076190e-02 1.24538042e-03 9.97496307e-01 -1.08139352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16463044 meters Centerline goodness : 0.090577 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.11 [[ 9.97461313e-01 8.97998546e-03 -7.06419801e-02 4.43501475e-01] [-9.05650038e-03 9.99958698e-01 -7.62920069e-04 -2.44243246e-01] [ 7.06322114e-02 1.40075237e-03 9.97501443e-01 -1.07920844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19463044 meters Centerline goodness : 0.090977 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.11 [[ 9.97473150e-01 8.92378865e-03 -7.04817828e-02 4.43180146e-01] [-9.01245684e-03 9.99958945e-01 -9.40121330e-04 -2.43251628e-01] [ 7.04704997e-02 1.57295981e-03 9.97512624e-01 -1.08018860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22463044 meters Centerline goodness : 0.092050 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.11 [[ 0.99747146 0.00878907 -0.07052266 0.44348276] [-0.00888931 0.99995988 -0.00110761 -0.24298732] [ 0.0705101 0.0017317 0.99750956 -0.10829631] [ 0. 0. 0. 1. ]] SLAMing on 128.25463044 meters Centerline goodness : 0.091527 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.11 [[ 0.99744924 0.0084975 -0.07087182 0.4447741 ] [-0.00862225 0.99996177 -0.00145449 -0.24242165] [ 0.07085675 0.00206185 0.99748437 -0.10888355] [ 0. 0. 0. 1. ]] SLAMing on 128.28463044 meters Centerline goodness : 0.091450 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:-0.11 [[ 0.9974435 0.00843858 -0.07095946 0.44509692] [-0.00857377 0.99996196 -0.00160079 -0.2416955 ] [ 0.07094326 0.00220509 0.99747792 -0.10904769] [ 0. 0. 0. 1. ]] SLAMing on 128.31463044 meters Centerline goodness : 0.093627 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.11 [[ 9.97454001e-01 1.11288038e-04 -7.13127187e-02 4.26265426e-01] [-1.38864264e-04 9.99999917e-01 -3.81736768e-04 -2.37397386e-01] [ 7.13126704e-02 3.90667655e-04 9.97453934e-01 -1.11692580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34463044 meters Centerline goodness : 0.093713 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.11 [[ 9.97447718e-01 3.25146170e-04 -7.13998939e-02 4.26671812e-01] [-3.58060553e-04 9.99999835e-01 -4.48187855e-04 -2.35385147e-01] [ 7.13997364e-02 4.72609439e-04 9.97447670e-01 -1.11986150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37463044 meters Centerline goodness : 0.098699 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97445128e-01 2.83571570e-04 -7.14362449e-02 4.27076478e-01] [-3.31696267e-04 9.99999726e-01 -6.61811561e-04 -2.34046008e-01] [ 7.14360377e-02 6.83815853e-04 9.97444948e-01 -1.12463826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40463044 meters Centerline goodness : 0.097351 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97443320e-01 2.40028632e-04 -7.14616380e-02 4.27387406e-01] [-3.02589336e-04 9.99999580e-01 -8.64620263e-04 -2.32763694e-01] [ 7.14614005e-02 8.84033236e-04 9.97442974e-01 -1.12836726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43463044 meters Centerline goodness : 0.098471 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97441282e-01 1.90580580e-04 -7.14902238e-02 4.27502680e-01] [-2.67242447e-04 9.99999400e-01 -1.06277725e-03 -2.31512611e-01] [ 7.14899783e-02 1.07916313e-03 9.97440734e-01 -1.12951677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46463044 meters Centerline goodness : 0.092006 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97434054e-01 7.52290161e-05 -7.15912133e-02 4.27822740e-01] [-1.73923185e-04 9.99999043e-01 -1.37234668e-03 -2.29402970e-01] [ 7.15910415e-02 1.38127668e-03 9.97433113e-01 -1.13096225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49463044 meters Centerline goodness : 0.087029 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97431542e-01 -5.17574866e-05 -7.16262266e-02 4.28093530e-01] [-6.04991239e-05 9.99998773e-01 -1.56508534e-03 -2.28571528e-01] [ 7.16262197e-02 1.56539881e-03 9.97430315e-01 -1.13359090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52463043999998 meters Centerline goodness : 0.093189 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97422669e-01 -2.34621073e-04 -7.17493151e-02 4.28630147e-01] [ 1.04985204e-04 9.99998355e-01 -1.81055477e-03 -2.27783609e-01] [ 7.17496219e-02 1.79835576e-03 9.97421053e-01 -1.13683654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55463043999998 meters Centerline goodness : 0.098036 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97417069e-01 -4.41431564e-04 -7.18261423e-02 4.28825484e-01] [ 2.97555431e-04 9.99997928e-01 -2.01380415e-03 -2.27392787e-01] [ 7.18268824e-02 1.98723037e-03 9.97415134e-01 -1.13682431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58463043999998 meters Centerline goodness : 0.098036 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97417069e-01 -4.41431564e-04 -7.18261423e-02 4.28825484e-01] [ 2.97555431e-04 9.99997928e-01 -2.01380415e-03 -2.27392787e-01] [ 7.18268824e-02 1.98723037e-03 9.97415134e-01 -1.13682431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61463043999998 meters Centerline goodness : 0.084369 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97408955e-01 -5.94008386e-04 -7.19376379e-02 4.28887749e-01] [ 4.44118425e-04 9.99997697e-01 -2.09958692e-03 -2.27475702e-01] [ 7.19387194e-02 2.06219796e-03 9.97406922e-01 -1.13399567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64463044 meters Centerline goodness : 0.088829 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97398778e-01 -6.70933380e-04 -7.20779244e-02 4.28884472e-01] [ 5.23422349e-04 9.99997730e-01 -2.06541805e-03 -2.27879789e-01] [ 7.20791465e-02 2.02231824e-03 9.97396865e-01 -1.12944203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67463044 meters Centerline goodness : 0.084779 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97388858e-01 -8.38101380e-04 -7.22133245e-02 4.29097914e-01] [ 6.95468185e-04 9.99997758e-01 -2.00028573e-03 -2.28605862e-01] [ 7.22148390e-02 1.94484063e-03 9.97387204e-01 -1.12734417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70463044 meters Centerline goodness : 0.083477 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97386675e-01 -8.61620164e-04 -7.22431884e-02 4.29391199e-01] [ 7.18381177e-04 9.99997725e-01 -2.00869304e-03 -2.28540228e-01] [ 7.22447548e-02 1.95154552e-03 9.97385024e-01 -1.12962810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73463044 meters Centerline goodness : 0.282508 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97385587e-01 -8.92127312e-04 -7.22578328e-02 4.29737789e-01] [ 7.46871100e-04 9.99997646e-01 -2.03724269e-03 -2.28409504e-01] [ 7.22594802e-02 1.97794921e-03 9.97383906e-01 -1.13352727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76463044 meters Centerline goodness : 0.461730 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97402398e-01 -9.17307676e-04 -7.20250989e-02 4.29084863e-01] [ 7.60212572e-04 9.99997272e-01 -2.20849861e-03 -2.27178131e-01] [ 7.20269283e-02 2.14800742e-03 9.97400375e-01 -1.13214472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79463044 meters Centerline goodness : 0.182819 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97421582e-01 -8.61673081e-04 -7.17596374e-02 4.28158980e-01] [ 7.01583969e-04 9.99997209e-01 -2.25608280e-03 -2.26405263e-01] [ 7.17613811e-02 2.19992026e-03 9.97419403e-01 -1.12832126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82463044 meters Centerline goodness : 0.106561 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.11 [[ 9.97437151e-01 -7.78638036e-04 -7.15438520e-02 4.27136442e-01] [ 6.13270847e-04 9.99997090e-01 -2.33334714e-03 -2.25187976e-01] [ 7.15454606e-02 2.28349137e-03 9.97434726e-01 -1.12168936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85463044 meters Centerline goodness : 0.089237 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.22, Z:-0.11 [[ 9.97467652e-01 -7.25009053e-04 -7.11179177e-02 4.25785597e-01] [ 5.48973677e-04 9.99996737e-01 -2.49477499e-03 -2.23642860e-01] [ 7.11194944e-02 2.44941549e-03 9.97464795e-01 -1.11721446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88463044 meters Centerline goodness : 0.104966 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.22, Z:-0.11 [[ 0.99752747 0.00735674 -0.06989158 0.44495468] [-0.00766392 0.99996211 -0.00412796 -0.22356376] [ 0.06985856 0.0046534 0.99754605 -0.1092877 ] [ 0. 0. 0. 1. ]] SLAMing on 128.91463044 meters Centerline goodness : 0.108250 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.22, Z:-0.11 [[ 0.99737765 0.006373 -0.07209166 0.40104486] [-0.00671981 0.99996698 -0.00456919 -0.22321152] [ 0.07206016 0.00504165 0.99738754 -0.11224009] [ 0. 0. 0. 1. ]] SLAMing on 128.94463044 meters Centerline goodness : 0.100874 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.22, Z:-0.11 [[ 0.99735945 0.00626086 -0.07235277 0.40233207] [-0.00666037 0.99996387 -0.00528175 -0.21850332] [ 0.07231709 0.0057497 0.99736512 -0.11322588] [ 0. 0. 0. 1. ]] SLAMing on 128.97463044 meters Centerline goodness : 0.085636 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.22, Z:-0.11 [[ 0.99735676 0.00630734 -0.07238591 0.40267102] [-0.00672247 0.99996232 -0.00549285 -0.2161583 ] [ 0.07234853 0.00596495 0.99736157 -0.11357067] [ 0. 0. 0. 1. ]] SLAMing on 129.00463044 meters Centerline goodness : 0.176392 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.21, Z:-0.11 [[ 0.99736492 0.00625097 -0.07227817 0.40234038] [-0.00668842 0.99996074 -0.00581179 -0.21386907] [ 0.072239 0.00627991 0.99736758 -0.11350552] [ 0. 0. 0. 1. ]] SLAMing on 129.03463044 meters Centerline goodness : 0.105106 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.21, Z:-0.11 [[ 0.99734762 0.00585303 -0.07254975 0.40315821] [-0.00634652 0.99995825 -0.00657354 -0.2106108 ] [ 0.07250824 0.00701655 0.99734313 -0.11374872] [ 0. 0. 0. 1. ]] SLAMing on 129.06463044 meters Centerline goodness : 0.105508 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.21, Z:-0.11 [[ 0.99733159 0.00561103 -0.07278878 0.40413868] [-0.00613218 0.99995713 -0.00693828 -0.20941103] [ 0.07274673 0.00736612 0.99732324 -0.11431303] [ 0. 0. 0. 1. ]] SLAMing on 129.09463044 meters Centerline goodness : 0.085228 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.21, Z:-0.11 [[ 0.99731892 0.00550596 -0.07297026 0.40491272] [-0.00604045 0.99995651 -0.00710619 -0.20867805] [ 0.07292796 0.00752791 0.9973088 -0.11478556] [ 0. 0. 0. 1. ]] SLAMing on 129.12463044 meters Centerline goodness : 0.156343 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.21, Z:-0.11 [[ 0.99732288 0.00539393 -0.07292447 0.40492274] [-0.00593699 0.99995622 -0.00723207 -0.20816598] [ 0.07288227 0.00764566 0.99731124 -0.11495023] [ 0. 0. 0. 1. ]] SLAMing on 129.15463044 meters Centerline goodness : 0.104651 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.20, Z:-0.11 [[ 0.99737505 -0.00179067 -0.07238647 0.42254319] [ 0.00136003 0.99998109 -0.00599805 -0.20279481] [ 0.07239584 0.00588386 0.99735862 -0.11162297] [ 0. 0. 0. 1. ]] SLAMing on 129.18463044 meters Centerline goodness : 0.101265 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.20, Z:-0.11 [[ 0.99739737 -0.00184852 -0.07207687 0.42133486] [ 0.00141034 0.99998022 -0.00612972 -0.20190324] [ 0.07208677 0.00601211 0.99738024 -0.11098138] [ 0. 0. 0. 1. ]] SLAMing on 129.21463044 meters Centerline goodness : 0.164253 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.20, Z:-0.11 [[ 0.99743607 -0.0018194 -0.07154001 0.41950102] [ 0.00136503 0.99997859 -0.00639974 -0.19944717] [ 0.07155012 0.00628568 0.9974172 -0.11032605] [ 0. 0. 0. 1. ]] SLAMing on 129.24463044 meters Centerline goodness : 0.102514 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.20, Z:-0.11 [[ 0.99742433 -0.00181885 -0.07170353 0.42021898] [ 0.00134639 0.99997707 -0.00663687 -0.19751022] [ 0.07171395 0.00652323 0.99740391 -0.11080408] [ 0. 0. 0. 1. ]] SLAMing on 129.27463043999998 meters Centerline goodness : 0.269935 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.20, Z:-0.11 [[ 0.99740902 -0.00182041 -0.07191619 0.42123523] [ 0.0013279 0.99997534 -0.00689567 -0.19547226] [ 0.07192697 0.00678231 0.99738684 -0.11150736] [ 0. 0. 0. 1. ]] SLAMing on 129.30463043999998 meters Centerline goodness : 0.087635 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99740342 -0.00186832 -0.07199261 0.42176043] [ 0.00135655 0.99997347 -0.00715686 -0.19374575] [ 0.07200407 0.00704061 0.99737949 -0.11199217] [ 0. 0. 0. 1. ]] SLAMing on 129.33463043999998 meters Centerline goodness : 0.097794 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99741673 -0.00202023 -0.07180381 0.42128993] [ 0.00147154 0.99996932 -0.00769372 -0.19071523] [ 0.07181715 0.00756819 0.9973891 -0.11201983] [ 0. 0. 0. 1. ]] SLAMing on 129.36463043999998 meters Centerline goodness : 0.087037 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99741887 -0.00216087 -0.07176995 0.42112711] [ 0.00158788 0.99996642 -0.00803985 -0.18894726] [ 0.07178491 0.00790514 0.99738881 -0.11193939] [ 0. 0. 0. 1. ]] SLAMing on 129.39463044 meters Centerline goodness : 0.102361 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99741502 -0.00221656 -0.07182175 0.42140126] [ 0.00162366 0.99996413 -0.00831256 -0.18724493] [ 0.0718376 0.00817445 0.99738284 -0.11219934] [ 0. 0. 0. 1. ]] SLAMing on 129.42463044 meters Centerline goodness : 0.088878 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99740714 -0.00230734 -0.07192831 0.42188931] [ 0.00168843 0.99996104 -0.00866416 -0.18512955] [ 0.0719455 0.00852025 0.99737217 -0.11255604] [ 0. 0. 0. 1. ]] SLAMing on 129.45463044 meters Centerline goodness : 0.089780 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 0.99739617 -0.00237536 -0.07207802 0.42252767] [ 0.00173506 0.99995849 -0.00894468 -0.18344229] [ 0.07209628 0.00879633 0.99735889 -0.11296495] [ 0. 0. 0. 1. ]] SLAMing on 129.48463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 129.51463044 meters Centerline goodness : 0.126012 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 0.99737074 -0.00221123 -0.07243419 0.42392703] [ 0.00156685 0.9999587 -0.00895179 -0.18174177] [ 0.07245099 0.00881476 0.99733302 -0.11372695] [ 0. 0. 0. 1. ]] SLAMing on 129.54463044 meters Centerline goodness : 0.088615 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 0.9973683 -0.00225287 -0.07246651 0.42402193] [ 0.00161541 0.9999595 -0.00885403 -0.18263368] [ 0.07248352 0.00871366 0.99733155 -0.11370184] [ 0. 0. 0. 1. ]] SLAMing on 129.57463044 meters Centerline goodness : 0.087270 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 0.99737212 -0.00239606 -0.07240936 0.42368457] [ 0.00176553 0.99995998 -0.0087706 -0.18410308] [ 0.07242748 0.00861971 0.99733643 -0.11336356] [ 0. 0. 0. 1. ]] SLAMing on 129.60463044 meters Centerline goodness : 0.087346 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99738251 -0.00252352 -0.07226178 0.42304571] [ 0.00190188 0.99996061 -0.00867004 -0.18571448] [ 0.07228081 0.00850991 0.99734802 -0.1129067 ] [ 0. 0. 0. 1. ]] SLAMing on 129.63463044 meters Centerline goodness : 0.093886 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.9974041 -0.00252406 -0.07196306 0.42206291] [ 0.00192016 0.99996237 -0.00845968 -0.18706525] [ 0.07198171 0.00829954 0.99737142 -0.11250038] [ 0. 0. 0. 1. ]] SLAMing on 129.66463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 129.69463044 meters Centerline goodness : 0.087059 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.11 [[ 0.99744943 0.00663659 -0.07106747 0.44321294] [-0.00730386 0.99993161 -0.00913349 -0.18568939] [ 0.071002 0.00962926 0.99742969 -0.11169327] [ 0. 0. 0. 1. ]] SLAMing on 129.72463044 meters Centerline goodness : 0.089262 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 9.97393674e-01 -1.07129814e-03 -7.21436889e-02 4.24383746e-01] [ 5.15082082e-04 9.99970006e-01 -7.72799958e-03 -1.81066521e-01] [ 7.21498040e-02 7.67069797e-03 9.97364310e-01 -1.14055988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75463044 meters Centerline goodness : 0.088802 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.11 [[ 9.97369904e-01 -1.01482469e-03 -7.24723739e-02 4.25259159e-01] [ 4.46938645e-04 9.99969075e-01 -7.85168359e-03 -1.79817089e-01] [ 7.24781008e-02 7.79864221e-03 9.97339514e-01 -1.14239512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78463044 meters Centerline goodness : 0.050515 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.11 [[ 9.97344120e-01 -9.96498712e-04 -7.28265926e-02 4.26486510e-01] [ 4.20261207e-04 9.99968490e-01 -7.92735521e-03 -1.79178379e-01] [ 7.28321974e-02 7.87569492e-03 9.97313113e-01 -1.14771477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81463044 meters Centerline goodness : 0.095732 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.12 [[ 9.97331622e-01 -1.10655334e-03 -7.29959701e-02 4.27071213e-01] [ 5.22301318e-04 9.99967683e-01 -8.02249715e-03 -1.79344035e-01] [ 7.30024884e-02 7.96296420e-03 9.97299969e-01 -1.15008237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84463044 meters Centerline goodness : 0.098691 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.11 [[ 9.97372724e-01 -1.45481513e-03 -7.24260454e-02 4.25296937e-01] [ 8.73181485e-04 9.99967122e-01 -8.06173941e-03 -1.81093352e-01] [ 7.24353925e-02 7.97731792e-03 9.97341204e-01 -1.14412646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87463044 meters Centerline goodness : 0.088313 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 9.97401779e-01 -1.25656457e-03 -7.20285458e-02 4.24021810e-01] [ 7.08194516e-04 9.99970577e-01 -7.63826517e-03 -1.82676969e-01] [ 7.20360245e-02 7.56740905e-03 9.97373323e-01 -1.13922563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90463044 meters Centerline goodness : 0.100913 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 9.97430710e-01 -1.07319642e-03 -7.16297899e-02 4.22828043e-01] [ 5.53769508e-04 9.99973412e-01 -7.27101358e-03 -1.83941758e-01] [ 7.16356886e-02 7.21266585e-03 9.97404785e-01 -1.13546972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93463044 meters Centerline goodness : 0.097002 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 9.97447031e-01 -1.00794403e-03 -7.14031185e-02 4.22335622e-01] [ 5.04573624e-04 9.99974898e-01 -7.06738418e-03 -1.85003058e-01] [ 7.14084497e-02 7.01331324e-03 9.97422502e-01 -1.13536223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96463044 meters Centerline goodness : 0.101172 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 9.97449748e-01 -1.10208105e-03 -7.13637595e-02 4.22423798e-01] [ 5.98930100e-04 9.99974817e-01 -7.07152508e-03 -1.85883385e-01] [ 7.13697558e-02 7.01074900e-03 9.97425289e-01 -1.13742348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99463044 meters Centerline goodness : 0.099326 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 9.97403225e-01 -1.24429625e-03 -7.20087335e-02 4.24380860e-01] [ 7.31353245e-04 9.99974176e-01 -7.14927215e-03 -1.86800353e-01] [ 7.20157697e-02 7.07804328e-03 9.97378379e-01 -1.14362073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02463043999998 meters Centerline goodness : 0.118246 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.11 [[ 9.97380446e-01 -1.09092108e-03 -7.23260369e-02 4.25465539e-01] [ 5.84997854e-04 9.99975218e-01 -7.01584993e-03 -1.86790813e-01] [ 7.23318982e-02 6.95516095e-03 9.97356367e-01 -1.14828756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05463043999998 meters Centerline goodness : 0.085706 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 9.97374016e-01 -9.35472808e-04 -7.24168262e-02 4.25950327e-01] [ 4.37521699e-04 9.99976156e-01 -6.89173710e-03 -1.86703792e-01] [ 7.24215466e-02 6.84195558e-03 9.97350644e-01 -1.15189336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08463043999998 meters Centerline goodness : 0.087099 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 9.97377428e-01 -8.79167676e-04 -7.23705253e-02 4.25930978e-01] [ 3.79843430e-04 9.99976033e-01 -6.91302624e-03 -1.86254297e-01] [ 7.23748685e-02 6.86740687e-03 9.97353858e-01 -1.15308505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11463043999998 meters Centerline goodness : 0.158044 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 9.97427437e-01 -7.56523226e-04 -7.16793962e-02 4.24011802e-01] [ 2.53373576e-04 9.99975269e-01 -7.02827850e-03 -1.85156477e-01] [ 7.16829406e-02 6.99203615e-03 9.97402961e-01 -1.14966868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14463044 meters Centerline goodness : 0.231975 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 9.97452395e-01 -7.07674857e-04 -7.13317477e-02 4.23104566e-01] [ 2.00753382e-04 9.99974679e-01 -7.11345247e-03 -1.84289613e-01] [ 7.13349755e-02 7.08101012e-03 9.97427281e-01 -1.14886773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17463044 meters Centerline goodness : 0.085314 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.11 [[ 9.97463131e-01 -6.71643708e-04 -7.11818127e-02 4.22788610e-01] [ 1.57314508e-04 9.99973844e-01 -7.23093019e-03 -1.83115543e-01] [ 7.11848075e-02 7.20138834e-03 9.97437147e-01 -1.14968479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20463044 meters Centerline goodness : 0.089041 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.12 [[ 9.97472345e-01 -6.47077150e-04 -7.10528152e-02 4.22784718e-01] [ 1.29097892e-04 9.99973387e-01 -7.29440981e-03 -1.82457351e-01] [ 7.10556443e-02 7.26679929e-03 9.97445883e-01 -1.15402342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23463044 meters Centerline goodness : 0.089044 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.12 [[ 9.97472034e-01 -6.50398397e-04 -7.10571427e-02 4.23244550e-01] [ 1.28512201e-04 9.99972988e-01 -7.34892345e-03 -1.82121000e-01] [ 7.10600030e-02 7.32121391e-03 9.97445174e-01 -1.16024716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26463044 meters Centerline goodness : 0.177043 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.12 [[ 9.97425578e-01 -8.54192142e-04 -7.17041650e-02 4.24953195e-01] [ 3.24743281e-04 9.99972603e-01 -7.39512809e-03 -1.83016078e-01] [ 7.17085174e-02 7.35280446e-03 9.97398529e-01 -1.16319555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29463044 meters Centerline goodness : 0.096967 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.12 [[ 9.97391444e-01 -9.21841967e-04 -7.21765782e-02 4.26303546e-01] [ 3.94181719e-04 9.99973097e-01 -7.32458793e-03 -1.83726271e-01] [ 7.21813886e-02 7.27703064e-03 9.97364974e-01 -1.16576188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32463044 meters Centerline goodness : 0.085707 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.12 [[ 9.97361038e-01 -9.47283704e-04 -7.25951919e-02 4.27544271e-01] [ 4.29026543e-04 9.99974316e-01 -7.15426190e-03 -1.84811654e-01] [ 7.26001044e-02 7.10423682e-03 9.97335828e-01 -1.16890395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35463044 meters Centerline goodness : 0.085795 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 9.97339695e-01 -1.03987844e-03 -7.28865626e-02 4.28484699e-01] [ 5.28488880e-04 9.99975113e-01 -7.03517361e-03 -1.85879064e-01] [ 7.28920645e-02 6.97793817e-03 9.97315424e-01 -1.17153103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38463044 meters Centerline goodness : 0.089046 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.12 [[ 0.99740966 -0.00367637 -0.07183633 0.42468976] [ 0.00303419 0.99995448 -0.00904648 -0.18898605] [ 0.07186632 0.00880508 0.99737541 -0.1157784 ] [ 0. 0. 0. 1. ]] SLAMing on 130.41463044 meters Centerline goodness : 0.180834 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.12 [[ 0.99741128 -0.00374578 -0.07181022 0.42452554] [ 0.00311247 0.99995529 -0.008929 -0.19023495] [ 0.07184046 0.00868238 0.99737835 -0.1155792 ] [ 0. 0. 0. 1. ]] SLAMing on 130.44463044 meters Centerline goodness : 0.465472 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99739705 -0.00377639 -0.072006 0.42517498] [ 0.00314797 0.99995598 -0.00883877 -0.1910311 ] [ 0.07203621 0.00858909 0.99736503 -0.11579866] [ 0. 0. 0. 1. ]] SLAMing on 130.47463044 meters Centerline goodness : 0.278990 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99738369 -0.00362992 -0.07219839 0.4261683 ] [ 0.00302464 0.99995937 -0.0084912 -0.19242385] [ 0.07222628 0.00825062 0.99735415 -0.11646938] [ 0. 0. 0. 1. ]] SLAMing on 130.50463044 meters Centerline goodness : 0.278990 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99738369 -0.00362992 -0.07219839 0.4261683 ] [ 0.00302464 0.99995937 -0.0084912 -0.19242385] [ 0.07222628 0.00825062 0.99735415 -0.11646938] [ 0. 0. 0. 1. ]] SLAMing on 130.53463044 meters Centerline goodness : 0.092259 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99738929 -0.00350531 -0.07212715 0.42603871] [ 0.00291644 0.99996157 -0.00826814 -0.19324928] [ 0.07215336 0.0080362 0.99736117 -0.11648209] [ 0. 0. 0. 1. ]] SLAMing on 130.56463044 meters Centerline goodness : 0.086854 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99739283 -0.00345931 -0.07208033 0.42559243] [ 0.00288027 0.99996276 -0.00813571 -0.19399183] [ 0.07210579 0.00790689 0.99736565 -0.11605589] [ 0. 0. 0. 1. ]] SLAMing on 130.59463044 meters Centerline goodness : 0.088570 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99739684 -0.0034977 -0.07202302 0.42526691] [ 0.00292125 0.99996287 -0.0081075 -0.19464826] [ 0.0720487 0.007876 0.99737002 -0.11579274] [ 0. 0. 0. 1. ]] SLAMing on 130.62463044 meters Centerline goodness : 0.132994 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.20, Z:-0.12 [[ 0.99737838 -0.00348879 -0.07227862 0.42579682] [ 0.00291447 0.99996335 -0.00804982 -0.19521946] [ 0.07230406 0.00781806 0.99735199 -0.11568495] [ 0. 0. 0. 1. ]] SLAMing on 130.65463044 meters Centerline goodness : 0.088665 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.20, Z:-0.12 [[ 0.99736131 -0.00344695 -0.07251575 0.42647295] [ 0.00287268 0.9999637 -0.00802196 -0.19526144] [ 0.07254077 0.00779248 0.99733501 -0.11582762] [ 0. 0. 0. 1. ]] SLAMing on 130.68463044 meters Centerline goodness : 0.279803 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99735518 -0.00302702 -0.07261871 0.42691856] [ 0.00247116 0.99996697 -0.00774312 -0.19492752] [ 0.07263975 0.00754319 0.99732972 -0.11608373] [ 0. 0. 0. 1. ]] SLAMing on 130.71463044 meters Centerline goodness : 0.093015 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99736967 -0.00293592 -0.0724232 0.42636227] [ 0.00238219 0.99996728 -0.00773088 -0.19448811] [ 0.07244353 0.00753802 0.99734403 -0.11597543] [ 0. 0. 0. 1. ]] SLAMing on 130.74463044 meters Centerline goodness : 0.089187 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.12 [[ 0.99738802 -0.00284832 -0.07217358 0.42558835] [ 0.0022929 0.99996713 -0.00777737 -0.19379071] [ 0.07219336 0.00759157 0.99736176 -0.11577571] [ 0. 0. 0. 1. ]] SLAMing on 130.77463043999998 meters Centerline goodness : 0.098209 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.12 [[ 0.99740558 -0.0027393 -0.07193466 0.42468674] [ 0.00218566 0.99996739 -0.00777406 -0.19320119] [ 0.07195361 0.00759666 0.99737905 -0.11536339] [ 0. 0. 0. 1. ]] SLAMing on 130.80463043999998 meters Centerline goodness : 0.083706 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99744688 -0.00253941 -0.07136719 0.422805 ] [ 0.00198045 0.99996682 -0.00790193 -0.19152222] [ 0.07138489 0.00774042 0.99741881 -0.11470825] [ 0. 0. 0. 1. ]] SLAMing on 130.83463043999998 meters Centerline goodness : 0.096989 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99745208 -0.00259677 -0.07129235 0.42273827] [ 0.00202111 0.99996478 -0.00814556 -0.19025049] [ 0.071311 0.00798072 0.9974222 -0.11488624] [ 0. 0. 0. 1. ]] SLAMing on 130.86463043999998 meters Centerline goodness : 0.088213 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.11 [[ 0.99744971 -0.00268093 -0.07132246 0.42282951] [ 0.00208254 0.99996202 -0.00846292 -0.18852116] [ 0.07134244 0.00829281 0.99741741 -0.11498841] [ 0. 0. 0. 1. ]] SLAMing on 130.89463044 meters Centerline goodness : 0.090699 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.19, Z:-0.12 [[ 0.99744063 0.00122413 -0.07148917 0.42328533] [-0.00159766 0.99998537 -0.00516809 -0.18577528] [ 0.07148179 0.00526908 0.99742799 -0.11513279] [ 0. 0. 0. 1. ]] SLAMing on 130.92463044 meters Centerline goodness : 0.088178 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.12 [[ 0.99745408 0.00128632 -0.07130008 0.42296957] [-0.00167626 0.99998396 -0.00540937 -0.18347584] [ 0.07129198 0.00551512 0.99744024 -0.11536748] [ 0. 0. 0. 1. ]] SLAMing on 130.95463044 meters Centerline goodness : 0.089536 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.12 [[ 0.9974606 0.00116468 -0.07121098 0.42291014] [-0.00158863 0.99998135 -0.00589708 -0.18062079] [ 0.07120278 0.00599523 0.99744384 -0.11562517] [ 0. 0. 0. 1. ]] SLAMing on 130.98463044 meters Centerline goodness : 0.113981 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.12 [[ 9.97449124e-01 9.99877362e-04 -7.13739772e-02 4.23519071e-01] [-1.46275259e-03 9.99978237e-01 -6.43323673e-03 -1.77652684e-01] [ 7.13659914e-02 6.52122881e-03 9.97428879e-01 -1.16005353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01463044 meters Centerline goodness : 0.124581 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.17, Z:-0.12 [[ 9.97399084e-01 9.10497136e-04 -7.20710696e-02 4.26028603e-01] [-1.42873129e-03 9.99973494e-01 -7.13937341e-03 -1.72153365e-01] [ 7.20626589e-02 7.22377469e-03 9.97373947e-01 -1.17195614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04463044 meters Centerline goodness : 0.088175 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.17, Z:-0.12 [[ 9.97376980e-01 8.27056751e-04 -7.23773179e-02 4.27022473e-01] [-1.37067329e-03 9.99971223e-01 -7.46152315e-03 -1.70059369e-01] [ 7.23690640e-02 7.54115708e-03 9.97349412e-01 -1.17601145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07463044 meters Centerline goodness : 0.109526 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.17, Z:-0.12 [[ 9.97361573e-01 6.80949694e-04 -7.25908277e-02 4.27817302e-01] [-1.25329727e-03 9.99968487e-01 -7.83931417e-03 -1.67735198e-01] [ 7.25832019e-02 7.90960860e-03 9.97330997e-01 -1.17996793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10463044 meters Centerline goodness : 0.078026 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.12 [[ 0.99729871 -0.00758411 -0.07306001 0.40817528] [ 0.00710398 0.99995144 -0.00682943 -0.16311152] [ 0.07310825 0.00629197 0.99730416 -0.12055627] [ 0. 0. 0. 1. ]] SLAMing on 131.13463044 meters Centerline goodness : 0.087756 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.16, Z:-0.12 [[ 9.97424336e-01 -2.47326992e-05 -7.17265246e-02 4.26221040e-01] [-5.83904533e-04 9.99964005e-01 -8.46454507e-03 -1.63422205e-01] [ 7.17241521e-02 8.48462468e-03 9.97388418e-01 -1.17972586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16463044 meters Centerline goodness : 0.088642 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.12 [[ 9.97452909e-01 -1.42707591e-04 -7.13279343e-02 4.24953006e-01] [-4.75545825e-04 9.99962469e-01 -8.65070337e-03 -1.62339480e-01] [ 7.13264918e-02 8.66258894e-03 9.97415405e-01 -1.17502127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19463044 meters Centerline goodness : 0.088822 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.11 [[ 0.99754385 -0.00751893 -0.06964 0.44307557] [ 0.00704266 0.99995012 -0.00708195 -0.15700322] [ 0.06968978 0.00657411 0.99754705 -0.11485107] [ 0. 0. 0. 1. ]] SLAMing on 131.22463044 meters Centerline goodness : 0.088308 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.12 [[ 0.99754008 -0.00750756 -0.06969528 0.4433908 ] [ 0.00704107 0.99995115 -0.00693654 -0.15777146] [ 0.06974395 0.00642875 0.99754421 -0.11501836] [ 0. 0. 0. 1. ]] SLAMing on 131.25463044 meters Centerline goodness : 0.087935 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.11 [[ 0.99752844 -0.00753305 -0.06985895 0.44378336] [ 0.00707668 0.99995199 -0.00677789 -0.15907581] [ 0.06990665 0.00626677 0.99753385 -0.11498217] [ 0. 0. 0. 1. ]] SLAMing on 131.28463044 meters Centerline goodness : 0.091646 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.11 [[ 0.99750818 -0.00760451 -0.07013989 0.44447591] [ 0.00715976 0.99995265 -0.00659017 -0.16099737] [ 0.07018669 0.00607157 0.9975154 -0.11494887] [ 0. 0. 0. 1. ]] SLAMing on 131.31463044 meters Centerline goodness : 0.088300 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.12 [[ 0.99747251 -0.00824485 -0.07057351 0.44593811] [ 0.0077979 0.99994777 -0.0066063 -0.16635293] [ 0.07062429 0.00603928 0.99748471 -0.11531849] [ 0. 0. 0. 1. ]] SLAMing on 131.34463044 meters Centerline goodness : 0.471899 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.12 [[ 0.99747143 -0.00817945 -0.07059638 0.44634841] [ 0.00776064 0.99995064 -0.00620479 -0.16907537] [ 0.07064364 0.00564123 0.99748567 -0.11566465] [ 0. 0. 0. 1. ]] SLAMing on 131.37463044 meters Centerline goodness : 0.495793 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.12 [[ 0.99746824 -0.0081247 -0.07064777 0.44656412] [ 0.00773552 0.99995337 -0.00578051 -0.1721239 ] [ 0.07069144 0.00521938 0.99748458 -0.11573139] [ 0. 0. 0. 1. ]] SLAMing on 131.40463044 meters Centerline goodness : 0.357049 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.12 [[ 0.99748841 -0.00783384 -0.0703954 0.4458249 ] [ 0.00751423 0.99996023 -0.00480383 -0.17897575] [ 0.07043023 0.0042628 0.9975076 -0.11541224] [ 0. 0. 0. 1. ]] SLAMing on 131.43463044 meters Centerline goodness : 0.508019 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.12 [[ 0.99748165 -0.00760066 -0.07051651 0.44603339] [ 0.00731826 0.99996414 -0.00426223 -0.18164972] [ 0.07054638 0.00373544 0.99750151 -0.11527208] [ 0. 0. 0. 1. ]] SLAMing on 131.46463044 meters Centerline goodness : 0.093360 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.19, Z:-0.11 [[ 9.97477478e-01 6.59875316e-05 -7.09836412e-02 4.65446347e-01] [-4.41909610e-04 9.99985962e-01 -5.28020642e-03 -1.87645717e-01] [ 7.09822963e-02 5.29825534e-03 9.97463504e-01 -1.12512701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49463044 meters Centerline goodness : 0.446637 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.12 [[ 0.99743763 0.00725555 -0.07117256 0.44737558] [-0.00772705 0.99994997 -0.00635174 -0.19573476] [ 0.07112291 0.00688542 0.99744379 -0.11564463] [ 0. 0. 0. 1. ]] SLAMing on 131.52463043999998 meters Centerline goodness : 0.088228 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.12 [[ 0.99742976 0.00726605 -0.07128172 0.4478426 ] [-0.00772155 0.99995148 -0.00611668 -0.19794577] [ 0.07123382 0.00665137 0.99743747 -0.11590353] [ 0. 0. 0. 1. ]] SLAMing on 131.55463043999998 meters Centerline goodness : 0.100378 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.12 [[ 0.99742285 0.00726296 -0.07137859 0.44813326] [-0.00770461 0.99995283 -0.00591403 -0.200013 ] [ 0.07133227 0.00644873 0.99743176 -0.11598743] [ 0. 0. 0. 1. ]] SLAMing on 131.58463043999998 meters Centerline goodness : 0.373598 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.12 [[ 0.99744103 0.00749007 -0.07110058 0.44727204] [-0.00787863 0.99995552 -0.00518599 -0.20474463] [ 0.07105858 0.0057329 0.99745567 -0.11571642] [ 0. 0. 0. 1. ]] SLAMing on 131.61463043999998 meters Centerline goodness : 0.089380 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.12 [[ 0.99744564 0.00763077 -0.07102095 0.44699419] [-0.00799106 0.9999566 -0.00479035 -0.20688748] [ 0.07098131 0.00534565 0.99746332 -0.11558439] [ 0. 0. 0. 1. ]] SLAMing on 131.64463044 meters Centerline goodness : 0.088454 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.12 [[ 0.99743665 0.00770647 -0.07113886 0.44741988] [-0.00804148 0.99995788 -0.00442413 -0.20952827] [ 0.07110177 0.00498485 0.99745661 -0.11573534] [ 0. 0. 0. 1. ]] SLAMing on 131.67463044 meters Centerline goodness : 0.178336 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.21, Z:-0.11 [[ 0.99746241 -0.00147185 -0.0711799 0.46890582] [ 0.00117182 0.99999025 -0.00425663 -0.21084415] [ 0.07118547 0.00416242 0.99745441 -0.11455543] [ 0. 0. 0. 1. ]] SLAMing on 131.70463044 meters Centerline goodness : 0.092564 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.21, Z:-0.11 [[ 0.99746795 -0.00137371 -0.07110416 0.46874905] [ 0.00110475 0.99999209 -0.00382174 -0.21338318] [ 0.07110885 0.00373352 0.99746157 -0.11454555] [ 0. 0. 0. 1. ]] SLAMing on 131.73463044 meters Centerline goodness : 0.087429 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.11 [[ 9.97475336e-01 -1.14799699e-03 -7.10044808e-02 4.68321297e-01] [ 9.16437317e-04 9.99994156e-01 -3.29368873e-03 -2.15719353e-01] [ 7.10078470e-02 3.22030212e-03 9.97470559e-01 -1.14258877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76463044 meters Centerline goodness : 0.089836 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.11 [[ 9.97480615e-01 -1.00396526e-03 -7.09324666e-02 4.68141887e-01] [ 8.02228648e-04 9.99995553e-01 -2.87249666e-03 -2.17885975e-01] [ 7.09350350e-02 2.80835568e-03 9.97476984e-01 -1.14220847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79463044 meters Centerline goodness : 0.088064 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.11 [[ 0.99742942 -0.00155811 -0.07163887 0.47028472] [ 0.00134744 0.99999463 -0.00298888 -0.22324284] [ 0.07164314 0.00288467 0.99742616 -0.11465538] [ 0. 0. 0. 1. ]] SLAMing on 131.82463044 meters Centerline goodness : 0.089521 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.11 [[ 0.99741391 -0.00152012 -0.0718553 0.47094667] [ 0.00132549 0.99999532 -0.00275617 -0.22497145] [ 0.07185916 0.0026538 0.99741126 -0.11486563] [ 0. 0. 0. 1. ]] SLAMing on 131.85463044 meters Centerline goodness : 0.263541 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.11 [[ 0.99741434 -0.00137669 -0.07185225 0.47104737] [ 0.00120091 0.99999618 -0.00248947 -0.2260892 ] [ 0.07185541 0.00239675 0.99741218 -0.11499421] [ 0. 0. 0. 1. ]] SLAMing on 131.88463044 meters Centerline goodness : 0.156754 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.12 [[ 9.97422051e-01 -1.15196379e-03 -7.17490411e-02 4.70947188e-01] [ 9.97267319e-04 9.99997101e-01 -2.19186257e-03 -2.26921939e-01] [ 7.17513580e-02 2.11465909e-03 9.97420308e-01 -1.15175788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91463044 meters Centerline goodness : 0.091877 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.12 [[ 9.97429985e-01 -9.44366930e-04 -7.16416996e-02 4.70752531e-01] [ 8.04414884e-04 9.99997712e-01 -1.98232655e-03 -2.27267420e-01] [ 7.16434077e-02 1.91960229e-03 9.97428462e-01 -1.15248144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94463044 meters Centerline goodness : 0.109459 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.12 [[ 9.97422898e-01 -9.18741482e-04 -7.17406292e-02 4.71025660e-01] [ 7.77471630e-04 9.99997704e-01 -1.99707428e-03 -2.27241058e-01] [ 7.17422992e-02 1.93615131e-03 9.97421322e-01 -1.15275995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97463044 meters Centerline goodness : 0.097096 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.12 [[ 9.97411686e-01 -8.71227655e-04 -7.18969307e-02 4.71518474e-01] [ 7.11871798e-04 9.99997233e-01 -2.24204277e-03 -2.25862236e-01] [ 7.18986851e-02 2.18505826e-03 9.97409547e-01 -1.15468346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00463044 meters Centerline goodness : 0.098745 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.12 [[ 9.97410618e-01 -7.56482149e-04 -7.19130495e-02 4.71776759e-01] [ 5.90280316e-04 9.99997106e-01 -2.33237370e-03 -2.24581934e-01] [ 7.19146057e-02 2.28388543e-03 9.97408178e-01 -1.15812089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03463044 meters Centerline goodness : 0.164791 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.23, Z:-0.11 [[ 0.99741124 0.00792956 -0.07146992 0.49204966] [-0.0081849 0.99996112 -0.00328052 -0.22522155] [ 0.07144113 0.003857 0.99743736 -0.1137656 ] [ 0. 0. 0. 1. ]] SLAMing on 132.06463044 meters Centerline goodness : 0.088576 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.22, Z:-0.11 [[ 0.99742225 0.0080806 -0.07129907 0.49201231] [-0.00834235 0.99995951 -0.00337417 -0.22345528] [ 0.07126892 0.00396027 0.99744928 -0.11421383] [ 0. 0. 0. 1. ]] SLAMing on 132.09463044 meters Centerline goodness : 0.100988 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.11 [[ 9.97503922e-01 3.52926008e-03 -7.05228278e-02 5.12408415e-01] [-3.58682735e-03 9.99993329e-01 -6.89674800e-04 -2.15506686e-01] [ 7.05199234e-02 9.40906526e-04 9.97509927e-01 -1.12064256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12463044 meters Centerline goodness : 0.085304 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.11 [[ 0.99752349 0.00345453 -0.07024922 0.51145555] [-0.00354008 0.99999314 -0.00109345 -0.21300477] [ 0.07024496 0.00133943 0.99752887 -0.11175347] [ 0. 0. 0. 1. ]] SLAMing on 132.15463044 meters Centerline goodness : 0.280624 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.11 [[ 0.99749855 0.00713524 -0.07032588 0.51122316] [-0.00703329 0.99997383 0.00169715 -0.20785346] [ 0.07033615 -0.00119828 0.99752263 -0.11129991] [ 0. 0. 0. 1. ]] SLAMing on 132.18463044 meters Centerline goodness : 0.086040 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.11 [[ 9.97509276e-01 7.10546378e-03 -7.01766053e-02 5.11229003e-01] [-7.04046471e-03 9.99974527e-01 1.17352383e-03 -2.04150134e-01] [ 7.01831561e-02 -6.76524992e-04 9.97533893e-01 -1.11825073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21463044 meters Centerline goodness : 0.125489 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.11 [[ 9.97516523e-01 7.03487067e-03 -7.00806455e-02 5.11373883e-01] [-7.00918857e-03 9.99975248e-01 6.12367781e-04 -2.00334675e-01] [ 7.00832188e-02 -1.19638520e-04 9.97541141e-01 -1.12403721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24463044 meters Centerline goodness : 0.095379 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.11 [[ 9.97528050e-01 6.85536611e-03 -6.99342105e-02 5.11350467e-01] [-6.87566309e-03 9.99976361e-01 -4.95141338e-05 -1.96512687e-01] [ 6.99322179e-02 5.30235807e-04 9.97551605e-01 -1.12951108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27463043999998 meters Centerline goodness : 0.234720 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.11 [[ 9.97528671e-01 6.66909339e-03 -6.99433633e-02 5.11671888e-01] [-6.73486933e-03 9.99977072e-01 -7.04638184e-04 -1.92678449e-01] [ 6.99370603e-02 1.17395620e-03 9.97550715e-01 -1.13457192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30463043999998 meters Centerline goodness : 0.095893 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.12 [[ 9.97420198e-01 8.95010787e-03 -7.12238964e-02 5.16483605e-01] [-8.93879230e-03 9.99959934e-01 4.77610507e-04 -1.84016806e-01] [ 7.12253174e-02 1.60277250e-04 9.97460239e-01 -1.15451864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33463043999998 meters Centerline goodness : 0.097199 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.12 [[ 9.97407012e-01 8.61690027e-03 -7.14492931e-02 5.17207797e-01] [-8.66468844e-03 9.99962396e-01 -3.58922565e-04 -1.79598337e-01] [ 7.14435135e-02 9.77077747e-04 9.97444169e-01 -1.15721089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 132.39463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 132.42463044 meters Centerline goodness : 0.132114 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.12 [[ 9.97405053e-01 9.28621638e-03 -7.13927552e-02 5.16728176e-01] [-9.37002940e-03 9.99955748e-01 -8.39149972e-04 -1.68635975e-01] [ 7.13818034e-02 1.50592464e-03 9.97447929e-01 -1.15482995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45463044 meters Centerline goodness : 0.105786 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.12 [[ 9.97607817e-01 2.39229621e-03 -6.90863264e-02 4.95968654e-01] [-2.38163969e-03 9.99997136e-01 2.36616741e-04 -1.59529422e-01] [ 6.90866946e-02 -7.15119732e-05 9.97610657e-01 -1.18886543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48463044 meters Centerline goodness : 0.394334 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.12 [[ 9.97612998e-01 2.17915896e-03 -6.90185271e-02 4.95995884e-01] [-2.21793038e-03 9.99997423e-01 -4.85128104e-04 -1.54640478e-01] [ 6.90172920e-02 6.37048390e-04 9.97615260e-01 -1.19203646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51463044 meters Centerline goodness : 0.460864 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.12 [[ 0.99757204 0.00198125 -0.06961388 0.49851371] [-0.00209306 0.99999663 -0.00153322 -0.14508916] [ 0.06961061 0.00167521 0.99757283 -0.1206922 ] [ 0. 0. 0. 1. ]] SLAMing on 132.54463044 meters Centerline goodness : 0.432575 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.12 [[ 0.99756282 0.00172565 -0.06975275 0.49916507] [-0.00188002 0.99999593 -0.00214751 -0.14174861] [ 0.06974876 0.00227342 0.997562 -0.12116542] [ 0. 0. 0. 1. ]] SLAMing on 132.57463044 meters Centerline goodness : 0.278091 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.12 [[ 0.99756072 0.00154308 -0.06978706 0.49927673] [-0.0017279 0.99999516 -0.00258803 -0.13916978] [ 0.06978272 0.0027023 0.99755855 -0.12125479] [ 0. 0. 0. 1. ]] SLAMing on 132.60463044 meters Centerline goodness : 0.462057 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 0.99754518 0.0011341 -0.07001657 0.49945679] [-0.0013764 0.99999323 -0.00341243 -0.13470767] [ 0.07001223 0.00350042 0.99753999 -0.12083628] [ 0. 0. 0. 1. ]] SLAMing on 132.63463044 meters Centerline goodness : 0.190319 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 9.97531750e-01 9.35723927e-04 -7.02106250e-02 4.99871172e-01] [-1.20952702e-03 9.99991829e-01 -3.85732679e-03 -1.32295692e-01] [ 7.02064419e-02 3.93272759e-03 9.97524731e-01 -1.20787747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66463044 meters Centerline goodness : 0.453580 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 9.97524871e-01 8.10575101e-04 -7.03098536e-02 4.99897165e-01] [-1.10786918e-03 9.99990611e-01 -4.18944928e-03 -1.30167467e-01] [ 7.03057976e-02 4.25697397e-03 9.97516402e-01 -1.20532027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69463044 meters Centerline goodness : 0.094303 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 9.97528613e-01 7.18558982e-04 -7.02577364e-02 4.99428031e-01] [-1.03409235e-03 9.99989543e-01 -4.45481535e-03 -1.28395082e-01] [ 7.02538006e-02 4.51645877e-03 9.97518925e-01 -1.20110190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72463044 meters Centerline goodness : 0.377936 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 9.97547116e-01 6.03423076e-04 -6.99956266e-02 4.98521006e-01] [-9.33233741e-04 9.99988617e-01 -4.67926978e-03 -1.27100119e-01] [ 6.99920062e-02 4.73311435e-03 9.97536323e-01 -1.19703725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 132.78463044 meters Centerline goodness : 0.207223 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.12 [[ 9.97628145e-01 -1.58345665e-04 -6.88335658e-02 4.95278806e-01] [-2.15901968e-04 9.99985237e-01 -5.42951978e-03 -1.24965799e-01] [ 6.88334093e-02 5.43150304e-03 9.97613382e-01 -1.18941083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81463044 meters Centerline goodness : 0.465683 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 9.97623517e-01 -2.22730545e-04 -6.89004289e-02 4.95460142e-01] [-1.53670525e-04 9.99985095e-01 -5.45762285e-03 -1.25018492e-01] [ 6.89006175e-02 5.45524087e-03 9.97608613e-01 -1.18925936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84463044 meters Centerline goodness : 0.088324 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 9.97619442e-01 -2.14233439e-04 -6.89594313e-02 4.95632362e-01] [-1.57149765e-04 9.99985515e-01 -5.38006171e-03 -1.25475996e-01] [ 6.89595851e-02 5.37809112e-03 9.97604958e-01 -1.18942950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87463044 meters Centerline goodness : 0.086658 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 9.97633331e-01 -3.24592184e-04 -6.87577766e-02 4.95072822e-01] [-4.28039363e-05 9.99985732e-01 -5.34179847e-03 -1.26560825e-01] [ 6.87585295e-02 5.33209931e-03 9.97619082e-01 -1.18740768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90463044 meters Centerline goodness : 0.365844 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.12 [[ 9.97658068e-01 -3.66050107e-04 -6.83976967e-02 4.94053137e-01] [-3.54486366e-06 9.99985401e-01 -5.40341770e-03 -1.26505914e-01] [ 6.83986761e-02 5.39100572e-03 9.97643503e-01 -1.18555898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93463044 meters Centerline goodness : 0.112343 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.12 [[ 9.97682826e-01 -2.90263608e-04 -6.80359741e-02 4.93158576e-01] [-7.90250552e-05 9.99985281e-01 -5.42508990e-03 -1.25945596e-01] [ 6.80365474e-02 5.41789557e-03 9.97668118e-01 -1.18531700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96463044 meters Centerline goodness : 0.368203 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.12 [[ 9.97674379e-01 -2.13814482e-04 -6.81600223e-02 4.93838699e-01] [-1.61586266e-04 9.99984850e-01 -5.50207742e-03 -1.24980190e-01] [ 6.81601661e-02 5.50029540e-03 9.97659230e-01 -1.19095948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99463044 meters Centerline goodness : 0.093363 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.12 [[ 9.97641630e-01 -1.53198344e-04 -6.86378444e-02 4.95688031e-01] [-2.37710556e-04 9.99983800e-01 -5.68703480e-03 -1.23548484e-01] [ 6.86376038e-02 5.68993861e-03 9.97625433e-01 -1.20109846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02463043999998 meters Centerline goodness : 0.454510 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.12 [[ 9.97597886e-01 -8.51330585e-05 -6.92708460e-02 4.97962055e-01] [-3.27021790e-04 9.99982313e-01 -5.93854158e-03 -1.21821339e-01] [ 6.92701264e-02 5.94692960e-03 9.97580214e-01 -1.21202313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05463043999998 meters Centerline goodness : 0.418558 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.12 [[ 0.99739027 0.00214012 -0.07216691 0.45560658] [-0.00246414 0.99998728 -0.00440111 -0.12178959] [ 0.07215657 0.00456746 0.99738286 -0.12478039] [ 0. 0. 0. 1. ]] SLAMing on 133.08463043999998 meters Centerline goodness : 0.460397 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.12 [[ 0.99740538 0.00216327 -0.07195718 0.45508734] [-0.00249758 0.9999865 -0.00455623 -0.12047094] [ 0.07194635 0.00472413 0.99739732 -0.12481351] [ 0. 0. 0. 1. ]] SLAMing on 133.11463043999998 meters Centerline goodness : 0.175335 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.12 [[ 0.99741738 0.00210668 -0.07179227 0.45461559] [-0.00244994 0.99998598 -0.00469358 -0.11985058] [ 0.07178137 0.00485735 0.99740856 -0.12475688] [ 0. 0. 0. 1. ]] SLAMing on 133.14463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 133.17463044 meters Centerline goodness : 0.450933 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.12 [[ 0.99740503 0.00191988 -0.07196883 0.45506854] [-0.00227804 0.99998543 -0.00489486 -0.11939791] [ 0.07195838 0.0050461 0.99739487 -0.12480041] [ 0. 0. 0. 1. ]] SLAMing on 133.20463044 meters Centerline goodness : 0.092198 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99740028 0.00185711 -0.07203627 0.45545973] [-0.00222174 0.99998512 -0.00498184 -0.1189673 ] [ 0.07202595 0.00512894 0.99738957 -0.1250915 ] [ 0. 0. 0. 1. ]] SLAMing on 133.23463044 meters Centerline goodness : 0.095016 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99739516 0.00159724 -0.07211346 0.45606159] [-0.00198916 0.99998364 -0.00536324 -0.11743277] [ 0.07210371 0.00549272 0.99738202 -0.12559259] [ 0. 0. 0. 1. ]] SLAMing on 133.26463044 meters Centerline goodness : 0.454547 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99738917 0.00144155 -0.07219955 0.45630101] [-0.00184757 0.99998285 -0.00555714 -0.11676266] [ 0.0721903 0.00567602 0.99737473 -0.12561883] [ 0. 0. 0. 1. ]] SLAMing on 133.29463044 meters Centerline goodness : 0.458408 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99738858 0.00141806 -0.07220807 0.45636459] [-0.00182498 0.99998282 -0.00556968 -0.11654385] [ 0.07219893 0.00568692 0.99737404 -0.12567432] [ 0. 0. 0. 1. ]] SLAMing on 133.32463044 meters Centerline goodness : 0.460415 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99739575 0.00146257 -0.07210808 0.45610274] [-0.0018623 0.99998327 -0.00547658 -0.11670692] [ 0.07209887 0.00559661 0.99738179 -0.12563368] [ 0. 0. 0. 1. ]] SLAMing on 133.35463044 meters Centerline goodness : 0.149776 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99736924 0.00125815 -0.07247765 0.45721651] [-0.00166571 0.99998314 -0.00556307 -0.11710739] [ 0.07246943 0.00566916 0.99735452 -0.12589472] [ 0. 0. 0. 1. ]] SLAMing on 133.38463044 meters Centerline goodness : 0.453164 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99734232 0.00110707 -0.0728496 0.45835597] [-0.00152142 0.99998298 -0.00563244 -0.1175319 ] [ 0.07284212 0.00572831 0.99732703 -0.12619665] [ 0. 0. 0. 1. ]] SLAMing on 133.41463044 meters Centerline goodness : 0.453068 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99732119 0.00104045 -0.07313937 0.45902597] [-0.00145206 0.99998341 -0.00557473 -0.11833933] [ 0.07313235 0.005666 0.99730615 -0.12614455] [ 0. 0. 0. 1. ]] SLAMing on 133.44463044 meters Centerline goodness : 0.461931 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.9973151 0.0010528 -0.07322218 0.45889329] [-0.00145474 0.99998417 -0.00543628 -0.11908205] [ 0.0732153 0.0055282 0.99730084 -0.12565619] [ 0. 0. 0. 1. ]] SLAMing on 133.47463044 meters Centerline goodness : 0.296206 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99732734 0.00105944 -0.07305515 0.45815094] [-0.0014518 0.99998481 -0.00531776 -0.11971605] [ 0.0730484 0.0054096 0.99731373 -0.12518837] [ 0. 0. 0. 1. ]] SLAMing on 133.50463044 meters Centerline goodness : 0.108003 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.12 [[ 9.97366431e-01 8.96014295e-04 -7.25217227e-02 4.56599319e-01] [-1.27813618e-03 9.99985544e-01 -5.22283200e-03 -1.21116116e-01] [ 7.25159946e-02 5.30176995e-03 9.97353158e-01 -1.24721474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53463044 meters Centerline goodness : 0.463157 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.12 [[ 9.97378333e-01 8.80205825e-04 -7.23580472e-02 4.56354575e-01] [-1.25120040e-03 9.99986304e-01 -5.08203876e-03 -1.22345273e-01] [ 7.23525829e-02 5.15924976e-03 9.97365773e-01 -1.24902016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56463044 meters Centerline goodness : 0.103631 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 9.97372418e-01 8.72502508e-04 -7.24396226e-02 4.56653060e-01] [-1.23277301e-03 9.99987093e-01 -4.92882949e-03 -1.23728301e-01] [ 7.24343872e-02 5.00518020e-03 9.97360621e-01 -1.25003746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59463044 meters Centerline goodness : 0.097722 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 9.97359674e-01 8.94546483e-04 -7.26146048e-02 4.57230322e-01] [-1.24130185e-03 9.99988042e-01 -4.73029669e-03 -1.25217880e-01] [ 7.26095050e-02 4.80794381e-03 9.97348857e-01 -1.25172378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62463044 meters Centerline goodness : 0.105403 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 0.99735334 0.00102785 -0.07269976 0.45740796] [-0.00135008 0.99998948 -0.00438344 -0.12708269] [ 0.07269449 0.00446999 0.99734424 -0.12511694] [ 0. 0. 0. 1. ]] SLAMing on 133.65463044 meters Centerline goodness : 0.098393 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 0.99735522 0.00116991 -0.07267182 0.45737513] [-0.00146547 0.99999087 -0.00401385 -0.12901766] [ 0.07266646 0.00410973 0.99734783 -0.12510537] [ 0. 0. 0. 1. ]] SLAMing on 133.68463044 meters Centerline goodness : 0.093382 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 0.99742423 0.00115257 -0.07171872 0.5019817 ] [-0.00143627 0.99999135 -0.00390434 -0.13192052] [ 0.0717136 0.00399729 0.99741726 -0.12256842] [ 0. 0. 0. 1. ]] SLAMing on 133.71463044 meters Centerline goodness : 0.452211 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 0.99740012 0.00121941 -0.07205213 0.50336781] [-0.00148885 0.9999921 -0.00368598 -0.13350354] [ 0.07204707 0.00378367 0.99739406 -0.12333418] [ 0. 0. 0. 1. ]] SLAMing on 133.74463044 meters Centerline goodness : 0.100006 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.12 [[ 0.99736851 0.00129457 -0.07248707 0.50497699] [-0.0015502 0.99999278 -0.00347047 -0.13505044] [ 0.07248205 0.00357371 0.99736331 -0.12405902] [ 0. 0. 0. 1. ]] SLAMing on 133.77463043999998 meters Centerline goodness : 0.102116 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.12 [[ 0.99734732 0.00146618 -0.07277478 0.50590369] [-0.00170647 0.9999933 -0.0032397 -0.13597336] [ 0.07276954 0.0033553 0.99734314 -0.12438603] [ 0. 0. 0. 1. ]] SLAMing on 133.80463043999998 meters Centerline goodness : 0.094962 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.12 [[ 0.99733635 0.00172768 -0.07291925 0.50617874] [-0.00195351 0.99999351 -0.00302571 -0.13615978] [ 0.07291355 0.0031601 0.99733326 -0.12433141] [ 0. 0. 0. 1. ]] SLAMing on 133.83463043999998 meters Centerline goodness : 0.200133 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.12 [[ 0.99735394 0.00199446 -0.07267146 0.50553542] [-0.00221151 0.99999333 -0.00290635 -0.13569951] [ 0.07266517 0.00305938 0.9973517 -0.1242994 ] [ 0. 0. 0. 1. ]] SLAMing on 133.86463043999998 meters Centerline goodness : 0.094966 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.12 [[ 0.99735719 0.00242735 -0.07261371 0.50567718] [-0.00264887 0.99999213 -0.00295444 -0.13371009] [ 0.07260596 0.00313898 0.99735576 -0.12479969] [ 0. 0. 0. 1. ]] SLAMing on 133.89463044 meters Centerline goodness : 0.367081 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 0.99734005 0.00247684 -0.07284703 0.50681509] [-0.00270992 0.99999152 -0.00310096 -0.13256197] [ 0.07283873 0.00329012 0.99733831 -0.12565726] [ 0. 0. 0. 1. ]] SLAMing on 133.92463044 meters Centerline goodness : 0.231041 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 0.99733982 0.0025513 -0.07284757 0.50718743] [-0.00279062 0.99999104 -0.00318364 -0.13149213] [ 0.0728388 0.00337846 0.997338 -0.12621678] [ 0. 0. 0. 1. ]] SLAMing on 133.95463044 meters Centerline goodness : 0.096717 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 0.99735231 0.00256278 -0.07267597 0.50671181] [-0.00281023 0.9999906 -0.00330281 -0.13049482] [ 0.07266682 0.00349831 0.99735014 -0.12619168] [ 0. 0. 0. 1. ]] SLAMing on 133.98463044 meters Centerline goodness : 0.203489 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 0.99737717 0.00251294 -0.07233572 0.50539983] [-0.00276459 0.99999047 -0.00337903 -0.13018539] [ 0.07232654 0.00357015 0.99737462 -0.12554829] [ 0. 0. 0. 1. ]] SLAMing on 134.01463044 meters Centerline goodness : 0.457947 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 0.9973913 0.00237827 -0.07214526 0.50436052] [-0.00263809 0.99999037 -0.00350633 -0.13015519] [ 0.07213623 0.00368751 0.99738797 -0.12475022] [ 0. 0. 0. 1. ]] SLAMing on 134.04463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 134.07463044 meters Centerline goodness : 0.139495 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.12 [[ 0.99742235 -0.00566695 -0.07153005 0.52348928] [ 0.00550275 0.99998175 -0.00249241 -0.1259398 ] [ 0.07154287 0.00209238 0.99743533 -0.12210661] [ 0. 0. 0. 1. ]] SLAMing on 134.10463044 meters Centerline goodness : 0.195684 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.12 [[ 0.99742012 -0.00560045 -0.07156633 0.52379639] [ 0.00544702 0.99998243 -0.00233891 -0.12655099] [ 0.07157817 0.00194305 0.9974331 -0.12232139] [ 0. 0. 0. 1. ]] SLAMing on 134.13463044 meters Centerline goodness : 0.088789 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 0.99742591 0.00189733 -0.07167956 0.50531949] [-0.0021577 0.99999135 -0.00355523 -0.13232882] [ 0.0716722 0.00370074 0.99742138 -0.12527614] [ 0. 0. 0. 1. ]] SLAMing on 134.16463044 meters Centerline goodness : 0.093598 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 0.99740775 0.00179946 -0.07193431 0.5060921 ] [-0.00207443 0.99999083 -0.00374787 -0.13167062] [ 0.07192691 0.00388738 0.99740233 -0.12549085] [ 0. 0. 0. 1. ]] SLAMing on 134.19463044 meters Centerline goodness : 0.092134 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 0.99738582 0.00180299 -0.07223756 0.50694873] [-0.00209327 0.99999004 -0.00394297 -0.13030022] [ 0.07222974 0.00408387 0.99737966 -0.12571261] [ 0. 0. 0. 1. ]] SLAMing on 134.22463044 meters Centerline goodness : 0.160453 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 9.97370614e-01 5.55094950e-03 -7.22567991e-02 5.07097117e-01] [-5.62000323e-03 9.99983925e-01 -7.52397096e-04 -1.28389669e-01] [ 7.22514611e-02 1.15650220e-03 9.97385777e-01 -1.25791435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 134.28463044 meters Centerline goodness : 0.087835 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 9.97391968e-01 5.40922549e-03 -7.19722311e-02 5.05841080e-01] [-5.49472149e-03 9.99984414e-01 -9.89963739e-04 -1.27619533e-01] [ 7.19657544e-02 1.38284925e-03 9.97406145e-01 -1.25089845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31463044 meters Centerline goodness : 0.087835 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 9.97391968e-01 5.40922549e-03 -7.19722311e-02 5.05841080e-01] [-5.49472149e-03 9.99984414e-01 -9.89963739e-04 -1.27619533e-01] [ 7.19657544e-02 1.38284925e-03 9.97406145e-01 -1.25089845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34463044 meters Centerline goodness : 0.094186 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 9.97385557e-01 5.40452969e-03 -7.20613696e-02 5.06044986e-01] [-5.48635109e-03 9.99984510e-01 -9.37553245e-04 -1.27957675e-01] [ 7.20551864e-02 1.33045604e-03 9.97399759e-01 -1.25040560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37463044 meters Centerline goodness : 0.089885 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 9.97377590e-01 5.42117934e-03 -7.21703092e-02 5.06463063e-01] [-5.49655290e-03 9.99984536e-01 -8.45821193e-04 -1.28449421e-01] [ 7.21646078e-02 1.24029103e-03 9.97391965e-01 -1.25221831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40463044 meters Centerline goodness : 0.087556 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.13 [[ 9.97376092e-01 5.31658655e-03 -7.21987853e-02 5.06743464e-01] [-5.39661794e-03 9.99985021e-01 -9.13461337e-04 -1.28728619e-01] [ 7.21928473e-02 1.30069376e-03 9.97389844e-01 -1.25452854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43463044 meters Centerline goodness : 0.460976 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 0.99741544 0.00289228 -0.07179183 0.50426804] [-0.0031214 0.99999039 -0.00307952 -0.1302215 ] [ 0.07178223 0.00329565 0.99741488 -0.12407358] [ 0. 0. 0. 1. ]] SLAMing on 134.46463044 meters Centerline goodness : 0.324127 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.12 [[ 0.99739274 0.0029378 -0.0721047 0.5048808 ] [-0.00315646 0.99999076 -0.00291875 -0.13100334] [ 0.07209546 0.00313874 0.9973928 -0.12382272] [ 0. 0. 0. 1. ]] SLAMing on 134.49463044 meters Centerline goodness : 0.429543 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.12 [[ 0.99738159 0.00310051 -0.07225194 0.50514224] [-0.00329719 0.99999118 -0.00260302 -0.13220915] [ 0.07224323 0.00283443 0.99738302 -0.12368554] [ 0. 0. 0. 1. ]] SLAMing on 134.52463043999998 meters Centerline goodness : 0.208121 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.12 [[ 0.99738554 0.00327325 -0.07218978 0.50507436] [-0.00343092 0.99999199 -0.00206021 -0.13526524] [ 0.07218245 0.0023025 0.99738879 -0.12361734] [ 0. 0. 0. 1. ]] SLAMing on 134.55463043999998 meters Centerline goodness : 0.456762 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.12 [[ 0.99739903 0.00320331 -0.07200637 0.50457855] [-0.00334836 0.9999926 -0.00189379 -0.13716908] [ 0.07199977 0.00212997 0.99740237 -0.123459 ] [ 0. 0. 0. 1. ]] SLAMing on 134.58463043999998 meters Centerline goodness : 0.102733 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.12 [[ 0.99740088 0.00317804 -0.0719818 0.50444653] [-0.00330908 0.99999308 -0.00170125 -0.13904706] [ 0.0719759 0.00193502 0.99740449 -0.12334088] [ 0. 0. 0. 1. ]] SLAMing on 134.61463043999998 meters Centerline goodness : 0.100749 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.12 [[ 0.99739278 0.00321174 -0.07209253 0.50481404] [-0.00332826 0.99999334 -0.00149624 -0.1405594 ] [ 0.07208724 0.00173228 0.99739683 -0.12340857] [ 0. 0. 0. 1. ]] SLAMing on 134.64463044 meters Centerline goodness : 0.354003 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.12 [[ 0.99737341 0.00329179 -0.07235632 0.50567606] [-0.00339009 0.99999349 -0.00123572 -0.1421145 ] [ 0.07235178 0.00147777 0.99737808 -0.1236811 ] [ 0. 0. 0. 1. ]] SLAMing on 134.67463044 meters Centerline goodness : 0.087779 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.12 [[ 9.97322645e-01 3.36021169e-03 -7.30496445e-02 5.07858381e-01] [-3.43147403e-03 9.99993751e-01 -8.50052898e-04 -1.45076513e-01] [ 7.30463317e-02 1.09844496e-03 9.97327943e-01 -1.24277736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70463044 meters Centerline goodness : 0.488917 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.12 [[ 9.97308656e-01 3.39559369e-03 -7.32387493e-02 5.08425923e-01] [-3.45550301e-03 9.99993791e-01 -6.91306969e-04 -1.46192152e-01] [ 7.32359471e-02 9.42523143e-04 9.97314197e-01 -1.24381080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73463044 meters Centerline goodness : 0.302841 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.12 [[ 9.97306789e-01 3.44586530e-03 -7.32618246e-02 5.08471577e-01] [-3.49299238e-03 9.99993767e-01 -5.15154931e-04 -1.47319716e-01] [ 7.32595927e-02 7.69670504e-04 9.97312609e-01 -1.24346097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76463044 meters Centerline goodness : 0.097157 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.12 [[ 9.97306870e-01 3.47424751e-03 -7.32593801e-02 5.08344007e-01] [-3.51188796e-03 9.99993759e-01 -3.84990533e-04 -1.48295850e-01] [ 7.32575854e-02 6.41232438e-04 9.97312847e-01 -1.24141494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79463044 meters Centerline goodness : 0.087233 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.12 [[ 9.97296486e-01 3.40760824e-03 -7.34037212e-02 5.08314180e-01] [-3.44742828e-03 9.99993971e-01 -4.15788342e-04 -1.48898596e-01] [ 7.34018618e-02 6.67718317e-04 9.97302221e-01 -1.23620516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82463044 meters Centerline goodness : 0.454650 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.12 [[ 9.97288392e-01 3.40382058e-03 -7.35137875e-02 5.08484273e-01] [-3.44633010e-03 9.99993959e-01 -4.51411757e-04 -1.48835769e-01] [ 7.35118069e-02 7.03540483e-04 9.97294099e-01 -1.23519969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85463044 meters Centerline goodness : 0.087486 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.12 [[ 0.99731746 -0.00208454 -0.07316791 0.52933417] [ 0.00226309 0.99999466 0.00235755 -0.1453673 ] [ 0.0731626 -0.00251681 0.99731685 -0.12202782] [ 0. 0. 0. 1. ]] SLAMing on 134.88463044 meters Centerline goodness : 0.510573 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.12 [[ 0.99732225 -0.00195788 -0.07310609 0.52933489] [ 0.00214186 0.99999473 0.00243836 -0.14504081] [ 0.07310093 -0.00258842 0.99732119 -0.12219951] [ 0. 0. 0. 1. ]] SLAMing on 134.91463044 meters Centerline goodness : 0.087869 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.12 [[ 0.99732245 -0.00198143 -0.07310265 0.52943616] [ 0.00216215 0.9999948 0.002393 -0.14479659] [ 0.07309753 -0.00254465 0.99732155 -0.1223182 ] [ 0. 0. 0. 1. ]] SLAMing on 134.94463044 meters Centerline goodness : 0.494833 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.12 [[ 0.99731088 -0.00213359 -0.07325606 0.52978438] [ 0.0023029 0.99999487 0.00222686 -0.14468454] [ 0.07325093 -0.00238958 0.99731068 -0.1222694 ] [ 0. 0. 0. 1. ]] SLAMing on 134.97463044 meters Centerline goodness : 0.120101 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.12 [[ 0.99728253 -0.00232693 -0.07363514 0.53044258] [ 0.0024992 0.99999435 0.00224751 -0.14600563] [ 0.07362949 -0.00242543 0.99728272 -0.12189232] [ 0. 0. 0. 1. ]] SLAMing on 135.00463044 meters Centerline goodness : 0.121855 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.12 [[ 0.99727186 -0.00219997 -0.07378347 0.53073582] [ 0.00239913 0.99999371 0.00261079 -0.14761942] [ 0.07377727 -0.00278068 0.99727087 -0.1216751 ] [ 0. 0. 0. 1. ]] SLAMing on 135.03463044 meters Centerline goodness : 0.263412 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.12 [[ 0.99727122 -0.00209199 -0.07379519 0.53069719] [ 0.00232267 0.99999268 0.00304036 -0.14975762] [ 0.07378829 -0.00320347 0.99726878 -0.12146838] [ 0. 0. 0. 1. ]] SLAMing on 135.06463044 meters Centerline goodness : 0.105446 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.12 [[ 0.99727623 -0.00211442 -0.07372682 0.53046628] [ 0.00237399 0.99999129 0.00343326 -0.15251621] [ 0.07371891 -0.00359894 0.99727257 -0.12122423] [ 0. 0. 0. 1. ]] SLAMing on 135.09463044 meters Centerline goodness : 0.088687 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.12 [[ 0.99731513 -0.00475772 -0.07307458 0.52761679] [ 0.00487117 0.99998719 0.00137446 -0.15621698] [ 0.07306711 -0.00172673 0.99732553 -0.11982007] [ 0. 0. 0. 1. ]] SLAMing on 135.12463044 meters Centerline goodness : 0.359202 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.12 [[ 9.97459446e-01 -5.99239442e-03 -7.09841219e-02 5.69181403e-01] [ 6.02503942e-03 9.99981819e-01 2.45787490e-04 -1.57421950e-01] [ 7.09813585e-02 -6.72845186e-04 9.97477415e-01 -1.16089359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.18463044 meters Centerline goodness : 0.267928 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.12 [[ 0.99741798 -0.00556627 -0.07159887 0.57100194] [ 0.0056733 0.99998307 0.00129161 -0.16374162] [ 0.07159047 -0.00169448 0.99743267 -0.11633354] [ 0. 0. 0. 1. ]] SLAMing on 135.21463044 meters Centerline goodness : 0.088142 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.12 [[ 9.97384354e-01 2.38132541e-03 -7.22411225e-02 5.51837786e-01] [-2.35732697e-03 9.99997134e-01 4.17456805e-04 -1.69201642e-01] [ 7.22419096e-02 -2.46068940e-04 9.97387109e-01 -1.19132445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24463044 meters Centerline goodness : 0.088919 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.12 [[ 9.97381065e-01 2.34753642e-03 -7.22876223e-02 5.52051208e-01] [-2.33731135e-03 9.99997243e-01 2.26039499e-04 -1.68418651e-01] [ 7.22879536e-02 -5.64888362e-05 9.97383802e-01 -1.19233746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27463043999998 meters Centerline goodness : 0.088707 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.12 [[ 9.97385596e-01 2.43914172e-03 -7.22220420e-02 5.51584726e-01] [-2.43773964e-03 9.99997023e-01 1.07558015e-04 -1.67542167e-01] [ 7.22220893e-02 6.87817199e-05 9.97388573e-01 -1.18886046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.33463043999998 meters Centerline goodness : 0.087574 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.12 [[ 0.99734089 0.00681665 -0.07255811 0.552098 ] [-0.00658489 0.99997243 0.00343284 -0.16385437] [ 0.07257951 -0.00294593 0.99735828 -0.11865736] [ 0. 0. 0. 1. ]] SLAMing on 135.36463043999998 meters Centerline goodness : 0.155773 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.12 [[ 0.99731863 0.00669501 -0.07287467 0.55313222] [-0.0064921 0.99997436 0.00302083 -0.1620682 ] [ 0.07289303 -0.00253962 0.99733653 -0.11909641] [ 0. 0. 0. 1. ]] SLAMing on 135.39463044 meters Centerline goodness : 0.097469 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.12 [[ 0.99730838 0.00652324 -0.07303038 0.55358284] [-0.00634569 0.99997632 0.00266286 -0.16086874] [ 0.07304602 -0.00219226 0.99732616 -0.11926921] [ 0. 0. 0. 1. ]] SLAMing on 135.42463044 meters Centerline goodness : 0.095808 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.12 [[ 9.97351825e-01 -7.05134036e-04 -7.27244083e-02 5.72028582e-01] [ 9.71438446e-04 9.99992952e-01 3.62652439e-03 -1.54474860e-01] [ 7.27213385e-02 -3.68756800e-03 9.97345481e-01 -1.16576391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45463044 meters Centerline goodness : 0.087493 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.12 [[ 9.97373262e-01 -5.94175065e-04 -7.24308107e-02 5.70854078e-01] [ 8.63904546e-04 9.99992809e-01 3.69268963e-03 -1.54017791e-01] [ 7.24280957e-02 -3.74556321e-03 9.97366603e-01 -1.15981043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48463044 meters Centerline goodness : 0.269871 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99746412 -0.00759817 -0.07076433 0.58825444] [ 0.00801363 0.99995227 0.00558895 -0.14917587] [ 0.07071849 -0.00614186 0.9974774 -0.11309455] [ 0. 0. 0. 1. ]] SLAMing on 135.51463044 meters Centerline goodness : 0.092901 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99745234 -0.00778632 -0.0709098 0.58883587] [ 0.00819823 0.99995116 0.00551968 -0.14988163] [ 0.07086336 -0.00608695 0.99746746 -0.11329046] [ 0. 0. 0. 1. ]] SLAMing on 135.54463044 meters Centerline goodness : 0.087556 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99742815 -0.00797685 -0.07122817 0.58987856] [ 0.00838639 0.99994997 0.00545258 -0.15076812] [ 0.07118111 -0.00603591 0.99744514 -0.1135978 ] [ 0. 0. 0. 1. ]] SLAMing on 135.57463044 meters Centerline goodness : 0.087043 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99740243 -0.00799828 -0.07158499 0.59093814] [ 0.00841529 0.99994932 0.00552568 -0.15158944] [ 0.07153717 -0.00611373 0.9974192 -0.11382641] [ 0. 0. 0. 1. ]] SLAMing on 135.60463044 meters Centerline goodness : 0.095502 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99739241 -0.00787711 -0.07173796 0.59117981] [ 0.00830765 0.99994922 0.00570524 -0.15200509] [ 0.07168938 -0.00628634 0.9974072 -0.1136525 ] [ 0. 0. 0. 1. ]] SLAMing on 135.63463044 meters Centerline goodness : 0.088108 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99738384 -0.00758928 -0.07188802 0.5913303 ] [ 0.0080436 0.99994945 0.00603245 -0.15242775] [ 0.07183861 -0.00659491 0.99739447 -0.11335388] [ 0. 0. 0. 1. ]] SLAMing on 135.66463044 meters Centerline goodness : 0.087935 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99737904 -0.00766563 -0.07194644 0.59153214] [ 0.00811278 0.99994954 0.0059249 -0.15236344] [ 0.07189739 -0.00649306 0.9973909 -0.11343011] [ 0. 0. 0. 1. ]] SLAMing on 135.69463044 meters Centerline goodness : 0.089222 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.12 [[ 9.97430740e-01 -5.39920505e-04 -7.16353779e-02 5.73819519e-01] [ 8.57749760e-04 9.99989925e-01 4.40607591e-03 -1.58034015e-01] [ 7.16322773e-02 -4.45620078e-03 9.97421154e-01 -1.16921945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72463044 meters Centerline goodness : 0.095647 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.12 [[ 0.99745814 0.00748148 -0.070861 0.5938481 ] [-0.00727203 0.9999684 0.0032133 -0.15980522] [ 0.0708828 -0.00268983 0.99748102 -0.11515005] [ 0. 0. 0. 1. ]] SLAMing on 135.75463044 meters Centerline goodness : 0.091232 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.12 [[ 0.99747003 0.00756803 -0.0706842 0.59349412] [-0.00735866 0.99996773 0.00322205 -0.15931176] [ 0.0707063 -0.00269376 0.99749354 -0.11529678] [ 0. 0. 0. 1. ]] SLAMing on 135.78463044 meters Centerline goodness : 0.094146 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.11 [[ 0.99748075 0.00764501 -0.07052453 0.59275689] [-0.00744846 0.99996761 0.00304949 -0.15760555] [ 0.07054555 -0.00251651 0.99750538 -0.11488471] [ 0. 0. 0. 1. ]] SLAMing on 135.81463044 meters Centerline goodness : 0.097033 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.11 [[ 0.99746319 0.00756764 -0.07078071 0.59324744] [-0.00738194 0.99996859 0.00288484 -0.1569101 ] [ 0.07080032 -0.00235503 0.99748773 -0.11472477] [ 0. 0. 0. 1. ]] SLAMing on 135.84463044 meters Centerline goodness : 0.087470 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.12 [[ 9.97401621e-01 -9.30564021e-04 -7.20356933e-02 5.73353162e-01] [ 1.19942887e-03 9.99992475e-01 3.68921663e-03 -1.53551147e-01] [ 7.20317182e-02 -3.76603234e-03 9.97395232e-01 -1.16930021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87463044 meters Centerline goodness : 0.047337 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.12 [[ 9.97388899e-01 -8.71069273e-04 -7.22123634e-02 5.74301429e-01] [ 1.14220054e-03 9.99992453e-01 3.71342833e-03 -1.53214504e-01] [ 7.22085837e-02 -3.78621320e-03 9.97382367e-01 -1.17628184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90463044 meters Centerline goodness : 0.089020 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.12 [[ 9.97383430e-01 -8.14372476e-04 -7.22885215e-02 5.74931734e-01] [ 1.09021155e-03 9.99992275e-01 3.77643294e-03 -1.53087776e-01] [ 7.22848876e-02 -3.84536142e-03 9.97376613e-01 -1.18197433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93463044 meters Centerline goodness : 0.509797 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.12 [[ 9.97467545e-01 4.10337443e-03 -7.10046476e-02 5.97020350e-01] [-4.08603432e-03 9.99991576e-01 3.89456803e-04 -1.54854322e-01] [ 7.10056476e-02 -9.83430941e-05 9.97475909e-01 -1.17587879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96463044 meters Centerline goodness : 0.095533 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.12 [[ 9.97467264e-01 3.91829154e-03 -7.10190454e-02 5.96848114e-01] [-3.89737918e-03 9.99992311e-01 4.33028456e-04 -1.56334940e-01] [ 7.10201961e-02 -1.55143561e-04 9.97474866e-01 -1.17246691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99463044 meters Centerline goodness : 0.507926 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99749371 -0.0039733 -0.07064353 0.61679029] [ 0.00408217 0.99999069 0.00139692 -0.15423887] [ 0.07063732 -0.0016818 0.99750065 -0.11465769] [ 0. 0. 0. 1. ]] SLAMing on 136.02463043999998 meters Centerline goodness : 0.458166 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99748856 -0.00395891 -0.07071699 0.61694885] [ 0.00409212 0.99999012 0.0017389 -0.15642927] [ 0.07070941 -0.00202392 0.9974949 -0.11453742] [ 0. 0. 0. 1. ]] SLAMing on 136.05463043999998 meters Centerline goodness : 0.513145 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99747011 -0.00527505 -0.0708912 0.61772181] [ 0.00538066 0.99998468 0.00129892 -0.16323841] [ 0.07088326 -0.00167707 0.99748321 -0.11464177] [ 0. 0. 0. 1. ]] SLAMing on 136.08463043999998 meters Centerline goodness : 0.389031 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.11 [[ 0.99745257 -0.00531955 -0.07113421 0.61848545] [ 0.00544965 0.99998381 0.00163507 -0.16608033] [ 0.07112436 -0.00201856 0.99746541 -0.11472138] [ 0. 0. 0. 1. ]] SLAMing on 136.11463043999998 meters Centerline goodness : 0.469305 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.11 [[ 0.99742872 -0.00532163 -0.07146773 0.61941976] [ 0.00547797 0.99998301 0.00199172 -0.16879311] [ 0.07145591 -0.0023781 0.99744092 -0.11478607] [ 0. 0. 0. 1. ]] SLAMing on 136.14463044 meters Centerline goodness : 0.327417 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.11 [[ 0.99740596 -0.00527409 -0.07178817 0.62038383] [ 0.00545709 0.99998234 0.00235332 -0.17131074] [ 0.07177449 -0.00273897 0.99741712 -0.11497887] [ 0. 0. 0. 1. ]] SLAMing on 136.17463044 meters Centerline goodness : 0.093447 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.12 [[ 0.9973726 -0.00531833 -0.07224687 0.62183543] [ 0.00554042 0.99998052 0.00287395 -0.17764535] [ 0.07223018 -0.00326668 0.99738264 -0.11519622] [ 0. 0. 0. 1. ]] SLAMing on 136.20463044 meters Centerline goodness : 0.093447 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.12 [[ 0.9973726 -0.00531833 -0.07224687 0.62183543] [ 0.00554042 0.99998052 0.00287395 -0.17764535] [ 0.07223018 -0.00326668 0.99738264 -0.11519622] [ 0. 0. 0. 1. ]] SLAMing on 136.23463044 meters Centerline goodness : 0.094390 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 9.97496638e-01 1.10739554e-03 -7.07052357e-02 6.03398965e-01] [-9.80555031e-04 9.99997847e-01 1.82861717e-03 -1.86811008e-01] [ 7.07071085e-02 -1.75470911e-03 9.97495577e-01 -1.18171296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26463044 meters Centerline goodness : 0.099613 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 0.99751126 0.00119376 -0.07049719 0.60229844] [-0.00103953 0.99999699 0.00222442 -0.18939651] [ 0.07049963 -0.0021456 0.9975095 -0.11732713] [ 0. 0. 0. 1. ]] SLAMing on 136.29463044 meters Centerline goodness : 0.086433 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 0.9975306 0.00140455 -0.07021912 0.60096141] [-0.00122036 0.9999957 0.00266584 -0.19149764] [ 0.07022256 -0.00257356 0.99752803 -0.11636727] [ 0. 0. 0. 1. ]] SLAMing on 136.32463044 meters Centerline goodness : 0.141920 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 0.9975481 0.00157063 -0.06996652 0.59996307] [-0.00136267 0.99999451 0.00301999 -0.19323019] [ 0.06997088 -0.00291725 0.99754477 -0.11582167] [ 0. 0. 0. 1. ]] SLAMing on 136.35463044 meters Centerline goodness : 0.092148 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 0.99756182 0.00164271 -0.06976902 0.59944991] [-0.00141936 0.99999371 0.00325078 -0.1948359 ] [ 0.06977392 -0.00314383 0.99755788 -0.11572557] [ 0. 0. 0. 1. ]] SLAMing on 136.38463044 meters Centerline goodness : 0.204023 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99757021 0.0016421 -0.06964903 0.59952623] [-0.00140062 0.99999284 0.00351583 -0.19793642] [ 0.0696543 -0.00340973 0.99756536 -0.11606849] [ 0. 0. 0. 1. ]] SLAMing on 136.41463044 meters Centerline goodness : 0.101781 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99756479 0.00172136 -0.0697247 0.59973079] [-0.00146947 0.99999221 0.00366383 -0.19873089] [ 0.06973046 -0.00355245 0.99755954 -0.11607118] [ 0. 0. 0. 1. ]] SLAMing on 136.44463044 meters Centerline goodness : 0.088072 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99755432 0.0018617 -0.06987073 0.60002675] [-0.00159952 0.99999147 0.00380817 -0.19918667] [ 0.06987722 -0.00368709 0.99754879 -0.11601229] [ 0. 0. 0. 1. ]] SLAMing on 136.47463044 meters Centerline goodness : 0.176262 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.9975527 0.00195469 -0.06989123 0.59999235] [-0.00168904 0.99999112 0.00385979 -0.19917427] [ 0.06989815 -0.00373229 0.99754715 -0.11593726] [ 0. 0. 0. 1. ]] SLAMing on 136.50463044 meters Centerline goodness : 0.086358 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99755048 0.00201889 -0.06992114 0.60002532] [-0.00175443 0.99999107 0.00384359 -0.19890272] [ 0.06992828 -0.00371151 0.99754512 -0.11590477] [ 0. 0. 0. 1. ]] SLAMing on 136.53463044 meters Centerline goodness : 0.088084 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99755082 0.00202498 -0.06991614 0.6001177 ] [-0.00176871 0.99999149 0.00372708 -0.19823021] [ 0.06992309 -0.00359429 0.99754591 -0.11609472] [ 0. 0. 0. 1. ]] SLAMing on 136.56463044 meters Centerline goodness : 0.104610 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99754698 0.00243893 -0.0699576 0.60086402] [-0.00217523 0.99999024 0.00384537 -0.19694622] [ 0.0699663 -0.00368376 0.99754255 -0.11703252] [ 0. 0. 0. 1. ]] SLAMing on 136.59463044 meters Centerline goodness : 0.108250 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99755183 0.0025391 -0.06988484 0.60085228] [-0.00227374 0.9999899 0.00387648 -0.19657485] [ 0.06989397 -0.00370809 0.99754753 -0.11727118] [ 0. 0. 0. 1. ]] SLAMing on 136.62463044 meters Centerline goodness : 0.105427 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99756253 0.00262373 -0.06972888 0.60042581] [-0.00235376 0.99998941 0.0039536 -0.19659844] [ 0.06973852 -0.00377984 0.99755814 -0.11721222] [ 0. 0. 0. 1. ]] SLAMing on 136.65463044 meters Centerline goodness : 0.087460 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99756905 0.00268913 -0.06963305 0.59980812] [-0.00241633 0.99998907 0.00400162 -0.1967111 ] [ 0.06964305 -0.00382363 0.99756465 -0.11666855] [ 0. 0. 0. 1. ]] SLAMing on 136.68463044 meters Centerline goodness : 0.099257 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99755879 0.00265271 -0.06978128 0.60009894] [-0.00238617 0.99998954 0.00390273 -0.19641354] [ 0.0697909 -0.00372669 0.99755468 -0.11659997] [ 0. 0. 0. 1. ]] SLAMing on 136.71463044 meters Centerline goodness : 0.083629 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99755555 0.00263492 -0.0698283 0.6004562 ] [-0.00237444 0.99998991 0.00381298 -0.19598343] [ 0.06983764 -0.00363786 0.99755174 -0.11696057] [ 0. 0. 0. 1. ]] SLAMing on 136.74463044 meters Centerline goodness : 0.064740 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.12 [[ 0.99756058 0.00261577 -0.06975707 0.60040639] [-0.0023658 0.99999048 0.00366586 -0.19509554] [ 0.06976599 -0.00349189 0.99755727 -0.11713655] [ 0. 0. 0. 1. ]] SLAMing on 136.77463043999998 meters Centerline goodness : 0.087304 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 0.99758375 0.00260331 -0.06942533 0.59957738] [-0.00236813 0.99999118 0.00346966 -0.19375955] [ 0.06943375 -0.00329687 0.99758112 -0.11712537] [ 0. 0. 0. 1. ]] SLAMing on 136.80463043999998 meters Centerline goodness : 0.084498 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 0.99763929 0.0030007 -0.06860642 0.59728707] [-0.00278433 0.99999085 0.00324916 -0.1901107 ] [ 0.06861555 -0.00305047 0.99763851 -0.11680318] [ 0. 0. 0. 1. ]] SLAMing on 136.83463043999998 meters Centerline goodness : 0.459773 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 0.99762078 0.00298378 -0.06887575 0.59809292] [-0.00279719 0.99999215 0.00280541 -0.18720189] [ 0.06888358 -0.00260608 0.9976213 -0.11716653] [ 0. 0. 0. 1. ]] SLAMing on 136.86463043999998 meters Centerline goodness : 0.099577 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.12 [[ 0.99758645 0.00298696 -0.06937111 0.59972193] [-0.00282904 0.99999318 0.00237458 -0.18417592] [ 0.06937773 -0.00217259 0.9975881 -0.11789749] [ 0. 0. 0. 1. ]] SLAMing on 136.89463044 meters Centerline goodness : 0.095296 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.12 [[ 0.99754691 0.00297575 -0.06993782 0.60164343] [-0.00284739 0.99999407 0.00193504 -0.1811986 ] [ 0.06994316 -0.00173115 0.99754948 -0.11880095] [ 0. 0. 0. 1. ]] SLAMing on 136.92463044 meters Centerline goodness : 0.085025 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.12 [[ 0.99752189 0.00281493 -0.07030041 0.60293598] [-0.00272729 0.99999538 0.00134261 -0.17795121] [ 0.07030386 -0.00114755 0.99752496 -0.11953596] [ 0. 0. 0. 1. ]] SLAMing on 136.95463044 meters Centerline goodness : 0.445127 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.12 [[ 9.97502811e-01 2.60118823e-03 -7.05788676e-02 6.03547658e-01] [-2.55248462e-03 9.99996438e-01 7.80238958e-04 -1.75176532e-01] [ 7.05806458e-02 -5.98139080e-04 9.97505897e-01 -1.19565169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98463044 meters Centerline goodness : 0.096980 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.12 [[ 9.97500436e-01 2.35624973e-03 -7.06210175e-02 6.02782827e-01] [-2.35614004e-03 9.99997221e-01 8.48538350e-05 -1.70662223e-01] [ 7.06210211e-02 8.17512694e-05 9.97503215e-01 -1.18630465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01463044 meters Centerline goodness : 0.095038 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.12 [[ 9.97497071e-01 2.25236361e-03 -7.06719205e-02 6.02754975e-01] [-2.27316697e-03 9.99997393e-01 -2.13941574e-04 -1.68761362e-01] [ 7.06712544e-02 3.74055169e-04 9.97499591e-01 -1.18460298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04463044 meters Centerline goodness : 0.085820 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.12 [[ 9.97489894e-01 2.10441015e-03 -7.07776988e-02 6.02981619e-01] [-2.14707119e-03 9.99997556e-01 -5.26674372e-04 -1.67206973e-01] [ 7.07764175e-02 6.77317121e-04 9.97491975e-01 -1.18453104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07463044 meters Centerline goodness : 0.097523 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.12 [[ 9.97475135e-01 1.85096188e-03 -7.09924541e-02 6.03509978e-01] [-1.91702943e-03 9.99997791e-01 -8.62505683e-04 -1.66141823e-01] [ 7.09907008e-02 9.96422597e-04 9.97476480e-01 -1.18420808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10463044 meters Centerline goodness : 0.082363 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.12 [[ 9.97362626e-01 5.75353700e-06 -7.25795570e-02 5.58077802e-01] [-1.30786516e-04 9.99998516e-01 -1.71795006e-03 -1.69252363e-01] [ 7.25794393e-02 1.72291161e-03 9.97361147e-01 -1.20548498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13463044 meters Centerline goodness : 0.094925 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.12 [[ 9.97458644e-01 -7.67015537e-03 -7.08337671e-02 5.75961121e-01] [ 7.64996713e-03 9.99970584e-01 -5.56286959e-04 -1.64938096e-01] [ 7.08359502e-02 1.29972462e-05 9.97487979e-01 -1.17035131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16463044 meters Centerline goodness : 0.096329 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.12 [[ 9.97463872e-01 -7.57727003e-03 -7.07701146e-02 5.75288303e-01] [ 7.58077823e-03 9.99971242e-01 -2.19014847e-04 -1.66414564e-01] [ 7.07697389e-02 -3.18033147e-04 9.97492628e-01 -1.16220515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19463044 meters Centerline goodness : 0.086095 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.12 [[ 9.97474616e-01 -7.50829365e-03 -7.06258828e-02 5.74500797e-01] [ 7.53599070e-03 9.99971596e-01 1.25719373e-04 -1.68244064e-01] [ 7.06229328e-02 -6.57637879e-04 9.97502867e-01 -1.15523749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22463044 meters Centerline goodness : 0.099589 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99758823 -0.00153525 -0.06939278 0.59380716] [ 0.00136101 0.9999958 -0.0025581 -0.17155893] [ 0.06939641 0.00245749 0.99758614 -0.11335891] [ 0. 0. 0. 1. ]] SLAMing on 137.25463044 meters Centerline goodness : 0.099034 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.11 [[ 0.99765283 0.00320804 -0.06839986 0.57120492] [-0.00359642 0.9999781 -0.00555579 -0.17763728] [ 0.06838054 0.00578875 0.99764252 -0.11469543] [ 0. 0. 0. 1. ]] SLAMing on 137.28463044 meters Centerline goodness : 0.111137 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99769465 -0.00454438 -0.06771065 0.59069932] [ 0.00424204 0.99998038 -0.00460828 -0.17489518] [ 0.06773026 0.00431042 0.99769436 -0.11215315] [ 0. 0. 0. 1. ]] SLAMing on 137.31463044 meters Centerline goodness : 0.102259 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99772437 -0.00424078 -0.06729118 0.58933535] [ 0.0039752 0.99998378 -0.00408014 -0.17634758] [ 0.06730739 0.00380336 0.99772504 -0.1115682 ] [ 0. 0. 0. 1. ]] SLAMing on 137.34463044 meters Centerline goodness : 0.160660 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.11 [[ 0.99783018 0.00371179 -0.06573548 0.60875132] [-0.00405358 0.99997895 -0.00506687 -0.17789721] [ 0.06571529 0.00532234 0.99782422 -0.10947664] [ 0. 0. 0. 1. ]] SLAMing on 137.37463044 meters Centerline goodness : 0.087993 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.11 [[ 0.99784305 0.00366405 -0.0655425 0.60804887] [-0.00400268 0.99997931 -0.00503593 -0.17829101] [ 0.06552269 0.00528741 0.99783707 -0.10911873] [ 0. 0. 0. 1. ]] SLAMing on 137.40463044 meters Centerline goodness : 0.086403 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.11 [[ 0.99783884 0.00354295 -0.06561328 0.60823604] [-0.00388363 0.99997963 -0.00506543 -0.1787098 ] [ 0.065594 0.0053093 0.99783227 -0.10910643] [ 0. 0. 0. 1. ]] SLAMing on 137.43463044 meters Centerline goodness : 0.099246 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99781846 -0.00490506 -0.06583513 0.58887165] [ 0.00465778 0.99998151 -0.00390901 -0.17647249] [ 0.06585309 0.00359384 0.99782286 -0.11191168] [ 0. 0. 0. 1. ]] SLAMing on 137.46463044 meters Centerline goodness : 0.093155 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99780476 -0.00502025 -0.0660338 0.58937962] [ 0.00477029 0.99998085 -0.00394251 -0.17673454] [ 0.06605233 0.00361886 0.9978096 -0.11190403] [ 0. 0. 0. 1. ]] SLAMing on 137.49463044 meters Centerline goodness : 0.093192 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99779011 -0.00519349 -0.06624135 0.58996786] [ 0.00493348 0.99997947 -0.00408813 -0.17663988] [ 0.06626122 0.00375229 0.99779525 -0.11201894] [ 0. 0. 0. 1. ]] SLAMing on 137.52463043999998 meters Centerline goodness : 0.331168 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99777584 -0.00534659 -0.06644379 0.59069615] [ 0.0050743 0.99997803 -0.00426615 -0.1762678 ] [ 0.06646514 0.00391951 0.99778105 -0.11232589] [ 0. 0. 0. 1. ]] SLAMing on 137.55463043999998 meters Centerline goodness : 0.095743 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99774303 -0.00563163 -0.0669114 0.59201455] [ 0.00532661 0.9999746 -0.0047361 -0.17412446] [ 0.06693637 0.004369 0.99774768 -0.11262203] [ 0. 0. 0. 1. ]] SLAMing on 137.58463043999998 meters Centerline goodness : 0.236988 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99773401 -0.00567267 -0.06704225 0.59263439] [ 0.00535522 0.99997359 -0.00491394 -0.17268917] [ 0.06706836 0.00454378 0.99773804 -0.11307573] [ 0. 0. 0. 1. ]] SLAMing on 137.61463043999998 meters Centerline goodness : 0.507607 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99772042 -0.00571605 -0.0672406 0.59338686] [ 0.00538526 0.9999725 -0.00509972 -0.17119011] [ 0.0672679 0.00472598 0.99772376 -0.11343472] [ 0. 0. 0. 1. ]] SLAMing on 137.64463044 meters Centerline goodness : 0.452358 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99770899 -0.00580584 -0.06740228 0.59402478] [ 0.00546106 0.99997105 -0.00529839 -0.17000268] [ 0.06743109 0.00491816 0.99771181 -0.11380552] [ 0. 0. 0. 1. ]] SLAMing on 137.67463044 meters Centerline goodness : 0.425677 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.11 [[ 0.99763215 -0.00670293 -0.06844829 0.59674083] [ 0.00629436 0.99996108 -0.00618299 -0.16856592] [ 0.06848707 0.00573751 0.99763551 -0.11413479] [ 0. 0. 0. 1. ]] SLAMing on 137.70463044 meters Centerline goodness : 0.405690 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.11 [[ 0.99758937 -0.00697914 -0.0690416 0.59803247] [ 0.00655915 0.99995859 -0.00630795 -0.16908649] [ 0.06908276 0.00583989 0.99759384 -0.11396123] [ 0. 0. 0. 1. ]] SLAMing on 137.73463044 meters Centerline goodness : 0.094071 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.11 [[ 0.99756725 -0.00708128 -0.06935018 0.59853901] [ 0.00667322 0.99995904 -0.00611402 -0.17061305] [ 0.06939063 0.00563635 0.99757364 -0.11361392] [ 0. 0. 0. 1. ]] SLAMing on 137.76463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 137.79463044 meters Centerline goodness : 0.396573 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.11 [[ 0.99751006 -0.01672973 -0.06851134 0.57438786] [ 0.01638735 0.99985028 -0.00555637 -0.17264186] [ 0.06859404 0.00441982 0.99763486 -0.11481812] [ 0. 0. 0. 1. ]] SLAMing on 137.82463044 meters Centerline goodness : 0.454112 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99762688 -0.00916331 -0.06823965 0.59396991] [ 0.0087068 0.9999377 -0.00698422 -0.17634372] [ 0.0682994 0.0063735 0.99764451 -0.11262325] [ 0. 0. 0. 1. ]] SLAMing on 137.85463044 meters Centerline goodness : 0.098529 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99763426 -0.00164473 -0.06872539 0.57598843] [ 0.00107549 0.99996482 -0.00831902 -0.18086243] [ 0.06873665 0.00822542 0.99760093 -0.11571124] [ 0. 0. 0. 1. ]] SLAMing on 137.88463044 meters Centerline goodness : 0.330981 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 9.97611084e-01 -1.50945660e-03 -6.90640786e-02 5.76880189e-01] [ 9.42122924e-04 9.99965554e-01 -8.24643351e-03 -1.80419262e-01] [ 6.90741472e-02 8.16166662e-03 9.97578142e-01 -1.15850191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91463044 meters Centerline goodness : 0.354986 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 9.97596918e-01 -1.34400738e-03 -6.92718011e-02 5.77346463e-01] [ 7.78857731e-04 9.99966201e-01 -8.18480067e-03 -1.79634219e-01] [ 6.92804602e-02 8.11117905e-03 9.97564247e-01 -1.15829681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94463044 meters Centerline goodness : 0.389673 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 9.97601542e-01 -1.41733945e-03 -6.92037110e-02 5.76887332e-01] [ 8.35068941e-04 9.99964016e-01 -8.44206724e-03 -1.78355485e-01] [ 6.92131861e-02 8.36402943e-03 9.97566829e-01 -1.15411319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97463044 meters Centerline goodness : 0.209032 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 9.97596877e-01 -1.57166654e-03 -6.92675973e-02 5.76884906e-01] [ 9.76956114e-04 9.99962381e-01 -8.61873479e-03 -1.78173404e-01] [ 6.92785373e-02 8.53035151e-03 9.97560884e-01 -1.15245231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00463044 meters Centerline goodness : 0.098274 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 9.97596478e-01 -1.55123439e-03 -6.92738152e-02 5.76828215e-01] [ 9.60230795e-04 9.99962868e-01 -8.56389861e-03 -1.78391764e-01] [ 6.92845275e-02 8.47679624e-03 9.97560925e-01 -1.15186549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03463044 meters Centerline goodness : 0.217800 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.11 [[ 9.97609869e-01 -1.40542516e-03 -6.90838235e-02 5.76150084e-01] [ 8.32819722e-04 9.99965069e-01 -8.31666319e-03 -1.79042305e-01] [ 6.90930988e-02 8.23925091e-03 9.97576192e-01 -1.14903545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06463044 meters Centerline goodness : 0.214419 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.11 [[ 9.97629579e-01 -1.29643531e-03 -6.88007506e-02 5.75235797e-01] [ 7.44549441e-04 9.99967349e-01 -8.04654646e-03 -1.80027001e-01] [ 6.88089360e-02 7.97624719e-03 9.97597970e-01 -1.14584887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09463044 meters Centerline goodness : 0.487415 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.11 [[ 9.97659948e-01 -1.36186049e-03 -6.83576893e-02 5.74025314e-01] [ 8.25137296e-04 9.99968617e-01 -7.87930846e-03 -1.81417448e-01] [ 6.83662745e-02 7.80446599e-03 9.97629762e-01 -1.14308277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12463044 meters Centerline goodness : 0.351096 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99776246 -0.0112638 -0.06590296 0.59379446] [ 0.01072837 0.99990655 -0.00847276 -0.18180629] [ 0.06599224 0.00774677 0.99779006 -0.11298921] [ 0. 0. 0. 1. ]] SLAMing on 138.15463044 meters Centerline goodness : 0.351096 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.11 [[ 0.99776246 -0.0112638 -0.06590296 0.59379446] [ 0.01072837 0.99990655 -0.00847276 -0.18180629] [ 0.06599224 0.00774677 0.99779006 -0.11298921] [ 0. 0. 0. 1. ]] SLAMing on 138.18463044 meters Centerline goodness : 0.093589 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.12 [[ 0.99787746 -0.00552049 -0.06488523 0.57149222] [ 0.00483456 0.99993081 -0.01072361 -0.18653633] [ 0.06493995 0.01038716 0.99783511 -0.11501648] [ 0. 0. 0. 1. ]] SLAMing on 138.21463044 meters Centerline goodness : 0.320172 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.12 [[ 0.99786935 -0.00542367 -0.06501804 0.57184311] [ 0.00475191 0.99993377 -0.01048207 -0.18736898] [ 0.06507059 0.01015078 0.99782903 -0.11505678] [ 0. 0. 0. 1. ]] SLAMing on 138.24463044 meters Centerline goodness : 0.127358 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.12 [[ 0.99786746 -0.00532781 -0.06505495 0.5721771 ] [ 0.00466434 0.9999356 -0.01034623 -0.18745873] [ 0.06510588 0.01002073 0.99782805 -0.11543096] [ 0. 0. 0. 1. ]] SLAMing on 138.27463043999998 meters Centerline goodness : 0.125628 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.12 [[ 0.99786093 -0.0055015 -0.06514064 0.57227389] [ 0.00482029 0.99993209 -0.0106101 -0.18661659] [ 0.06519459 0.0102734 0.99781968 -0.11525319] [ 0. 0. 0. 1. ]] SLAMing on 138.30463043999998 meters Centerline goodness : 0.456810 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.11 [[ 0.99792387 0.00196492 -0.06437456 0.59068821] [-0.00273496 0.99992574 -0.01187581 -0.19009978] [ 0.06434644 0.01202721 0.99785514 -0.1128225 ] [ 0. 0. 0. 1. ]] SLAMing on 138.33463043999998 meters Centerline goodness : 0.454468 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.11 [[ 0.99793179 0.00197549 -0.06425145 0.59015338] [-0.00274396 0.99992573 -0.01187436 -0.1897962 ] [ 0.06422322 0.01202611 0.99786309 -0.11252425] [ 0. 0. 0. 1. ]] SLAMing on 138.36463043999998 meters Centerline goodness : 0.096550 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.11 [[ 0.99793243 0.00204659 -0.06423917 0.58999925] [-0.00281034 0.99992642 -0.01180092 -0.18966162] [ 0.06421029 0.01195706 0.99786475 -0.11236083] [ 0. 0. 0. 1. ]] SLAMing on 138.39463044 meters Centerline goodness : 0.103204 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.11 [[ 0.99792906 0.00202176 -0.0642923 0.59044889] [-0.00278648 0.99992641 -0.01180694 -0.18961167] [ 0.0642637 0.01196164 0.99786126 -0.11279682] [ 0. 0. 0. 1. ]] SLAMing on 138.42463044 meters Centerline goodness : 0.102475 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.11 [[ 0.99790866 0.0018571 -0.06461313 0.59166511] [-0.00263312 0.9999254 -0.01192711 -0.18974174] [ 0.06458616 0.0120723 0.99783911 -0.11341701] [ 0. 0. 0. 1. ]] SLAMing on 138.45463044 meters Centerline goodness : 0.095325 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 9.97820247e-01 5.75342697e-04 -6.59880644e-02 5.96433880e-01] [-1.44386619e-03 9.99912954e-01 -1.31148914e-02 -1.88368180e-01] [ 6.59747748e-02 1.31815821e-02 9.97734221e-01 -1.15268076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48463044 meters Centerline goodness : 0.115318 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.12 [[ 9.97806571e-01 5.72763652e-04 -6.61945543e-02 5.97011001e-01] [-1.45026340e-03 9.99911705e-01 -1.32090816e-02 -1.87340113e-01] [ 6.61811440e-02 1.32761080e-02 9.97719300e-01 -1.15387040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51463044 meters Centerline goodness : 0.098043 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.12 [[ 0.99777955 0.00412244 -0.0664753 0.59752252] [-0.00481035 0.99993649 -0.01019153 -0.18449791] [ 0.06642907 0.01048867 0.99773602 -0.1150861 ] [ 0. 0. 0. 1. ]] SLAMing on 138.54463044 meters Centerline goodness : 0.096953 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.12 [[ 0.99776944 0.00399011 -0.06663504 0.59796007] [-0.00471293 0.99993171 -0.01069372 -0.18155298] [ 0.06658782 0.01098392 0.99772011 -0.11510423] [ 0. 0. 0. 1. ]] SLAMing on 138.57463044 meters Centerline goodness : 0.459455 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.11 [[ 0.99776823 0.00384687 -0.06666154 0.59788122] [-0.00460209 0.99992692 -0.01117937 -0.1787204 ] [ 0.06661367 0.0114612 0.99771301 -0.11488909] [ 0. 0. 0. 1. ]] SLAMing on 138.60463044 meters Centerline goodness : 0.452331 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.11 [[ 0.99778512 0.00375543 -0.06641345 0.59690771] [-0.004534 0.99992271 -0.01157628 -0.17594118] [ 0.06636484 0.01185176 0.99772503 -0.11439012] [ 0. 0. 0. 1. ]] SLAMing on 138.63463044 meters Centerline goodness : 0.091329 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.11 [[ 0.99788778 -0.00355657 -0.06486395 0.61453302] [ 0.0029015 0.99994387 -0.01019043 -0.16983594] [ 0.06489656 0.0099807 0.99784208 -0.11139453] [ 0. 0. 0. 1. ]] SLAMing on 138.66463044 meters Centerline goodness : 0.306394 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.12 [[ 0.99812938 -0.00419671 -0.0609928 0.57297753] [ 0.00355008 0.99993639 -0.01070619 -0.16849131] [ 0.06103385 0.01046964 0.99808079 -0.11559944] [ 0. 0. 0. 1. ]] SLAMing on 138.69463044 meters Centerline goodness : 0.364881 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99813082 -0.01423751 -0.05943191 0.59271483] [ 0.01361085 0.99984756 -0.01093582 -0.16733794] [ 0.05957855 0.01010646 0.99817246 -0.11431589] [ 0. 0. 0. 1. ]] SLAMing on 138.72463044 meters Centerline goodness : 0.422292 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.11 [[ 0.99810281 -0.01467693 -0.05979437 0.5938328 ] [ 0.01404651 0.99984139 -0.01094978 -0.16916066] [ 0.0599456 0.01008911 0.99815066 -0.11475879] [ 0. 0. 0. 1. ]] SLAMing on 138.75463044 meters Centerline goodness : 0.089854 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.12 [[ 0.99806004 -0.01504603 -0.06041335 0.59552665] [ 0.01441253 0.99983663 -0.01090829 -0.17097466] [ 0.0605676 0.01001642 0.99811384 -0.11518533] [ 0. 0. 0. 1. ]] SLAMing on 138.78463044 meters Centerline goodness : 0.103267 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99812216 -0.00756173 -0.06078637 0.57836172] [ 0.0068472 0.9999051 -0.01195445 -0.17767382] [ 0.060871 0.01151579 0.99807921 -0.11829387] [ 0. 0. 0. 1. ]] SLAMing on 138.81463044 meters Centerline goodness : 0.092113 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.9981042 -0.00760106 -0.06107554 0.57896084] [ 0.00689833 0.99990766 -0.01170863 -0.17936277] [ 0.0611589 0.01126512 0.99806447 -0.1182431 ] [ 0. 0. 0. 1. ]] SLAMing on 138.84463044 meters Centerline goodness : 0.096950 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99810999 -0.00755583 -0.06098653 0.57859995] [ 0.00687427 0.99991164 -0.01137778 -0.18118414] [ 0.06106711 0.01093704 0.99807374 -0.1180991 ] [ 0. 0. 0. 1. ]] SLAMing on 138.87463044 meters Centerline goodness : 0.456291 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99810749 -0.00751938 -0.06103194 0.57882145] [ 0.00684257 0.99991284 -0.01129096 -0.18136843] [ 0.06111153 0.01085197 0.99807195 -0.1182605 ] [ 0. 0. 0. 1. ]] SLAMing on 138.90463044 meters Centerline goodness : 0.460862 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99810885 -0.00751732 -0.06101 0.5790754 ] [ 0.00684172 0.99991303 -0.01127502 -0.18149924] [ 0.06108945 0.01083628 0.99807347 -0.11866556] [ 0. 0. 0. 1. ]] SLAMing on 138.93463044 meters Centerline goodness : 0.100593 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99812658 -0.00746993 -0.06072499 0.57848003] [ 0.00680054 0.9999139 -0.01122255 -0.18184506] [ 0.06080359 0.01078856 0.99809144 -0.1187884 ] [ 0. 0. 0. 1. ]] SLAMing on 138.96463044 meters Centerline goodness : 0.460330 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99813322 -0.00743938 -0.06061952 0.5782945 ] [ 0.00677361 0.99991455 -0.0111808 -0.1818896 ] [ 0.06069751 0.01074932 0.99809832 -0.11890093] [ 0. 0. 0. 1. ]] SLAMing on 138.99463043999998 meters Centerline goodness : 0.096261 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.12 [[ 9.98155830e-01 7.60272517e-04 -6.06989348e-02 5.58119810e-01] [-1.47693633e-03 9.99929724e-01 -1.17628675e-02 -1.85982845e-01] [ 6.06857262e-02 1.18308232e-02 9.98086807e-01 -1.21384374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02463043999998 meters Centerline goodness : 0.102028 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99810213 -0.00699267 -0.06118198 0.57854362] [ 0.00634727 0.99992221 -0.01073685 -0.1836052 ] [ 0.0612523 0.01032813 0.99806888 -0.11928788] [ 0. 0. 0. 1. ]] SLAMing on 139.05463043999998 meters Centerline goodness : 0.446389 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.12 [[ 0.99808636 -0.00699691 -0.06143825 0.57956748] [ 0.00635947 0.99992397 -0.01056472 -0.18475778] [ 0.0615075 0.01015379 0.99805497 -0.11988237] [ 0. 0. 0. 1. ]] SLAMing on 139.08463043999998 meters Centerline goodness : 0.402984 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.12 [[ 9.98039846e-01 -1.95387874e-04 -6.25813735e-02 5.61828274e-01] [-5.51853158e-04 9.99928769e-01 -1.19228032e-02 -1.91324945e-01] [ 6.25792453e-02 1.19339684e-02 9.97968646e-01 -1.23340313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11463043999998 meters Centerline goodness : 0.454861 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.12 [[ 9.98026346e-01 -1.20006101e-04 -6.27964877e-02 5.62629384e-01] [-6.10867806e-04 9.99932305e-01 -1.16194419e-02 -1.92909480e-01] [ 6.27936311e-02 1.16348695e-02 9.97958711e-01 -1.23786983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14463044 meters Centerline goodness : 0.457696 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.12 [[ 9.98021343e-01 -4.93737582e-05 -6.28760437e-02 5.63018524e-01] [-6.70690882e-04 9.99934439e-01 -1.14309726e-02 -1.93758610e-01] [ 6.28724859e-02 1.14505251e-02 9.97955879e-01 -1.24082206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17463044 meters Centerline goodness : 0.454681 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.12 [[ 9.98018800e-01 2.09676636e-05 -6.29164103e-02 5.63291597e-01] [-7.34655860e-04 9.99935653e-01 -1.13203223e-02 -1.94104750e-01] [ 6.29121245e-02 1.13441164e-02 9.97954596e-01 -1.24322156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20463044 meters Centerline goodness : 0.163104 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.13 [[ 0.99795487 -0.007873 -0.06343571 0.54450463] [ 0.00721556 0.99991793 -0.01058633 -0.18763339] [ 0.06351385 0.01010695 0.99792978 -0.12616327] [ 0. 0. 0. 1. ]] SLAMing on 139.23463044 meters Centerline goodness : 0.439477 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.13 [[ 0.99794654 -0.00789133 -0.06356445 0.54489209] [ 0.0072306 0.99991749 -0.01061787 -0.18741757] [ 0.06364299 0.01013646 0.99792125 -0.1262686 ] [ 0. 0. 0. 1. ]] SLAMing on 139.26463044 meters Centerline goodness : 0.098155 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.13 [[ 9.97994269e-01 -6.27975021e-06 -6.33043417e-02 5.25682134e-01] [-7.19826722e-04 9.99934219e-01 -1.14472761e-02 -1.91608795e-01] [ 6.33002494e-02 1.14698841e-02 9.97928615e-01 -1.29140820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29463044 meters Centerline goodness : 0.101419 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.13 [[ 9.97998232e-01 2.72701245e-05 -6.32418265e-02 5.25704518e-01] [-7.39786863e-04 9.99936520e-01 -1.12431539e-02 -1.92813805e-01] [ 6.32375053e-02 1.12674332e-02 9.97934899e-01 -1.29465278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32463044 meters Centerline goodness : 0.456614 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.13 [[ 9.97996421e-01 -4.75255414e-06 -6.32703990e-02 5.25757909e-01] [-6.95331666e-04 9.99938783e-01 -1.10429330e-02 -1.94376511e-01] [ 6.32665783e-02 1.10648015e-02 9.97935324e-01 -1.29506794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35463044 meters Centerline goodness : 0.405223 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.13 [[ 9.98004534e-01 -1.33900630e-04 -6.31421614e-02 5.25408050e-01] [-5.55795253e-04 9.99940382e-01 -1.09052147e-02 -1.96112039e-01] [ 6.31398572e-02 1.09185479e-02 9.97944960e-01 -1.29536402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38463044 meters Centerline goodness : 0.446760 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.13 [[ 9.98065450e-01 -9.81664265e-04 -6.21642481e-02 5.22223223e-01] [ 2.84886377e-04 9.99937052e-01 -1.12165311e-02 -1.99012082e-01] [ 6.21713459e-02 1.11771224e-02 9.98002904e-01 -1.28553319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41463044 meters Centerline goodness : 0.455269 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.13 [[ 9.98077491e-01 -8.26884096e-04 -6.19728849e-02 5.21591469e-01] [ 1.60872619e-04 9.99942193e-01 -1.07510399e-02 -2.01220618e-01] [ 6.19781922e-02 1.07204012e-02 9.98019928e-01 -1.28411097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44463044 meters Centerline goodness : 0.457503 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.13 [[ 9.98080959e-01 -6.05870661e-04 -6.19195579e-02 5.21394366e-01] [-2.85379416e-05 9.99947525e-01 -1.02442922e-02 -2.03348903e-01] [ 6.19225154e-02 1.02264001e-02 9.98028568e-01 -1.28371541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47463044 meters Centerline goodness : 0.462209 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98082325e-01 -4.55229174e-04 -6.18988273e-02 5.21349624e-01] [-1.51778958e-04 9.99951954e-01 -9.80140051e-03 -2.05659202e-01] [ 6.19003151e-02 9.79199955e-03 9.98034302e-01 -1.28433417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50463044 meters Centerline goodness : 0.462626 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98066328e-01 -4.24141468e-04 -6.21564595e-02 5.22022192e-01] [-1.54639823e-04 9.99956681e-01 -9.30657731e-03 -2.09339958e-01] [ 6.21577142e-02 9.29819331e-03 9.98023027e-01 -1.28650144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53463044 meters Centerline goodness : 0.453364 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98056717e-01 -2.82209342e-04 -6.23113957e-02 5.22462818e-01] [-2.80649602e-04 9.99959243e-01 -9.02406461e-03 -2.10499952e-01] [ 6.23114028e-02 9.02401596e-03 9.98015960e-01 -1.28781539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56463044 meters Centerline goodness : 0.136191 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98053099e-01 -1.12327057e-04 -6.23698527e-02 5.22572216e-01] [-4.33217350e-04 9.99961770e-01 -8.73333283e-03 -2.11584490e-01] [ 6.23684493e-02 8.74334960e-03 9.98014895e-01 -1.28763716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59463044 meters Centerline goodness : 0.437995 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98052148e-01 -3.46469009e-05 -6.23851599e-02 5.22569467e-01] [-5.00986589e-04 9.99963149e-01 -8.57024919e-03 -2.12432486e-01] [ 6.23831579e-02 8.58480974e-03 9.98015352e-01 -1.28732230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62463044 meters Centerline goodness : 0.091482 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98060837e-01 7.82450748e-05 -6.22459581e-02 5.22005534e-01] [-5.99455863e-04 9.99964919e-01 -8.35477686e-03 -2.14071753e-01] [ 6.22431207e-02 8.37588929e-03 9.98025871e-01 -1.28452316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65463044 meters Centerline goodness : 0.331939 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98061337e-01 2.30057891e-04 -6.22375668e-02 5.21829788e-01] [-7.40307618e-04 9.99966306e-01 -8.17548465e-03 -2.14556990e-01] [ 6.22335889e-02 8.20571008e-03 9.98027879e-01 -1.28213648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68463044 meters Centerline goodness : 0.418003 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98067929e-01 3.97052792e-04 -6.21309293e-02 5.21450372e-01] [-8.99251392e-04 9.99967152e-01 -8.05515432e-03 -2.14527933e-01] [ 6.21256902e-02 8.09546251e-03 9.98035501e-01 -1.28050456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71463044 meters Centerline goodness : 0.092720 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98073374e-01 4.86124590e-04 -6.20427621e-02 5.21020374e-01] [-9.89917073e-04 9.99966789e-01 -8.08960484e-03 -2.13844474e-01] [ 6.20367690e-02 8.13543638e-03 9.98040708e-01 -1.27677208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74463043999998 meters Centerline goodness : 0.464238 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98065549e-01 5.06825938e-04 -6.21683443e-02 5.21302257e-01] [-1.02263335e-03 9.99965318e-01 -8.26540844e-03 -2.12666158e-01] [ 6.21619990e-02 8.31299483e-03 9.98031452e-01 -1.27618442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77463043999998 meters Centerline goodness : 0.458070 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.13 [[ 9.98003996e-01 7.20786315e-04 -6.31466838e-02 5.24293937e-01] [-1.25732007e-03 9.99963446e-01 -8.45730056e-03 -2.10269126e-01] [ 6.31382796e-02 8.51981535e-03 9.97968422e-01 -1.28496654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80463043999998 meters Centerline goodness : 0.276763 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.13 [[ 9.97987658e-01 6.81582977e-04 -6.34048084e-02 5.25066933e-01] [-1.23072953e-03 9.99962070e-01 -8.62230748e-03 -2.09218512e-01] [ 6.33965267e-02 8.68299062e-03 9.97950643e-01 -1.28705190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83463043999998 meters Centerline goodness : 0.092134 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99792504 -0.00726868 -0.06397489 0.50589771] [ 0.00679614 0.99994802 -0.00760081 -0.20331376] [ 0.06402681 0.00715026 0.99792256 -0.13057311] [ 0. 0. 0. 1. ]] SLAMing on 139.86463043999998 meters Centerline goodness : 0.146779 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99792479 -0.00724859 -0.063981 0.50572131] [ 0.00677584 0.99994814 -0.0076028 -0.20282599] [ 0.06403279 0.0071535 0.99792216 -0.13038135] [ 0. 0. 0. 1. ]] SLAMing on 139.89463044 meters Centerline goodness : 0.271367 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99792824 -0.00724158 -0.06392806 0.5055724 ] [ 0.0067681 0.99994806 -0.00761986 -0.20245747] [ 0.06397992 0.00717141 0.99792542 -0.13035856] [ 0. 0. 0. 1. ]] SLAMing on 139.92463044 meters Centerline goodness : 0.277354 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.9979315 -0.0072915 -0.06387136 0.50557051] [ 0.00681552 0.99994738 -0.00766682 -0.20215873] [ 0.0639239 0.00721564 0.99792869 -0.13053213] [ 0. 0. 0. 1. ]] SLAMing on 139.95463044 meters Centerline goodness : 0.175613 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99792724 -0.0073707 -0.06392883 0.50583817] [ 0.00688881 0.9999462 -0.007755 -0.20177161] [ 0.06398255 0.00729853 0.99792433 -0.13074532] [ 0. 0. 0. 1. ]] SLAMing on 139.98463044 meters Centerline goodness : 0.279805 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99792182 -0.00737458 -0.06401292 0.50630307] [ 0.00689108 0.99994606 -0.00777069 -0.20139306] [ 0.06406677 0.00731342 0.99791882 -0.13109565] [ 0. 0. 0. 1. ]] SLAMing on 140.01463044 meters Centerline goodness : 0.279805 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99792182 -0.00737458 -0.06401292 0.50630307] [ 0.00689108 0.99994606 -0.00777069 -0.20139306] [ 0.06406677 0.00731342 0.99791882 -0.13109565] [ 0. 0. 0. 1. ]] SLAMing on 140.04463044 meters Centerline goodness : 0.090126 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99790866 -0.00736686 -0.06421867 0.5070523 ] [ 0.00688147 0.99994609 -0.00777634 -0.20093979] [ 0.0642725 0.00731816 0.99790555 -0.13145144] [ 0. 0. 0. 1. ]] SLAMing on 140.07463044 meters Centerline goodness : 0.089433 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99789141 -0.00750158 -0.06447069 0.5079634 ] [ 0.00700985 0.99994462 -0.00785001 -0.20079695] [ 0.06452601 0.00738153 0.99788873 -0.13189176] [ 0. 0. 0. 1. ]] SLAMing on 140.10463044 meters Centerline goodness : 0.104022 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99788406 -0.00757595 -0.06457556 0.50812349] [ 0.00708015 0.9999437 -0.00790324 -0.20077217] [ 0.0646318 0.00742931 0.99788152 -0.131776 ] [ 0. 0. 0. 1. ]] SLAMing on 140.13463044 meters Centerline goodness : 0.089820 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99788028 -0.00760344 -0.06463076 0.50810032] [ 0.00710418 0.99994315 -0.00795098 -0.20054285] [ 0.06468754 0.00747498 0.99787757 -0.13155863] [ 0. 0. 0. 1. ]] SLAMing on 140.16463044 meters Centerline goodness : 0.095694 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.9978874 -0.00762877 -0.06451768 0.50758406] [ 0.0071227 0.99994207 -0.0080702 -0.19970656] [ 0.0645755 0.00759361 0.99788393 -0.13122458] [ 0. 0. 0. 1. ]] SLAMing on 140.19463044 meters Centerline goodness : 0.430755 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.13 [[ 0.99792094 -0.00781304 -0.06397459 0.50579226] [ 0.00727134 0.99993575 -0.00869602 -0.19617381] [ 0.06403842 0.00821276 0.99791364 -0.13039524] [ 0. 0. 0. 1. ]] SLAMing on 140.22463044 meters Centerline goodness : 0.092502 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.13 [[ 0.99793304 -0.00801324 -0.06376075 0.50527042] [ 0.00744087 0.99992991 -0.00920915 -0.19353328] [ 0.06383008 0.00871568 0.99792272 -0.13031187] [ 0. 0. 0. 1. ]] SLAMing on 140.25463044 meters Centerline goodness : 0.310677 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.13 [[ 9.98002884e-01 1.34618101e-04 -6.31682388e-02 5.24466755e-01] [-7.88442553e-04 9.99946378e-01 -1.03257123e-02 -1.94766988e-01] [ 6.31634616e-02 1.03548952e-02 9.97949474e-01 -1.28264829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28463044 meters Centerline goodness : 0.441234 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.13 [[ 0.99806708 0.00233123 -0.06210215 0.52108923] [-0.00287433 0.99995839 -0.00865734 -0.19055385] [ 0.06207938 0.0088191 0.99803225 -0.12740243] [ 0. 0. 0. 1. ]] SLAMing on 140.31463044 meters Centerline goodness : 0.451173 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.13 [[ 0.99809912 0.00497833 -0.06142764 0.51874729] [-0.00541936 0.99996071 -0.00701511 -0.18343714] [ 0.06139031 0.00733467 0.99808689 -0.12649473] [ 0. 0. 0. 1. ]] SLAMing on 140.34463044 meters Centerline goodness : 0.462460 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.13 [[ 0.99810674 0.00483589 -0.06131522 0.51851547] [-0.00531184 0.999957 -0.00760174 -0.17993571] [ 0.06127583 0.00791305 0.9980895 -0.12639771] [ 0. 0. 0. 1. ]] SLAMing on 140.37463044 meters Centerline goodness : 0.205306 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.13 [[ 0.99802057 0.00600096 -0.06260129 0.52231921] [-0.00647387 0.999952 -0.00735427 -0.17141025] [ 0.06255415 0.00774499 0.99801152 -0.12716583] [ 0. 0. 0. 1. ]] SLAMing on 140.40463044 meters Centerline goodness : 0.096062 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.13 [[ 9.97903339e-01 4.48474263e-05 -6.47218910e-02 5.02477116e-01] [-3.52006879e-04 9.99988731e-01 -4.73444015e-03 -1.64610255e-01] [ 6.47209493e-02 4.74729618e-03 9.97892109e-01 -1.28701941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43463044 meters Centerline goodness : 0.093344 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.13 [[ 9.97884794e-01 -3.03072632e-05 -6.50072143e-02 5.03652686e-01] [-2.98105263e-04 9.99987243e-01 -5.04223399e-03 -1.62304263e-01] [ 6.50065378e-02 5.05094762e-03 9.97872055e-01 -1.29337135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46463044 meters Centerline goodness : 0.100960 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.13 [[ 9.97871809e-01 -1.66991242e-04 -6.52060116e-02 5.04381447e-01] [-1.80385540e-04 9.99985825e-01 -5.32144983e-03 -1.60649784e-01] [ 6.52059759e-02 5.32188699e-03 9.97857634e-01 -1.29654990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49463043999998 meters Centerline goodness : 0.144801 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.13 [[ 0.99783023 -0.00815743 -0.06533219 0.4846835 ] [ 0.00788564 0.99995915 -0.00441695 -0.15415382] [ 0.06536555 0.00389218 0.99785379 -0.13201365] [ 0. 0. 0. 1. ]] SLAMing on 140.52463043999998 meters Centerline goodness : 0.105253 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.13 [[ 9.97896629e-01 -1.06708751e-03 -6.48165098e-02 5.03418112e-01] [ 6.89399014e-04 9.99982656e-01 -5.84912778e-03 -1.57943691e-01] [ 6.48216271e-02 5.79214046e-03 9.97880057e-01 -1.29680438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55463043999998 meters Centerline goodness : 0.094853 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.13 [[ 9.97899538e-01 -1.21319901e-03 -6.47691283e-02 5.03580089e-01] [ 8.14376021e-04 9.99980549e-01 -6.18365517e-03 -1.55678385e-01] [ 6.47753705e-02 6.11792021e-03 9.97881116e-01 -1.30014294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58463043999998 meters Centerline goodness : 0.099799 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 9.97904974e-01 -1.27273209e-03 -6.46841791e-02 5.03613066e-01] [ 8.61805343e-04 9.99979274e-01 -6.38032175e-03 -1.54284998e-01] [ 6.46909589e-02 6.31120964e-03 9.97885388e-01 -1.30308833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61463043999998 meters Centerline goodness : 0.099369 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 9.97908025e-01 -1.33571518e-03 -6.46358242e-02 5.03724730e-01] [ 9.13070623e-04 9.99978014e-01 -6.56795694e-03 -1.53108515e-01] [ 6.46431760e-02 6.49519986e-03 9.97887304e-01 -1.30592321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64463044 meters Centerline goodness : 0.100308 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 9.97899716e-01 -1.36915209e-03 -6.47632776e-02 5.04193760e-01] [ 9.38228740e-04 9.99977223e-01 -6.68376782e-03 -1.52265884e-01] [ 6.47709536e-02 6.60896724e-03 9.97878272e-01 -1.30819171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67463044 meters Centerline goodness : 0.093723 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 9.97886800e-01 -1.37956112e-03 -6.49617731e-02 5.04890008e-01] [ 9.42298168e-04 9.99976699e-01 -6.76123893e-03 -1.51615560e-01] [ 6.49695870e-02 6.68573772e-03 9.97864847e-01 -1.31082695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70463044 meters Centerline goodness : 0.100880 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 9.97884717e-01 -1.43764637e-03 -6.49925050e-02 5.04822614e-01] [ 9.94966892e-04 9.99976091e-01 -6.84309279e-03 -1.51322739e-01] [ 6.50007891e-02 6.76395232e-03 9.97862288e-01 -1.30925561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73463044 meters Centerline goodness : 0.109504 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 0.99789035 -0.00147491 -0.06490519 0.50466493] [ 0.0010322 0.99997598 -0.00685391 -0.15154936] [ 0.06491373 0.00677245 0.9978679 -0.13101777] [ 0. 0. 0. 1. ]] SLAMing on 140.76463044 meters Centerline goodness : 0.096819 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 0.99789198 -0.00148532 -0.06487978 0.50462119] [ 0.0010431 0.999976 -0.00684929 -0.15168994] [ 0.0648884 0.00676718 0.99786958 -0.13105844] [ 0. 0. 0. 1. ]] SLAMing on 140.79463044 meters Centerline goodness : 0.101668 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 0.99789446 -0.00144066 -0.06484273 0.50466288] [ 0.00100024 0.99997622 -0.00682409 -0.15153723] [ 0.06485102 0.00674486 0.99787216 -0.13121937] [ 0. 0. 0. 1. ]] SLAMing on 140.82463044 meters Centerline goodness : 0.105331 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.13 [[ 9.97888625e-01 -1.37185640e-03 -6.49338877e-02 5.05030518e-01] [ 9.29493011e-04 9.99976160e-01 -6.84223915e-03 -1.50889613e-01] [ 6.49417262e-02 6.76743702e-03 9.97866110e-01 -1.31396099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85463044 meters Centerline goodness : 0.117637 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.13 [[ 9.97884923e-01 -1.32071603e-03 -6.49918159e-02 5.05046447e-01] [ 8.73206305e-04 9.99975720e-01 -6.91355602e-03 -1.50015028e-01] [ 6.49993688e-02 6.84218206e-03 9.97861847e-01 -1.31200696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88463044 meters Centerline goodness : 0.084678 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.13 [[ 9.97876233e-01 -1.28708226e-03 -6.51257711e-02 5.04921130e-01] [ 8.24494338e-04 9.99974246e-01 -7.12937141e-03 -1.48633431e-01] [ 6.51332700e-02 7.06053446e-03 9.97851595e-01 -1.30539706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91463044 meters Centerline goodness : 0.098354 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.13 [[ 9.97865797e-01 -1.34260167e-03 -6.52843615e-02 5.05349757e-01] [ 8.69494090e-04 9.99973161e-01 -7.27474716e-03 -1.47996616e-01] [ 6.52923764e-02 7.20245701e-03 9.97840183e-01 -1.30595364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94463044 meters Centerline goodness : 0.098160 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.13 [[ 9.97866748e-01 -1.14547983e-03 -6.52735878e-02 5.05373827e-01] [ 6.72161474e-04 9.99973327e-01 -7.27279915e-03 -1.46564998e-01] [ 6.52801776e-02 7.21341004e-03 9.97840902e-01 -1.30629630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.00463044 meters Centerline goodness : 0.098128 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.13 [[ 9.97902483e-01 -1.17744517e-03 -6.47244019e-02 5.04026893e-01] [ 6.87312485e-04 9.99970926e-01 -7.59435519e-03 -1.44355686e-01] [ 6.47314620e-02 7.53394001e-03 9.97874279e-01 -1.30461641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03463044 meters Centerline goodness : 0.094906 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.13 [[ 9.97905179e-01 -1.30411608e-03 -6.46803922e-02 5.03725074e-01] [ 7.94162236e-04 9.99968406e-01 -7.90929442e-03 -1.42844228e-01] [ 6.46886633e-02 7.84135913e-03 9.97874686e-01 -1.30125664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06463044 meters Centerline goodness : 0.098366 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.13 [[ 9.97902763e-01 -1.38590988e-03 -6.47159494e-02 5.03663747e-01] [ 8.57961391e-04 9.99966134e-01 -8.18501317e-03 -1.41204967e-01] [ 6.47251014e-02 8.11232347e-03 9.97870158e-01 -1.29924716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09463044 meters Centerline goodness : 0.093223 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.13 [[ 9.97898863e-01 -1.46274210e-03 -6.47743780e-02 5.03615926e-01] [ 9.13001483e-04 9.99963323e-01 -8.51579479e-03 -1.39058560e-01] [ 6.47844586e-02 8.43876284e-03 9.97863598e-01 -1.29607296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12463044 meters Centerline goodness : 0.092339 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 9.97808667e-01 -1.41770402e-03 -6.61502395e-02 4.57644778e-01] [ 8.11633560e-04 9.99957460e-01 -9.18800465e-03 -1.32449521e-01] [ 6.61604514e-02 9.11418091e-03 9.97767371e-01 -1.31706191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15463044 meters Centerline goodness : 0.096809 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 9.97819805e-01 -1.60592168e-03 -6.59777021e-02 4.57136203e-01] [ 9.83367902e-04 9.99954701e-01 -9.46721316e-03 -1.31452416e-01] [ 6.59899170e-02 9.38169244e-03 9.97776185e-01 -1.31587127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18463044 meters Centerline goodness : 0.099054 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 0.99783761 -0.00176016 -0.06570393 0.45634028] [ 0.00112516 0.99995232 -0.00970028 -0.13049146] [ 0.06571787 0.00960537 0.99779201 -0.13135946] [ 0. 0. 0. 1. ]] SLAMing on 141.21463044 meters Centerline goodness : 0.089331 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 0.9978464 -0.00180947 -0.06556899 0.45590371] [ 0.00116757 0.99995104 -0.00982669 -0.12951224] [ 0.06558356 0.00972897 0.99779965 -0.13120331] [ 0. 0. 0. 1. ]] SLAMing on 141.24463043999998 meters Centerline goodness : 0.173600 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 0.99784542 -0.00182152 -0.0655836 0.45595214] [ 0.00117051 0.99994968 -0.00996359 -0.12752018] [ 0.06559845 0.00986536 0.99779733 -0.1311868 ] [ 0. 0. 0. 1. ]] SLAMing on 141.27463043999998 meters Centerline goodness : 0.087332 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 0.99783981 -0.00194729 -0.06566525 0.45640427] [ 0.00128044 0.9999472 -0.01019593 -0.12624816] [ 0.06568164 0.01008982 0.99778962 -0.13146479] [ 0. 0. 0. 1. ]] SLAMing on 141.30463043999998 meters Centerline goodness : 0.108247 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.13 [[ 0.99782752 -0.00209192 -0.06584724 0.45710326] [ 0.00140696 0.99994444 -0.01044702 -0.12508521] [ 0.06586543 0.01033168 0.99777503 -0.13183132] [ 0. 0. 0. 1. ]] SLAMing on 141.33463043999998 meters Centerline goodness : 0.120335 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99777384 -0.00223976 -0.06665096 0.46005062] [ 0.00152455 0.99994074 -0.01077954 -0.12279409] [ 0.06667116 0.01065393 0.99771812 -0.13315516] [ 0. 0. 0. 1. ]] SLAMing on 141.36463043999998 meters Centerline goodness : 0.119606 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.9977569 -0.00226967 -0.06690297 0.46109912] [ 0.0015445 0.99993952 -0.01088895 -0.12183927] [ 0.06692364 0.0107612 0.99770007 -0.13367845] [ 0. 0. 0. 1. ]] SLAMing on 141.39463044 meters Centerline goodness : 0.110703 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99775136 -0.00232664 -0.06698361 0.46135575] [ 0.00159185 0.999938 -0.011021 -0.12098112] [ 0.0670051 0.01088959 0.99769321 -0.13374178] [ 0. 0. 0. 1. ]] SLAMing on 141.42463044 meters Centerline goodness : 0.124909 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99775115 -0.00244115 -0.06698273 0.46117797] [ 0.00169344 0.99993565 -0.01121737 -0.12011145] [ 0.0670058 0.01107871 0.99769108 -0.13348688] [ 0. 0. 0. 1. ]] SLAMing on 141.45463044 meters Centerline goodness : 0.122658 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99775486 -0.0024859 -0.06692581 0.46069558] [ 0.00173179 0.99993439 -0.01132355 -0.11938795] [ 0.06694957 0.01118223 0.9976937 -0.13302876] [ 0. 0. 0. 1. ]] SLAMing on 141.48463044 meters Centerline goodness : 0.103198 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.14 [[ 0.99770765 -0.00979111 -0.0669595 0.44249565] [ 0.00914257 0.99990835 -0.00998512 -0.11274854] [ 0.06705112 0.00935005 0.99770573 -0.13608681] [ 0. 0. 0. 1. ]] SLAMing on 141.51463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.54463044 meters Centerline goodness : 0.113603 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.14 [[ 0.99767286 -0.00984042 -0.06746873 0.44465653] [ 0.00918572 0.99990774 -0.01000719 -0.11282246] [ 0.06756098 0.00936415 0.9976712 -0.13733769] [ 0. 0. 0. 1. ]] SLAMing on 141.57463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.60463044 meters Centerline goodness : 0.130042 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 0.99762782 -0.00256102 -0.06879078 0.46452185] [ 0.00180192 0.99993683 -0.01109468 -0.11810138] [ 0.06881485 0.01094441 0.99756941 -0.13444432] [ 0. 0. 0. 1. ]] SLAMing on 141.63463044 meters Centerline goodness : 0.216355 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 9.97616094e-01 8.06951159e-04 -6.90034689e-02 4.64858595e-01] [-1.34604746e-03 9.99968935e-01 -7.76645763e-03 -1.18584870e-01] [ 6.89950581e-02 7.84082506e-03 9.97586188e-01 -1.34392598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66463044 meters Centerline goodness : 0.119302 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.13 [[ 9.97614380e-01 9.30439888e-04 -6.90266887e-02 4.65079625e-01] [-1.45918528e-03 9.99969979e-01 -7.60998784e-03 -1.18766959e-01] [ 6.90175358e-02 7.69255602e-03 9.97585788e-01 -1.34557934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69463044 meters Centerline goodness : 0.119286 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.13 [[ 9.97610924e-01 9.42215679e-04 -6.90764579e-02 4.65297137e-01] [-1.46823819e-03 9.99970309e-01 -7.56470100e-03 -1.19085212e-01] [ 6.90672794e-02 7.64804905e-03 9.97582687e-01 -1.34676528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72463044 meters Centerline goodness : 0.117311 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 9.97630027e-01 5.47262240e-04 -6.88042876e-02 4.64126784e-01] [-1.09731898e-03 9.99967741e-01 -7.95697182e-03 -1.19234171e-01] [ 6.87977134e-02 8.01361426e-03 9.97598445e-01 -1.34026913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75463044 meters Centerline goodness : 0.120112 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 9.97647522e-01 5.08086905e-04 -6.85504398e-02 4.62981845e-01] [-1.06334853e-03 9.99966922e-01 -8.06379841e-03 -1.18737026e-01] [ 6.85440751e-02 8.11772151e-03 9.97615062e-01 -1.33334701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78463044 meters Centerline goodness : 0.107368 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 9.97666651e-01 6.05290927e-04 -6.82706957e-02 4.61963995e-01] [-1.15882081e-03 9.99966777e-01 -8.06855787e-03 -1.17925808e-01] [ 6.82635437e-02 8.12884461e-03 9.97634207e-01 -1.32836191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81463044 meters Centerline goodness : 0.219534 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 9.97681821e-01 6.96586112e-04 -6.80477709e-02 4.61370775e-01] [-1.24902030e-03 9.99966608e-01 -8.07612042e-03 -1.17102875e-01] [ 6.80398729e-02 8.14239157e-03 9.97649376e-01 -1.32701034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84463044 meters Centerline goodness : 0.157523 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.13 [[ 9.97688064e-01 6.44483386e-04 -6.79566956e-02 4.61107194e-01] [-1.21031677e-03 9.99964942e-01 -8.28553832e-03 -1.15843672e-01] [ 6.79489733e-02 8.34863181e-03 9.97653867e-01 -1.32584484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87463044 meters Centerline goodness : 0.150510 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.13 [[ 9.97691689e-01 5.41883608e-04 -6.79043522e-02 4.60859731e-01] [-1.12509465e-03 9.99962809e-01 -8.55076450e-03 -1.14537326e-01] [ 6.78971932e-02 8.60742550e-03 9.97655193e-01 -1.32405877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90463044 meters Centerline goodness : 0.136694 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.13 [[ 0.99773875 0.00246673 -0.06716617 0.45709568] [-0.00294931 0.99997054 -0.00708668 -0.1114174 ] [ 0.06714671 0.00726875 0.99771664 -0.13031102] [ 0. 0. 0. 1. ]] SLAMing on 141.93463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.96463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.99463043999998 meters Centerline goodness : 0.174914 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.13 [[ 0.99774282 0.00256485 -0.06710201 0.45677994] [-0.00306674 0.99996808 -0.00737754 -0.10841873] [ 0.06708095 0.00756667 0.99771884 -0.12993524] [ 0. 0. 0. 1. ]] SLAMing on 142.02463043999998 meters Centerline goodness : 0.124528 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.13 [[ 0.99775104 0.00246219 -0.06698358 0.45668329] [-0.00298041 0.99996639 -0.00763769 -0.10708847] [ 0.06696253 0.00782016 0.99772484 -0.13014407] [ 0. 0. 0. 1. ]] SLAMing on 142.05463043999998 meters Centerline goodness : 0.457278 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.13 [[ 0.99774711 0.00230644 -0.06704769 0.45732758] [-0.00284608 0.99996432 -0.00795412 -0.10568642] [ 0.06702696 0.00812703 0.99771807 -0.13074543] [ 0. 0. 0. 1. ]] SLAMing on 142.08463043999998 meters Centerline goodness : 0.128634 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.13 [[ 0.99773101 0.00234345 -0.06728556 0.45795912] [-0.00288241 0.99996453 -0.00791418 -0.10566808] [ 0.06726463 0.00809017 0.99770237 -0.13084556] [ 0. 0. 0. 1. ]] SLAMing on 142.11463043999998 meters Centerline goodness : 0.127990 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.13 [[ 0.99771034 0.00244867 -0.06758762 0.45875608] [-0.00297908 0.99996555 -0.00774813 -0.10608935] [ 0.06756632 0.00793174 0.99768326 -0.13096188] [ 0. 0. 0. 1. ]] SLAMing on 142.14463044 meters Centerline goodness : 0.110014 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.13 [[ 0.99763041 -0.00536052 -0.0685917 0.47878476] [ 0.0049232 0.99996647 -0.00654309 -0.10339746] [ 0.06862448 0.0061899 0.99762336 -0.12806301] [ 0. 0. 0. 1. ]] SLAMing on 142.17463044 meters Centerline goodness : 0.115317 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.11, Z:-0.13 [[ 0.99759675 0.00170176 -0.06926632 0.4970689 ] [-0.0022313 0.99996887 -0.00756833 -0.10950757] [ 0.06925129 0.0077047 0.99756949 -0.12529411] [ 0. 0. 0. 1. ]] SLAMing on 142.20463044 meters Centerline goodness : 0.110961 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.11, Z:-0.12 [[ 0.99758746 0.00169178 -0.06940031 0.49713776] [-0.00222826 0.99996823 -0.00765359 -0.1092224 ] [ 0.06938515 0.00778976 0.99755953 -0.12493324] [ 0. 0. 0. 1. ]] SLAMing on 142.23463044 meters Centerline goodness : 0.118416 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.11, Z:-0.12 [[ 0.99757757 0.00174351 -0.06954098 0.49754787] [-0.00228446 0.99996774 -0.00770004 -0.10853679] [ 0.06952532 0.00784025 0.99754938 -0.12497577] [ 0. 0. 0. 1. ]] SLAMing on 142.26463044 meters Centerline goodness : 0.108109 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.11, Z:-0.12 [[ 0.99755954 0.00186696 -0.06979592 0.498155 ] [-0.00241201 0.99996725 -0.00772575 -0.10752694] [ 0.06977921 0.00787524 0.99753137 -0.12490236] [ 0. 0. 0. 1. ]] SLAMing on 142.29463044 meters Centerline goodness : 0.121352 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.11, Z:-0.12 [[ 0.99753572 0.00205743 -0.0701302 0.49899294] [-0.00260763 0.99996653 -0.00775465 -0.10609137] [ 0.0701119 0.00791841 0.9975077 -0.12485921] [ 0. 0. 0. 1. ]] SLAMing on 142.32463044 meters Centerline goodness : 0.118785 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.12 [[ 0.99750711 0.00572548 -0.07033331 0.4992044 ] [-0.00608495 0.99996949 -0.0048978 -0.10200515] [ 0.07030312 0.00531357 0.99751152 -0.12434385] [ 0. 0. 0. 1. ]] SLAMing on 142.35463044 meters Centerline goodness : 0.421204 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.13 [[ 0.99772791 0.0020297 -0.06734163 0.48110122] [-0.00221997 0.99999375 -0.00275067 -0.09365882] [ 0.06733563 0.00289392 0.99772618 -0.12676928] [ 0. 0. 0. 1. ]] SLAMing on 142.38463044 meters Centerline goodness : 0.153272 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.12 [[ 9.97704146e-01 -2.90093966e-03 -6.76610806e-02 5.00737405e-01] [ 2.94237323e-03 9.99995540e-01 5.12720855e-04 -8.86878827e-02] [ 6.76592915e-02 -7.10627875e-04 9.97708232e-01 -1.24188295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41463044 meters Centerline goodness : 0.092459 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.13 [[ 9.97653951e-01 5.87415600e-03 -6.82062185e-02 4.79514260e-01] [-5.92175665e-03 9.99982343e-01 -4.95726512e-04 -8.76033542e-02] [ 6.82021023e-02 8.98464141e-04 9.97671121e-01 -1.26036029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44463044 meters Centerline goodness : 0.107242 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.12 [[ 9.97642961e-01 -1.88387877e-03 -6.85928068e-02 4.99699550e-01] [ 1.89924649e-03 9.99998184e-01 1.58829262e-04 -8.14602616e-02] [ 6.85923831e-02 -2.88729542e-04 9.97644727e-01 -1.23825486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47463044 meters Centerline goodness : 0.218819 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.12 [[ 9.97633997e-01 -2.09156814e-03 -6.87170464e-02 5.00229331e-01] [ 2.08025740e-03 9.99997808e-01 -2.36157496e-04 -7.98419712e-02] [ 6.87173897e-02 9.26496026e-05 9.97636162e-01 -1.24135267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50463044 meters Centerline goodness : 0.087793 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.12 [[ 9.97610559e-01 -2.43251730e-03 -6.90453120e-02 5.01089769e-01] [ 2.38478517e-03 9.99996857e-01 -7.73735195e-04 -7.77529640e-02] [ 6.90469771e-02 6.07228165e-04 9.97613225e-01 -1.24197346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53463044 meters Centerline goodness : 0.127184 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.12 [[ 9.97613909e-01 -2.43248942e-03 -6.89969005e-02 5.00763242e-01] [ 2.37487720e-03 9.99996760e-01 -9.17012441e-04 -7.64309847e-02] [ 6.89989076e-02 7.50965200e-04 9.97616453e-01 -1.23872866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56463044 meters Centerline goodness : 0.130860 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.12 [[ 9.97626661e-01 -2.42972797e-03 -6.88123594e-02 5.00019358e-01] [ 2.35764502e-03 9.99996584e-01 -1.12872359e-03 -7.46230103e-02] [ 6.88148668e-02 9.63809635e-04 9.97628982e-01 -1.23406575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59463044 meters Centerline goodness : 0.117281 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.12 [[ 0.9976508 -0.00240543 -0.06846241 0.49889164] [ 0.00231536 0.99999635 -0.0013949 -0.07250229] [ 0.06846552 0.0012331 0.99765272 -0.12288715] [ 0. 0. 0. 1. ]] SLAMing on 142.62463044 meters Centerline goodness : 0.109264 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.12 [[ 9.97710698e-01 -5.67902980e-04 -6.76242651e-02 4.95923000e-01] [ 5.32589333e-04 9.99999712e-01 -5.40231262e-04 -6.55816248e-02] [ 6.76245524e-02 5.02978547e-04 9.97710713e-01 -1.21672753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65463044 meters Centerline goodness : 0.097107 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.12 [[ 0.99774005 0.00721279 -0.06680391 0.5154482 ] [-0.00736275 0.9999709 -0.00199883 -0.06538892] [ 0.06678755 0.00248617 0.99776412 -0.1191659 ] [ 0. 0. 0. 1. ]] SLAMing on 142.68463044 meters Centerline goodness : 0.112540 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.12 [[ 0.99774494 0.00734701 -0.06671626 0.51502108] [-0.00752496 0.99996877 -0.00241638 -0.06207514] [ 0.06669642 0.00291297 0.99776906 -0.11886965] [ 0. 0. 0. 1. ]] SLAMing on 142.71463044 meters Centerline goodness : 0.459251 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:-0.12 [[ 0.99774952 0.0076579 -0.06661265 0.51441001] [-0.00785441 0.99996554 -0.00268858 -0.05824537] [ 0.06658977 0.00320573 0.99777529 -0.1184265 ] [ 0. 0. 0. 1. ]] SLAMing on 142.74463043999998 meters Centerline goodness : 0.043613 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.12 [[ 0.99775759 0.00978721 -0.06621176 0.5127924 ] [-0.00990525 0.99994988 -0.00145475 -0.05202054] [ 0.0661942 0.00210733 0.99780453 -0.11788168] [ 0. 0. 0. 1. ]] SLAMing on 142.77463043999998 meters Centerline goodness : 0.107228 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.12 [[ 0.99776246 0.01063562 -0.06600724 0.511873 ] [-0.01074944 0.99994129 -0.00136944 -0.04537136] [ 0.0659888 0.00207592 0.9978182 -0.1175703 ] [ 0. 0. 0. 1. ]] SLAMing on 142.80463043999998 meters Centerline goodness : 0.088083 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.12 [[ 9.97704954e-01 1.30472444e-02 -6.64424070e-02 5.12805381e-01] [-1.31267494e-02 9.99913552e-01 -7.60153271e-04 -3.34575674e-02] [ 6.64267453e-02 1.63058151e-03 9.97789972e-01 -1.18012338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83463043999998 meters Centerline goodness : 0.337246 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.12 [[ 0.9976609 0.01321133 -0.06706857 0.51427009] [-0.01332581 0.99991041 -0.00125985 -0.02926606] [ 0.06704591 0.00215064 0.99774757 -0.11823272] [ 0. 0. 0. 1. ]] SLAMing on 142.86463043999998 meters Centerline goodness : 0.094680 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.12 [[ 9.97578696e-01 1.65160002e-02 -6.75571338e-02 5.15918121e-01] [-1.64857199e-02 9.99863595e-01 1.00573226e-03 -2.39070970e-02] [ 6.75645294e-02 1.10430901e-04 9.97714900e-01 -1.18933496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89463044 meters Centerline goodness : 0.159453 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:-0.12 [[ 0.99749922 0.01961894 -0.06789989 0.51673352] [-0.01950212 0.99980698 0.00238304 -0.01390778] [ 0.06793354 -0.00105289 0.99768929 -0.11947839] [ 0. 0. 0. 1. ]] SLAMing on 142.92463044 meters Centerline goodness : 0.088407 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.12 [[ 0.99767628 0.01122357 -0.06720175 0.50074864] [-0.01105233 0.99993466 0.00291943 -0.00290141] [ 0.06723013 -0.00216991 0.99773514 -0.12179498] [ 0. 0. 0. 1. ]] SLAMing on 142.95463044 meters Centerline goodness : 0.101616 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:-0.12 [[ 0.9976053 0.00393372 -0.06905212 0.52040528] [-0.00371203 0.99998754 0.0033384 0.00778045] [ 0.06906439 -0.00307408 0.99760747 -0.11910764] [ 0. 0. 0. 1. ]] SLAMing on 142.98463044 meters Centerline goodness : 0.128779 Centerline is valid? [False, False] Translation: X:0.54, Y:0.02, Z:-0.12 [[ 0.99748495 -0.00161258 -0.07086026 0.54270335] [ 0.00201217 0.99998247 0.00556818 0.01690381] [ 0.07085004 -0.00569676 0.99747071 -0.11752131] [ 0. 0. 0. 1. ]] SLAMing on 143.01463044 meters Centerline goodness : 0.096753 Centerline is valid? [False, False] Translation: X:0.54, Y:0.02, Z:-0.12 [[ 0.99743909 -0.00159964 -0.07150318 0.54444809] [ 0.00196577 0.99998531 0.00505043 0.02144309] [ 0.07149405 -0.00517805 0.99742759 -0.11774266] [ 0. 0. 0. 1. ]] SLAMing on 143.04463044 meters Centerline goodness : 0.093841 Centerline is valid? [False, False] Translation: X:0.55, Y:0.03, Z:-0.12 [[ 0.99740547 -0.00213997 -0.07195658 0.54564249] [ 0.00242227 0.99998971 0.0038362 0.02943405] [ 0.07194763 -0.00400055 0.99740039 -0.1178087 ] [ 0. 0. 0. 1. ]] SLAMing on 143.07463044 meters Centerline goodness : 0.132535 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:-0.12 [[ 0.99739113 0.0043919 -0.07205302 0.56477011] [-0.00424504 0.99998859 0.0021912 0.02796315] [ 0.07206182 -0.00187961 0.9973984 -0.11521114] [ 0. 0. 0. 1. ]] SLAMing on 143.10463044 meters Centerline goodness : 0.181441 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.11 [[ 0.99740006 -0.00444137 -0.07192638 0.58474795] [ 0.00465649 0.99998517 0.00282336 0.03350051] [ 0.07191277 -0.00315094 0.99740595 -0.11293577] [ 0. 0. 0. 1. ]] SLAMing on 143.13463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.16463044 meters Centerline goodness : 0.096165 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.11 [[ 0.99741321 -0.00493869 -0.07171115 0.58454791] [ 0.00513464 0.99998357 0.00254842 0.03419243] [ 0.07169739 -0.00291003 0.99742219 -0.11315083] [ 0. 0. 0. 1. ]] SLAMing on 143.19463044 meters Centerline goodness : 0.120948 Centerline is valid? [False, False] Translation: X:0.59, Y:0.03, Z:-0.11 [[ 0.9973984 -0.00540857 -0.07188307 0.58536587] [ 0.00558193 0.99998198 0.00221102 0.03439229] [ 0.07186982 -0.00260652 0.99741062 -0.11352423] [ 0. 0. 0. 1. ]] SLAMing on 143.22463044 meters Centerline goodness : 0.108775 Centerline is valid? [False, False] Translation: X:0.60, Y:0.03, Z:-0.11 [[ 9.97383946e-01 1.34755975e-03 -7.22734328e-02 6.04952523e-01] [-1.28909535e-03 9.99998803e-01 8.55572170e-04 3.06357659e-02] [ 7.22744993e-02 -7.60166601e-04 9.97384489e-01 -1.10837862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25463044 meters Centerline goodness : 0.137307 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.11 [[ 9.97376313e-01 1.23937287e-03 -7.23806145e-02 6.05092014e-01] [-1.19984074e-03 9.99999106e-01 5.89647322e-04 3.17812520e-02] [ 7.23812806e-02 -5.01255062e-04 9.97376909e-01 -1.10665234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28463044 meters Centerline goodness : 0.166910 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.11 [[ 0.99752161 0.00118157 -0.07035086 0.64645315] [-0.00109128 0.99999853 0.0013219 0.03306971] [ 0.07035232 -0.00124185 0.99752143 -0.10700745] [ 0. 0. 0. 1. ]] SLAMing on 143.31463044 meters Centerline goodness : 0.154012 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.11 [[ 0.99754906 0.00152914 -0.06995387 0.6451158 ] [-0.00144591 0.99999819 0.00124041 0.03512639] [ 0.06995564 -0.00113623 0.99754946 -0.10638458] [ 0. 0. 0. 1. ]] SLAMing on 143.34463044 meters Centerline goodness : 0.122994 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.11 [[ 0.99757137 0.00191239 -0.06962539 0.6441332 ] [-0.00183583 0.99999764 0.00116353 0.03738701] [ 0.06962745 -0.00103288 0.99757253 -0.10602876] [ 0. 0. 0. 1. ]] SLAMing on 143.37463044 meters Centerline goodness : 0.456678 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.10 [[ 9.97579849e-01 1.11896152e-02 -6.86238836e-02 6.65012743e-01] [-1.11530772e-02 9.99937383e-01 9.15562654e-04 3.94974824e-02] [ 6.86298314e-02 -1.47979385e-04 9.97642183e-01 -1.04447318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40463044 meters Centerline goodness : 0.093488 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.10 [[ 9.97566940e-01 1.12768123e-02 -6.87970525e-02 6.65358327e-01] [-1.12561143e-02 9.99936411e-01 6.88514187e-04 4.12585820e-02] [ 6.88004420e-02 8.75484953e-05 9.97630438e-01 -1.04391795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43463044 meters Centerline goodness : 0.148148 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.10 [[ 0.99766154 0.00358655 -0.06825387 0.68377883] [-0.00345877 0.99999204 0.00199018 0.0461512 ] [ 0.06826047 -0.00174945 0.997666 -0.102009 ] [ 0. 0. 0. 1. ]] SLAMing on 143.46463044 meters Centerline goodness : 0.094857 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.10 [[ 0.99766894 0.00359997 -0.06814494 0.68338446] [-0.00347769 0.99999212 0.00191287 0.04645408] [ 0.06815129 -0.00167143 0.9976736 -0.10180461] [ 0. 0. 0. 1. ]] SLAMing on 143.49463043999998 meters Centerline goodness : 0.214792 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.10 [[ 0.997671 0.00357045 -0.06811627 0.68336358] [-0.00344969 0.99999226 0.00189043 0.04604147] [ 0.06812249 -0.00165105 0.9976756 -0.10185379] [ 0. 0. 0. 1. ]] SLAMing on 143.52463043999998 meters Centerline goodness : 0.168485 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.10 [[ 0.99766799 0.00350605 -0.06816365 0.68349768] [-0.00338342 0.99999244 0.00191447 0.04509536] [ 0.06816985 -0.00167938 0.99767232 -0.10184974] [ 0. 0. 0. 1. ]] SLAMing on 143.55463043999998 meters Centerline goodness : 0.113357 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.10 [[ 0.99763498 0.00372967 -0.0686334 0.68505683] [-0.00357166 0.99999068 0.00242483 0.04259692] [ 0.0686418 -0.00217396 0.997639 -0.10235892] [ 0. 0. 0. 1. ]] SLAMing on 143.58463043999998 meters Centerline goodness : 0.116585 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.10 [[ 0.99760991 0.00387374 -0.0689888 0.68632876] [-0.00369603 0.99998952 0.00270343 0.04140244] [ 0.06899855 -0.00244199 0.99761377 -0.10290371] [ 0. 0. 0. 1. ]] SLAMing on 143.61463043999998 meters Centerline goodness : 0.108114 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.10 [[ 0.9976002 0.00393629 -0.06912552 0.68698782] [-0.00374663 0.99998885 0.00287309 0.04033447] [ 0.06913606 -0.00260721 0.99760383 -0.10327587] [ 0. 0. 0. 1. ]] SLAMing on 143.64463044 meters Centerline goodness : 0.128768 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.10 [[ 0.99759717 0.00393881 -0.06916914 0.68716805] [-0.0037403 0.99998851 0.0029992 0.03893634] [ 0.06918016 -0.00273328 0.99760044 -0.10334493] [ 0. 0. 0. 1. ]] SLAMing on 143.67463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.70463044 meters Centerline goodness : 0.126320 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.10 [[ 0.99759228 0.00398269 -0.06923708 0.6877633 ] [-0.00373795 0.9999863 0.00366405 0.03115516] [ 0.06925072 -0.00339642 0.99759351 -0.10372346] [ 0. 0. 0. 1. ]] SLAMing on 143.73463044 meters Centerline goodness : 0.126607 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.10 [[ 0.99757755 0.00401392 -0.06944718 0.68858421] [-0.00374926 0.99998521 0.00394086 0.02885006] [ 0.06946197 -0.00367094 0.99757785 -0.10405958] [ 0. 0. 0. 1. ]] SLAMing on 143.76463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.79463044 meters Centerline goodness : 0.090686 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.10 [[ 0.99756848 0.0043363 -0.06955802 0.68932413] [-0.00401767 0.99998079 0.00472002 0.02363074] [ 0.06957715 -0.00442908 0.99756674 -0.10458973] [ 0. 0. 0. 1. ]] SLAMing on 143.82463044 meters Centerline goodness : 0.090686 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.10 [[ 0.99756848 0.0043363 -0.06955802 0.68932413] [-0.00401767 0.99998079 0.00472002 0.02363074] [ 0.06957715 -0.00442908 0.99756674 -0.10458973] [ 0. 0. 0. 1. ]] SLAMing on 143.85463044 meters Centerline goodness : 0.131465 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.10 [[ 0.99765481 -0.00182903 -0.06842179 0.70997274] [ 0.00235028 0.99996882 0.00753847 0.02489211] [ 0.06840586 -0.00768161 0.997628 -0.10366739] [ 0. 0. 0. 1. ]] SLAMing on 143.88463044 meters Centerline goodness : 0.094484 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.10 [[ 0.99766857 -0.00161475 -0.06822626 0.7094821 ] [ 0.00215116 0.99996735 0.00778949 0.02424173] [ 0.06821145 -0.00791809 0.99763946 -0.10360781] [ 0. 0. 0. 1. ]] SLAMing on 143.91463044 meters Centerline goodness : 0.136634 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.10 [[ 0.99767123 -0.001549 -0.06818878 0.70951167] [ 0.00208979 0.99996692 0.00786019 0.02352824] [ 0.06817435 -0.00798438 0.99764147 -0.10375419] [ 0. 0. 0. 1. ]] SLAMing on 143.94463044 meters Centerline goodness : 0.090130 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.10 [[ 0.99766621 -0.00154195 -0.06826245 0.70985925] [ 0.00208269 0.99996701 0.00785106 0.02285302] [ 0.06824809 -0.00797491 0.99763651 -0.10396087] [ 0. 0. 0. 1. ]] SLAMing on 143.97463044 meters Centerline goodness : 0.095274 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.11 [[ 0.99765855 0.00678734 -0.06805407 0.68994071] [-0.00634059 0.99995692 0.00677862 0.01632212] [ 0.06809715 -0.00633125 0.99765861 -0.10640654] [ 0. 0. 0. 1. ]] SLAMing on 144.00463044 meters Centerline goodness : 0.105096 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.11 [[ 0.99766665 0.00686813 -0.06792698 0.68936824] [-0.006414 0.99995562 0.00690133 0.01576106] [ 0.06797137 -0.00644954 0.99766643 -0.10602377] [ 0. 0. 0. 1. ]] SLAMing on 144.03463044 meters Centerline goodness : 0.095456 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.11 [[ 0.99767642 0.00692694 -0.06777741 0.68879128] [-0.00646616 0.99995449 0.00701542 0.01519522] [ 0.06782292 -0.00656086 0.9976758 -0.10574616] [ 0. 0. 0. 1. ]] SLAMing on 144.06463044 meters Centerline goodness : 0.099776 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.11 [[ 0.99768208 0.00692123 -0.06769464 0.68856519] [-0.006459 0.99995433 0.00704468 0.0147666 ] [ 0.0677403 -0.00659111 0.99768122 -0.10569611] [ 0. 0. 0. 1. ]] SLAMing on 144.09463044 meters Centerline goodness : 0.099698 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.11 [[ 9.97816697e-01 4.35395745e-04 -6.60427911e-02 6.71847753e-01] [ 8.17471296e-05 9.99969361e-01 7.82751679e-03 1.82580484e-02] [ 6.60441756e-02 -7.81582576e-03 9.97786089e-01 -1.09330558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12463044 meters Centerline goodness : 0.095765 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.11 [[ 9.97810852e-01 5.17903411e-04 -6.61304360e-02 6.72178303e-01] [ 3.77056111e-06 9.99968888e-01 7.88819243e-03 1.82544062e-02] [ 6.61324638e-02 -7.87117336e-03 9.97779806e-01 -1.09521168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15463044 meters Centerline goodness : 0.096405 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.11 [[ 9.97803469e-01 5.66903712e-04 -6.62413488e-02 6.72479753e-01] [-4.12393687e-05 9.99968503e-01 7.93669030e-03 1.82005164e-02] [ 6.62437618e-02 -7.91652536e-03 9.97772064e-01 -1.09562320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18463044 meters Centerline goodness : 0.101530 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.11 [[ 9.97800298e-01 5.72706988e-04 -6.62890458e-02 6.72591258e-01] [-4.50925028e-05 9.99968314e-01 7.96052382e-03 1.79475085e-02] [ 6.62915043e-02 -7.94002390e-03 9.97768707e-01 -1.09585427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21463044 meters Centerline goodness : 0.107848 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.11 [[ 9.97785880e-01 4.76393102e-04 -6.65064647e-02 6.73144754e-01] [ 6.20966361e-05 9.99967237e-01 8.09450095e-03 1.57800946e-02] [ 6.65081419e-02 -8.08070858e-03 9.97753160e-01 -1.09554014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24463043999998 meters Centerline goodness : 0.102255 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.11 [[ 9.97794899e-01 5.23857100e-04 -6.63706673e-02 6.72795285e-01] [ 3.22592176e-05 9.99964907e-01 8.37759844e-03 1.39755983e-02] [ 6.63727268e-02 -8.36126606e-03 9.97759866e-01 -1.09488745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27463043999998 meters Centerline goodness : 0.102847 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.11 [[ 9.97815530e-01 6.71483532e-04 -6.60584438e-02 6.72137332e-01] [-8.32015561e-05 9.99960321e-01 8.90782540e-03 1.12540820e-02] [ 6.60618041e-02 -8.88287036e-03 9.97775993e-01 -1.09447733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30463043999998 meters Centerline goodness : 0.188919 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.11 [[ 9.97834384e-01 8.63976421e-04 -6.57707761e-02 6.71515097e-01] [-2.43351336e-04 9.99955379e-01 9.44360970e-03 8.77438812e-03] [ 6.57760003e-02 -9.40715306e-03 9.97790070e-01 -1.09398657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33463043999998 meters Centerline goodness : 0.107219 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.11 [[ 9.97848584e-01 9.72167252e-04 -6.55534748e-02 6.71062158e-01] [-3.30172379e-04 9.99951889e-01 9.80357550e-03 6.76999709e-03] [ 6.55598517e-02 -9.76083999e-03 9.97800898e-01 -1.09336699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36463043999998 meters Centerline goodness : 0.105495 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.11 [[ 0.99783299 -0.00231651 -0.06575687 0.67225452] [ 0.00276523 0.9999735 0.00673385 0.00521034] [ 0.06573953 -0.00690109 0.99781295 -0.11012535] [ 0. 0. 0. 1. ]] SLAMing on 144.39463044 meters Centerline goodness : 0.101898 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.11 [[ 0.99780765 -0.00236842 -0.06613837 0.67349144] [ 0.00281279 0.99997409 0.0066265 0.00516794] [ 0.06612096 -0.006798 0.99778846 -0.11062004] [ 0. 0. 0. 1. ]] SLAMing on 144.42463044 meters Centerline goodness : 0.099842 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.11 [[ 0.99778399 -0.00220864 -0.06649982 0.67460706] [ 0.00265248 0.99997479 0.00658684 0.00593376] [ 0.0664836 -0.00674863 0.9977647 -0.11104593] [ 0. 0. 0. 1. ]] SLAMing on 144.45463044 meters Centerline goodness : 0.114943 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.11 [[ 0.99776915 -0.00182707 -0.06673372 0.6753697 ] [ 0.00227607 0.99997528 0.00665274 0.00731978] [ 0.06671991 -0.00678979 0.99774864 -0.11144271] [ 0. 0. 0. 1. ]] SLAMing on 144.48463044 meters Centerline goodness : 0.142353 Centerline is valid? [False, False] Translation: X:0.66, Y:0.00, Z:-0.11 [[ 0.9977264 0.00750027 -0.06697596 0.65571108] [-0.0071016 0.99995563 0.00618856 0.00469451] [ 0.06701941 -0.00569885 0.9977354 -0.11379856] [ 0. 0. 0. 1. ]] SLAMing on 144.51463044 meters Centerline goodness : 0.128057 Centerline is valid? [False, False] Translation: X:0.66, Y:0.01, Z:-0.11 [[ 0.99772955 0.00757791 -0.0669203 0.65574019] [-0.00721165 0.99995768 0.00571293 0.00755467] [ 0.06696076 -0.00521735 0.99774197 -0.11408657] [ 0. 0. 0. 1. ]] SLAMing on 144.54463044 meters Centerline goodness : 0.140074 Centerline is valid? [False, False] Translation: X:0.66, Y:0.01, Z:-0.11 [[ 0.99773062 0.00746901 -0.06691658 0.6558007 ] [-0.00712014 0.9999598 0.00545054 0.0084788 ] [ 0.0669546 -0.00496171 0.99774369 -0.11423353] [ 0. 0. 0. 1. ]] SLAMing on 144.57463044 meters Centerline goodness : 0.103085 Centerline is valid? [False, False] Translation: X:0.66, Y:0.01, Z:-0.11 [[ 0.99772864 0.0073943 -0.0669543 0.65596114] [-0.00705726 0.99996122 0.005269 0.00928022] [ 0.06699066 -0.00478452 0.99774213 -0.11438454] [ 0. 0. 0. 1. ]] SLAMing on 144.60463044 meters Centerline goodness : 0.156457 Centerline is valid? [False, False] Translation: X:0.66, Y:0.01, Z:-0.11 [[ 0.99772142 0.00738653 -0.06706273 0.65635721] [-0.00705531 0.99996172 0.00517454 0.0098742 ] [ 0.06709839 -0.0046896 0.99773534 -0.11460241] [ 0. 0. 0. 1. ]] SLAMing on 144.63463044 meters Centerline goodness : 0.107709 Centerline is valid? [False, False] Translation: X:0.64, Y:0.01, Z:-0.12 [[ 9.97741583e-01 -1.22095647e-04 -6.71693215e-02 6.36686306e-01] [ 5.39983689e-04 9.99980614e-01 6.20329180e-03 1.36945126e-02] [ 6.71672619e-02 -6.22555252e-03 9.97722307e-01 -1.17189679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66463044 meters Centerline goodness : 0.097896 Centerline is valid? [False, False] Translation: X:0.64, Y:0.01, Z:-0.12 [[ 9.97746851e-01 -9.10850087e-05 -6.70910741e-02 6.36169384e-01] [ 5.14930860e-04 9.99980021e-01 6.30020403e-03 1.32394532e-02] [ 6.70891598e-02 -6.32055600e-03 9.97726964e-01 -1.16703281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69463044 meters Centerline goodness : 0.108184 Centerline is valid? [False, False] Translation: X:0.64, Y:0.01, Z:-0.12 [[ 9.97760954e-01 -5.74703493e-05 -6.68810499e-02 6.35285082e-01] [ 4.88344856e-04 9.99979233e-01 6.42606949e-03 1.27347826e-02] [ 6.68792917e-02 -6.44434224e-03 9.97740262e-01 -1.16122418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72463044 meters Centerline goodness : 0.098157 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.12 [[ 9.97682965e-01 8.24323326e-04 -6.80295594e-02 5.89238910e-01] [-3.80996347e-04 9.99978611e-01 6.52939887e-03 9.16880418e-03] [ 6.80334867e-02 -6.48835102e-03 9.97661940e-01 -1.18026855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75463044 meters Centerline goodness : 0.099585 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.12 [[ 9.97679551e-01 1.02269695e-03 -6.80769218e-02 5.89355462e-01] [-5.48320216e-04 9.99975443e-01 6.98656697e-03 6.84766989e-03] [ 6.80823952e-02 -6.93302705e-03 9.97655612e-01 -1.17849287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78463044 meters Centerline goodness : 0.141694 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.12 [[ 9.97686522e-01 1.02923882e-03 -6.79745800e-02 5.89145731e-01] [-5.41154831e-04 9.99973945e-01 7.19841331e-03 5.18967845e-03] [ 6.79802178e-02 -7.14497517e-03 9.97661084e-01 -1.17841637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81463044 meters Centerline goodness : 0.097943 Centerline is valid? [False, False] Translation: X:0.61, Y:0.00, Z:-0.11 [[ 9.97698729e-01 8.05786722e-03 -6.73224907e-02 6.07703912e-01] [-7.67163707e-03 9.99952610e-01 5.99358120e-03 1.52364871e-04] [ 6.73675958e-02 -5.46331463e-03 9.97713265e-01 -1.14958176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84463044 meters Centerline goodness : 0.101096 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.11 [[ 0.99771261 0.00810419 -0.06711083 0.60706349] [-0.00770431 0.99995101 0.00621515 -0.0012755 ] [ 0.06715792 -0.00568389 0.99772617 -0.11472646] [ 0. 0. 0. 1. ]] SLAMing on 144.87463044 meters Centerline goodness : 0.098429 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.11 [[ 0.9977228 0.00816393 -0.06695191 0.60667438] [-0.0077527 0.99994947 0.00639979 -0.00238093] [ 0.06700078 -0.00586616 0.99773568 -0.11469407] [ 0. 0. 0. 1. ]] SLAMing on 144.90463044 meters Centerline goodness : 0.102200 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.11 [[ 0.99772999 0.00822208 -0.06683767 0.60632036] [-0.00779899 0.99994788 0.00658859 -0.00353605] [ 0.06688835 -0.00605237 0.99774211 -0.11456739] [ 0. 0. 0. 1. ]] SLAMing on 144.93463044 meters Centerline goodness : 0.091060 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.11 [[ 0.9977502 0.00830905 -0.06652445 0.60526848] [-0.00786236 0.99994477 0.00697372 -0.00608428] [ 0.06657872 -0.00643499 0.99776042 -0.11410785] [ 0. 0. 0. 1. ]] SLAMing on 144.96463044 meters Centerline goodness : 0.109940 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.11 [[ 0.99775278 0.00847697 -0.0664645 0.60509071] [-0.00800541 0.99994088 0.00735805 -0.00791637] [ 0.06652295 -0.00680944 0.99776166 -0.11399056] [ 0. 0. 0. 1. ]] SLAMing on 144.99463043999998 meters Centerline goodness : 0.098261 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.11 [[ 0.99774377 0.00864838 -0.06657758 0.60548366] [-0.00814509 0.99993619 0.00782721 -0.01035461] [ 0.06664102 -0.00726727 0.99775055 -0.11409302] [ 0. 0. 0. 1. ]] SLAMing on 145.02463043999998 meters Centerline goodness : 0.098773 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.11 [[ 0.99772897 0.00877189 -0.06678286 0.60628986] [-0.00823641 0.99993172 0.00828937 -0.01324275] [ 0.06685101 -0.0077205 0.9977331 -0.11442612] [ 0. 0. 0. 1. ]] SLAMing on 145.05463043999998 meters Centerline goodness : 0.169441 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.12 [[ 0.99770206 0.00618724 -0.06747083 0.60890167] [-0.00578628 0.99996443 0.00613652 -0.01643375] [ 0.0675064 -0.00573201 0.99770238 -0.1153652 ] [ 0. 0. 0. 1. ]] SLAMing on 145.08463043999998 meters Centerline goodness : 0.101871 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.02, Z:-0.11 [[ 0.99775351 -0.00335419 -0.066908 0.62933006] [ 0.00379714 0.9999717 0.00649422 -0.01975198] [ 0.06688432 -0.00673369 0.99773801 -0.11361981] [ 0. 0. 0. 1. ]] SLAMing on 145.11463043999998 meters Centerline goodness : 0.104269 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.12 [[ 0.99777993 0.00404408 -0.06647447 0.61191769] [-0.00369337 0.99997861 0.00539791 -0.02924874] [ 0.06649488 -0.00514041 0.99777353 -0.11672612] [ 0. 0. 0. 1. ]] SLAMing on 145.14463044 meters Centerline goodness : 0.177192 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.12 [[ 0.99776378 0.00427038 -0.0667024 0.61277139] [-0.00388322 0.99997486 0.00593282 -0.03188251] [ 0.06672605 -0.00566054 0.99775528 -0.1170825 ] [ 0. 0. 0. 1. ]] SLAMing on 145.17463044 meters Centerline goodness : 0.179751 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.12 [[ 0.99774549 0.00446488 -0.06696266 0.61380119] [-0.00404735 0.99997152 0.0063696 -0.03412949] [ 0.06698919 -0.00608422 0.99773515 -0.1175593 ] [ 0. 0. 0. 1. ]] SLAMing on 145.20463044 meters Centerline goodness : 0.100135 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.12 [[ 0.99773269 0.00464528 -0.06714096 0.61457907] [-0.00419896 0.99996815 0.0067872 -0.0362752 ] [ 0.06717035 -0.00648989 0.99772041 -0.1179945 ] [ 0. 0. 0. 1. ]] SLAMing on 145.23463044 meters Centerline goodness : 0.104068 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.12 [[ 0.99771013 0.0048897 -0.06745799 0.61551785] [-0.0043987 0.99996276 0.00742523 -0.04057058] [ 0.06749179 -0.0071115 0.99769448 -0.11813401] [ 0. 0. 0. 1. ]] SLAMing on 145.26463044 meters Centerline goodness : 0.099731 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.12 [[ 0.99769803 0.0050883 -0.06762218 0.61612673] [-0.00456427 0.99995836 0.00790166 -0.04326704] [ 0.06765957 -0.00757482 0.99767971 -0.118346 ] [ 0. 0. 0. 1. ]] SLAMing on 145.29463044 meters Centerline goodness : 0.098572 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.12 [[ 0.99768198 0.00526109 -0.06784539 0.61674106] [-0.0047004 0.99995349 0.00842126 -0.04640201] [ 0.06788654 -0.00808284 0.99766031 -0.11839949] [ 0. 0. 0. 1. ]] SLAMing on 145.32463044 meters Centerline goodness : 0.112862 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.12 [[ 0.99767177 0.00301145 -0.06813207 0.61843325] [-0.00254904 0.99997313 0.00687297 -0.05263346] [ 0.06815093 -0.0066833 0.99765264 -0.11931251] [ 0. 0. 0. 1. ]] SLAMing on 145.35463044 meters Centerline goodness : 0.459717 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.12 [[ 0.99767372 0.00309993 -0.06809947 0.61839336] [-0.00261753 0.99997086 0.00717192 -0.05469584] [ 0.06811972 -0.00697698 0.99765276 -0.11931792] [ 0. 0. 0. 1. ]] SLAMing on 145.38463044 meters Centerline goodness : 0.096134 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.12 [[ 0.9976795 0.00317201 -0.06801142 0.61817054] [-0.00267594 0.99996916 0.0073838 -0.05610774] [ 0.06803274 -0.00718467 0.99765722 -0.11926976] [ 0. 0. 0. 1. ]] SLAMing on 145.41463044 meters Centerline goodness : 0.294248 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.12 [[ 0.997689 0.00322775 -0.06786935 0.61786355] [-0.00272422 0.99996809 0.00751033 -0.05689232] [ 0.06789143 -0.00730809 0.99766595 -0.11930186] [ 0. 0. 0. 1. ]] SLAMing on 145.44463044 meters Centerline goodness : 0.264436 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.12 [[ 0.99770355 0.0034906 -0.06764197 0.61708668] [-0.00297239 0.99996547 0.0077603 -0.05737846] [ 0.06766672 -0.00754142 0.99767948 -0.11896633] [ 0. 0. 0. 1. ]] SLAMing on 145.47463044 meters Centerline goodness : 0.305877 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:-0.12 [[ 0.99761751 0.01125947 -0.06806266 0.63756028] [-0.01081865 0.99991807 0.0068419 -0.05988179] [ 0.06813412 -0.00608926 0.99765759 -0.11635486] [ 0. 0. 0. 1. ]] SLAMing on 145.50463044 meters Centerline goodness : 0.205240 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:-0.12 [[ 0.99759696 0.01130167 -0.06835631 0.6385577 ] [-0.01085922 0.99991764 0.00684087 -0.05970414] [ 0.068428 -0.00608213 0.99763752 -0.11671457] [ 0. 0. 0. 1. ]] SLAMing on 145.53463044 meters Centerline goodness : 0.101516 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.12 [[ 0.99758 0.00328309 -0.06945051 0.61959768] [-0.00275156 0.9999662 0.00774768 -0.05677305] [ 0.0694736 -0.00753783 0.99755531 -0.11900171] [ 0. 0. 0. 1. ]] SLAMing on 145.56463044 meters Centerline goodness : 0.441020 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.12 [[ 0.99757287 0.00331777 -0.06955109 0.619819 ] [-0.0027775 0.99996523 0.00786323 -0.0574212 ] [ 0.06957476 -0.00765097 0.9975474 -0.11897941] [ 0. 0. 0. 1. ]] SLAMing on 145.59463044 meters Centerline goodness : 0.452632 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.12 [[ 0.99758197 0.00333994 -0.06941942 0.61933733] [-0.00279145 0.99996413 0.00799655 -0.0581705 ] [ 0.06944364 -0.00778343 0.99755551 -0.11869541] [ 0. 0. 0. 1. ]] SLAMing on 145.62463044 meters Centerline goodness : 0.361300 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.11 [[ 0.99779678 0.00212836 -0.0663103 0.65888372] [-0.00163125 0.99997017 0.00755 -0.05834658] [ 0.06632439 -0.0074252 0.99777049 -0.11491371] [ 0. 0. 0. 1. ]] SLAMing on 145.65463044 meters Centerline goodness : 0.291500 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.11 [[ 0.99780198 0.00213121 -0.06623195 0.65857143] [-0.00162208 0.99996873 0.00773999 -0.05981807] [ 0.06624637 -0.00761554 0.99777423 -0.1146892 ] [ 0. 0. 0. 1. ]] SLAMing on 145.68463044 meters Centerline goodness : 0.409145 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.11 [[ 0.99779668 0.00212538 -0.06631185 0.658805 ] [-0.00160232 0.99996719 0.00794013 -0.06137924] [ 0.06632655 -0.00781639 0.99776735 -0.11467884] [ 0. 0. 0. 1. ]] SLAMing on 145.71463044 meters Centerline goodness : 0.167954 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.11 [[ 0.99779678 0.00220671 -0.06630774 0.6588891 ] [-0.00166409 0.99996469 0.00823748 -0.06316885] [ 0.06632358 -0.00810899 0.99776522 -0.11473192] [ 0. 0. 0. 1. ]] SLAMing on 145.74463043999998 meters Centerline goodness : 0.167954 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.11 [[ 0.99779678 0.00220671 -0.06630774 0.6588891 ] [-0.00166409 0.99996469 0.00823748 -0.06316885] [ 0.06632358 -0.00810899 0.99776522 -0.11473192] [ 0. 0. 0. 1. ]] SLAMing on 145.77463043999998 meters Centerline goodness : 0.462548 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.11 [[ 0.9978141 0.00236509 -0.06604109 0.65823122] [-0.00179346 0.99996043 0.00871361 -0.06601992] [ 0.06605908 -0.00857612 0.99777886 -0.11458557] [ 0. 0. 0. 1. ]] SLAMing on 145.80463043999998 meters Centerline goodness : 0.089221 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.11 [[ 0.99781472 0.00244378 -0.06602884 0.65818577] [-0.00186028 0.99995869 0.00889703 -0.06713797] [ 0.06604785 -0.00875475 0.99777805 -0.11451377] [ 0. 0. 0. 1. ]] SLAMing on 145.83463043999998 meters Centerline goodness : 0.430850 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.11 [[ 0.99781273 0.00252756 -0.06605576 0.65824863] [-0.00193343 0.99995712 0.00905684 -0.06795606] [ 0.06607582 -0.00890932 0.99777483 -0.11449129] [ 0. 0. 0. 1. ]] SLAMing on 145.86463043999998 meters Centerline goodness : 0.334594 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.11 [[ 0.9977955 0.00285328 -0.06630231 0.65912495] [-0.00224209 0.99995433 0.00929086 -0.06838495] [ 0.06632579 -0.00912172 0.99775632 -0.11485395] [ 0. 0. 0. 1. ]] SLAMing on 145.89463044 meters Centerline goodness : 0.454941 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.11 [[ 0.99778516 0.0029551 -0.06645333 0.65950625] [-0.00233896 0.99995357 0.00934765 -0.06828107] [ 0.06647787 -0.00917152 0.99774575 -0.11489411] [ 0. 0. 0. 1. ]] SLAMing on 145.92463044 meters Centerline goodness : 0.089358 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.12 [[ 0.99778156 0.00305359 -0.06650283 0.65971813] [-0.00243351 0.99995283 0.00940307 -0.06828421] [ 0.0665284 -0.00922037 0.99774193 -0.11506813] [ 0. 0. 0. 1. ]] SLAMing on 145.95463044 meters Centerline goodness : 0.272337 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.12 [[ 0.99776928 0.0031421 -0.06668281 0.66028667] [-0.00251385 0.99995168 0.00950339 -0.06868932] [ 0.06670945 -0.00931456 0.99772897 -0.11526019] [ 0. 0. 0. 1. ]] SLAMing on 145.98463044 meters Centerline goodness : 0.100357 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.12 [[ 0.99775289 0.00320844 -0.06692435 0.66112742] [-0.0025709 0.99995052 0.00961026 -0.06936683] [ 0.06695187 -0.00941661 0.99771177 -0.11560487] [ 0. 0. 0. 1. ]] SLAMing on 146.01463044 meters Centerline goodness : 0.461575 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.12 [[ 0.99774087 0.00324216 -0.0671018 0.66191464] [-0.00259896 0.99994986 0.00967039 -0.06993291] [ 0.06712979 -0.00947414 0.99769927 -0.1160722 ] [ 0. 0. 0. 1. ]] SLAMing on 146.04463044 meters Centerline goodness : 0.094147 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.12 [[ 0.99773631 0.00330626 -0.06716643 0.66217171] [-0.00266622 0.9999502 0.00961661 -0.06971323] [ 0.06719488 -0.00941576 0.99769544 -0.11627459] [ 0. 0. 0. 1. ]] SLAMing on 146.07463044 meters Centerline goodness : 0.300678 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.12 [[ 0.99773248 0.00325589 -0.06722569 0.66221152] [-0.00262954 0.99995233 0.00940348 -0.06860672] [ 0.0672531 -0.00920539 0.99769348 -0.11621588] [ 0. 0. 0. 1. ]] SLAMing on 146.10463044 meters Centerline goodness : 0.097715 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.12 [[ 0.99773115 0.00325864 -0.06724536 0.66217349] [-0.00264404 0.99995394 0.00922663 -0.06734163] [ 0.06727233 -0.0090279 0.99769381 -0.11617448] [ 0. 0. 0. 1. ]] SLAMing on 146.13463044 meters Centerline goodness : 0.459821 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.11 [[ 0.99771275 0.01245672 -0.06643866 0.6842792 ] [-0.01188304 0.99988868 0.00902297 -0.06450177] [ 0.06654366 -0.00821284 0.99774971 -0.11481121] [ 0. 0. 0. 1. ]] SLAMing on 146.16463044 meters Centerline goodness : 0.277884 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.12 [[ 0.99771992 0.01244206 -0.06633368 0.68421184] [-0.01188647 0.99989095 0.00876379 -0.0625794 ] [ 0.06643549 -0.00795533 0.99775901 -0.11512902] [ 0. 0. 0. 1. ]] SLAMing on 146.19463044 meters Centerline goodness : 0.438721 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.12 [[ 0.9977214 0.01239592 -0.06632004 0.68431863] [-0.0118544 0.99989316 0.00855255 -0.06122011] [ 0.06641897 -0.00774688 0.99776175 -0.11533073] [ 0. 0. 0. 1. ]] SLAMing on 146.22463044 meters Centerline goodness : 0.090161 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.12 [[ 0.99772471 0.01230045 -0.06628804 0.68429654] [-0.0117727 0.99989587 0.0083463 -0.0601422 ] [ 0.0663838 -0.00754692 0.99776562 -0.11540865] [ 0. 0. 0. 1. ]] SLAMing on 146.25463044 meters Centerline goodness : 0.096002 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.12 [[ 0.99786149 0.00387828 -0.06524884 0.66292202] [-0.00332569 0.9999577 0.00857545 -0.05616139] [ 0.06527934 -0.00834011 0.99783218 -0.11746927] [ 0. 0. 0. 1. ]] SLAMing on 146.28463044 meters Centerline goodness : 0.459004 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.12 [[ 0.99786453 0.00360832 -0.06521778 0.66254538] [-0.00307622 0.99996118 0.00825728 -0.05539985] [ 0.06524504 -0.00803902 0.99783689 -0.11701893] [ 0. 0. 0. 1. ]] SLAMing on 146.31463044 meters Centerline goodness : 0.098874 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.12 [[ 0.99788634 0.00335232 -0.06489701 0.66134835] [-0.00284408 0.99996457 0.0079223 -0.05379858] [ 0.06492127 -0.00772098 0.99786052 -0.11641337] [ 0. 0. 0. 1. ]] SLAMing on 146.34463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 146.37463044 meters Centerline goodness : 0.373492 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.12 [[ 0.99791852 0.00336881 -0.06439937 0.6603705 ] [-0.00287579 0.99996586 0.00774676 -0.05156159] [ 0.06442327 -0.00754543 0.99789414 -0.11661157] [ 0. 0. 0. 1. ]] SLAMing on 146.40463044 meters Centerline goodness : 0.275123 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.12 [[ 0.99791609 0.00313886 -0.06444859 0.66073627] [-0.00266839 0.99996917 0.00738475 -0.05030022] [ 0.06446979 -0.00719739 0.9978937 -0.11694746] [ 0. 0. 0. 1. ]] SLAMing on 146.43463044 meters Centerline goodness : 0.450408 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.12 [[ 0.99784766 0.00815187 -0.06506606 0.68405963] [-0.00791794 0.99996123 0.00385237 -0.04931715] [ 0.06509494 -0.00332889 0.99787352 -0.11507236] [ 0. 0. 0. 1. ]] SLAMing on 146.46463044 meters Centerline goodness : 0.459828 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.12 [[ 0.99783208 0.00817793 -0.06530137 0.68468133] [-0.0079398 0.99996085 0.00390535 -0.04940476] [ 0.06533075 -0.00337841 0.99785795 -0.11514786] [ 0. 0. 0. 1. ]] SLAMing on 146.49463043999998 meters Centerline goodness : 0.455474 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99782148 0.00816494 -0.06546477 0.68542286] [-0.0079237 0.99996083 0.00394386 -0.04961782] [ 0.06549441 -0.00341655 0.99784709 -0.11557468] [ 0. 0. 0. 1. ]] SLAMing on 146.52463043999998 meters Centerline goodness : 0.285179 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99781049 0.0081153 -0.06563812 0.68635777] [-0.00787027 0.99996107 0.00399072 -0.05014638] [ 0.06566795 -0.00346539 0.99783551 -0.11624834] [ 0. 0. 0. 1. ]] SLAMing on 146.55463043999998 meters Centerline goodness : 0.458583 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99779862 0.00805195 -0.06582611 0.68710208] [-0.00780326 0.99996142 0.00403427 -0.05089856] [ 0.06585606 -0.00351173 0.99782295 -0.11656436] [ 0. 0. 0. 1. ]] SLAMing on 146.58463043999998 meters Centerline goodness : 0.162973 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99779158 0.00805626 -0.06593222 0.68731435] [-0.007799 0.99996094 0.00415827 -0.05160916] [ 0.06596314 -0.00363489 0.99781544 -0.11649565] [ 0. 0. 0. 1. ]] SLAMing on 146.61463043999998 meters Centerline goodness : 0.120060 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99781396 0.00797583 -0.0656025 0.68602347] [-0.00770903 0.99996096 0.00431914 -0.05299142] [ 0.06563439 -0.00380397 0.99783649 -0.11567394] [ 0. 0. 0. 1. ]] SLAMing on 146.64463044 meters Centerline goodness : 0.450436 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99782041 0.00789801 -0.06551376 0.68575844] [-0.00762737 0.99996132 0.00438013 -0.05407457] [ 0.06554582 -0.00387089 0.99784205 -0.11554866] [ 0. 0. 0. 1. ]] SLAMing on 146.67463044 meters Centerline goodness : 0.262673 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99781851 0.00783134 -0.06555064 0.68598306] [-0.00755637 0.99996159 0.00444168 -0.05510906] [ 0.06558291 -0.00393666 0.99783936 -0.11570098] [ 0. 0. 0. 1. ]] SLAMing on 146.70463044 meters Centerline goodness : 0.449140 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99776275 0.00792094 -0.06638332 0.68907038] [-0.0076345 0.99996043 0.00456754 -0.05552936] [ 0.06641687 -0.00405052 0.99778374 -0.11720144] [ 0. 0. 0. 1. ]] SLAMing on 146.73463044 meters Centerline goodness : 0.456588 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99772955 0.00800142 -0.06687097 0.69091918] [-0.0077094 0.99995959 0.00462383 -0.05546781] [ 0.06690527 -0.0040978 0.99775092 -0.11812564] [ 0. 0. 0. 1. ]] SLAMing on 146.76463044 meters Centerline goodness : 0.218730 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99770907 0.0079936 -0.06717679 0.69203948] [-0.0077017 0.99995975 0.00460317 -0.05546886] [ 0.06721088 -0.00407525 0.99773047 -0.11862735] [ 0. 0. 0. 1. ]] SLAMing on 146.79463044 meters Centerline goodness : 0.259798 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99770583 0.00491353 -0.06751987 0.6925241 ] [-0.00481575 0.99998711 0.0016108 -0.05586951] [ 0.06752691 -0.00128195 0.99771663 -0.1183599 ] [ 0. 0. 0. 1. ]] SLAMing on 146.82463044 meters Centerline goodness : 0.289800 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99770566 0.00489851 -0.06752348 0.69237825] [-0.00479801 0.99998713 0.00165036 -0.05635173] [ 0.06753069 -0.00132259 0.99771632 -0.11815443] [ 0. 0. 0. 1. ]] SLAMing on 146.85463044 meters Centerline goodness : 0.422069 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99771164 0.00490399 -0.06743473 0.69208611] [-0.00480164 0.99998706 0.00167974 -0.05663796] [ 0.0674421 -0.0013521 0.99772227 -0.1180553 ] [ 0. 0. 0. 1. ]] SLAMing on 146.88463044 meters Centerline goodness : 0.094027 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99771953 0.0049578 -0.06731386 0.69193986] [-0.00484931 0.99998667 0.00177494 -0.05709978] [ 0.06732176 -0.00144447 0.99773027 -0.11826618] [ 0. 0. 0. 1. ]] SLAMing on 146.91463044 meters Centerline goodness : 0.303225 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99773163 0.00498311 -0.06713243 0.69170977] [-0.00487127 0.99998646 0.00182959 -0.05744034] [ 0.06714064 -0.00149842 0.9977424 -0.11848523] [ 0. 0. 0. 1. ]] SLAMing on 146.94463044 meters Centerline goodness : 0.384630 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99778725 0.00529604 -0.06627641 0.68938513] [-0.00517267 0.99998456 0.002033 -0.0573092 ] [ 0.06628615 -0.00168568 0.99779923 -0.11811704] [ 0. 0. 0. 1. ]] SLAMing on 146.97463044 meters Centerline goodness : 0.105823 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99780669 0.00548074 -0.06596793 0.6883447 ] [-0.00535655 0.99998353 0.00205929 -0.05645228] [ 0.06597813 -0.00170141 0.99781962 -0.11773207] [ 0. 0. 0. 1. ]] SLAMing on 147.00463044 meters Centerline goodness : 0.457647 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.12 [[ 0.99782278 0.00564989 -0.06570979 0.68727906] [-0.00553143 0.99998273 0.00198455 -0.05522671] [ 0.06571987 -0.00161676 0.9978368 -0.11721646] [ 0. 0. 0. 1. ]] SLAMing on 147.03463044 meters Centerline goodness : 0.458139 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99782909 0.0057667 -0.06560376 0.68680578] [-0.00565773 0.99998229 0.00184661 -0.05391555] [ 0.06561324 -0.00147143 0.99784404 -0.1169987 ] [ 0. 0. 0. 1. ]] SLAMing on 147.06463044 meters Centerline goodness : 0.091771 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99782905 0.00581166 -0.06560032 0.68666941] [-0.00571774 0.99998234 0.00161939 -0.05245913] [ 0.06560857 -0.00124079 0.99784467 -0.11693908] [ 0. 0. 0. 1. ]] SLAMing on 147.09463044 meters Centerline goodness : 0.101112 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 0.99784435 0.00642565 -0.0653097 0.68614926] [-0.00633403 0.99997864 0.00160983 -0.04949002] [ 0.06531865 -0.00119268 0.99786374 -0.11734275] [ 0. 0. 0. 1. ]] SLAMing on 147.12463044 meters Centerline goodness : 0.099714 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 9.97853423e-01 6.45670906e-03 -6.51679195e-02 6.85895017e-01] [-6.38146262e-03 9.99978710e-01 1.36274523e-03 -4.75999088e-02] [ 6.51753310e-02 -9.43953349e-04 9.97873381e-01 -1.17523877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15463044 meters Centerline goodness : 0.104453 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.12 [[ 9.97865521e-01 6.36784140e-03 -6.49911738e-02 6.85452473e-01] [-6.31360686e-03 9.99979528e-01 1.03984031e-03 -4.58642846e-02] [ 6.49964648e-02 -6.27292070e-04 9.97885297e-01 -1.17616132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18463044 meters Centerline goodness : 0.251253 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.12 [[ 9.97879281e-01 6.10169986e-03 -6.48051659e-02 6.84468766e-01] [-6.08904231e-03 9.99981384e-01 3.92825292e-04 -4.24581965e-02] [ 6.48063564e-02 2.60917687e-06 9.97897859e-01 -1.17008629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21463044 meters Centerline goodness : 0.326216 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.12 [[ 9.97881787e-01 6.01612894e-03 -6.47745678e-02 6.84347343e-01] [-6.01878754e-03 9.99981875e-01 1.54094904e-04 -4.09580217e-02] [ 6.47743208e-02 2.36095864e-04 9.97899911e-01 -1.16976620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24463043999998 meters Centerline goodness : 0.376564 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.12 [[ 9.97876118e-01 5.91732928e-03 -6.48709425e-02 6.84785150e-01] [-5.93554902e-03 9.99982381e-01 -8.81378855e-05 -3.96040074e-02] [ 6.48692780e-02 4.72995350e-04 9.97893658e-01 -1.17252038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27463043999998 meters Centerline goodness : 0.458998 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.12 [[ 9.97718638e-01 5.79072214e-03 -6.72605938e-02 6.41360959e-01] [-5.82980570e-03 9.99982932e-01 -3.84809166e-04 -4.13697832e-02] [ 6.72572175e-02 7.76047469e-04 9.97735368e-01 -1.20364320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30463043999998 meters Centerline goodness : 0.198918 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.12 [[ 9.97690049e-01 5.47744489e-03 -6.77094127e-02 6.42949591e-01] [-5.55564209e-03 9.99984100e-01 -9.66645943e-04 -3.88164411e-02] [ 6.77030414e-02 1.34058230e-03 9.97704616e-01 -1.21059762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33463043999998 meters Centerline goodness : 0.455609 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.12 [[ 0.99767175 0.00526596 -0.06799519 0.64387944] [-0.005369 0.9999847 -0.00133276 -0.03734874] [ 0.06798713 0.00169472 0.99768476 -0.12140951] [ 0. 0. 0. 1. ]] SLAMing on 147.36463043999998 meters Centerline goodness : 0.308255 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.12 [[ 0.99765874 0.0050982 -0.06819857 0.64458324] [-0.0052221 0.99998502 -0.00163866 -0.03611347] [ 0.0681892 0.00199097 0.99767042 -0.12170892] [ 0. 0. 0. 1. ]] SLAMing on 147.39463044 meters Centerline goodness : 0.335764 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.12 [[ 0.99764169 0.00498368 -0.06845594 0.64546038] [-0.00511963 0.99998526 -0.00181069 -0.03539619] [ 0.06844591 0.00215688 0.9976525 -0.12208641] [ 0. 0. 0. 1. ]] SLAMing on 147.42463044 meters Centerline goodness : 0.264563 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99762435 0.00493082 -0.06871207 0.64635606] [-0.00507429 0.99998529 -0.00191353 -0.03474749] [ 0.06870163 0.00225765 0.9976347 -0.12242352] [ 0. 0. 0. 1. ]] SLAMing on 147.45463044 meters Centerline goodness : 0.260796 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99761639 0.00486408 -0.06883223 0.64697113] [-0.00501534 0.99998537 -0.00202489 -0.03417711] [ 0.06882137 0.00236528 0.99762619 -0.12282051] [ 0. 0. 0. 1. ]] SLAMing on 147.48463044 meters Centerline goodness : 0.150579 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99760332 0.00457362 -0.06904124 0.6477972 ] [-0.00475884 0.99998551 -0.00251845 -0.03219927] [ 0.06902872 0.00284097 0.99761063 -0.12325896] [ 0. 0. 0. 1. ]] SLAMing on 147.51463044 meters Centerline goodness : 0.098771 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99759751 0.00440837 -0.06913585 0.64815666] [-0.0046173 0.99998524 -0.00286258 -0.0306467 ] [ 0.06912221 0.00317493 0.99760315 -0.12346304] [ 0. 0. 0. 1. ]] SLAMing on 147.54463044 meters Centerline goodness : 0.203235 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99759336 0.00430747 -0.06920215 0.64842391] [-0.00453619 0.99998476 -0.00314824 -0.02907854] [ 0.06918753 0.00345458 0.99759769 -0.12362924] [ 0. 0. 0. 1. ]] SLAMing on 147.57463044 meters Centerline goodness : 0.112558 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99759743 0.00421781 -0.06914889 0.64829197] [-0.00446323 0.99998428 -0.00339499 -0.02766146] [ 0.06913348 0.00369547 0.99760057 -0.12368233] [ 0. 0. 0. 1. ]] SLAMing on 147.60463044 meters Centerline goodness : 0.096547 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 9.97616419e-01 -2.02415094e-03 -6.89737840e-02 6.68468555e-01] [ 1.95836378e-03 9.99997561e-01 -1.02140468e-03 -2.21607546e-02] [ 6.89756832e-02 8.83894320e-04 9.97617950e-01 -1.22100622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63463044 meters Centerline goodness : 0.096547 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 9.97616419e-01 -2.02415094e-03 -6.89737840e-02 6.68468555e-01] [ 1.95836378e-03 9.99997561e-01 -1.02140468e-03 -2.21607546e-02] [ 6.89756832e-02 8.83894320e-04 9.97617950e-01 -1.22100622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66463044 meters Centerline goodness : 0.098684 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 0.99759023 -0.00213467 -0.06934823 0.66958243] [ 0.00204831 0.99999704 -0.00131639 -0.02061063] [ 0.06935083 0.00117117 0.99759165 -0.12239717] [ 0. 0. 0. 1. ]] SLAMing on 147.69463044 meters Centerline goodness : 0.098387 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 0.99757526 -0.00220202 -0.06956111 0.67012601] [ 0.00211042 0.99999681 -0.00139031 -0.02043678] [ 0.06956395 0.00124013 0.99757672 -0.12239453] [ 0. 0. 0. 1. ]] SLAMing on 147.72463044 meters Centerline goodness : 0.089480 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 0.99756704 -0.00227922 -0.06967645 0.67042421] [ 0.00218555 0.9999966 -0.00142057 -0.02065342] [ 0.06967945 0.00126483 0.99756863 -0.12235198] [ 0. 0. 0. 1. ]] SLAMing on 147.75463044 meters Centerline goodness : 0.102426 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 0.99757173 -0.00228649 -0.06960897 0.67025821] [ 0.00219865 0.99999669 -0.00133854 -0.02124776] [ 0.0696118 0.00118224 0.99757346 -0.12229937] [ 0. 0. 0. 1. ]] SLAMing on 147.78463044 meters Centerline goodness : 0.096649 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 0.99758648 -0.00229965 -0.06939683 0.66962389] [ 0.00222111 0.9999968 -0.00120895 -0.02216321] [ 0.06939939 0.0010519 0.9975884 -0.12201594] [ 0. 0. 0. 1. ]] SLAMing on 147.81463044 meters Centerline goodness : 0.135384 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99768401 0.00354098 -0.06792695 0.64575 ] [-0.00380963 0.99998542 -0.00382594 -0.02694531] [ 0.06791241 0.00407586 0.99768296 -0.12269418] [ 0. 0. 0. 1. ]] SLAMing on 147.84463044 meters Centerline goodness : 0.096474 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99769314 0.0034893 -0.06779546 0.64512446] [-0.00376222 0.99998532 -0.00389842 -0.02665599] [ 0.06778087 0.00414449 0.99769162 -0.12226852] [ 0. 0. 0. 1. ]] SLAMing on 147.87463044 meters Centerline goodness : 0.098054 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99769129 0.00346642 -0.06782386 0.64506042] [-0.0037491 0.99998481 -0.0040411 -0.02567237] [ 0.06780883 0.00428605 0.99768913 -0.1221018 ] [ 0. 0. 0. 1. ]] SLAMing on 147.90463044 meters Centerline goodness : 0.097226 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.12 [[ 0.99768004 0.00347696 -0.06798854 0.64544213] [-0.0037733 0.99998393 -0.00423065 -0.02404952] [ 0.06797273 0.00447738 0.99767713 -0.12211184] [ 0. 0. 0. 1. ]] SLAMing on 147.93463044 meters Centerline goodness : 0.167037 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.12 [[ 0.99767568 0.00349606 -0.06805161 0.6456967 ] [-0.00380725 0.99998288 -0.00444363 -0.02230762] [ 0.06803491 0.00469239 0.99767191 -0.12230835] [ 0. 0. 0. 1. ]] SLAMing on 147.96463044 meters Centerline goodness : 0.106949 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.12 [[ 0.99769971 -0.00212518 -0.06775526 0.66767732] [ 0.00199338 0.99999599 -0.00201281 -0.0151561 ] [ 0.06775927 0.00187312 0.99769994 -0.12160478] [ 0. 0. 0. 1. ]] SLAMing on 147.99463043999998 meters Centerline goodness : 0.106858 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99770159 -0.00221049 -0.06772483 0.66741953] [ 0.00206397 0.99999538 -0.00223346 -0.01393271] [ 0.06772945 0.00208855 0.99770154 -0.12138427] [ 0. 0. 0. 1. ]] SLAMing on 148.02463043999998 meters Centerline goodness : 0.108705 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99770514 -0.00227418 -0.06767032 0.66707265] [ 0.00211714 0.9999949 -0.00239231 -0.01302194] [ 0.06767541 0.00224355 0.99770487 -0.12106643] [ 0. 0. 0. 1. ]] SLAMing on 148.05463043999998 meters Centerline goodness : 0.091544 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99770158 -0.00239295 -0.06771873 0.66687839] [ 0.0022253 0.99999427 -0.00255102 -0.01241771] [ 0.06772444 0.00239446 0.99770119 -0.12062501] [ 0. 0. 0. 1. ]] SLAMing on 148.08463043999998 meters Centerline goodness : 0.183051 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99770503 -0.00286974 -0.0676494 0.666485 ] [ 0.0026741 0.99999198 -0.00298237 -0.01167472] [ 0.06765742 0.00279463 0.9977047 -0.12024848] [ 0. 0. 0. 1. ]] SLAMing on 148.11463043999998 meters Centerline goodness : 0.116049 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99770764 -0.00295746 -0.06760712 0.66612494] [ 0.00275761 0.99999155 -0.00304918 -0.01132978] [ 0.06761557 0.00285575 0.99770736 -0.11985709] [ 0. 0. 0. 1. ]] SLAMing on 148.14463044 meters Centerline goodness : 0.116184 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.9977222 -0.00301831 -0.06738917 0.66542223] [ 0.00281558 0.99999122 -0.00310311 -0.01090779] [ 0.06739795 0.00290631 0.99772194 -0.1195341 ] [ 0. 0. 0. 1. ]] SLAMing on 148.17463044 meters Centerline goodness : 0.094294 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.12 [[ 0.99774384 -0.00299659 -0.067069 0.66437607] [ 0.00279744 0.9999914 -0.00306305 -0.0106766 ] [ 0.06707761 0.00286852 0.99774364 -0.11910468] [ 0. 0. 0. 1. ]] SLAMing on 148.20463044 meters Centerline goodness : 0.090303 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.12 [[ 0.99776099 -0.00306015 -0.06681046 0.66345825] [ 0.00286233 0.99999123 -0.00305631 -0.01079099] [ 0.06681922 0.00285823 0.997761 -0.11860359] [ 0. 0. 0. 1. ]] SLAMing on 148.23463044 meters Centerline goodness : 0.099018 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.12 [[ 0.99773678 -0.00321962 -0.06716362 0.66428802] [ 0.00301951 0.9999907 -0.00308062 -0.01139451] [ 0.06717292 0.00287085 0.99773722 -0.11847838] [ 0. 0. 0. 1. ]] SLAMing on 148.26463044 meters Centerline goodness : 0.103136 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99770759 -0.00327383 -0.06759325 0.66544348] [ 0.00307522 0.99999064 -0.00304222 -0.01203661] [ 0.06760258 0.00282738 0.99770832 -0.11858671] [ 0. 0. 0. 1. ]] SLAMing on 148.29463044 meters Centerline goodness : 0.106256 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99767433 -0.00332198 -0.06808009 0.66659294] [ 0.00312433 0.99999059 -0.00300956 -0.01266845] [ 0.06808945 0.00278986 0.99767532 -0.11854436] [ 0. 0. 0. 1. ]] SLAMing on 148.32463044 meters Centerline goodness : 0.090179 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.12 [[ 0.99766536 -0.00331882 -0.06821151 0.66622899] [ 0.0031406 0.99999137 -0.00271978 -0.01440284] [ 0.06821995 0.0024992 0.99766717 -0.11758121] [ 0. 0. 0. 1. ]] SLAMing on 148.35463044 meters Centerline goodness : 0.091613 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.12 [[ 0.99768981 -0.00325051 -0.06785636 0.66497646] [ 0.00308671 0.99999206 -0.00251875 -0.01528146] [ 0.06786401 0.00230348 0.99769192 -0.11694825] [ 0. 0. 0. 1. ]] SLAMing on 148.38463044 meters Centerline goodness : 0.093211 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.11 [[ 0.99785011 -0.00371326 -0.0654322 0.70575062] [ 0.00356757 0.99999089 -0.00234331 -0.01377724] [ 0.06544031 0.00210483 0.99785427 -0.11352545] [ 0. 0. 0. 1. ]] SLAMing on 148.41463044 meters Centerline goodness : 0.094628 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.11 [[ 0.99786036 -0.00376618 -0.0652726 0.70548734] [ 0.00362033 0.99999068 -0.00235263 -0.01419177] [ 0.06528085 0.00211129 0.9978647 -0.11364368] [ 0. 0. 0. 1. ]] SLAMing on 148.44463044 meters Centerline goodness : 0.097443 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.11 [[ 0.99785432 -0.00386759 -0.06535893 0.70605114] [ 0.00371572 0.99999011 -0.00244509 -0.01439172] [ 0.06536774 0.00219699 0.99785882 -0.11411948] [ 0. 0. 0. 1. ]] SLAMing on 148.47463044 meters Centerline goodness : 0.090597 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.11 [[ 0.99780524 -0.00382006 -0.06610677 0.7082892 ] [ 0.00367079 0.99999043 -0.00237928 -0.01459664] [ 0.06611523 0.00213139 0.99780972 -0.11475923] [ 0. 0. 0. 1. ]] SLAMing on 148.50463044 meters Centerline goodness : 0.094498 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:-0.11 [[ 0.99778684 -0.00374479 -0.06638817 0.70904399] [ 0.00360118 0.99999091 -0.00228268 -0.01476514] [ 0.06639612 0.00203855 0.99779126 -0.11484261] [ 0. 0. 0. 1. ]] SLAMing on 148.53463044 meters Centerline goodness : 0.093171 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.11 [[ 0.99777859 -0.00378173 -0.06651005 0.70922666] [ 0.00363858 0.9999908 -0.00227324 -0.0150973 ] [ 0.06651803 0.00202619 0.99778317 -0.11466196] [ 0. 0. 0. 1. ]] SLAMing on 148.56463044 meters Centerline goodness : 0.094042 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.11 [[ 0.99778252 -0.0038638 -0.06644639 0.70876764] [ 0.00372231 0.99999053 -0.00225309 -0.0158698 ] [ 0.06645446 0.00200076 0.99778745 -0.11422581] [ 0. 0. 0. 1. ]] SLAMing on 148.59463044 meters Centerline goodness : 0.094810 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.11 [[ 0.99779202 -0.00389687 -0.06630151 0.70804302] [ 0.00376453 0.99999066 -0.00212093 -0.01708335] [ 0.06630916 0.00186665 0.99779738 -0.11368238] [ 0. 0. 0. 1. ]] SLAMing on 148.62463044 meters Centerline goodness : 0.099667 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.11 [[ 0.99782193 -0.00366866 -0.06586309 0.7068886 ] [ 0.00358428 0.9999926 -0.0013992 -0.02028356] [ 0.06586774 0.00116009 0.99782769 -0.11337313] [ 0. 0. 0. 1. ]] SLAMing on 148.65463044 meters Centerline goodness : 0.100356 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.11 [[ 9.97830970e-01 -3.58737913e-03 -6.57304079e-02 7.06833986e-01] [ 3.52631964e-03 9.99993237e-01 -1.04493371e-03 -2.22634590e-02] [ 6.57337119e-02 8.10880788e-04 9.97836871e-01 -1.13625194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68463044 meters Centerline goodness : 0.099101 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.11 [[ 9.97827567e-01 -3.64324116e-03 -6.57789786e-02 7.07114303e-01] [ 3.59758802e-03 9.99993199e-01 -8.12476529e-04 -2.44640368e-02] [ 6.57814913e-02 5.74065812e-04 9.97833887e-01 -1.13727626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71463044 meters Centerline goodness : 0.096969 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 9.97831325e-01 9.67284528e-04 -6.58157400e-02 7.27647870e-01] [-1.23971967e-03 9.99990832e-01 -4.09864665e-03 -2.82210106e-02] [ 6.58111720e-02 4.17135108e-03 9.97823376e-01 -1.11496496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74463043999998 meters Centerline goodness : 0.092700 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 9.97821554e-01 9.02911940e-04 -6.59646153e-02 7.27919269e-01] [-1.15792055e-03 9.99992004e-01 -3.82770916e-03 -3.05218298e-02] [ 6.59606317e-02 3.89575249e-03 9.97814621e-01 -1.11361142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77463043999998 meters Centerline goodness : 0.097824 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97754853e-01 6.02089592e-04 -6.69693304e-02 7.31100483e-01] [-8.30704486e-04 9.99993923e-01 -3.38593051e-03 -3.66904344e-02] [ 6.69668848e-02 3.43396032e-03 9.97749289e-01 -1.12172654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80463043999998 meters Centerline goodness : 0.098968 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97732597e-01 5.99897438e-04 -6.73001059e-02 7.32553839e-01] [-8.06315435e-04 9.99995054e-01 -3.04000595e-03 -3.91694002e-02] [ 6.72979493e-02 3.08737814e-03 9.97728146e-01 -1.12965640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83463043999998 meters Centerline goodness : 0.096548 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97707216e-01 4.74264690e-04 -6.76763303e-02 7.33852918e-01] [-6.71838162e-04 9.99995579e-01 -2.89665807e-03 -4.12035747e-02] [ 6.76746573e-02 2.93548420e-03 9.97703124e-01 -1.13408576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86463043999998 meters Centerline goodness : 0.098996 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97697137e-01 3.63326056e-04 -6.78254379e-02 7.34298472e-01] [-5.54821421e-04 9.99995913e-01 -2.80454027e-03 -4.27843536e-02] [ 6.78241417e-02 2.83571280e-03 9.97693262e-01 -1.13498010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89463044 meters Centerline goodness : 0.104901 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97696084e-01 3.60210066e-04 -6.78409447e-02 7.34003262e-01] [-5.41094859e-04 9.99996348e-01 -2.64795061e-03 -4.39553506e-02] [ 6.78397431e-02 2.67855834e-03 9.97692635e-01 -1.13031007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92463044 meters Centerline goodness : 0.170766 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97715445e-01 6.32496450e-04 -6.75536137e-02 7.32669394e-01] [-7.93058293e-04 9.99996924e-01 -2.35001497e-03 -4.40689168e-02] [ 6.75519195e-02 2.39822019e-03 9.97712878e-01 -1.12105400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95463044 meters Centerline goodness : 0.072228 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97724982e-01 5.69377489e-04 -6.74131738e-02 7.32381987e-01] [-7.40043184e-04 9.99996584e-01 -2.50669148e-03 -4.34549128e-02] [ 6.74115163e-02 2.55087737e-03 9.97721996e-01 -1.12180310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98463044 meters Centerline goodness : 0.171038 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97721938e-01 3.91884809e-04 -6.74594692e-02 7.32901633e-01] [-5.80103023e-04 9.99995994e-01 -2.77052688e-03 -4.29713471e-02] [ 6.74581133e-02 2.80334889e-03 9.97718169e-01 -1.12730409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01463044 meters Centerline goodness : 0.077860 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97710849e-01 2.57624794e-04 -6.76239329e-02 7.33696977e-01] [-4.57203099e-04 9.99995586e-01 -2.93583686e-03 -4.28376655e-02] [ 6.76228781e-02 2.96003415e-03 9.97706562e-01 -1.13287285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04463044 meters Centerline goodness : 0.165352 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97696966e-01 3.36452258e-04 -6.78280941e-02 7.34115639e-01] [-5.36210736e-04 9.99995573e-01 -2.92688537e-03 -4.21936784e-02] [ 6.78268091e-02 2.95651480e-03 9.97692730e-01 -1.13163278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07463044 meters Centerline goodness : 0.146318 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.11 [[ 0.99766049 0.00100806 -0.06835586 0.68717867] [-0.00122773 0.99999422 -0.00317171 -0.04245672] [ 0.06835227 0.00324821 0.99765596 -0.11476906] [ 0. 0. 0. 1. ]] SLAMing on 149.10463044 meters Centerline goodness : 0.096085 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.11 [[ 0.99779317 0.00782591 -0.06593595 0.70506893] [-0.00816964 0.9999544 -0.004945 -0.04453097] [ 0.06589424 0.00547276 0.9978116 -0.11210986] [ 0. 0. 0. 1. ]] SLAMing on 149.13463044 meters Centerline goodness : 0.093443 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.11 [[ 9.97915815e-01 -5.55446349e-04 -6.45268745e-02 7.23067247e-01] [ 2.68970797e-04 9.99990070e-01 -4.44823375e-03 -4.04308758e-02] [ 6.45287045e-02 4.42160697e-03 9.97906056e-01 -1.09438440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16463044 meters Centerline goodness : 0.097002 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.11 [[ 9.97917370e-01 -6.75669888e-04 -6.45016681e-02 7.22718981e-01] [ 3.70555676e-04 9.99988687e-01 -4.74217655e-03 -3.90476953e-02] [ 6.45041426e-02 4.70839889e-03 9.97906332e-01 -1.09072518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19463044 meters Centerline goodness : 0.092168 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.11 [[ 9.97869055e-01 -1.49427720e-04 -6.52481943e-02 7.25041225e-01] [-1.58078469e-04 9.99988906e-01 -4.70768085e-03 -3.60814718e-02] [ 6.52481740e-02 4.70796337e-03 9.97857961e-01 -1.09811865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22463044 meters Centerline goodness : 0.098004 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 9.97851856e-01 -1.33199273e-04 -6.55107303e-02 7.26016084e-01] [-1.92699841e-04 9.99987639e-01 -4.96840012e-03 -3.41826906e-02] [ 6.55105823e-02 4.97035119e-03 9.97839496e-01 -1.10297148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25463044 meters Centerline goodness : 0.096733 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 9.97845299e-01 -2.13582064e-04 -6.56103101e-02 7.26429704e-01] [-1.31377417e-04 9.99986192e-01 -5.25334284e-03 -3.28078325e-02] [ 6.56105263e-02 5.25064317e-03 9.97831494e-01 -1.10567510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28463044 meters Centerline goodness : 0.078517 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 9.97835167e-01 -3.27792500e-04 -6.57637655e-02 7.26519344e-01] [-3.53321280e-05 9.99984762e-01 -5.52041299e-03 -3.17414115e-02] [ 6.57645729e-02 5.51078579e-03 9.97819950e-01 -1.10231473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31463044 meters Centerline goodness : 0.104790 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:-0.11 [[ 9.97661490e-01 2.75457790e-04 -6.83481972e-02 6.82732198e-01] [-6.54920865e-04 9.99984497e-01 -5.52956512e-03 -3.37365929e-02] [ 6.83456145e-02 5.56139683e-03 9.97646204e-01 -1.12515119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34463044 meters Centerline goodness : 0.100084 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.11 [[ 9.97650248e-01 4.26562182e-04 -6.85113134e-02 6.83294433e-01] [-7.85730403e-04 9.99986090e-01 -5.21560404e-03 -3.50271789e-02] [ 6.85081356e-02 5.25718009e-03 9.97636706e-01 -1.12681139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37463044 meters Centerline goodness : 0.144612 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.12 [[ 9.97484579e-01 3.95065768e-04 -7.08827104e-02 6.39304033e-01] [-7.95152601e-04 9.99983913e-01 -5.61622211e-03 -3.78943095e-02] [ 7.08793513e-02 5.65845751e-03 9.97468846e-01 -1.15274594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40463044 meters Centerline goodness : 0.096132 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.12 [[ 9.97488351e-01 4.01501163e-04 -7.08295700e-02 6.39140305e-01] [-7.83414446e-04 9.99985305e-01 -5.36430646e-03 -3.98505332e-02] [ 7.08263754e-02 5.40632212e-03 9.97474008e-01 -1.15164664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43463044 meters Centerline goodness : 0.105994 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.12 [[ 9.97500404e-01 3.81288809e-04 -7.06597393e-02 6.38678203e-01] [-7.47496614e-04 9.99986427e-01 -5.15632445e-03 -4.16998770e-02] [ 7.06568141e-02 5.19625363e-03 9.97487150e-01 -1.15039073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46463044 meters Centerline goodness : 0.167135 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.12 [[ 0.99756868 0.00582974 -0.06944595 0.61813845] [-0.00641934 0.9999452 -0.00826992 -0.04950557] [ 0.06939394 0.00869561 0.99755144 -0.11793393] [ 0. 0. 0. 1. ]] SLAMing on 149.49463043999998 meters Centerline goodness : 0.122806 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.12 [[ 0.99758887 -0.00198092 -0.06937238 0.63794085] [ 0.0015032 0.9999748 -0.00693783 -0.04799378] [ 0.06938438 0.00681682 0.99756671 -0.1158842 ] [ 0. 0. 0. 1. ]] SLAMing on 149.52463043999998 meters Centerline goodness : 0.102742 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.05, Z:-0.12 [[ 9.97403484e-01 -1.28606023e-03 -7.20044164e-02 5.94619397e-01] [ 8.10147258e-04 9.99977638e-01 -6.63831187e-03 -5.26999186e-02] [ 7.20113435e-02 6.56274121e-03 9.97382222e-01 -1.18800025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55463043999998 meters Centerline goodness : 0.102742 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.05, Z:-0.12 [[ 9.97403484e-01 -1.28606023e-03 -7.20044164e-02 5.94619397e-01] [ 8.10147258e-04 9.99977638e-01 -6.63831187e-03 -5.26999186e-02] [ 7.20113435e-02 6.56274121e-03 9.97382222e-01 -1.18800025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58463043999998 meters Centerline goodness : 0.107378 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.12 [[ 0.99736039 -0.00882915 -0.07207145 0.61475263] [ 0.00848929 0.99995136 -0.00502056 -0.05213175] [ 0.07211227 0.00439548 0.99738684 -0.11692387] [ 0. 0. 0. 1. ]] SLAMing on 149.61463043999998 meters Centerline goodness : 0.107716 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.12 [[ 0.99735778 -0.00854308 -0.07214199 0.6151499 ] [ 0.00824799 0.99995636 -0.00438734 -0.0554585 ] [ 0.07217632 0.00378072 0.99738472 -0.11714899] [ 0. 0. 0. 1. ]] SLAMing on 149.64463044 meters Centerline goodness : 0.092742 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.07, Z:-0.12 [[ 0.99752754 -0.0034756 -0.07019059 0.59417748] [ 0.00298011 0.99996991 -0.0071627 -0.06744485] [ 0.07021338 0.00693581 0.99750788 -0.11959906] [ 0. 0. 0. 1. ]] SLAMing on 149.67463044 meters Centerline goodness : 0.168970 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.07, Z:-0.12 [[ 0.99752609 -0.0033055 -0.07021942 0.59432279] [ 0.00284123 0.99997345 -0.00671049 -0.07019553] [ 0.07023974 0.00649438 0.997509 -0.11965146] [ 0. 0. 0. 1. ]] SLAMing on 149.70463044 meters Centerline goodness : 0.139522 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.07, Z:-0.12 [[ 0.99751916 -0.00300148 -0.0703315 0.59480088] [ 0.00257188 0.99997749 -0.00619792 -0.07221376] [ 0.07034852 0.00600166 0.99750442 -0.11991963] [ 0. 0. 0. 1. ]] SLAMing on 149.73463044 meters Centerline goodness : 0.097445 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:-0.12 [[ 0.99751198 -0.00266804 -0.07044663 0.59538584] [ 0.00226792 0.99998084 -0.00575922 -0.07350838] [ 0.07046065 0.00558513 0.99749892 -0.12030148] [ 0. 0. 0. 1. ]] SLAMing on 149.76463044 meters Centerline goodness : 0.456002 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.12 [[ 0.99744104 0.0055225 -0.07128028 0.61665648] [-0.00597011 0.99996377 -0.00606816 -0.08001534] [ 0.07124419 0.00647818 0.99743787 -0.11829668] [ 0. 0. 0. 1. ]] SLAMing on 149.79463044 meters Centerline goodness : 0.454110 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.12 [[ 0.99744673 0.00551644 -0.07120103 0.61635975] [-0.00595778 0.99996433 -0.0059875 -0.08105626] [ 0.07116546 0.00639642 0.99744402 -0.11816625] [ 0. 0. 0. 1. ]] SLAMing on 149.82463044 meters Centerline goodness : 0.457164 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.12 [[ 0.99747058 -0.00216052 -0.07104768 0.63460986] [ 0.00182451 0.99998684 -0.00479397 -0.07791847] [ 0.0710571 0.00465222 0.9974614 -0.11549795] [ 0. 0. 0. 1. ]] SLAMing on 149.85463044 meters Centerline goodness : 0.441576 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.12 [[ 0.99743251 0.00580803 -0.07137691 0.61560358] [-0.00623967 0.99996356 -0.0058259 -0.08421084] [ 0.07134047 0.00625631 0.9974324 -0.1179859 ] [ 0. 0. 0. 1. ]] SLAMing on 149.88463044 meters Centerline goodness : 0.446554 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.12 [[ 0.99739396 0.00592271 -0.07190424 0.61750888] [-0.00634129 0.99996424 -0.00559444 -0.08553 ] [ 0.07186854 0.00603583 0.99739585 -0.11881955] [ 0. 0. 0. 1. ]] SLAMing on 149.91463044 meters Centerline goodness : 0.309753 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.12 [[ 0.99739101 0.0059203 -0.07194526 0.61786234] [-0.00633588 0.99996453 -0.00554956 -0.0860488 ] [ 0.07190985 0.00599091 0.99739314 -0.11913757] [ 0. 0. 0. 1. ]] SLAMing on 149.94463044 meters Centerline goodness : 0.461840 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.12 [[ 0.99740831 0.00597156 -0.07170082 0.61713164] [-0.00637858 0.99996481 -0.00544898 -0.08652287] [ 0.07166576 0.00589221 0.9974113 -0.11889753] [ 0. 0. 0. 1. ]] SLAMing on 149.97463044 meters Centerline goodness : 0.115202 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.12 [[ 0.99744606 0.00608848 -0.07116382 0.61538224] [-0.00648135 0.999965 -0.00529099 -0.08680221] [ 0.07112911 0.00573872 0.99745061 -0.11825556] [ 0. 0. 0. 1. ]] SLAMing on 150.00463044 meters Centerline goodness : 0.108657 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.12 [[ 9.97600706e-01 -1.17783269e-03 -6.92202584e-02 6.32220191e-01] [ 9.40540885e-04 9.99993570e-01 -3.46056007e-03 -8.31195988e-02] [ 6.92238893e-02 3.38715269e-03 9.97595399e-01 -1.15086483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03463044 meters Centerline goodness : 0.090154 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.11 [[ 9.97618064e-01 -1.08088662e-03 -6.89712300e-02 6.31369610e-01] [ 8.56029560e-04 9.99994223e-01 -3.28962994e-03 -8.37650409e-02] [ 6.89743872e-02 3.22275284e-03 9.97613226e-01 -1.14704333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06463044 meters Centerline goodness : 0.272223 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.12 [[ 9.97588178e-01 -1.02951318e-03 -6.94029317e-02 6.32980998e-01] [ 8.10082374e-04 9.99994585e-01 -3.18976447e-03 -8.47563428e-02] [ 6.94058397e-02 3.12584924e-03 9.97583610e-01 -1.15366727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09463044 meters Centerline goodness : 0.101278 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.12 [[ 9.97565912e-01 -9.29313928e-04 -6.97236515e-02 6.34068680e-01] [ 7.18005312e-04 9.99995074e-01 -3.05565932e-03 -8.52637171e-02] [ 6.97261477e-02 2.99815963e-03 9.97561665e-01 -1.15799106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12463044 meters Centerline goodness : 0.089215 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.12 [[ 9.97557920e-01 -7.88366981e-04 -6.98396336e-02 6.34647696e-01] [ 5.89479589e-04 9.99995713e-01 -2.86833646e-03 -8.59055768e-02] [ 6.98415955e-02 2.82016272e-03 9.97554108e-01 -1.16165415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15463044 meters Centerline goodness : 0.462772 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.12 [[ 9.97568328e-01 -6.44243575e-04 -6.96922939e-02 6.34337027e-01] [ 4.64897586e-04 9.99996539e-01 -2.58958671e-03 -8.72059046e-02] [ 6.96937211e-02 2.55088991e-03 9.97565175e-01 -1.16214267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18463044 meters Centerline goodness : 0.343824 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99768196 0.00506393 -0.06786063 0.61145821] [-0.00542297 0.99997225 -0.00510765 -0.09410011] [ 0.06783288 0.00546381 0.99768174 -0.11807876] [ 0. 0. 0. 1. ]] SLAMing on 150.21463044 meters Centerline goodness : 0.455307 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99768452 0.00510955 -0.06781957 0.6113394 ] [-0.00546309 0.99997243 -0.00502862 -0.09458596] [ 0.06779201 0.00538748 0.99768493 -0.11805253] [ 0. 0. 0. 1. ]] SLAMing on 150.24463043999998 meters Centerline goodness : 0.252323 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99767918 0.00523826 -0.06788819 0.61173419] [-0.0055878 0.99997209 -0.00495995 -0.09437964] [ 0.06786032 0.00532778 0.99768061 -0.11835693] [ 0. 0. 0. 1. ]] SLAMing on 150.27463043999998 meters Centerline goodness : 0.100863 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99766172 0.00535888 -0.06813497 0.61251047] [-0.00571256 0.9999712 -0.00499713 -0.09349119] [ 0.06810622 0.00537467 0.9976636 -0.1186626 ] [ 0. 0. 0. 1. ]] SLAMing on 150.30463043999998 meters Centerline goodness : 0.059205 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99765089 0.00542268 -0.06828838 0.61301891] [-0.00578625 0.99997011 -0.0051273 -0.09229544] [ 0.06825854 0.00551039 0.99765245 -0.11884864] [ 0. 0. 0. 1. ]] SLAMing on 150.33463043999998 meters Centerline goodness : 0.091530 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99766233 0.00577222 -0.06809233 0.61260006] [-0.00613957 0.9999677 -0.00518675 -0.09043408] [ 0.0680602 0.00559268 0.99766554 -0.11892408] [ 0. 0. 0. 1. ]] SLAMing on 150.36463043999998 meters Centerline goodness : 0.092352 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99766401 0.00584141 -0.06806173 0.61259405] [-0.00621625 0.99996665 -0.00529699 -0.08929594] [ 0.06802852 0.00570771 0.99766705 -0.11904884] [ 0. 0. 0. 1. ]] SLAMing on 150.39463044 meters Centerline goodness : 0.172960 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99764787 0.00587764 -0.06829484 0.61368236] [-0.00626195 0.99996573 -0.00541453 -0.08832406] [ 0.06826067 0.00582945 0.99765049 -0.11977234] [ 0. 0. 0. 1. ]] SLAMing on 150.42463044 meters Centerline goodness : 0.461069 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.12 [[ 0.99763028 0.00585808 -0.06855294 0.614972 ] [-0.00625176 0.99996517 -0.00552951 -0.08777416] [ 0.06851816 0.00594498 0.99763216 -0.120653 ] [ 0. 0. 0. 1. ]] SLAMing on 150.45463044 meters Centerline goodness : 0.092266 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.12 [[ 0.99761161 0.00576651 -0.06883185 0.61602924] [-0.00617141 0.99996487 -0.00567124 -0.08751327] [ 0.06879673 0.00608249 0.99761216 -0.12119038] [ 0. 0. 0. 1. ]] SLAMing on 150.48463044 meters Centerline goodness : 0.460302 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.12 [[ 0.99764295 -0.00191549 -0.06859207 0.63530061] [ 0.00158318 0.99998675 -0.00489889 -0.08116703] [ 0.06860054 0.00477875 0.99763276 -0.11875822] [ 0. 0. 0. 1. ]] SLAMing on 150.51463044 meters Centerline goodness : 0.092755 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.12 [[ 0.9976635 -0.00188893 -0.06829335 0.63394244] [ 0.00154937 0.99998618 -0.0050246 -0.07998817] [ 0.0683019 0.00490704 0.99765263 -0.11787748] [ 0. 0. 0. 1. ]] SLAMing on 150.54463044 meters Centerline goodness : 0.462741 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.12 [[ 0.99773725 0.00582124 -0.06698129 0.65252442] [-0.00626779 0.9999595 -0.00645867 -0.08008065] [ 0.06694098 0.00686388 0.99773333 -0.11508434] [ 0. 0. 0. 1. ]] SLAMing on 150.57463044 meters Centerline goodness : 0.099817 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.12 [[ 0.99773758 0.00581886 -0.06697652 0.65266441] [-0.00627944 0.99995805 -0.00666821 -0.0784719 ] [ 0.06693491 0.0070737 0.99773227 -0.11531382] [ 0. 0. 0. 1. ]] SLAMing on 150.60463044 meters Centerline goodness : 0.364574 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.12 [[ 0.99771648 0.00578578 -0.06729304 0.65404882] [-0.00626708 0.99995626 -0.00694335 -0.07669867] [ 0.06724992 0.00734922 0.99770909 -0.11615064] [ 0. 0. 0. 1. ]] SLAMing on 150.63463044 meters Centerline goodness : 0.447680 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.12 [[ 0.99769447 0.00557008 -0.06763672 0.65592712] [-0.00608204 0.99995438 -0.00736568 -0.07505172] [ 0.06759261 0.00776007 0.99768283 -0.11749917] [ 0. 0. 0. 1. ]] SLAMing on 150.66463044 meters Centerline goodness : 0.450584 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.11 [[ 0.99769175 -0.00227397 -0.0678675 0.67430794] [ 0.00183568 0.99997706 -0.00651958 -0.06986079] [ 0.06788077 0.00637995 0.99767304 -0.11469192] [ 0. 0. 0. 1. ]] SLAMing on 150.69463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 150.72463044 meters Centerline goodness : 0.108182 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.11 [[ 0.99768298 -0.00245922 -0.06798987 0.6739095 ] [ 0.00201646 0.99997632 -0.00657993 -0.07028982] [ 0.06800445 0.00642759 0.99766431 -0.11371057] [ 0. 0. 0. 1. ]] SLAMing on 150.75463044 meters Centerline goodness : 0.093743 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.11 [[ 0.997683 -0.00202315 -0.06800389 0.67415724] [ 0.00162161 0.99998093 -0.00595935 -0.07126997] [ 0.06801465 0.00583526 0.99766726 -0.11375224] [ 0. 0. 0. 1. ]] SLAMing on 150.78463044 meters Centerline goodness : 0.091906 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.11 [[ 0.99769026 -0.0019453 -0.06789969 0.67404724] [ 0.00155566 0.99998202 -0.00579086 -0.07194252] [ 0.06790974 0.00567186 0.99767535 -0.11385939] [ 0. 0. 0. 1. ]] SLAMing on 150.81463044 meters Centerline goodness : 0.090398 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.11 [[ 0.99768936 -0.00198378 -0.06791168 0.67439726] [ 0.00159608 0.99998212 -0.00576267 -0.07258048] [ 0.0679219 0.00564096 0.99767469 -0.11419281] [ 0. 0. 0. 1. ]] SLAMing on 150.84463044 meters Centerline goodness : 0.248850 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.11 [[ 0.99768051 -0.00206987 -0.06803907 0.67496763] [ 0.00168135 0.99998196 -0.00576712 -0.07341135] [ 0.06804978 0.00563935 0.99766599 -0.1144988 ] [ 0. 0. 0. 1. ]] SLAMing on 150.87463044 meters Centerline goodness : 0.454417 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.11 [[ 0.99767102 -0.00204491 -0.06817887 0.67540668] [ 0.00166128 0.99998247 -0.005683 -0.07408544] [ 0.0681893 0.00555651 0.99765693 -0.11457293] [ 0. 0. 0. 1. ]] SLAMing on 150.90463044 meters Centerline goodness : 0.097083 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.11 [[ 0.99766612 -0.00192551 -0.06825401 0.67561147] [ 0.00154875 0.99998327 -0.00557248 -0.0741201 ] [ 0.0682636 0.00545377 0.99765241 -0.11461688] [ 0. 0. 0. 1. ]] SLAMing on 150.93463044 meters Centerline goodness : 0.369650 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.11 [[ 0.9976661 -0.00153423 -0.06826422 0.6759143 ] [ 0.00117742 0.99998544 -0.00526676 -0.07387527] [ 0.0682713 0.00517409 0.99765338 -0.11496614] [ 0. 0. 0. 1. ]] SLAMing on 150.96463044 meters Centerline goodness : 0.098805 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.12 [[ 0.99766637 -0.00153658 -0.06826024 0.67614232] [ 0.00117674 0.9999852 -0.00531143 -0.07370509] [ 0.06826739 0.00521871 0.99765341 -0.11525749] [ 0. 0. 0. 1. ]] SLAMing on 150.99463043999998 meters Centerline goodness : 0.093127 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.12 [[ 0.99766982 -0.00155259 -0.06820934 0.67617922] [ 0.00119201 0.9999851 -0.00532664 -0.07390835] [ 0.06821659 0.00523292 0.99765681 -0.11544364] [ 0. 0. 0. 1. ]] SLAMing on 151.02463043999998 meters Centerline goodness : 0.130961 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 0.99768689 -0.00140848 -0.06796232 0.67537 ] [ 0.00106646 0.99998659 -0.00506855 -0.07503608] [ 0.06796855 0.00498434 0.99767501 -0.11508316] [ 0. 0. 0. 1. ]] SLAMing on 151.05463043999998 meters Centerline goodness : 0.457897 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.11 [[ 9.97694821e-01 -1.26907128e-03 -6.78486080e-02 6.74793189e-01] [ 9.38905224e-04 9.99987565e-01 -4.89788417e-03 -7.53733849e-02] [ 6.78539801e-02 4.82289026e-03 9.97683606e-01 -1.14617214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08463043999998 meters Centerline goodness : 0.456911 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.11 [[ 9.97706723e-01 -1.15231941e-03 -6.76754513e-02 6.74252991e-01] [ 8.33069632e-04 9.99988394e-01 -4.74539665e-03 -7.57165420e-02] [ 6.76801340e-02 4.67813577e-03 9.97696103e-01 -1.14442595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11463043999998 meters Centerline goodness : 0.449978 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.11 [[ 9.97710486e-01 -1.13169804e-03 -6.76203035e-02 6.74184830e-01] [ 8.14755000e-04 9.99988555e-01 -4.71449353e-03 -7.58665953e-02] [ 6.76248649e-02 4.64860565e-03 9.97699989e-01 -1.14507739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14463044 meters Centerline goodness : 0.266017 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.11 [[ 9.97704936e-01 -1.18396323e-03 -6.77012518e-02 6.74711914e-01] [ 8.63632743e-04 9.99988295e-01 -4.76060216e-03 -7.59716259e-02] [ 6.77060958e-02 4.69120726e-03 9.97694280e-01 -1.14936551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17463044 meters Centerline goodness : 0.459355 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 0.99769298 -0.00136612 -0.06787383 0.67567068] [ 0.00103636 0.99998749 -0.00489333 -0.07650839] [ 0.06787967 0.00481169 0.99768191 -0.11553437] [ 0. 0. 0. 1. ]] SLAMing on 151.20463044 meters Centerline goodness : 0.441681 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 0.9976914 -0.00135623 -0.06789727 0.67572914] [ 0.00102891 0.99998768 -0.00485554 -0.07679834] [ 0.06790302 0.00477448 0.9976805 -0.11552899] [ 0. 0. 0. 1. ]] SLAMing on 151.23463044 meters Centerline goodness : 0.292373 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97690150e-01 -1.30687784e-03 -6.79165464e-02 6.75777995e-01] [ 9.85443616e-04 9.99988157e-01 -4.76606935e-03 -7.70775750e-02] [ 6.79219707e-02 4.68813252e-03 9.97679622e-01 -1.15515967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26463044 meters Centerline goodness : 0.449451 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97679406e-01 -1.28047154e-03 -6.80746815e-02 6.76356213e-01] [ 9.60539255e-04 9.99988342e-01 -4.73224947e-03 -7.70623695e-02] [ 6.80799474e-02 4.65587944e-03 9.97669005e-01 -1.15706349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29463044 meters Centerline goodness : 0.093498 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97660269e-01 -1.27557974e-03 -6.83546736e-02 6.77465447e-01] [ 9.54355414e-04 9.99988349e-01 -4.73182567e-03 -7.70268928e-02] [ 6.83599131e-02 4.65551982e-03 9.97649863e-01 -1.16238130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32463044 meters Centerline goodness : 0.439002 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 0.997631 -0.0013607 -0.06877897 0.6791061 ] [ 0.00103728 0.99998824 -0.00473785 -0.07776862] [ 0.0687846 0.00465528 0.99762067 -0.11697285] [ 0. 0. 0. 1. ]] SLAMing on 151.35463044 meters Centerline goodness : 0.461633 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97628847e-01 -1.28785211e-03 -6.88115148e-02 6.79026036e-01] [ 9.77727696e-04 9.99989215e-01 -4.54035732e-03 -7.87358721e-02] [ 6.88166200e-02 4.46231251e-03 9.97619347e-01 -1.16750741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.41463044 meters Centerline goodness : 0.457638 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97637040e-01 -1.06133707e-03 -6.86965052e-02 6.78401848e-01] [ 7.86845115e-04 9.99991600e-01 -4.02265474e-03 -8.13140434e-02] [ 6.87001975e-02 3.95909586e-03 9.97629495e-01 -1.16129767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44463044 meters Centerline goodness : 0.457638 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97637040e-01 -1.06133707e-03 -6.86965052e-02 6.78401848e-01] [ 7.86845115e-04 9.99991600e-01 -4.02265474e-03 -8.13140434e-02] [ 6.87001975e-02 3.95909586e-03 9.97629495e-01 -1.16129767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47463044 meters Centerline goodness : 0.283735 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97645187e-01 -1.03850846e-03 -6.85784412e-02 6.78219978e-01] [ 7.72753858e-04 9.99992090e-01 -3.90160625e-03 -8.22848865e-02] [ 6.85819506e-02 3.83942444e-03 9.97638098e-01 -1.16237445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50463044 meters Centerline goodness : 0.465520 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97654404e-01 -9.91612168e-04 -6.84449193e-02 6.78090059e-01] [ 7.30996624e-04 9.99992388e-01 -3.83260909e-03 -8.27526038e-02] [ 6.84481987e-02 3.77358633e-03 9.97647535e-01 -1.16505414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53463044 meters Centerline goodness : 0.457128 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.12 [[ 9.97727501e-01 -2.32847487e-04 -6.73778813e-02 6.76105176e-01] [ 2.20394212e-06 9.99994141e-01 -3.42318850e-03 -8.16605604e-02] [ 6.73782836e-02 3.41526081e-03 9.97721656e-01 -1.17184441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56463044 meters Centerline goodness : 0.267866 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.12 [[ 9.97772443e-01 6.01410108e-05 -6.67094281e-02 6.74462118e-01] [-2.95024949e-04 9.99993792e-01 -3.51115477e-03 -7.96566074e-02] [ 6.67088029e-02 3.52301442e-03 9.97766267e-01 -1.17164913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59463044 meters Centerline goodness : 0.456116 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.12 [[ 9.97800887e-01 3.91864741e-04 -6.62814975e-02 6.73237306e-01] [-6.39901332e-04 9.99992872e-01 -3.72098063e-03 -7.66511622e-02] [ 6.62795670e-02 3.75521139e-03 9.97794026e-01 -1.17005452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62463044 meters Centerline goodness : 0.106054 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.12 [[ 9.97808289e-01 8.72532551e-04 -6.61653820e-02 6.72868025e-01] [-1.13205926e-03 9.99991813e-01 -3.88500296e-03 -7.28453541e-02] [ 6.61614505e-02 3.95139129e-03 9.97801107e-01 -1.17045533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65463044 meters Centerline goodness : 0.240564 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.12 [[ 0.99779621 0.00167285 -0.06633199 0.67334392] [-0.00192518 0.99999115 -0.00374031 -0.06756423] [ 0.06632514 0.00385977 0.9977906 -0.11735813] [ 0. 0. 0. 1. ]] SLAMing on 151.68463044 meters Centerline goodness : 0.264063 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.12 [[ 0.99778267 0.00551312 -0.06632765 0.67375626] [-0.00560586 0.99998355 -0.00121214 -0.05851786] [ 0.06631987 0.00158128 0.99779716 -0.11813392] [ 0. 0. 0. 1. ]] SLAMing on 151.71463044 meters Centerline goodness : 0.356362 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99780026 0.00530961 -0.06607907 0.67314363] [-0.00544546 0.99998341 -0.00187596 -0.05480109] [ 0.06606801 0.00223167 0.99781263 -0.11826133] [ 0. 0. 0. 1. ]] SLAMing on 151.74463043999998 meters Centerline goodness : 0.290886 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99781101 0.00500199 -0.06594068 0.67262812] [-0.00518023 0.99998338 -0.00253232 -0.05164801] [ 0.06592691 0.00286837 0.99782033 -0.11809721] [ 0. 0. 0. 1. ]] SLAMing on 151.77463043999998 meters Centerline goodness : 0.452701 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.11 [[ 0.99775457 -0.00286101 -0.06691507 0.6911334 ] [ 0.00272951 0.99999416 -0.00205657 -0.03989309] [ 0.06692056 0.0018693 0.99775656 -0.11483834] [ 0. 0. 0. 1. ]] SLAMing on 151.80463043999998 meters Centerline goodness : 0.119060 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.11 [[ 0.99773471 -0.00306339 -0.06720166 0.69193783] [ 0.00291188 0.99999299 -0.0023524 -0.03845493] [ 0.0672084 0.00215139 0.99773664 -0.11493246] [ 0. 0. 0. 1. ]] SLAMing on 151.83463043999998 meters Centerline goodness : 0.267437 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.11 [[ 0.99771729 -0.00335262 -0.06744608 0.6924882 ] [ 0.00318009 0.99999139 -0.00266533 -0.03749406] [ 0.06745444 0.00244476 0.99771936 -0.11477123] [ 0. 0. 0. 1. ]] SLAMing on 151.86463043999998 meters Centerline goodness : 0.262157 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.11 [[ 0.99768927 -0.0036979 -0.06784137 0.6934548 ] [ 0.00350181 0.99998934 -0.00300908 -0.03677843] [ 0.06785177 0.00276456 0.99769158 -0.11463898] [ 0. 0. 0. 1. ]] SLAMing on 151.89463044 meters Centerline goodness : 0.105812 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.11 [[ 0.99767441 -0.00395727 -0.06804499 0.69393745] [ 0.00374283 0.99998762 -0.00327869 -0.03616245] [ 0.06805713 0.00301638 0.99767687 -0.1145767 ] [ 0. 0. 0. 1. ]] SLAMing on 151.92463044 meters Centerline goodness : 0.095335 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.11 [[ 0.99763377 -0.00404135 -0.06863323 0.69560373] [ 0.00380955 0.99998659 -0.003508 -0.0342492 ] [ 0.06864649 0.00323824 0.99763579 -0.1148277 ] [ 0. 0. 0. 1. ]] SLAMing on 151.95463044 meters Centerline goodness : 0.283909 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.11 [[ 0.99763316 -0.00409443 -0.06863901 0.69570428] [ 0.00384756 0.99998565 -0.00372839 -0.03274376] [ 0.06865329 0.00345548 0.9976346 -0.11492707] [ 0. 0. 0. 1. ]] SLAMing on 151.98463044 meters Centerline goodness : 0.285829 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.11 [[ 0.99763236 -0.00429502 -0.06863835 0.69567922] [ 0.00402158 0.99998342 -0.00412141 -0.03105851] [ 0.06865491 0.00383562 0.99763309 -0.11489638] [ 0. 0. 0. 1. ]] SLAMing on 152.01463044 meters Centerline goodness : 0.286395 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99762976 -0.00455276 -0.06865958 0.69578684] [ 0.00424623 0.99998036 -0.00460973 -0.02913511] [ 0.06867922 0.00430726 0.9976295 -0.11501411] [ 0. 0. 0. 1. ]] SLAMing on 152.04463044 meters Centerline goodness : 0.283754 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99761518 -0.00472104 -0.06885981 0.69652483] [ 0.00438978 0.99997806 -0.00496115 -0.0276064 ] [ 0.06888172 0.00464704 0.99761401 -0.1153799 ] [ 0. 0. 0. 1. ]] SLAMing on 152.07463044 meters Centerline goodness : 0.089770 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99759447 -0.00483603 -0.06915123 0.69768327] [ 0.00448175 0.99997603 -0.00527741 -0.02568723] [ 0.06917509 0.0049548 0.99759223 -0.11591849] [ 0. 0. 0. 1. ]] SLAMing on 152.10463044 meters Centerline goodness : 0.083441 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99759605 -0.0049248 -0.06912207 0.69752377] [ 0.00456364 0.9999751 -0.00538187 -0.0253623 ] [ 0.06914686 0.00505348 0.99759369 -0.11575879] [ 0. 0. 0. 1. ]] SLAMing on 152.13463044 meters Centerline goodness : 0.061783 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99759514 -0.00503295 -0.06912744 0.69721909] [ 0.00466858 0.99997435 -0.00543152 -0.0255279 ] [ 0.06915301 0.00509573 0.99759305 -0.11528848] [ 0. 0. 0. 1. ]] SLAMing on 152.16463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.19463044 meters Centerline goodness : 0.092332 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.11 [[ 0.9976229 -0.00513859 -0.06871781 0.69586626] [ 0.00479282 0.99997502 -0.00519564 -0.02651819] [ 0.06874279 0.00485394 0.99762261 -0.11453336] [ 0. 0. 0. 1. ]] SLAMing on 152.22463044 meters Centerline goodness : 0.091829 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.11 [[ 0.99763158 -0.00514181 -0.06859154 0.69579884] [ 0.00479944 0.99997519 -0.00515536 -0.02675491] [ 0.06861635 0.00481394 0.99763151 -0.11480314] [ 0. 0. 0. 1. ]] SLAMing on 152.25463044 meters Centerline goodness : 0.085776 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.11 [[ 0.99763762 -0.00519222 -0.06849983 0.69565752] [ 0.00484577 0.99997462 -0.00522287 -0.02663921] [ 0.06852521 0.0048786 0.99763746 -0.11489271] [ 0. 0. 0. 1. ]] SLAMing on 152.28463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.31463044 meters Centerline goodness : 0.078464 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:-0.12 [[ 0.99761184 -0.00455712 -0.0689192 0.69675482] [ 0.00420502 0.99997736 -0.00525301 -0.02339549] [ 0.06894157 0.00495065 0.99760842 -0.11521186] [ 0. 0. 0. 1. ]] SLAMing on 152.34463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.37463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.40463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.43463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.46463044 meters Centerline goodness : 0.060285 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.11 [[ 0.99777375 -0.00260851 -0.06663889 0.69031784] [ 0.0023583 0.99998987 -0.00383301 -0.02159243] [ 0.06664821 0.00366732 0.9977698 -0.11420433] [ 0. 0. 0. 1. ]] SLAMing on 152.49463043999998 meters Centerline goodness : 0.093442 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.11 [[ 0.9977489 -0.00259882 -0.06701026 0.691533 ] [ 0.00235613 0.99999038 -0.00370054 -0.02250507] [ 0.06701923 0.00353433 0.99774542 -0.11454004] [ 0. 0. 0. 1. ]] SLAMing on 152.52463043999998 meters Centerline goodness : 0.097947 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.12 [[ 0.99772929 -0.00258822 -0.06730203 0.6926991 ] [ 0.00235683 0.99999104 -0.00351717 -0.02377866] [ 0.06731053 0.00335057 0.99772645 -0.11507167] [ 0. 0. 0. 1. ]] SLAMing on 152.55463043999998 meters Centerline goodness : 0.151560 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99766439 -0.00284442 -0.06824715 0.69581291] [ 0.00262009 0.99999087 -0.00337617 -0.02645859] [ 0.06825613 0.00318947 0.99766273 -0.11600345] [ 0. 0. 0. 1. ]] SLAMing on 152.58463043999998 meters Centerline goodness : 0.194381 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99763903 -0.00278237 -0.06861937 0.69693138] [ 0.00257653 0.99999191 -0.00308798 -0.02830256] [ 0.06862741 0.00290389 0.99763813 -0.11618149] [ 0. 0. 0. 1. ]] SLAMing on 152.61463043999998 meters Centerline goodness : 0.109709 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99761964 -0.00274681 -0.06890211 0.69750994] [ 0.00255689 0.99999269 -0.00284434 -0.02983039] [ 0.06890942 0.0026614 0.99761937 -0.11599994] [ 0. 0. 0. 1. ]] SLAMing on 152.64463044 meters Centerline goodness : 0.094861 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99761212 -0.00270833 -0.06901255 0.69769486] [ 0.00253021 0.99999324 -0.00266821 -0.03091688] [ 0.06901931 0.00248723 0.99761222 -0.11583666] [ 0. 0. 0. 1. ]] SLAMing on 152.67463044 meters Centerline goodness : 0.094943 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99761678 -0.00262559 -0.06894833 0.69749505] [ 0.00246313 0.99999399 -0.00244117 -0.03209611] [ 0.06895432 0.00226552 0.99761725 -0.11573663] [ 0. 0. 0. 1. ]] SLAMing on 152.70463044 meters Centerline goodness : 0.335452 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99762906 -0.00259452 -0.06877153 0.69721323] [ 0.00244394 0.99999443 -0.00227369 -0.03342205] [ 0.06877704 0.00210023 0.99762984 -0.11579019] [ 0. 0. 0. 1. ]] SLAMing on 152.73463044 meters Centerline goodness : 0.097158 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99762799 -0.00253561 -0.06878933 0.69729819] [ 0.00238985 0.99999472 -0.00220111 -0.03361861] [ 0.06879455 0.00203149 0.99762878 -0.11583412] [ 0. 0. 0. 1. ]] SLAMing on 152.76463044 meters Centerline goodness : 0.103458 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99761665 -0.00245646 -0.06895637 0.69785769] [ 0.00231394 0.99999502 -0.00214652 -0.03351739] [ 0.0689613 0.00198185 0.99761737 -0.11602269] [ 0. 0. 0. 1. ]] SLAMing on 152.79463044 meters Centerline goodness : 0.112940 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99759596 -0.00240104 -0.06925705 0.69868728] [ 0.00225876 0.99999517 -0.00213266 -0.03329712] [ 0.06926184 0.0019711 0.99759657 -0.11618459] [ 0. 0. 0. 1. ]] SLAMing on 152.82463044 meters Centerline goodness : 0.099718 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.11 [[ 0.99755844 0.00504662 -0.0696541 0.71930675] [-0.00528467 0.99998081 -0.00323381 -0.0353452 ] [ 0.06963644 0.00359402 0.99756596 -0.11367744] [ 0. 0. 0. 1. ]] SLAMing on 152.85463044 meters Centerline goodness : 0.088870 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.12 [[ 0.99758881 -0.00293423 -0.06933949 0.69807475] [ 0.00273749 0.99999195 -0.00293218 -0.03285104] [ 0.06934753 0.0027353 0.99758881 -0.11512266] [ 0. 0. 0. 1. ]] SLAMing on 152.88463044 meters Centerline goodness : 0.403992 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.11 [[ 0.99763201 0.00434371 -0.06864045 0.71734794] [-0.00465855 0.99997935 -0.00442736 -0.0348426 ] [ 0.0686198 0.00473665 0.99763164 -0.11219591] [ 0. 0. 0. 1. ]] SLAMing on 152.91463044 meters Centerline goodness : 0.092734 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.11 [[ 0.99761575 0.00437604 -0.06887425 0.71783703] [-0.00468964 0.99997936 -0.00439225 -0.03487887] [ 0.06885361 0.00470477 0.99761568 -0.11209834] [ 0. 0. 0. 1. ]] SLAMing on 152.94463044 meters Centerline goodness : 0.106427 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.11 [[ 0.99760359 0.00441742 -0.06904748 0.7184386 ] [-0.00472819 0.99997941 -0.00433811 -0.03494051] [ 0.0690269 0.00465418 0.99760394 -0.11227449] [ 0. 0. 0. 1. ]] SLAMing on 152.97463044 meters Centerline goodness : 0.166900 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.11 [[ 0.99760317 0.00446099 -0.06905082 0.71848292] [-0.00476725 0.99997952 -0.00427104 -0.03510213] [ 0.06903035 0.00458998 0.997604 -0.11224408] [ 0. 0. 0. 1. ]] SLAMing on 153.00463044 meters Centerline goodness : 0.452815 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.11 [[ 0.99766389 -0.00342941 -0.06822753 0.73662467] [ 0.00322481 0.99998997 -0.00310881 -0.03027167] [ 0.06823751 0.00288153 0.99766494 -0.1096027 ] [ 0. 0. 0. 1. ]] SLAMing on 153.03463044 meters Centerline goodness : 0.305003 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.11 [[ 0.99778392 0.00253685 -0.06648913 0.71164942] [-0.00289881 0.9999815 -0.00534787 -0.03520843] [ 0.06647433 0.00552875 0.99777282 -0.10889397] [ 0. 0. 0. 1. ]] SLAMing on 153.06463044 meters Centerline goodness : 0.124356 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99780284 -0.00478706 -0.06608013 0.72972467] [ 0.00455374 0.99998286 -0.00368104 -0.02925274] [ 0.06609662 0.00337205 0.99780753 -0.10587222] [ 0. 0. 0. 1. ]] SLAMing on 153.09463044 meters Centerline goodness : 0.156597 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99779956 -0.00478659 -0.06612966 0.729671 ] [ 0.00454912 0.99998265 -0.00374109 -0.0285964 ] [ 0.06614642 0.00343202 0.99780403 -0.10559682] [ 0. 0. 0. 1. ]] SLAMing on 153.12463044 meters Centerline goodness : 0.104647 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99779351 -0.00486638 -0.06621504 0.72967693] [ 0.00461896 0.99998177 -0.00388924 -0.02790451] [ 0.06623276 0.00357481 0.9977978 -0.10525292] [ 0. 0. 0. 1. ]] SLAMing on 153.15463044 meters Centerline goodness : 0.184300 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99778893 -0.00500482 -0.06627366 0.72971686] [ 0.00474397 0.99998037 -0.0040927 -0.02722939] [ 0.06629285 0.00376925 0.99779309 -0.10507884] [ 0. 0. 0. 1. ]] SLAMing on 153.18463044 meters Centerline goodness : 0.099032 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99775817 -0.00502899 -0.06673336 0.73088974] [ 0.0047662 0.99998025 -0.00409644 -0.02691351] [ 0.06675265 0.00376919 0.99776244 -0.10504175] [ 0. 0. 0. 1. ]] SLAMing on 153.21463044 meters Centerline goodness : 0.192298 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99775099 -0.0050135 -0.06684177 0.73127198] [ 0.00475742 0.99998072 -0.00398974 -0.02734222] [ 0.06686048 0.00366277 0.99775561 -0.10510247] [ 0. 0. 0. 1. ]] SLAMing on 153.24463043999998 meters Centerline goodness : 0.099057 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99773978 -0.00510328 -0.06700222 0.73173634] [ 0.00484875 0.9999804 -0.00396093 -0.02792182] [ 0.06702112 0.0036271 0.99774496 -0.10510429] [ 0. 0. 0. 1. ]] SLAMing on 153.27463043999998 meters Centerline goodness : 0.097230 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.11 [[ 0.99772198 -0.0052946 -0.06725196 0.73248912] [ 0.00503406 0.99997916 -0.00404301 -0.02847351] [ 0.06727197 0.00369525 0.99772783 -0.10522018] [ 0. 0. 0. 1. ]] SLAMing on 153.30463043999998 meters Centerline goodness : 0.190752 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.11 [[ 0.9976493 -0.00565545 -0.06829264 0.73531187] [ 0.00538557 0.99997695 -0.00413532 -0.02976003] [ 0.06831446 0.0037578 0.99765676 -0.10545085] [ 0. 0. 0. 1. ]] SLAMing on 153.33463043999998 meters Centerline goodness : 0.104733 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.11 [[ 0.99762762 -0.00556997 -0.06861562 0.73608612] [ 0.00531107 0.99997807 -0.00395502 -0.03038192] [ 0.06863615 0.00358121 0.99763533 -0.10535865] [ 0. 0. 0. 1. ]] SLAMing on 153.36463043999998 meters Centerline goodness : 0.104733 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.11 [[ 0.99762762 -0.00556997 -0.06861562 0.73608612] [ 0.00531107 0.99997807 -0.00395502 -0.03038192] [ 0.06863615 0.00358121 0.99763533 -0.10535865] [ 0. 0. 0. 1. ]] SLAMing on 153.39463044 meters Centerline goodness : 0.110952 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.11 [[ 0.99761447 -0.00545479 -0.06881578 0.73649586] [ 0.00521049 0.99997947 -0.00372914 -0.03121502] [ 0.06883471 0.00336168 0.99762241 -0.10515746] [ 0. 0. 0. 1. ]] SLAMing on 153.42463044 meters Centerline goodness : 0.178662 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.10 [[ 0.99761504 -0.00541898 -0.06881039 0.73641844] [ 0.00518211 0.99998002 -0.00362036 -0.03185358] [ 0.06882864 0.00325514 0.99762319 -0.10499759] [ 0. 0. 0. 1. ]] SLAMing on 153.45463044 meters Centerline goodness : 0.135421 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.10 [[ 0.9976381 -0.00536341 -0.06847958 0.73523277] [ 0.00514652 0.99998117 -0.00334331 -0.03390766] [ 0.06849623 0.00298298 0.99764692 -0.10429785] [ 0. 0. 0. 1. ]] SLAMing on 153.48463044 meters Centerline goodness : 0.099696 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.10 [[ 0.99763719 -0.00524416 -0.06850202 0.73520007] [ 0.00504246 0.99998243 -0.00311703 -0.03495067] [ 0.06851716 0.00276425 0.99764611 -0.10410476] [ 0. 0. 0. 1. ]] SLAMing on 153.51463044 meters Centerline goodness : 0.112367 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:-0.10 [[ 0.99762891 -0.00515201 -0.06862961 0.73542199] [ 0.00496201 0.99998337 -0.00293872 -0.03580494] [ 0.06864361 0.00259121 0.99763788 -0.10396197] [ 0. 0. 0. 1. ]] SLAMing on 153.54463044 meters Centerline goodness : 0.130377 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:-0.10 [[ 0.99760802 -0.00509786 -0.06893652 0.73630801] [ 0.00491247 0.99998385 -0.00285844 -0.03628513] [ 0.06894998 0.00251295 0.99761695 -0.10413662] [ 0. 0. 0. 1. ]] SLAMing on 153.57463044 meters Centerline goodness : 0.097332 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:-0.10 [[ 0.9975692 -0.00508033 -0.06949732 0.73791125] [ 0.00488895 0.99998378 -0.00292351 -0.03610558] [ 0.06951104 0.00257664 0.99757785 -0.1045189 ] [ 0. 0. 0. 1. ]] SLAMing on 153.60463044 meters Centerline goodness : 0.242346 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:-0.10 [[ 0.99751412 -0.00470051 -0.07030989 0.7400512 ] [ 0.00450977 0.99998571 -0.00287133 -0.03531094] [ 0.07032238 0.00254711 0.99752107 -0.1048075 ] [ 0. 0. 0. 1. ]] SLAMing on 153.63463044 meters Centerline goodness : 0.443574 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.10 [[ 0.99751606 -0.00460673 -0.07028865 0.73962038] [ 0.00441069 0.99998594 -0.00294409 -0.03439128] [ 0.07030122 0.00262676 0.99752235 -0.10435268] [ 0. 0. 0. 1. ]] SLAMing on 153.66463044 meters Centerline goodness : 0.107276 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.10 [[ 0.99752932 -0.00449491 -0.07010745 0.7387189 ] [ 0.00429906 0.99998642 -0.00294421 -0.0338054 ] [ 0.07011973 0.00263554 0.9975351 -0.10376778] [ 0. 0. 0. 1. ]] SLAMing on 153.69463044 meters Centerline goodness : 0.086260 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.10 [[ 0.99767683 0.00338338 -0.0680404 0.75687479] [-0.00367555 0.99998455 -0.00416937 -0.0336148 ] [ 0.06802525 0.00440977 0.99767385 -0.10027741] [ 0. 0. 0. 1. ]] SLAMing on 153.72463044 meters Centerline goodness : 0.190849 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.10 [[ 0.9976656 0.00336982 -0.06820552 0.75729384] [-0.0036698 0.99998414 -0.00427338 -0.03292177] [ 0.06819004 0.00451371 0.99766214 -0.10032827] [ 0. 0. 0. 1. ]] SLAMing on 153.75463044 meters Centerline goodness : 0.088558 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.10 [[ 0.99765415 0.00335911 -0.06837328 0.7578189 ] [-0.00366175 0.99998404 -0.00430144 -0.03281733] [ 0.06835774 0.00454171 0.99765054 -0.10046675] [ 0. 0. 0. 1. ]] SLAMing on 153.78463044 meters Centerline goodness : 0.099909 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.10 [[ 0.99765107 0.0033276 -0.0684198 0.75791843] [-0.0036303 0.99998416 -0.00430024 -0.03301118] [ 0.0684044 0.00453852 0.99764735 -0.10043397] [ 0. 0. 0. 1. ]] SLAMing on 153.81463044 meters Centerline goodness : 0.307353 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.10 [[ 0.99773615 0.00141062 -0.06723526 0.75286508] [-0.00180604 0.99998143 -0.00582059 -0.034745 ] [ 0.0672258 0.00592885 0.99772017 -0.09806921] [ 0. 0. 0. 1. ]] SLAMing on 153.84463044 meters Centerline goodness : 0.105014 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.10 [[ 0.99774797 0.00133048 -0.06706125 0.75188625] [-0.00171427 0.99998248 -0.00566568 -0.03610933] [ 0.06705254 0.00576788 0.99773277 -0.0972087 ] [ 0. 0. 0. 1. ]] SLAMing on 153.87463044 meters Centerline goodness : 0.115553 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.10 [[ 0.99775341 0.00131188 -0.06698069 0.75120155] [-0.00167601 0.99998412 -0.00538033 -0.03793252] [ 0.06697257 0.0054805 0.99773977 -0.0964147 ] [ 0. 0. 0. 1. ]] SLAMing on 153.90463044 meters Centerline goodness : 0.092010 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.10 [[ 0.99774703 0.0013716 -0.06707448 0.75119905] [-0.00171318 0.99998586 -0.00503531 -0.0398468 ] [ 0.06706663 0.00513888 0.99773527 -0.09598412] [ 0. 0. 0. 1. ]] SLAMing on 153.93463044 meters Centerline goodness : 0.217823 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.10 [[ 0.99770689 0.00140807 -0.06766815 0.75281754] [-0.00173225 0.9999873 -0.00473231 -0.0417593 ] [ 0.06766062 0.00483868 0.99769666 -0.09611399] [ 0. 0. 0. 1. ]] SLAMing on 153.96463044 meters Centerline goodness : 0.103106 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.10 [[ 9.97448636e-01 6.58355237e-04 -7.13847655e-02 7.12607590e-01] [-1.06013172e-03 9.99983811e-01 -5.59058159e-03 -4.60337732e-02] [ 7.13799292e-02 5.65199524e-03 9.97433186e-01 -9.93623519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99463043999998 meters Centerline goodness : 0.093007 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.10 [[ 9.97334344e-01 -1.07182171e-03 -7.29592813e-02 7.18598186e-01] [ 5.73816209e-04 9.99976398e-01 -6.84641886e-03 -4.99223654e-02] [ 7.29648974e-02 6.78630345e-03 9.97311421e-01 -1.01480859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02463043999998 meters Centerline goodness : 0.098216 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.10 [[ 9.97328668e-01 -9.40025554e-04 -7.30386531e-02 7.18653042e-01] [ 4.63977798e-04 9.99978543e-01 -6.53444449e-03 -5.14630307e-02] [ 7.30432285e-02 6.48310050e-03 9.97307704e-01 -1.01227593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05463043999998 meters Centerline goodness : 0.457124 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.10 [[ 9.97334944e-01 -8.37356931e-04 -7.29541530e-02 7.18200803e-01] [ 3.80138433e-04 9.99980203e-01 -6.28086260e-03 -5.28088264e-02] [ 7.29579681e-02 6.23639107e-03 9.97315518e-01 -1.00858815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08463043999998 meters Centerline goodness : 0.281213 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.10 [[ 9.97334182e-01 -7.70214165e-04 -7.29653103e-02 7.17858019e-01] [ 3.27185029e-04 9.99981442e-01 -6.08353553e-03 -5.40484271e-02] [ 7.29686418e-02 6.04344478e-03 9.97315925e-01 -1.00342467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11463043999998 meters Centerline goodness : 0.091407 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.06, Z:-0.10 [[ 9.97324392e-01 -6.77606830e-04 -7.30999234e-02 7.18165833e-01] [ 2.52149360e-04 9.99982978e-01 -5.82928913e-03 -5.55221624e-02] [ 7.31026290e-02 5.79526013e-03 9.97307586e-01 -1.00261896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14463044 meters Centerline goodness : 0.456095 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.06, Z:-0.10 [[ 9.97311334e-01 -5.31322495e-04 -7.32790636e-02 7.18782663e-01] [ 1.26639817e-04 9.99984718e-01 -5.52702274e-03 -5.69785541e-02] [ 7.32808804e-02 5.50288237e-03 9.97296160e-01 -1.00489537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17463044 meters Centerline goodness : 0.322969 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.06, Z:-0.10 [[ 9.97299856e-01 -3.03085785e-04 -7.34364031e-02 7.19424856e-01] [-7.03573053e-05 9.99987081e-01 -5.08261821e-03 -5.89750546e-02] [ 7.34369948e-02 5.07406119e-03 9.97286951e-01 -1.00721715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20463044 meters Centerline goodness : 0.161904 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.10 [[ 9.97292719e-01 -1.49885504e-04 -7.35337337e-02 7.19591374e-01] [-1.76157805e-04 9.99990183e-01 -4.42742279e-03 -6.53333356e-02] [ 7.35336754e-02 4.42839006e-03 9.97282903e-01 -1.00493583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23463044 meters Centerline goodness : 0.446376 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.10 [[ 9.97288151e-01 -6.43046192e-05 -7.35957864e-02 7.19472996e-01] [-2.31099434e-04 9.99991952e-01 -4.00534926e-03 -6.84217419e-02] [ 7.35954516e-02 4.01149530e-03 9.97280110e-01 -1.00072296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26463044 meters Centerline goodness : 0.447282 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.10 [[ 9.97275656e-01 -6.10676550e-04 -7.37624119e-02 7.19634953e-01] [ 3.19388271e-04 9.99992105e-01 -3.96073792e-03 -7.63788521e-02] [ 7.37642483e-02 3.92638866e-03 9.97267978e-01 -9.97452882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29463044 meters Centerline goodness : 0.178438 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.10 [[ 9.97276681e-01 -3.45487394e-04 -7.37502746e-02 7.19853258e-01] [ 9.22057517e-05 9.99994087e-01 -3.43769168e-03 -7.90327507e-02] [ 7.37510262e-02 3.42152955e-03 9.97270815e-01 -9.99702589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32463044 meters Centerline goodness : 0.096775 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.10 [[ 9.97278885e-01 -1.70297249e-04 -7.37210661e-02 7.19732453e-01] [-5.43545031e-05 9.99995362e-01 -3.04530400e-03 -8.12708191e-02] [ 7.37212428e-02 3.04102445e-03 9.97274250e-01 -9.98736051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35463044 meters Centerline goodness : 0.246357 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.10 [[ 9.97275589e-01 -8.91746141e-05 -7.37657912e-02 7.19716005e-01] [-1.19063250e-04 9.99996021e-01 -2.81855760e-03 -8.30027041e-02] [ 7.37657490e-02 2.81966149e-03 9.97271610e-01 -9.96959027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38463044 meters Centerline goodness : 0.220711 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.10 [[ 9.97258782e-01 -4.61771625e-05 -7.39926954e-02 7.19950420e-01] [-1.54232553e-04 9.99996336e-01 -2.70279060e-03 -8.40860323e-02] [ 7.39925491e-02 2.70679374e-03 9.97255121e-01 -9.93198645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41463044 meters Centerline goodness : 0.102344 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.10 [[ 9.97229967e-01 1.61553915e-04 -7.43798869e-02 7.20821806e-01] [-3.47357568e-04 9.99996852e-01 -2.48510690e-03 -8.48981751e-02] [ 7.43792513e-02 2.50405948e-03 9.97226883e-01 -9.92840050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44463044 meters Centerline goodness : 0.101087 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 0.99719013 0.00107452 -0.07490455 0.72251375] [-0.00120173 0.99999791 -0.00165328 -0.08624475] [ 0.07490261 0.00173865 0.99718934 -0.09983011] [ 0. 0. 0. 1. ]] SLAMing on 154.47463044 meters Centerline goodness : 0.272778 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 0.99718795 0.00116072 -0.07493222 0.7225202 ] [-0.00128344 0.99999791 -0.00158971 -0.08656319] [ 0.07493022 0.00168141 0.99718736 -0.09976267] [ 0. 0. 0. 1. ]] SLAMing on 154.50463044 meters Centerline goodness : 0.457634 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 0.99717733 0.00122129 -0.07507248 0.72264909] [-0.00133677 0.999998 -0.00148793 -0.08739885] [ 0.07507051 0.00158408 0.99717697 -0.09944937] [ 0. 0. 0. 1. ]] SLAMing on 154.53463044 meters Centerline goodness : 0.087333 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 0.99716069 0.00127737 -0.07529223 0.72290234] [-0.00137917 0.9999982 -0.00130004 -0.08872018] [ 0.07529043 0.00140019 0.99716066 -0.0990817 ] [ 0. 0. 0. 1. ]] SLAMing on 154.56463044 meters Centerline goodness : 0.456847 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97147997e-01 1.47107794e-03 -7.54566637e-02 7.23134432e-01] [-1.53786180e-03 9.99998476e-01 -8.26966236e-04 -9.11152028e-02] [ 7.54553321e-02 9.40649647e-04 9.97148739e-01 -9.87341423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59463044 meters Centerline goodness : 0.092187 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97170401e-01 1.47547697e-03 -7.51599265e-02 7.22117961e-01] [-1.53436737e-03 9.99998559e-01 -7.25797420e-04 -9.18799628e-02] [ 7.51587473e-02 8.39066643e-04 9.97171228e-01 -9.82875766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62463044 meters Centerline goodness : 0.404445 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97190568e-01 1.42221453e-03 -7.48929148e-02 7.20825209e-01] [-1.47709891e-03 9.99998680e-01 -6.77453229e-04 -9.26419116e-02] [ 7.48918524e-02 7.86174213e-04 9.97191352e-01 -9.73884519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65463044 meters Centerline goodness : 0.441074 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97201560e-01 1.42507384e-03 -7.47463533e-02 7.19965681e-01] [-1.47580264e-03 9.99998717e-01 -6.23450902e-04 -9.30017430e-02] [ 7.47453689e-02 7.32017078e-04 9.97202384e-01 -9.67096212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68463044 meters Centerline goodness : 0.461970 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97200795e-01 1.53274962e-03 -7.47544255e-02 7.19837686e-01] [-1.57570531e-03 9.99998626e-01 -5.15649365e-04 -9.30542027e-02] [ 7.47535324e-02 6.31996902e-04 9.97201840e-01 -9.64844056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71463044 meters Centerline goodness : 0.439407 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97183485e-01 1.73734786e-03 -7.49805257e-02 7.20399962e-01] [-1.77238874e-03 9.99998349e-01 -4.00794500e-04 -9.26259072e-02] [ 7.49797056e-02 5.32560296e-04 9.97184918e-01 -9.65267327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74463043999998 meters Centerline goodness : 0.091464 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97173601e-01 1.70882360e-03 -7.51125112e-02 7.20729001e-01] [-1.74815020e-03 9.99998367e-01 -4.57825540e-04 -9.24852881e-02] [ 7.51116062e-02 5.87839494e-04 9.97174960e-01 -9.65494952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77463043999998 meters Centerline goodness : 0.096014 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97161250e-01 1.65623329e-03 -7.52774697e-02 7.21109658e-01] [-1.70374895e-03 9.99998388e-01 -5.66993173e-04 -9.21098830e-02] [ 7.52764092e-02 6.93637532e-04 9.97162465e-01 -9.65333904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80463043999998 meters Centerline goodness : 0.091095 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97153573e-01 1.67495008e-03 -7.53786846e-02 7.21366106e-01] [-1.72662468e-03 9.99998317e-01 -6.20370473e-04 -9.15904050e-02] [ 7.53775186e-02 7.48755331e-04 9.97154787e-01 -9.65812277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83463043999998 meters Centerline goodness : 0.093308 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97156760e-01 1.75319217e-03 -7.53347393e-02 7.21150614e-01] [-1.80576285e-03 9.99998171e-01 -6.29718386e-04 -9.09190214e-02] [ 7.53334976e-02 7.63964619e-04 9.97158102e-01 -9.64253066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86463043999998 meters Centerline goodness : 0.172742 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97162255e-01 1.65161802e-03 -7.52642677e-02 7.20856841e-01] [-1.71409024e-03 9.99998238e-01 -7.65449277e-04 -9.06714729e-02] [ 7.52628708e-02 8.92286874e-04 9.97163329e-01 -9.62301172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89463044 meters Centerline goodness : 0.136787 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97165053e-01 1.58478892e-03 -7.52286254e-02 7.20705577e-01] [-1.64989916e-03 9.99998316e-01 -8.03358195e-04 -9.09080062e-02] [ 7.52272256e-02 9.25200363e-04 9.97165988e-01 -9.61186422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92463044 meters Centerline goodness : 0.096470 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 9.97157571e-01 1.56090070e-03 -7.53282300e-02 7.20903934e-01] [-1.62711173e-03 9.99998342e-01 -8.17604170e-04 -9.09126438e-02] [ 7.53268289e-02 9.37847635e-04 9.97158457e-01 -9.61104996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95463044 meters Centerline goodness : 0.111410 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97195858e-01 1.92078632e-03 -7.48113073e-02 7.65726548e-01] [-1.95094334e-03 9.99998042e-01 -3.30031128e-04 -8.77793298e-02] [ 7.48105269e-02 4.75058295e-04 9.97197653e-01 -9.33571982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.01463044 meters Centerline goodness : 0.093299 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97184269e-01 1.67887052e-03 -7.49714225e-02 7.65687342e-01] [-1.72266137e-03 9.99998381e-01 -5.19438153e-04 -8.80683075e-02] [ 7.49704291e-02 6.47125929e-04 9.97185547e-01 -9.27762269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04463044 meters Centerline goodness : 0.095660 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97182039e-01 1.63435525e-03 -7.50020675e-02 7.65472344e-01] [-1.67798414e-03 9.99998458e-01 -5.18691263e-04 -8.84038859e-02] [ 7.50011041e-02 6.43081890e-04 9.97183243e-01 -9.23601582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.10463044 meters Centerline goodness : 0.092882 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.09 [[ 9.97180970e-01 1.72519680e-03 -7.50142478e-02 7.64954772e-01] [-1.76287115e-03 9.99998351e-01 -4.36018523e-04 -8.81022011e-02] [ 7.50133719e-02 5.67029827e-04 9.97182367e-01 -9.16193365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13463044 meters Centerline goodness : 0.092563 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97173044e-01 1.54539436e-03 -7.51234398e-02 7.65180644e-01] [-1.60185717e-03 9.99998478e-01 -6.91352548e-04 -8.74480589e-02] [ 7.51222570e-02 8.09735146e-04 9.97174002e-01 -9.15874517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.19463044 meters Centerline goodness : 0.401244 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.09 [[ 0.99711962 0.01000017 -0.07518285 0.78747128] [-0.01014187 0.99994744 -0.00150314 -0.08536157] [ 0.07516386 0.0022613 0.99716863 -0.08933284] [ 0. 0. 0. 1. ]] SLAMing on 155.22463044 meters Centerline goodness : 0.456811 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.09 [[ 9.97250695e-01 3.61452651e-03 -7.40134159e-02 7.64417328e-01] [-3.58700440e-03 9.99993439e-01 5.04775557e-04 -8.18222055e-02] [ 7.40147548e-02 -2.37901327e-04 9.97257118e-01 -9.11484842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25463044 meters Centerline goodness : 0.456811 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.09 [[ 9.97250695e-01 3.61452651e-03 -7.40134159e-02 7.64417328e-01] [-3.58700440e-03 9.99993439e-01 5.04775557e-04 -8.18222055e-02] [ 7.40147548e-02 -2.37901327e-04 9.97257118e-01 -9.11484842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28463044 meters Centerline goodness : 0.093187 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.09 [[ 9.97262566e-01 3.62746423e-03 -7.38526632e-02 7.63584140e-01] [-3.61116833e-03 9.99993417e-01 3.54182920e-04 -8.05257953e-02] [ 7.38534618e-02 -8.65189695e-05 9.97269100e-01 -9.05969222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31463044 meters Centerline goodness : 0.229405 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.09 [[ 9.97271557e-01 3.43204783e-03 -7.37405038e-02 7.62938731e-01] [-3.44091306e-03 9.99994080e-01 6.81830623e-06 -7.93163527e-02] [ 7.37400906e-02 2.46934959e-04 9.97277463e-01 -9.01425864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34463044 meters Centerline goodness : 0.167861 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.09 [[ 9.97266766e-01 3.15958591e-03 -7.38174418e-02 7.63169263e-01] [-3.21056898e-03 9.99994683e-01 -5.72014287e-04 -7.68721352e-02] [ 7.38152420e-02 8.07446826e-04 9.97271607e-01 -9.03088524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37463044 meters Centerline goodness : 0.098406 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.09 [[ 9.97251922e-01 3.17645390e-03 -7.40169801e-02 7.63835938e-01] [-3.23924963e-03 9.99994488e-01 -7.28367062e-04 -7.53327556e-02] [ 7.40142585e-02 9.66124929e-04 9.97256715e-01 -9.05801657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40463044 meters Centerline goodness : 0.457942 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.07, Z:-0.09 [[ 9.97254717e-01 -4.32658902e-03 -7.39209718e-02 7.44198471e-01] [ 4.37955567e-03 9.99990256e-01 5.54452761e-04 -7.04783337e-02] [ 7.39178526e-02 -8.76671642e-04 9.97263948e-01 -9.36442617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43463044 meters Centerline goodness : 0.091956 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 9.97365124e-01 3.23555294e-03 -7.24730369e-02 7.63352859e-01] [-3.30136213e-03 9.99994240e-01 -7.88281465e-04 -7.02048959e-02] [ 7.24700689e-02 1.02546418e-03 9.97370060e-01 -9.11817136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46463044 meters Centerline goodness : 0.459970 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 0.99738051 0.00304247 -0.07226934 0.76239424] [-0.00313281 0.99999445 -0.00113673 -0.068805 ] [ 0.07226548 0.00136016 0.9973845 -0.09058967] [ 0. 0. 0. 1. ]] SLAMing on 155.49463043999998 meters Centerline goodness : 0.094660 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 0.99738685 0.00278023 -0.07219242 0.76189275] [-0.00289955 0.9999946 -0.00154802 -0.0673048 ] [ 0.07218773 0.0017533 0.99738952 -0.09014324] [ 0. 0. 0. 1. ]] SLAMing on 155.52463043999998 meters Centerline goodness : 0.462668 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 0.99738565 0.00258632 -0.07221614 0.76177145] [-0.00273149 0.99999444 -0.00191157 -0.06568302] [ 0.0722108 0.00210383 0.99738717 -0.08997599] [ 0. 0. 0. 1. ]] SLAMing on 155.55463043999998 meters Centerline goodness : 0.086193 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99736545 0.00252821 -0.07249661 0.76249614] [-0.00269168 0.99999405 -0.00215737 -0.06344512] [ 0.07249073 0.00234682 0.99736633 -0.09005583] [ 0. 0. 0. 1. ]] SLAMing on 155.58463043999998 meters Centerline goodness : 0.325874 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.997353 0.00247964 -0.07266937 0.76280694] [-0.0026456 0.99999411 -0.00218771 -0.06327227] [ 0.07266352 0.00237417 0.99735369 -0.0898856 ] [ 0. 0. 0. 1. ]] SLAMing on 155.61463043999998 meters Centerline goodness : 0.089582 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.09 [[ 9.97328234e-01 -5.22510486e-03 -7.28635192e-02 7.81862690e-01] [ 5.15984060e-03 9.99986100e-01 -1.08391037e-03 -5.79495008e-02] [ 7.28681700e-02 7.05050269e-04 9.97341332e-01 -8.72438472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64463044 meters Centerline goodness : 0.095731 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99732801 0.00185496 -0.07303018 0.76389177] [-0.00205956 0.99999416 -0.0027264 -0.0642507 ] [ 0.07302469 0.00286952 0.997326 -0.08989393] [ 0. 0. 0. 1. ]] SLAMing on 155.67463044 meters Centerline goodness : 0.255828 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.09 [[ 0.99724947 -0.00624033 -0.073855 0.7838497 ] [ 0.00612273 0.9999796 -0.0018186 -0.05978657] [ 0.07386484 0.0013614 0.99726733 -0.08683532] [ 0. 0. 0. 1. ]] SLAMing on 155.70463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.73463044 meters Centerline goodness : 0.135403 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.09 [[ 0.99723293 -0.006155 -0.0740851 0.78439634] [ 0.00604031 0.99998019 -0.00177209 -0.05930508] [ 0.07409454 0.00131969 0.99725035 -0.08679482] [ 0. 0. 0. 1. ]] SLAMing on 155.76463044 meters Centerline goodness : 0.090785 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.09 [[ 0.99722924 -0.00616668 -0.07413381 0.7845601 ] [ 0.00604287 0.99997995 -0.00189431 -0.05849449] [ 0.07414401 0.00144108 0.9972465 -0.08687499] [ 0. 0. 0. 1. ]] SLAMing on 155.79463044 meters Centerline goodness : 0.092318 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99726778 0.00173219 -0.07385107 0.76461957] [-0.0019574 0.99999365 -0.00297729 -0.06359845] [ 0.07384545 0.00311371 0.99726484 -0.0893978 ] [ 0. 0. 0. 1. ]] SLAMing on 155.82463044 meters Centerline goodness : 0.087799 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99729011 0.00170333 -0.07354961 0.76362877] [-0.00193862 0.99999323 -0.00312785 -0.06281456] [ 0.07354378 0.00326196 0.99728665 -0.0889722 ] [ 0. 0. 0. 1. ]] SLAMing on 155.85463044 meters Centerline goodness : 0.088199 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99728226 0.00171512 -0.07365567 0.76362084] [-0.0019443 0.99999349 -0.00303994 -0.06345838] [ 0.07364998 0.00317489 0.9972791 -0.08860443] [ 0. 0. 0. 1. ]] SLAMing on 155.88463044 meters Centerline goodness : 0.374134 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99727635 0.00169198 -0.07373609 0.7638051 ] [-0.0019127 0.9999939 -0.0029228 -0.06459531] [ 0.07373069 0.00305587 0.99727351 -0.08857522] [ 0. 0. 0. 1. ]] SLAMing on 155.91463044 meters Centerline goodness : 0.092099 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 0.99727477 0.00169115 -0.0737575 0.76371748] [-0.00189651 0.99999452 -0.00271429 -0.06628189] [ 0.0737525 0.00284678 0.99727251 -0.08832875] [ 0. 0. 0. 1. ]] SLAMing on 155.94463044 meters Centerline goodness : 0.091584 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.09 [[ 0.99732227 -0.00645998 -0.07284615 0.78392572] [ 0.006358 0.99997846 -0.0016317 -0.06587441] [ 0.07285512 0.00116417 0.99734186 -0.08598776] [ 0. 0. 0. 1. ]] SLAMing on 155.97463044 meters Centerline goodness : 0.089916 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.09 [[ 9.97325466e-01 -6.38324201e-03 -7.28091319e-02 7.83777125e-01] [ 6.30479843e-03 9.99979270e-01 -1.30716654e-03 -6.79900603e-02] [ 7.28159666e-02 8.44623576e-04 9.97345036e-01 -8.58328522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00463044 meters Centerline goodness : 0.092219 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.09 [[ 9.97329315e-01 -6.31136106e-03 -7.27626552e-02 7.83562109e-01] [ 6.25912609e-03 9.99979964e-01 -9.45879027e-04 -7.04715947e-02] [ 7.27671671e-02 4.87922249e-04 9.97348836e-01 -8.56291282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.06463044 meters Centerline goodness : 0.201260 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.09 [[ 0.99753738 -0.00228096 -0.07009976 0.76433805] [ 0.00208914 0.99999387 -0.0028096 -0.08620419] [ 0.07010574 0.00265623 0.99753603 -0.08813691] [ 0. 0. 0. 1. ]] SLAMing on 156.09463044 meters Centerline goodness : 0.462543 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.09 [[ 0.99753587 -0.0020334 -0.07012885 0.76435341] [ 0.00187805 0.99999564 -0.00228098 -0.08877066] [ 0.07013318 0.00214366 0.99753533 -0.08797571] [ 0. 0. 0. 1. ]] SLAMing on 156.12463044 meters Centerline goodness : 0.206970 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.09 [[ 0.9975439 -0.00177501 -0.07002161 0.76409959] [ 0.0016508 0.99999696 -0.0018318 -0.09067829] [ 0.07002465 0.00171171 0.99754379 -0.08793211] [ 0. 0. 0. 1. ]] SLAMing on 156.15463044 meters Centerline goodness : 0.229217 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.09 [[ 0.99755397 -0.00160116 -0.06988214 0.76386906] [ 0.0014972 0.99999769 -0.00153991 -0.09213661] [ 0.06988444 0.00143151 0.99755407 -0.08804664] [ 0. 0. 0. 1. ]] SLAMing on 156.18463044 meters Centerline goodness : 0.462644 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.08 [[ 0.99753244 0.00644005 -0.06991108 0.78360219] [-0.00664556 0.99997425 -0.0027073 -0.09771849] [ 0.06989184 0.00316521 0.99754955 -0.08499064] [ 0. 0. 0. 1. ]] SLAMing on 156.21463044 meters Centerline goodness : 0.194988 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.09 [[ 0.99752483 0.00663297 -0.07000156 0.78402007] [-0.00682391 0.99997362 -0.00248889 -0.09858968] [ 0.0699832 0.00296041 0.99754378 -0.08533387] [ 0. 0. 0. 1. ]] SLAMing on 156.24463043999998 meters Centerline goodness : 0.462588 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.09 [[ 0.99751616 0.00683491 -0.07010555 0.78451813] [-0.00701035 0.99997288 -0.00225682 -0.09940258] [ 0.07008823 0.00274267 0.99753703 -0.08571135] [ 0. 0. 0. 1. ]] SLAMing on 156.27463043999998 meters Centerline goodness : 0.460800 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.09 [[ 0.99751444 0.00690329 -0.07012333 0.78470991] [-0.00707022 0.99997273 -0.00213263 -0.10019645] [ 0.0701067 0.00262311 0.99753605 -0.0859108 ] [ 0. 0. 0. 1. ]] SLAMing on 156.30463043999998 meters Centerline goodness : 0.101346 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.09 [[ 0.99752079 0.00684965 -0.07003826 0.78491998] [-0.00701352 0.99997321 -0.00209409 -0.10157034] [ 0.07002204 0.00258011 0.99754211 -0.08647978] [ 0. 0. 0. 1. ]] SLAMing on 156.33463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.36463043999998 meters Centerline goodness : 0.241278 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:-0.09 [[ 0.99752131 0.0068653 -0.07002932 0.78502845] [-0.00701657 0.99997355 -0.00191433 -0.10315258] [ 0.07001433 0.00240095 0.9975431 -0.08664604] [ 0. 0. 0. 1. ]] SLAMing on 156.39463044 meters Centerline goodness : 0.282514 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.09 [[ 9.97531202e-01 -9.84963183e-04 -7.02177367e-02 7.66036130e-01] [ 9.54212874e-04 9.99999434e-01 -4.71469347e-04 -1.01571658e-01] [ 7.02181613e-02 4.03302716e-04 9.97531577e-01 -8.97401708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42463044 meters Centerline goodness : 0.093185 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.09 [[ 9.97415346e-01 1.09376246e-04 -7.18513425e-02 7.71824231e-01] [-6.57178225e-05 9.99999812e-01 6.09985269e-04 -1.02932271e-01] [ 7.18513957e-02 -6.03686754e-04 9.97415166e-01 -9.18844673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45463044 meters Centerline goodness : 0.105205 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.09 [[ 9.97369312e-01 -4.79794507e-05 -7.24876006e-02 7.73742658e-01] [ 7.11158316e-05 9.99999947e-01 3.16596214e-04 -1.01906119e-01] [ 7.24875816e-02 -3.20918364e-04 9.97369263e-01 -9.24527147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48463044 meters Centerline goodness : 0.216735 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.09 [[ 9.97332066e-01 -2.45634267e-04 -7.29978746e-02 7.75249250e-01] [ 2.40710080e-04 9.99999968e-01 -7.62539756e-05 -1.00449403e-01] [ 7.29978910e-02 5.84792108e-05 9.97332093e-01 -9.29433802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51463044 meters Centerline goodness : 0.094367 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.09 [[ 9.97310043e-01 -3.24870122e-04 -7.32978388e-02 7.75877895e-01] [ 2.96953648e-04 9.99999879e-01 -3.91760898e-04 -9.86541290e-02] [ 7.32979572e-02 3.68941017e-04 9.97310019e-01 -9.29377602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54463044 meters Centerline goodness : 0.092857 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.09 [[ 0.99739092 0.00168499 -0.07217006 0.77059639] [-0.00159861 0.99999794 0.00125461 -0.09559354] [ 0.07217202 -0.00113596 0.99739155 -0.09027332] [ 0. 0. 0. 1. ]] SLAMing on 156.57463044 meters Centerline goodness : 0.459857 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97420752e-01 1.57221994e-03 -7.17591205e-02 7.69142817e-01] [-1.50066971e-03 9.99998322e-01 1.05099095e-03 -9.45553370e-02] [ 7.17606525e-02 -9.40593446e-04 9.97421438e-01 -8.96268179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60463044 meters Centerline goodness : 0.302612 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97429658e-01 1.41604953e-03 -7.16384758e-02 7.68500309e-01] [-1.35953447e-03 9.99998725e-01 8.37646543e-04 -9.39218041e-02] [ 7.16395706e-02 -7.38098528e-04 9.97430312e-01 -8.91584029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63463044 meters Centerline goodness : 0.104811 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97436371e-01 1.17440741e-03 -7.15493264e-02 7.68001130e-01] [-1.13383215e-03 9.99999173e-01 6.07706781e-04 -9.31644278e-02] [ 7.15499809e-02 -5.25023920e-04 9.97436877e-01 -8.87639482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66463044 meters Centerline goodness : 0.175833 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97439255e-01 1.10155305e-03 -7.15102792e-02 7.67665074e-01] [-1.05824599e-03 9.99999233e-01 6.43489553e-04 -9.35589961e-02] [ 7.15109332e-02 -5.66166274e-04 9.97439655e-01 -8.83807777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69463044 meters Centerline goodness : 0.462043 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.97459184e-01 9.34293993e-04 -7.12341444e-02 7.66385793e-01] [-8.86173366e-04 9.99999357e-01 7.07127602e-04 -9.46253823e-02] [ 7.12347593e-02 -6.42205120e-04 9.97459371e-01 -8.74227639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72463044 meters Centerline goodness : 0.461902 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 9.97527762e-01 -1.48218223e-03 -7.02578583e-02 7.61210824e-01] [ 1.42248341e-03 9.99998584e-01 -8.99734821e-04 -9.90199473e-02] [ 7.02590924e-02 7.97569825e-04 9.97528458e-01 -8.41904772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75463044 meters Centerline goodness : 0.462743 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 9.97526748e-01 -1.39605226e-03 -7.02740248e-02 7.61034363e-01] [ 1.36360616e-03 9.99998940e-01 -5.09678583e-04 -1.01139488e-01] [ 7.02746619e-02 4.12591926e-04 9.97527594e-01 -8.37776672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78463044 meters Centerline goodness : 0.351520 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 9.97522066e-01 -1.33545911e-03 -7.03416203e-02 7.61409696e-01] [ 1.32501521e-03 9.99999103e-01 -1.95133505e-04 -1.03067516e-01] [ 7.03418178e-02 1.01446261e-04 9.97522941e-01 -8.39558293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81463044 meters Centerline goodness : 0.462494 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 9.97516041e-01 -1.28103193e-03 -7.04280213e-02 7.61865726e-01] [ 1.29132289e-03 9.99999161e-01 1.00591166e-04 -1.05111226e-01] [ 7.04278333e-02 -1.91286617e-04 9.97516859e-01 -8.41627477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84463044 meters Centerline goodness : 0.389817 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 9.97521143e-01 -1.28903187e-03 -7.03555854e-02 7.61743514e-01] [ 1.31527585e-03 9.99999082e-01 3.26694508e-04 -1.07117693e-01] [ 7.03550997e-02 -4.18421681e-04 9.97521922e-01 -8.41440058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87463044 meters Centerline goodness : 0.101003 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 9.97528059e-01 -1.22819662e-03 -7.02585405e-02 7.61255946e-01] [ 1.27365725e-03 9.99999008e-01 6.02253364e-04 -1.09120856e-01] [ 7.02577311e-02 -6.90249929e-04 9.97528634e-01 -8.37316060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90463044 meters Centerline goodness : 0.239216 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 9.97508555e-01 -9.47788234e-04 -7.05392340e-02 7.61589134e-01] [ 1.03122837e-03 9.99998811e-01 1.14648271e-03 -1.11927542e-01] [ 7.05380635e-02 -1.21636837e-03 9.97508347e-01 -8.33072624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93463044 meters Centerline goodness : 0.204894 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 9.97475514e-01 -6.38892509e-04 -7.10083798e-02 7.62984342e-01] [ 7.47667965e-04 9.99998588e-01 1.50529954e-03 -1.12932428e-01] [ 7.10073178e-02 -1.55459012e-03 9.97474583e-01 -8.37069791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96463044 meters Centerline goodness : 0.208447 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 9.97463715e-01 -5.20349120e-04 -7.11748946e-02 7.63949990e-01] [ 6.40864478e-04 9.99998400e-01 1.67040326e-03 -1.13753310e-01] [ 7.11739115e-02 -1.71178010e-03 9.97462452e-01 -8.44635848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99463043999998 meters Centerline goodness : 0.100875 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 9.97464515e-01 -5.36947658e-04 -7.11635623e-02 7.64192167e-01] [ 6.60482515e-04 9.99998316e-01 1.71240891e-03 -1.14705579e-01] [ 7.11625230e-02 -1.75506941e-03 9.97463190e-01 -8.48215012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02463043999998 meters Centerline goodness : 0.096530 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 9.97558667e-01 6.95907194e-03 -6.94858049e-02 7.82434570e-01] [-6.95900602e-03 9.99975756e-01 2.43020218e-04 -1.20060529e-01] [ 6.94858116e-02 2.41125210e-04 9.97582911e-01 -8.18223254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05463043999998 meters Centerline goodness : 0.096332 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 9.97572414e-01 7.18880796e-03 -6.92647064e-02 7.81673092e-01] [-7.16055252e-03 9.99974148e-01 6.56213652e-04 -1.21753014e-01] [ 6.92676331e-02 -1.58647070e-04 9.97598100e-01 -8.15086520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08463043999998 meters Centerline goodness : 0.462099 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 9.97572691e-01 7.36585139e-03 -6.92421101e-02 7.81675498e-01] [-7.31701023e-03 9.99972770e-01 9.58971809e-04 -1.23012693e-01] [ 6.92472884e-02 -4.49998860e-04 9.97599424e-01 -8.15654141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11463043999998 meters Centerline goodness : 0.095437 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 9.97557475e-01 7.45696393e-03 -6.94512673e-02 7.82466139e-01] [-7.39382134e-03 9.99971985e-01 1.16618862e-03 -1.24175446e-01] [ 6.94580178e-02 -6.49829916e-04 9.97584664e-01 -8.19231748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14463044 meters Centerline goodness : 0.095458 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.12, Z:-0.08 [[ 9.97507999e-01 5.58439800e-05 -7.05534509e-02 8.02519452e-01] [ 6.86463191e-05 9.99998445e-01 1.76205620e-03 -1.19632748e-01] [ 7.05534396e-02 -1.76250839e-03 9.97506444e-01 -7.99577059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17463044 meters Centerline goodness : 0.095458 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.12, Z:-0.08 [[ 9.97507999e-01 5.58439800e-05 -7.05534509e-02 8.02519452e-01] [ 6.86463191e-05 9.99998445e-01 1.76205620e-03 -1.19632748e-01] [ 7.05534396e-02 -1.76250839e-03 9.97506444e-01 -7.99577059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20463044 meters Centerline goodness : 0.099181 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97261464e-01 -9.88446892e-04 -7.39499544e-02 7.60540017e-01] [ 1.06890173e-03 9.99998879e-01 1.04839438e-03 -1.25005961e-01] [ 7.39488353e-02 -1.12456855e-03 9.97261403e-01 -8.29999088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23463044 meters Centerline goodness : 0.178506 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97259567e-01 -8.83666359e-04 -7.39768490e-02 7.60536907e-01] [ 9.75151818e-04 9.99998804e-01 1.20056720e-03 -1.25467077e-01] [ 7.39756996e-02 -1.26941579e-03 9.97259236e-01 -8.29181220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26463044 meters Centerline goodness : 0.102075 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97264681e-01 -7.48363358e-04 -7.39093790e-02 7.60025160e-01] [ 8.55093117e-04 9.99998637e-01 1.41243004e-03 -1.26084541e-01] [ 7.39082212e-02 -1.47176599e-03 9.97263961e-01 -8.24467155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29463044 meters Centerline goodness : 0.105190 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97270320e-01 -7.14045468e-04 -7.38335900e-02 7.59361832e-01] [ 8.27024515e-04 9.99998534e-01 1.49962344e-03 -1.26585930e-01] [ 7.38324109e-02 -1.55659214e-03 9.97269448e-01 -8.17751911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32463044 meters Centerline goodness : 0.101920 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97246364e-01 -9.83642009e-04 -7.41533624e-02 7.59877912e-01] [ 1.08667982e-03 9.99998499e-01 1.34918990e-03 -1.27898559e-01] [ 7.41519240e-02 -1.42605569e-03 9.97245937e-01 -8.14202038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35463044 meters Centerline goodness : 0.102243 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 0.99722269 -0.00101623 -0.07447068 0.76121688] [ 0.00111717 0.99999851 0.00131385 -0.12803325] [ 0.07446923 -0.0013934 0.99722234 -0.08218151] [ 0. 0. 0. 1. ]] SLAMing on 157.38463044 meters Centerline goodness : 0.114228 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97208872e-01 -9.29578125e-04 -7.46565588e-02 7.62268617e-01] [ 1.03444266e-03 9.99998532e-01 1.36597030e-03 -1.27898799e-01] [ 7.46551794e-02 -1.43938563e-03 9.97208370e-01 -8.29991497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41463044 meters Centerline goodness : 0.176616 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97228350e-01 -8.58448141e-04 -7.43967785e-02 7.61390408e-01] [ 9.65781674e-04 9.99998544e-01 1.40675411e-03 -1.27688695e-01] [ 7.43954625e-02 -1.47470613e-03 9.97227727e-01 -8.26597099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44463044 meters Centerline goodness : 0.097669 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:-0.08 [[ 9.97344066e-01 6.53663588e-03 -7.25402430e-02 7.79513527e-01] [-6.57454147e-03 9.99978347e-01 -2.83781482e-04 -1.29419151e-01] [ 7.25368173e-02 7.59946613e-04 9.97365446e-01 -7.96594451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47463044 meters Centerline goodness : 0.094324 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97432521e-01 -1.97675798e-03 -7.15853227e-02 7.57360721e-01] [ 1.98580145e-03 9.99998027e-01 5.51630217e-05 -1.25958578e-01] [ 7.15850724e-02 -1.97175629e-04 9.97434478e-01 -8.11988424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50463044 meters Centerline goodness : 0.098365 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.08 [[ 9.97435608e-01 -1.90061010e-03 -7.15443625e-02 7.56959422e-01] [ 1.91068887e-03 9.99998172e-01 7.24373349e-05 -1.25301337e-01] [ 7.15440940e-02 -2.08950594e-04 9.97437416e-01 -8.08147996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53463044 meters Centerline goodness : 0.103393 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.08 [[ 9.97450361e-01 -1.83467387e-03 -7.13401106e-02 7.56377189e-01] [ 1.84789959e-03 9.99998286e-01 1.19391226e-04 -1.24914489e-01] [ 7.13397692e-02 -2.50916183e-04 9.97452041e-01 -8.06855469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56463044 meters Centerline goodness : 0.096768 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.12, Z:-0.08 [[ 9.97489854e-01 -2.03618706e-03 -7.07802565e-02 7.54861257e-01] [ 2.03791536e-03 9.99997922e-01 -4.77947954e-05 -1.24695157e-01] [ 7.07802067e-02 -9.65693486e-05 9.97491931e-01 -8.03685974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 157.62463044 meters Centerline goodness : 0.515937 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.08 [[ 9.97509865e-01 -2.38778405e-03 -7.04866469e-02 7.53381622e-01] [ 2.37903303e-03 9.99997148e-01 -2.08100751e-04 -1.25350555e-01] [ 7.04869428e-02 3.98924911e-05 9.97512701e-01 -7.92705911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65463044 meters Centerline goodness : 0.467191 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.08 [[ 9.97523438e-01 -1.94399860e-03 -7.03079756e-02 7.52391165e-01] [ 1.98639937e-03 9.99997885e-01 5.33160511e-04 -1.27149475e-01] [ 7.03067905e-02 -6.71499825e-04 9.97525190e-01 -7.84387203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68463044 meters Centerline goodness : 0.536708 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.08 [[ 9.97525120e-01 -1.88451534e-03 -7.02857291e-02 7.52369450e-01] [ 1.94082846e-03 9.99997848e-01 7.32920530e-04 -1.28179838e-01] [ 7.02841966e-02 -8.67519183e-04 9.97526631e-01 -7.83631498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71463044 meters Centerline goodness : 0.226517 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.08 [[ 9.97523805e-01 -2.01021355e-03 -7.03009076e-02 7.52497990e-01] [ 2.06647541e-03 9.99997600e-01 7.27582274e-04 -1.29217164e-01] [ 7.02992763e-02 -8.71055736e-04 9.97525565e-01 -7.84107945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74463043999998 meters Centerline goodness : 0.102247 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.08 [[ 0.99744162 0.00277051 -0.07143212 0.73372956] [-0.00300074 0.99999064 -0.00311588 -0.13491596] [ 0.07142282 0.00332226 0.9974406 -0.08054441] [ 0. 0. 0. 1. ]] SLAMing on 157.77463043999998 meters Centerline goodness : 0.099620 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99740677 0.00290889 -0.07191162 0.73526636] [-0.00312917 0.99999075 -0.00295079 -0.13519611] [ 0.07190237 0.00316816 0.99740664 -0.08105222] [ 0. 0. 0. 1. ]] SLAMing on 157.80463043999998 meters Centerline goodness : 0.165588 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.08 [[ 9.97301954e-01 -4.56658384e-03 -7.32663564e-02 7.17922451e-01] [ 4.50686452e-03 9.99989363e-01 -9.80401986e-04 -1.33021639e-01] [ 7.32700542e-02 6.47555274e-04 9.97311927e-01 -8.46031987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83463043999998 meters Centerline goodness : 0.107195 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.9972367 0.00303426 -0.07422768 0.73870838] [-0.00318691 0.99999304 -0.00193814 -0.13643777] [ 0.07422129 0.00216934 0.99723944 -0.08242867] [ 0. 0. 0. 1. ]] SLAMing on 157.86463043999998 meters Centerline goodness : 0.091434 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99717367 0.00110401 -0.07512292 0.74270212] [-0.0013894 0.99999202 -0.00374676 -0.1381347 ] [ 0.07511818 0.00384055 0.99716724 -0.0842712 ] [ 0. 0. 0. 1. ]] SLAMing on 157.89463044 meters Centerline goodness : 0.162038 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99715931 0.00111967 -0.07531309 0.74333544] [-0.00140183 0.9999922 -0.00369372 -0.13861111] [ 0.07530837 0.0037888 0.9971531 -0.08451574] [ 0. 0. 0. 1. ]] SLAMing on 157.92463044 meters Centerline goodness : 0.236773 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99714305 0.00120594 -0.07552669 0.74423311] [-0.00148321 0.99999237 -0.00361509 -0.13858144] [ 0.07552176 0.00371679 0.99713723 -0.08497219] [ 0. 0. 0. 1. ]] SLAMing on 157.95463044 meters Centerline goodness : 0.118726 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.09 [[ 0.99712762 0.00126146 -0.07572919 0.74512425] [-0.00153502 0.99999251 -0.00355428 -0.13883019] [ 0.07572414 0.00366032 0.99712209 -0.08549318] [ 0. 0. 0. 1. ]] SLAMing on 157.98463044 meters Centerline goodness : 0.171100 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.09 [[ 0.99710592 0.00110363 -0.07601683 0.74623772] [-0.00138485 0.99999239 -0.00364676 -0.1397247 ] [ 0.07601223 0.00374147 0.99709987 -0.08599465] [ 0. 0. 0. 1. ]] SLAMing on 158.01463044 meters Centerline goodness : 0.102115 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.09 [[ 0.99710943 0.0011285 -0.0759705 0.74611943] [-0.00140778 0.99999245 -0.00362269 -0.13990064] [ 0.07596583 0.00371917 0.99710348 -0.08598671] [ 0. 0. 0. 1. ]] SLAMing on 158.04463044 meters Centerline goodness : 0.106999 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.09 [[ 0.99712427 0.0012216 -0.07577403 0.74554067] [-0.00149634 0.99999251 -0.00356908 -0.13963909] [ 0.0757691 0.0036722 0.99711863 -0.08584776] [ 0. 0. 0. 1. ]] SLAMing on 158.07463044 meters Centerline goodness : 0.103462 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99703141 0.00138919 -0.07698341 0.69969916] [-0.00163541 0.99999375 -0.00313535 -0.1429398 ] [ 0.07697857 0.00325194 0.99702744 -0.08837117] [ 0. 0. 0. 1. ]] SLAMing on 158.10463044 meters Centerline goodness : 0.106455 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99702805 0.00138851 -0.0770269 0.69970177] [-0.00164214 0.99999344 -0.00322941 -0.14234189] [ 0.07702191 0.0033463 0.99702378 -0.08827722] [ 0. 0. 0. 1. ]] SLAMing on 158.13463044 meters Centerline goodness : 0.137375 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.9970267 0.00135988 -0.07704482 0.69986312] [-0.00162864 0.99999281 -0.00342572 -0.1413447 ] [ 0.07703961 0.00354101 0.99702175 -0.08848257] [ 0. 0. 0. 1. ]] SLAMing on 158.16463044 meters Centerline goodness : 0.095262 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99705042 0.00148228 -0.07673507 0.69870568] [-0.00173828 0.99999314 -0.0032695 -0.14170579] [ 0.0767297 0.00339325 0.99704616 -0.08796557] [ 0. 0. 0. 1. ]] SLAMing on 158.19463044 meters Centerline goodness : 0.105134 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99708584 0.00162983 -0.07627041 0.69714117] [-0.00186868 0.99999357 -0.00306028 -0.14223662] [ 0.07626493 0.00319388 0.99708247 -0.08735094] [ 0. 0. 0. 1. ]] SLAMing on 158.22463044 meters Centerline goodness : 0.127090 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99710962 0.00167511 -0.07595789 0.69617584] [-0.00190117 0.99999398 -0.0029039 -0.14307047] [ 0.07595257 0.00303992 0.9971068 -0.08700667] [ 0. 0. 0. 1. ]] SLAMing on 158.25463044 meters Centerline goodness : 0.087536 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99710166 0.00138223 -0.07606823 0.69649464] [-0.00160414 0.99999463 -0.00285622 -0.14547239] [ 0.07606388 0.00296996 0.99709852 -0.08696673] [ 0. 0. 0. 1. ]] SLAMing on 158.28463044 meters Centerline goodness : 0.112167 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99709214 0.00130355 -0.0761943 0.69696356] [-0.00151716 0.99999508 -0.00274567 -0.14688806] [ 0.07619035 0.00285328 0.99708921 -0.08712465] [ 0. 0. 0. 1. ]] SLAMing on 158.31463044 meters Centerline goodness : 0.096022 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99708874 0.00132336 -0.07623839 0.69708586] [-0.00151846 0.99999572 -0.00250118 -0.14851984] [ 0.07623475 0.00260967 0.99708648 -0.08707099] [ 0. 0. 0. 1. ]] SLAMing on 158.34463044 meters Centerline goodness : 0.106076 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99709101 0.00143513 -0.0762067 0.69691614] [-0.00160686 0.99999631 -0.00219226 -0.1499674 ] [ 0.07620327 0.00230834 0.99708963 -0.08689314] [ 0. 0. 0. 1. ]] SLAMing on 158.37463044 meters Centerline goodness : 0.106052 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99712754 0.00133005 -0.07572916 0.69516275] [-0.0014755 0.99999717 -0.00186468 -0.15268893] [ 0.07572647 0.00197106 0.99712668 -0.08594486] [ 0. 0. 0. 1. ]] SLAMing on 158.40463044 meters Centerline goodness : 0.156346 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99712623 0.00119492 -0.07574868 0.69501893] [-0.00133365 0.99999752 -0.00178094 -0.15416812] [ 0.07574636 0.00187685 0.99712535 -0.08559898] [ 0. 0. 0. 1. ]] SLAMing on 158.43463044 meters Centerline goodness : 0.103667 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99710266 0.00107767 -0.07606004 0.69577687] [-0.00121005 0.99999783 -0.00169429 -0.15556672] [ 0.07605805 0.00178141 0.9971018 -0.08557032] [ 0. 0. 0. 1. ]] SLAMing on 158.46463044 meters Centerline goodness : 0.182398 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99706881 0.00100549 -0.07650339 0.69709628] [-0.00112671 0.99999818 -0.0015413 -0.15713211] [ 0.0765017 0.00162298 0.99706813 -0.08587315] [ 0. 0. 0. 1. ]] SLAMing on 158.49463043999998 meters Centerline goodness : 0.106497 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 9.97033834e-01 9.29322151e-04 -7.69588926e-02 6.98539623e-01] [-1.03443710e-03 9.99998586e-01 -1.32600603e-03 -1.58949512e-01] [ 7.69575515e-02 1.40168201e-03 9.97033385e-01 -8.62784490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52463043999998 meters Centerline goodness : 0.096948 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 9.97044342e-01 -9.24774936e-04 -7.68226812e-02 6.98095362e-01] [ 7.51093968e-04 9.99997097e-01 -2.28966572e-03 -1.64711906e-01] [ 7.68245756e-02 2.22519720e-03 9.97042142e-01 -8.60010999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55463043999998 meters Centerline goodness : 0.099715 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 9.97012960e-01 -1.16727988e-03 -7.72256072e-02 6.98862064e-01] [ 9.99474182e-04 9.99997055e-01 -2.21154270e-03 -1.66514020e-01] [ 7.72279613e-02 2.12775173e-03 9.97011191e-01 -8.56222291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58463043999998 meters Centerline goodness : 0.095647 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99697113 -0.00132266 -0.07776126 0.70010358] [ 0.00116121 0.99999708 -0.00212152 -0.1679614 ] [ 0.07776384 0.00202479 0.99696975 -0.0855234 ] [ 0. 0. 0. 1. ]] SLAMing on 158.61463043999998 meters Centerline goodness : 0.465446 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99693699 -0.00137181 -0.07819691 0.70121718] [ 0.00121853 0.99999724 -0.00200786 -0.16901159] [ 0.07819945 0.00190642 0.99693591 -0.0855826 ] [ 0. 0. 0. 1. ]] SLAMing on 158.64463044 meters Centerline goodness : 0.095580 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99694251 -0.00141987 -0.07812564 0.70131545] [ 0.00128389 0.99999757 -0.00179074 -0.17045635] [ 0.07812799 0.00168496 0.99694191 -0.08579543] [ 0. 0. 0. 1. ]] SLAMing on 158.67463044 meters Centerline goodness : 0.097427 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99696623 -0.0014167 -0.07782245 0.70046472] [ 0.001286 0.99999768 -0.00172953 -0.17084087] [ 0.07782472 0.00162421 0.99696573 -0.08558837] [ 0. 0. 0. 1. ]] SLAMing on 158.70463044 meters Centerline goodness : 0.095018 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99698078 -0.0015097 -0.07763411 0.69972681] [ 0.00136858 0.99999731 -0.00187092 -0.17041448] [ 0.07763672 0.00175902 0.99698016 -0.08518678] [ 0. 0. 0. 1. ]] SLAMing on 158.73463044 meters Centerline goodness : 0.102793 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99694677 -0.00163453 -0.07806709 0.70046619] [ 0.00146311 0.99999639 -0.00225297 -0.16848217] [ 0.07807049 0.00213187 0.99694556 -0.08481499] [ 0. 0. 0. 1. ]] SLAMing on 158.76463044 meters Centerline goodness : 0.098044 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99693882 -0.0016541 -0.07816807 0.70102085] [ 0.00146702 0.99999592 -0.00245059 -0.16717415] [ 0.07817181 0.00232842 0.99693718 -0.08528428] [ 0. 0. 0. 1. ]] SLAMing on 158.79463044 meters Centerline goodness : 0.104530 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99693699 -0.00170656 -0.07819032 0.70130385] [ 0.00150716 0.99999546 -0.00260912 -0.16626316] [ 0.07819442 0.00248328 0.99693504 -0.08560471] [ 0. 0. 0. 1. ]] SLAMing on 158.82463044 meters Centerline goodness : 0.104123 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99694669 -0.00177032 -0.07806506 0.70107502] [ 0.00156419 0.99999513 -0.00270158 -0.16601885] [ 0.07806947 0.00257122 0.99694461 -0.08569307] [ 0. 0. 0. 1. ]] SLAMing on 158.85463044 meters Centerline goodness : 0.106338 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99694532 -0.0017884 -0.07808216 0.70113131] [ 0.00159036 0.99999536 -0.0025983 -0.16678552] [ 0.07808645 0.00246618 0.99694354 -0.08573833] [ 0. 0. 0. 1. ]] SLAMing on 158.88463044 meters Centerline goodness : 0.110810 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99693091 -0.00170961 -0.07826774 0.70163261] [ 0.00152034 0.99999577 -0.00247782 -0.16698904] [ 0.07827164 0.00235122 0.9969293 -0.08577386] [ 0. 0. 0. 1. ]] SLAMing on 158.91463044 meters Centerline goodness : 0.108152 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99692669 -0.00163353 -0.07832314 0.70201709] [ 0.00144685 0.99999598 -0.0024402 -0.16677262] [ 0.07832681 0.00231938 0.99692504 -0.08609697] [ 0. 0. 0. 1. ]] SLAMing on 158.94463044 meters Centerline goodness : 0.103487 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99692624 -0.00163142 -0.07832889 0.70227257] [ 0.00143514 0.99999569 -0.002562 -0.16596011] [ 0.07833273 0.00244171 0.99692428 -0.08639022] [ 0. 0. 0. 1. ]] SLAMing on 158.97463044 meters Centerline goodness : 0.103199 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99694145 -0.00169703 -0.07813359 0.70190158] [ 0.00148216 0.99999496 -0.00280793 -0.16463249] [ 0.07813796 0.00268354 0.99693894 -0.08656173] [ 0. 0. 0. 1. ]] SLAMing on 159.00463044 meters Centerline goodness : 0.102306 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99698657 -0.001481 -0.07756024 0.70035018] [ 0.00124813 0.99999457 -0.00305087 -0.16218251] [ 0.07756433 0.00294487 0.996983 -0.08640717] [ 0. 0. 0. 1. ]] SLAMing on 159.03463044 meters Centerline goodness : 0.449232 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99697471 -0.00139168 -0.07771414 0.7004808 ] [ 0.00114804 0.99999429 -0.00317976 -0.16072617] [ 0.07771812 0.00308093 0.99697061 -0.08619322] [ 0. 0. 0. 1. ]] SLAMing on 159.06463044 meters Centerline goodness : 0.449232 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99697471 -0.00139168 -0.07771414 0.7004808 ] [ 0.00114804 0.99999429 -0.00317976 -0.16072617] [ 0.07771812 0.00308093 0.99697061 -0.08619322] [ 0. 0. 0. 1. ]] SLAMing on 159.09463044 meters Centerline goodness : 0.130631 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99696073 -0.00125601 -0.07789565 0.70092186] [ 0.00100983 0.99999437 -0.0031997 -0.15975874] [ 0.07789923 0.00311131 0.99695638 -0.08623141] [ 0. 0. 0. 1. ]] SLAMing on 159.12463044 meters Centerline goodness : 0.107991 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 9.96947851e-01 -1.19921234e-03 -7.80611523e-02 7.01450715e-01] [ 9.47642063e-04 9.99994238e-01 -3.25969711e-03 -1.59003203e-01] [ 7.80646115e-02 3.17577399e-03 9.96943244e-01 -8.64432374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15463044 meters Centerline goodness : 0.450330 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 9.96966415e-01 -1.24814687e-03 -7.78229381e-02 7.01037234e-01] [ 9.72059994e-04 9.99993100e-01 -3.58540929e-03 -1.57278699e-01] [ 7.78268763e-02 3.49888408e-03 9.96960749e-01 -8.67235464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18463044 meters Centerline goodness : 0.096872 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 9.96971946e-01 -1.27192009e-03 -7.77516674e-02 7.00874324e-01] [ 9.76741086e-04 9.99992172e-01 -3.83434439e-03 -1.55743058e-01] [ 7.77559357e-02 3.74679054e-03 9.96965384e-01 -8.67820306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21463044 meters Centerline goodness : 0.101464 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 9.96973327e-01 -1.24614335e-03 -7.77343746e-02 7.00893009e-01] [ 9.30856666e-04 9.99991194e-01 -4.09205206e-03 -1.53784053e-01] [ 7.77387894e-02 4.00730720e-03 9.96965708e-01 -8.69421891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24463043999998 meters Centerline goodness : 0.172123 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 9.96971691e-01 -1.20373631e-03 -7.77560225e-02 7.00989064e-01] [ 8.65882391e-04 9.99990039e-01 -4.37862013e-03 -1.51381477e-01] [ 7.77605186e-02 4.29803274e-03 9.96962802e-01 -8.71003518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27463043999998 meters Centerline goodness : 0.101585 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99694922 0.00252042 -0.07801217 0.70188668] [-0.00263679 0.99999556 -0.00138881 -0.14773694] [ 0.07800832 0.00159028 0.99695144 -0.08751797] [ 0. 0. 0. 1. ]] SLAMing on 159.30463043999998 meters Centerline goodness : 0.505091 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.09 [[ 0.99695815 0.00246073 -0.07789985 0.70178027] [-0.00260224 0.99999514 -0.0017151 -0.14554313] [ 0.07789525 0.0019126 0.99695971 -0.08779383] [ 0. 0. 0. 1. ]] SLAMing on 159.33463043999998 meters Centerline goodness : 0.488081 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99696912 0.00236803 -0.07776226 0.70133547] [-0.00253508 0.99999469 -0.00204949 -0.14350484] [ 0.07775699 0.00224041 0.99696982 -0.08768651] [ 0. 0. 0. 1. ]] SLAMing on 159.36463043999998 meters Centerline goodness : 0.098487 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99698836 0.00217808 -0.07752068 0.70054226] [-0.00237387 0.99999422 -0.00243359 -0.14171246] [ 0.07751493 0.00261028 0.99698777 -0.08743963] [ 0. 0. 0. 1. ]] SLAMing on 159.39463044 meters Centerline goodness : 0.507491 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99696876 0.00165328 -0.07778532 0.70086358] [-0.00191758 0.99999264 -0.00332328 -0.13805435] [ 0.07777926 0.00346237 0.99696459 -0.08710974] [ 0. 0. 0. 1. ]] SLAMing on 159.42463044 meters Centerline goodness : 0.096425 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 0.99695712 0.00147303 -0.07793802 0.70151879] [-0.00176539 0.99999166 -0.00368244 -0.136161 ] [ 0.07793195 0.00380882 0.99695141 -0.08749755] [ 0. 0. 0. 1. ]] SLAMing on 159.45463044 meters Centerline goodness : 0.131016 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 0.99695634 0.00137014 -0.07794981 0.7017076 ] [-0.00168078 0.99999091 -0.00391969 -0.13466685] [ 0.07794373 0.00403878 0.99694958 -0.08772079] [ 0. 0. 0. 1. ]] SLAMing on 159.48463044 meters Centerline goodness : 0.104266 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 0.9969794 0.0012516 -0.07765637 0.70073653] [-0.00158079 0.99999002 -0.00417766 -0.1331303 ] [ 0.07765037 0.0042878 0.99697143 -0.08738701] [ 0. 0. 0. 1. ]] SLAMing on 159.51463044 meters Centerline goodness : 0.269089 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 0.9969974 0.00111846 -0.077427 0.69956769] [-0.0014685 0.99998896 -0.00446413 -0.13146382] [ 0.07742116 0.00456442 0.99698803 -0.08657215] [ 0. 0. 0. 1. ]] SLAMing on 159.54463044 meters Centerline goodness : 0.466271 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 9.96989322e-01 9.93940449e-04 -7.75325929e-02 6.99055829e-01] [-1.38443560e-03 9.99986627e-01 -4.98294119e-03 -1.27463969e-01] [ 7.75266033e-02 5.07527804e-03 9.96977366e-01 -8.56503757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57463044 meters Centerline goodness : 0.241944 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 9.96968936e-01 9.17154825e-04 -7.77952385e-02 7.00008213e-01] [-1.33226257e-03 9.99985151e-01 -5.28416907e-03 -1.25383584e-01] [ 7.77892369e-02 5.37179610e-03 9.96955354e-01 -8.60945397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 159.63463044 meters Centerline goodness : 0.096636 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96977947e-01 3.93289269e-04 -7.76840989e-02 7.00456132e-01] [-8.89623775e-04 9.99979413e-01 -6.35463522e-03 -1.20322438e-01] [ 7.76800004e-02 6.40454080e-03 9.96957772e-01 -8.70274885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66463044 meters Centerline goodness : 0.147908 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96980832e-01 3.29032304e-04 -7.76473582e-02 6.99895535e-01] [-8.42050296e-04 9.99978034e-01 -6.57437600e-03 -1.18956228e-01] [ 7.76434894e-02 6.61990984e-03 9.96959209e-01 -8.64876627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69463044 meters Centerline goodness : 0.097704 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96981109e-01 3.09918058e-04 -7.76438765e-02 6.99530650e-01] [-8.36454718e-04 9.99976875e-01 -6.74900179e-03 -1.17540941e-01] [ 7.76399894e-02 6.79357288e-03 9.96958314e-01 -8.60511979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72463044 meters Centerline goodness : 0.443901 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96983675e-01 3.01775025e-04 -7.76109512e-02 6.99394070e-01] [-8.33908478e-04 9.99976368e-01 -6.82410456e-03 -1.16843815e-01] [ 7.76070578e-02 6.86824128e-03 9.96960366e-01 -8.59875803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75463044 meters Centerline goodness : 0.276005 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96974535e-01 1.64047622e-04 -7.77286935e-02 6.99725295e-01] [-7.11165802e-04 9.99975168e-01 -7.01119011e-03 -1.16169548e-01] [ 7.77256132e-02 7.04525598e-03 9.96949895e-01 -8.60282348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78463044 meters Centerline goodness : 0.112985 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96982402e-01 1.72526203e-04 -7.76277051e-02 6.99529253e-01] [-7.11331128e-04 9.99975850e-01 -6.91328669e-03 -1.16856741e-01] [ 7.76246376e-02 6.94764417e-03 9.96958447e-01 -8.60773792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81463044 meters Centerline goodness : 0.296090 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96979745e-01 1.67527521e-04 -7.76618301e-02 6.99553928e-01] [-6.98135687e-04 9.99976601e-01 -6.80519038e-03 -1.17804197e-01] [ 7.76588728e-02 6.83885546e-03 9.96956533e-01 -8.59903135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84463044 meters Centerline goodness : 0.164295 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.08 [[ 9.97058123e-01 -1.42931250e-04 -7.66490573e-02 7.42227903e-01] [-3.87847121e-04 9.99976051e-01 -6.90985602e-03 -1.17262604e-01] [ 7.66482093e-02 6.91925620e-03 9.97034190e-01 -8.21766901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87463044 meters Centerline goodness : 0.093014 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 9.96955856e-01 -1.32885203e-03 -7.79567478e-02 6.97076239e-01] [ 7.50148456e-04 9.99971951e-01 -7.45220752e-03 -1.23686266e-01] [ 7.79644640e-02 7.37104279e-03 9.96928889e-01 -8.52231216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90463044 meters Centerline goodness : 0.103896 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.08 [[ 9.96967971e-01 -1.30205370e-03 -7.78021162e-02 6.96501342e-01] [ 7.41072060e-04 9.99973525e-01 -7.23880208e-03 -1.25346843e-01] [ 7.78094817e-02 7.15919684e-03 9.96942541e-01 -8.49114455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 159.96463044 meters Centerline goodness : 0.089474 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 9.96976362e-01 -1.18031701e-03 -7.76964695e-02 6.96386729e-01] [ 6.59284659e-04 9.99977127e-01 -6.73130708e-03 -1.28769853e-01] [ 7.77026374e-02 6.65972995e-03 9.96954336e-01 -8.50432015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99463043999998 meters Centerline goodness : 0.120957 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 9.96947693e-01 -1.00314928e-03 -7.80659359e-02 6.97933816e-01] [ 5.07120084e-04 9.99979560e-01 -6.37354274e-03 -1.30437911e-01] [ 7.80707339e-02 6.31449992e-03 9.96927825e-01 -8.58373135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02463043999998 meters Centerline goodness : 0.222330 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 9.96909673e-01 -8.77998506e-04 -7.85514696e-02 6.99751599e-01] [ 4.02150883e-04 9.99981476e-01 -6.07339542e-03 -1.32083914e-01] [ 7.85553470e-02 6.02303710e-03 9.96891559e-01 -8.66383499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05463043999998 meters Centerline goodness : 0.461334 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.09 [[ 9.96836920e-01 -1.06386796e-03 -7.94671174e-02 7.02922690e-01] [ 5.91431536e-04 9.99982014e-01 -5.96835586e-03 -1.34984088e-01] [ 7.94720377e-02 5.90247811e-03 9.96819621e-01 -8.78507081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08463043999998 meters Centerline goodness : 0.134079 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96821017e-01 -1.02727061e-03 -7.96668404e-02 7.03275966e-01] [ 5.64682079e-04 9.99982853e-01 -5.82884961e-03 -1.36068904e-01] [ 7.96714622e-02 5.76533336e-03 9.96804504e-01 -8.76618050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11463043999998 meters Centerline goodness : 0.087819 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96822356e-01 -9.07926545e-04 -7.96515327e-02 7.02946358e-01] [ 4.60796481e-04 9.99984035e-01 -5.63177884e-03 -1.36821509e-01] [ 7.96553744e-02 5.57717990e-03 9.96806860e-01 -8.72810435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14463044 meters Centerline goodness : 0.379896 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96830947e-01 -7.31976976e-04 -7.95457552e-02 7.02559594e-01] [ 3.00848741e-04 9.99985203e-01 -5.43172679e-03 -1.37262541e-01] [ 7.95485540e-02 5.39058212e-03 9.96816417e-01 -8.70746434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17463044 meters Centerline goodness : 0.173009 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96841392e-01 -7.51478805e-04 -7.94145723e-02 7.02837239e-01] [ 3.21672348e-04 9.99985234e-01 -5.42484062e-03 -1.38224430e-01] [ 7.94174763e-02 5.38216020e-03 9.96826914e-01 -8.78104343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20463044 meters Centerline goodness : 0.478123 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96842577e-01 -7.82649437e-04 -7.93993908e-02 7.03054958e-01] [ 3.55002741e-04 9.99985357e-01 -5.39999268e-03 -1.38930154e-01] [ 7.94024545e-02 5.35475562e-03 9.96828258e-01 -8.81475498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23463044 meters Centerline goodness : 0.464660 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96867935e-01 -3.41010521e-04 -7.90835234e-02 7.01882343e-01] [-3.26024783e-05 9.99988846e-01 -4.72294438e-03 -1.41290602e-01] [ 7.90842519e-02 4.71073013e-03 9.96856805e-01 -8.76126121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26463044 meters Centerline goodness : 0.520264 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96886793e-01 -1.01295168e-04 -7.88461233e-02 7.01037314e-01] [-2.46189707e-04 9.99990301e-01 -4.39739378e-03 -1.42095518e-01] [ 7.88458040e-02 4.40311489e-03 9.96877100e-01 -8.72265463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29463044 meters Centerline goodness : 0.092418 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96902497e-01 -7.77021037e-05 -7.86473492e-02 7.00430014e-01] [-2.61769754e-04 9.99990695e-01 -4.30606123e-03 -1.42855823e-01] [ 7.86469520e-02 4.31331069e-03 9.96893200e-01 -8.70453221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32463044 meters Centerline goodness : 0.102230 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96905255e-01 -1.86874878e-04 -7.86122035e-02 7.00362644e-01] [-1.56729215e-04 9.99990462e-01 -4.36468205e-03 -1.43550120e-01] [ 7.86122694e-02 4.36349530e-03 9.96895717e-01 -8.70558303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35463044 meters Centerline goodness : 0.088914 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.09 [[ 9.96909848e-01 -2.48579593e-04 -7.85537631e-02 7.00269161e-01] [-9.76013310e-05 9.99990302e-01 -4.40305972e-03 -1.43946510e-01] [ 7.85540958e-02 4.39712054e-03 9.96900155e-01 -8.71478285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38463044 meters Centerline goodness : 0.157342 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99702615 0.00234644 -0.07702827 0.74279228] [-0.00255982 0.99999316 -0.00267145 -0.141623 ] [ 0.07702147 0.00286069 0.99702533 -0.08359409] [ 0. 0. 0. 1. ]] SLAMing on 160.41463044 meters Centerline goodness : 0.119731 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99704226 0.00253744 -0.07681335 0.74251254] [-0.00273988 0.99999305 -0.00253018 -0.14145122] [ 0.07680639 0.00273316 0.99704228 -0.08388533] [ 0. 0. 0. 1. ]] SLAMing on 160.44463044 meters Centerline goodness : 0.431217 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99703323 0.00257339 -0.07692929 0.74291896] [-0.00277877 0.99999286 -0.00256286 -0.14121533] [ 0.07692214 0.00276902 0.99703326 -0.08405015] [ 0. 0. 0. 1. ]] SLAMing on 160.47463044 meters Centerline goodness : 0.462187 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99701933 0.00249052 -0.07711195 0.74343441] [-0.00270552 0.99999274 -0.00268384 -0.14118192] [ 0.0771047 0.00288447 0.99701883 -0.08416406] [ 0. 0. 0. 1. ]] SLAMing on 160.50463044 meters Centerline goodness : 0.500465 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99699952 0.00243041 -0.07736956 0.74417604] [-0.0026539 0.9999926 -0.00278599 -0.14102648] [ 0.07736221 0.00298296 0.99699859 -0.08435083] [ 0. 0. 0. 1. ]] SLAMing on 160.53463044 meters Centerline goodness : 0.458043 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99698786 0.00262935 -0.07751321 0.74438732] [-0.00285435 0.99999203 -0.00279215 -0.13963606] [ 0.07750526 0.00300499 0.99698741 -0.08425846] [ 0. 0. 0. 1. ]] SLAMing on 160.56463044 meters Centerline goodness : 0.277511 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99699991 0.00272102 -0.07735483 0.74363951] [-0.00295411 0.99999143 -0.00289899 -0.13804089] [ 0.07734628 0.0031188 0.99699941 -0.08379928] [ 0. 0. 0. 1. ]] SLAMing on 160.59463044 meters Centerline goodness : 0.088170 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.08 [[ 0.99702474 0.00268795 -0.07703534 0.74263365] [-0.00294142 0.99999063 -0.00317709 -0.13593551] [ 0.07702608 0.00339423 0.9970233 -0.08350585] [ 0. 0. 0. 1. ]] SLAMing on 160.62463044 meters Centerline goodness : 0.113416 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.08 [[ 0.99705097 0.00263269 -0.07669706 0.74147559] [-0.00291032 0.99998961 -0.00350822 -0.13366034] [ 0.07668702 0.00372109 0.99704827 -0.0831242 ] [ 0. 0. 0. 1. ]] SLAMing on 160.65463044 meters Centerline goodness : 0.278050 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.08 [[ 0.99709456 0.00275715 -0.07612386 0.73964127] [-0.00306577 0.99998755 -0.00393757 -0.12922009] [ 0.07611206 0.00415951 0.99709059 -0.08266117] [ 0. 0. 0. 1. ]] SLAMing on 160.68463044 meters Centerline goodness : 0.375013 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.08 [[ 0.99707939 0.00265722 -0.07632578 0.7403033 ] [-0.00299582 0.99998617 -0.00432209 -0.12687051] [ 0.07631324 0.00453813 0.99707357 -0.08294522] [ 0. 0. 0. 1. ]] SLAMing on 160.71463044 meters Centerline goodness : 0.456999 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.08 [[ 0.99704817 0.00246164 -0.07673915 0.74171487] [-0.00284089 0.99998428 -0.00483334 -0.12426275] [ 0.07672604 0.00503708 0.99703949 -0.08359403] [ 0. 0. 0. 1. ]] SLAMing on 160.74463043999998 meters Centerline goodness : 0.339569 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.12, Z:-0.09 [[ 0.99689967 0.00388004 -0.0785875 0.74808653] [-0.00421855 0.99998252 -0.00414181 -0.11850158] [ 0.07857006 0.0044605 0.99689862 -0.08562293] [ 0. 0. 0. 1. ]] SLAMing on 160.77463043999998 meters Centerline goodness : 0.332480 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.12, Z:-0.09 [[ 0.99689856 0.00376335 -0.07860726 0.74827851] [-0.00413362 0.99998111 -0.00454823 -0.11578284] [ 0.07858866 0.00485905 0.99689529 -0.08587338] [ 0. 0. 0. 1. ]] SLAMing on 160.80463043999998 meters Centerline goodness : 0.099924 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.09 [[ 0.99690972 0.00368261 -0.07846936 0.74788274] [-0.00408332 0.99997943 -0.00494668 -0.11289675] [ 0.07844953 0.0052518 0.99690425 -0.08581807] [ 0. 0. 0. 1. ]] SLAMing on 160.83463043999998 meters Centerline goodness : 0.321824 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.09 [[ 0.99691851 0.00353299 -0.07836459 0.74762289] [-0.00397214 0.99997727 -0.00544869 -0.10967216] [ 0.07834356 0.00574317 0.99690988 -0.08583653] [ 0. 0. 0. 1. ]] SLAMing on 160.86463043999998 meters Centerline goodness : 0.109142 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.09 [[ 0.99692507 0.00333827 -0.07828963 0.74736745] [-0.00381555 0.99997503 -0.00594757 -0.10690422] [ 0.07826782 0.006228 0.99691291 -0.08578936] [ 0. 0. 0. 1. ]] SLAMing on 160.89463044 meters Centerline goodness : 0.412354 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99693126 0.00308039 -0.07822128 0.74680351] [-0.00360437 0.999972 -0.00655839 -0.10313955] [ 0.07819889 0.0068202 0.99691445 -0.08532492] [ 0. 0. 0. 1. ]] SLAMing on 160.92463044 meters Centerline goodness : 0.466149 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99693738 0.00305322 -0.07814429 0.74638279] [-0.00358223 0.9999716 -0.00663036 -0.10234007] [ 0.07812183 0.00688998 0.99692001 -0.08500988] [ 0. 0. 0. 1. ]] SLAMing on 160.95463044 meters Centerline goodness : 0.470986 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99694579 -0.00459935 -0.0779611 0.76458883] [ 0.00417707 0.99997571 -0.00557877 -0.09625308] [ 0.07798486 0.00523608 0.99694079 -0.08216271] [ 0. 0. 0. 1. ]] SLAMing on 160.98463044 meters Centerline goodness : 0.470986 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99694579 -0.00459935 -0.0779611 0.76458883] [ 0.00417707 0.99997571 -0.00557877 -0.09625308] [ 0.07798486 0.00523608 0.99694079 -0.08216271] [ 0. 0. 0. 1. ]] SLAMing on 161.01463044 meters Centerline goodness : 0.101674 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99695047 -0.00483938 -0.07788666 0.76442792] [ 0.0044062 0.99997386 -0.00573249 -0.09650577] [ 0.07791236 0.00537183 0.99694574 -0.08209804] [ 0. 0. 0. 1. ]] SLAMing on 161.04463044 meters Centerline goodness : 0.238698 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99698867 -0.00588774 -0.07732354 0.76315706] [ 0.00540894 0.99996489 -0.00640003 -0.09746574] [ 0.07735851 0.00596252 0.99698551 -0.08194454] [ 0. 0. 0. 1. ]] SLAMing on 161.07463044 meters Centerline goodness : 0.247931 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99699388 -0.00590225 -0.07725521 0.7629146 ] [ 0.00543267 0.99996548 -0.0062871 -0.09813382] [ 0.07728965 0.00584849 0.99699153 -0.08176757] [ 0. 0. 0. 1. ]] SLAMing on 161.10463044 meters Centerline goodness : 0.465708 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99699133 -0.00582749 -0.07729377 0.7629282 ] [ 0.00536919 0.99996676 -0.00613578 -0.09845656] [ 0.07732696 0.00570232 0.99698948 -0.08158307] [ 0. 0. 0. 1. ]] SLAMing on 161.13463044 meters Centerline goodness : 0.232652 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:-0.08 [[ 0.99680574 -0.00562335 -0.07966617 0.7194108 ] [ 0.00518535 0.99997029 -0.00570371 -0.10181626] [ 0.07969587 0.00527239 0.99680528 -0.08479188] [ 0. 0. 0. 1. ]] SLAMing on 161.16463044 meters Centerline goodness : 0.325082 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99671789 -0.00520974 -0.0807856 0.76443405] [ 0.00477535 0.99997309 -0.00556944 -0.09762547] [ 0.08081244 0.00516538 0.99671594 -0.08086722] [ 0. 0. 0. 1. ]] SLAMing on 161.19463044 meters Centerline goodness : 0.465251 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99670818 -0.00521515 -0.08090497 0.76480358] [ 0.00477407 0.99997268 -0.00564424 -0.09703249] [ 0.08093219 0.00523941 0.99670584 -0.08097918] [ 0. 0. 0. 1. ]] SLAMing on 161.22463044 meters Centerline goodness : 0.463782 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.08 [[ 0.99670567 -0.00522371 -0.08093527 0.76501295] [ 0.00477876 0.99997239 -0.00569038 -0.09666399] [ 0.08096276 0.00528486 0.99670312 -0.08114522] [ 0. 0. 0. 1. ]] SLAMing on 161.25463044 meters Centerline goodness : 0.091358 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99670765 -0.0052391 -0.08090986 0.76499329] [ 0.00479344 0.99997226 -0.00570143 -0.09669136] [ 0.08093749 0.00529482 0.99670512 -0.08121065] [ 0. 0. 0. 1. ]] SLAMing on 161.28463044 meters Centerline goodness : 0.464402 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99670861 -0.00536012 -0.08089021 0.76493351] [ 0.00491722 0.99997182 -0.00567356 -0.0977103 ] [ 0.08091834 0.00525713 0.99670687 -0.08113976] [ 0. 0. 0. 1. ]] SLAMing on 161.31463044 meters Centerline goodness : 0.088300 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99672283 -0.00527279 -0.08072054 0.76433054] [ 0.00485212 0.99997361 -0.00540669 -0.09908958] [ 0.08074692 0.00499731 0.99672211 -0.08080457] [ 0. 0. 0. 1. ]] SLAMing on 161.34463044 meters Centerline goodness : 0.088059 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99678406 -0.00545985 -0.07994823 0.76234618] [ 0.00507415 0.99997449 -0.0050267 -0.10248757] [ 0.07997364 0.00460486 0.99678634 -0.0804324 ] [ 0. 0. 0. 1. ]] SLAMing on 161.37463044 meters Centerline goodness : 0.088303 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99676611 -0.00545045 -0.08017242 0.76302001] [ 0.00508756 0.99997587 -0.00472988 -0.10470061] [ 0.08019626 0.00430671 0.99676979 -0.08055392] [ 0. 0. 0. 1. ]] SLAMing on 161.40463044 meters Centerline goodness : 0.087936 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 0.99672655 -0.00542631 -0.08066434 0.76453049] [ 0.00508381 0.99997717 -0.00445079 -0.10675996] [ 0.08068665 0.00402614 0.99673139 -0.08086129] [ 0. 0. 0. 1. ]] SLAMing on 161.43463044 meters Centerline goodness : 0.471022 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:-0.08 [[ 0.99671326 -0.00529388 -0.0808372 0.76519922] [ 0.00497912 0.99997922 -0.00409483 -0.10867869] [ 0.0808572 0.00367887 0.99671891 -0.08114184] [ 0. 0. 0. 1. ]] SLAMing on 161.46463044 meters Centerline goodness : 0.100204 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:-0.08 [[ 0.99671494 -0.00515371 -0.08082549 0.76521081] [ 0.00486116 0.9999809 -0.00381584 -0.10994763] [ 0.08084361 0.0034104 0.99672096 -0.08113809] [ 0. 0. 0. 1. ]] SLAMing on 161.49463043999998 meters Centerline goodness : 0.125812 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.08 [[ 0.99673819 -0.00509156 -0.08054226 0.76488446] [ 0.00480383 0.99998137 -0.00376577 -0.11046586] [ 0.08055993 0.00336657 0.99674408 -0.08151367] [ 0. 0. 0. 1. ]] SLAMing on 161.52463043999998 meters Centerline goodness : 0.088336 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:-0.08 [[ 0.99671545 -0.00503618 -0.08082668 0.76601912] [ 0.00473694 0.9999812 -0.00389351 -0.10963964] [ 0.08084477 0.00349785 0.99672057 -0.08215843] [ 0. 0. 0. 1. ]] SLAMing on 161.55463043999998 meters Centerline goodness : 0.097838 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:-0.08 [[ 0.99668829 -0.00490598 -0.08116887 0.76723189] [ 0.00459941 0.99998157 -0.00396348 -0.10865065] [ 0.08118682 0.00357703 0.99669248 -0.08274232] [ 0. 0. 0. 1. ]] SLAMing on 161.58463043999998 meters Centerline goodness : 0.088032 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:-0.08 [[ 0.99663958 -0.00398187 -0.08181504 0.76921597] [ 0.00370741 0.99998698 -0.00350623 -0.10710634] [ 0.08182794 0.00319112 0.99664136 -0.08338654] [ 0. 0. 0. 1. ]] SLAMing on 161.61463043999998 meters Centerline goodness : 0.460548 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:-0.08 [[ 0.99663676 -0.00395134 -0.08185084 0.76926325] [ 0.00366328 0.99998656 -0.00366916 -0.10588323] [ 0.08186424 0.00335698 0.99663784 -0.08341906] [ 0. 0. 0. 1. ]] SLAMing on 161.64463044 meters Centerline goodness : 0.296941 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.08 [[ 0.99664047 -0.00401988 -0.08180225 0.76908125] [ 0.00371008 0.99998536 -0.00393884 -0.10449471] [ 0.08181689 0.00362211 0.9966408 -0.08342262] [ 0. 0. 0. 1. ]] SLAMing on 161.67463044 meters Centerline goodness : 0.468583 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.08 [[ 0.99663627 -0.00410804 -0.08184904 0.76918706] [ 0.00377512 0.99998396 -0.00422189 -0.10297284] [ 0.08186507 0.00389869 0.9966358 -0.08346426] [ 0. 0. 0. 1. ]] SLAMing on 161.70463044 meters Centerline goodness : 0.457226 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.08 [[ 0.99665447 -0.00398542 -0.08163323 0.76884847] [ 0.00362318 0.99998292 -0.00458515 -0.09933881] [ 0.08165011 0.00427404 0.99665189 -0.08383774] [ 0. 0. 0. 1. ]] SLAMing on 161.73463044 meters Centerline goodness : 0.095817 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.08 [[ 0.99668456 -0.00403387 -0.08126269 0.76788596] [ 0.00364885 0.99998141 -0.00488582 -0.09725688] [ 0.08128089 0.0045731 0.99668074 -0.08378557] [ 0. 0. 0. 1. ]] SLAMing on 161.76463044 meters Centerline goodness : 0.286523 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.08 [[ 0.99671282 -0.0040421 -0.08091482 0.76690049] [ 0.00364041 0.99998031 -0.00511126 -0.09551891] [ 0.08093388 0.0047999 0.99670791 -0.08365263] [ 0. 0. 0. 1. ]] SLAMing on 161.79463044 meters Centerline goodness : 0.289449 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99672569 -0.00409245 -0.08075358 0.76638711] [ 0.0036702 0.99997881 -0.00537656 -0.09362419] [ 0.08077388 0.00506258 0.9967196 -0.08352427] [ 0. 0. 0. 1. ]] SLAMing on 161.82463044 meters Centerline goodness : 0.465303 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99671245 -0.00417669 -0.08091259 0.76687163] [ 0.00373468 0.99997727 -0.00561338 -0.09219731] [ 0.08093419 0.00529275 0.99670539 -0.0837037 ] [ 0. 0. 0. 1. ]] SLAMing on 161.85463044 meters Centerline goodness : 0.458461 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99666737 -0.00433462 -0.0814577 0.76858757] [ 0.00386676 0.99997512 -0.00590054 -0.09066948] [ 0.08148125 0.0055659 0.99665933 -0.08421951] [ 0. 0. 0. 1. ]] SLAMing on 161.88463044 meters Centerline goodness : 0.278208 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99666097 -0.00438126 -0.08153347 0.76864565] [ 0.00391655 0.99997517 -0.00585871 -0.09108519] [ 0.08155712 0.00551982 0.99665338 -0.08400592] [ 0. 0. 0. 1. ]] SLAMing on 161.91463044 meters Centerline goodness : 0.293523 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.9966702 -0.00450324 -0.0814139 0.76816608] [ 0.00404032 0.99997473 -0.00584988 -0.09166181] [ 0.08143819 0.00550146 0.99666321 -0.08363985] [ 0. 0. 0. 1. ]] SLAMing on 161.94463044 meters Centerline goodness : 0.091392 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99668419 -0.00460338 -0.08123693 0.76756348] [ 0.00414751 0.9999747 -0.00577941 -0.09259895] [ 0.08126148 0.00542332 0.99667806 -0.08332656] [ 0. 0. 0. 1. ]] SLAMing on 161.97463044 meters Centerline goodness : 0.094407 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99668561 -0.0045816 -0.08122072 0.76745007] [ 0.00413584 0.99997545 -0.00565561 -0.09332964] [ 0.08124464 0.00530095 0.99668009 -0.08313132] [ 0. 0. 0. 1. ]] SLAMing on 162.00463044 meters Centerline goodness : 0.090872 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99668126 -0.00444034 -0.08128194 0.76773603] [ 0.00399475 0.99997609 -0.00564374 -0.09219745] [ 0.08130505 0.0053003 0.99667517 -0.08327018] [ 0. 0. 0. 1. ]] SLAMing on 162.03463044 meters Centerline goodness : 0.094342 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99666612 -0.0043869 -0.08147024 0.76834618] [ 0.00392872 0.99997556 -0.00578336 -0.0908758 ] [ 0.08149362 0.00544401 0.99665899 -0.0835429 ] [ 0. 0. 0. 1. ]] SLAMing on 162.06463044 meters Centerline goodness : 0.100859 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.09 [[ 0.99658263 0.0041231 -0.0824988 0.74947755] [-0.00470083 0.99996576 -0.00680995 -0.09303808] [ 0.0824679 0.00717449 0.9965679 -0.08643928] [ 0. 0. 0. 1. ]] SLAMing on 162.09463044 meters Centerline goodness : 0.296281 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99653109 -0.00256431 -0.08318184 0.76774317] [ 0.00212044 0.99998304 -0.00542402 -0.08575234] [ 0.08319434 0.00522882 0.99651962 -0.08342386] [ 0. 0. 0. 1. ]] SLAMing on 162.12463044 meters Centerline goodness : 0.460979 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99652245 -0.00248426 -0.08328766 0.76785409] [ 0.0020332 0.99998281 -0.00550013 -0.0846431 ] [ 0.08329989 0.00531167 0.99651037 -0.08327358] [ 0. 0. 0. 1. ]] SLAMing on 162.15463044 meters Centerline goodness : 0.120746 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99653851 -0.00248687 -0.0830952 0.76711605] [ 0.00203001 0.99998236 -0.00558207 -0.08398492] [ 0.08310761 0.00539406 0.99652598 -0.08297167] [ 0. 0. 0. 1. ]] SLAMing on 162.18463044 meters Centerline goodness : 0.096835 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.08 [[ 0.99660059 -0.00273158 -0.08233952 0.7644761 ] [ 0.00225912 0.99998045 -0.00583055 -0.08382361] [ 0.08235383 0.00562472 0.99658728 -0.08182834] [ 0. 0. 0. 1. ]] SLAMing on 162.21463044 meters Centerline goodness : 0.470105 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.08 [[ 0.99661425 -0.00276184 -0.08217303 0.76386261] [ 0.00229345 0.99998059 -0.00579387 -0.08440715] [ 0.08218744 0.00558579 0.99660124 -0.0815168 ] [ 0. 0. 0. 1. ]] SLAMing on 162.24463043999998 meters Centerline goodness : 0.096146 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.08 [[ 0.9966273 -0.00277647 -0.08201412 0.76347081] [ 0.00231213 0.99998076 -0.00575618 -0.08480984] [ 0.08202853 0.00554714 0.99661454 -0.08149663] [ 0. 0. 0. 1. ]] SLAMing on 162.27463043999998 meters Centerline goodness : 0.446477 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.08 [[ 0.99662648 -0.00274114 -0.08202528 0.76368559] [ 0.00228453 0.99998137 -0.00566 -0.08538799] [ 0.08203926 0.00545351 0.99661418 -0.08170661] [ 0. 0. 0. 1. ]] SLAMing on 162.30463043999998 meters Centerline goodness : 0.095776 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.08 [[ 0.99661865 -0.00284074 -0.08211695 0.76426081] [ 0.00238399 0.99998114 -0.00565972 -0.08620683] [ 0.08213148 0.00544482 0.99660663 -0.08213579] [ 0. 0. 0. 1. ]] SLAMing on 162.33463043999998 meters Centerline goodness : 0.298432 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.08 [[ 0.99660864 -0.00285287 -0.08223792 0.76460924] [ 0.00239592 0.99998114 -0.00565465 -0.08638112] [ 0.0822525 0.00543844 0.99659668 -0.08221709] [ 0. 0. 0. 1. ]] SLAMing on 162.36463043999998 meters Centerline goodness : 0.094576 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99658597 -0.00273621 -0.08251616 0.76541808] [ 0.00228809 0.99998212 -0.00552479 -0.08651867] [ 0.0825298 0.00531712 0.99657441 -0.08237391] [ 0. 0. 0. 1. ]] SLAMing on 162.39463044 meters Centerline goodness : 0.294923 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99657512 -0.00265768 -0.08264969 0.76624403] [ 0.00220889 0.99998232 -0.00552107 -0.0859947 ] [ 0.08266291 0.0053196 0.99656337 -0.08302693] [ 0. 0. 0. 1. ]] SLAMing on 162.42463044 meters Centerline goodness : 0.467408 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99659516 -0.0027567 -0.08240439 0.76560549] [ 0.00229943 0.99998143 -0.00564344 -0.08579157] [ 0.08241841 0.00543475 0.996583 -0.08295351] [ 0. 0. 0. 1. ]] SLAMing on 162.45463044 meters Centerline goodness : 0.090309 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.08 [[ 0.99662106 -0.00274848 -0.0820909 0.76458612] [ 0.00229522 0.9999816 -0.00561523 -0.08594847] [ 0.08210482 0.00540784 0.99660903 -0.08260119] [ 0. 0. 0. 1. ]] SLAMing on 162.48463044 meters Centerline goodness : 0.155346 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.08 [[ 0.99663247 -0.00270262 -0.08195379 0.7640888 ] [ 0.00225665 0.99998214 -0.00553385 -0.08619202] [ 0.08196728 0.00533027 0.99662077 -0.0823977 ] [ 0. 0. 0. 1. ]] SLAMing on 162.51463044 meters Centerline goodness : 0.093243 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99660916 -0.00250293 -0.08224307 0.76558754] [ 0.00207733 0.99998401 -0.00526004 -0.08676716] [ 0.08225492 0.00507136 0.99659842 -0.08334706] [ 0. 0. 0. 1. ]] SLAMing on 162.54463044 meters Centerline goodness : 0.093880 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99658078 -0.00259749 -0.08258336 0.76679067] [ 0.00216431 0.99998343 -0.00533438 -0.08696154] [ 0.08259584 0.00513741 0.99656988 -0.08384915] [ 0. 0. 0. 1. ]] SLAMing on 162.57463044 meters Centerline goodness : 0.094914 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.09 [[ 0.9965324 0.00471449 -0.08307191 0.74892752] [-0.00530576 0.99996213 -0.00689821 -0.09288391] [ 0.08303625 0.00731505 0.99651968 -0.08707948] [ 0. 0. 0. 1. ]] SLAMing on 162.60463044 meters Centerline goodness : 0.094708 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99648212 -0.00249735 -0.08376845 0.76701219] [ 0.00203184 0.99998202 -0.00564196 -0.08744096] [ 0.08378103 0.00545191 0.99646927 -0.08394042] [ 0. 0. 0. 1. ]] SLAMing on 162.63463044 meters Centerline goodness : 0.466382 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99647876 -0.00238202 -0.0838117 0.76730947] [ 0.00191971 0.9999825 -0.00559619 -0.08687353] [ 0.08382357 0.00541559 0.9964659 -0.08418478] [ 0. 0. 0. 1. ]] SLAMing on 162.66463044 meters Centerline goodness : 0.240123 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99647974 -0.0021541 -0.08380622 0.7676593 ] [ 0.00169173 0.99998296 -0.00558771 -0.0850491 ] [ 0.08381683 0.00542626 0.9964664 -0.08466116] [ 0. 0. 0. 1. ]] SLAMing on 162.69463044 meters Centerline goodness : 0.424685 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99648361 -0.00220056 -0.08375907 0.76747705] [ 0.00172589 0.99998204 -0.00573908 -0.08421954] [ 0.0837702 0.00557434 0.99646951 -0.08460621] [ 0. 0. 0. 1. ]] SLAMing on 162.72463044 meters Centerline goodness : 0.093537 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99647913 -0.00234498 -0.08380838 0.7676056 ] [ 0.00185192 0.99998052 -0.00596048 -0.08353554] [ 0.08382072 0.00578429 0.99646406 -0.08464946] [ 0. 0. 0. 1. ]] SLAMing on 162.75463044 meters Centerline goodness : 0.298696 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99646406 -0.00247673 -0.08398361 0.76797768] [ 0.00196341 0.99997889 -0.00619412 -0.08251775] [ 0.08399717 0.00600733 0.99644788 -0.08461261] [ 0. 0. 0. 1. ]] SLAMing on 162.78463044 meters Centerline goodness : 0.092363 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99646999 -0.00247867 -0.08391308 0.76767554] [ 0.0019679 0.99997903 -0.00616904 -0.08254695] [ 0.08392661 0.00598213 0.99645398 -0.08443847] [ 0. 0. 0. 1. ]] SLAMing on 162.81463044 meters Centerline goodness : 0.096647 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99647902 -0.00252364 -0.08380454 0.76736591] [ 0.00201657 0.99997915 -0.00613474 -0.08299983] [ 0.08381828 0.00594414 0.99646333 -0.08434228] [ 0. 0. 0. 1. ]] SLAMing on 162.84463044 meters Centerline goodness : 0.099953 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99647467 -0.00258607 -0.0838543 0.76750075] [ 0.00208424 0.9999794 -0.00607154 -0.08389446] [ 0.08386828 0.00587536 0.99645953 -0.08428888] [ 0. 0. 0. 1. ]] SLAMing on 162.87463044 meters Centerline goodness : 0.095321 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99645094 -0.00297608 -0.08412297 0.76830932] [ 0.00245761 0.99997735 -0.00626622 -0.08506374] [ 0.08413971 0.00603724 0.99643568 -0.08439661] [ 0. 0. 0. 1. ]] SLAMing on 162.90463044 meters Centerline goodness : 0.095321 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99645094 -0.00297608 -0.08412297 0.76830932] [ 0.00245761 0.99997735 -0.00626622 -0.08506374] [ 0.08413971 0.00603724 0.99643568 -0.08439661] [ 0. 0. 0. 1. ]] SLAMing on 162.93463044 meters Centerline goodness : 0.464620 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99645145 -0.00297197 -0.08411703 0.76822451] [ 0.00245457 0.99997743 -0.00625377 -0.0851445 ] [ 0.08413372 0.00602511 0.99643626 -0.08430766] [ 0. 0. 0. 1. ]] SLAMing on 162.96463044 meters Centerline goodness : 0.334659 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.08 [[ 0.99647594 -0.00282674 -0.08383147 0.76722616] [ 0.00232108 0.99997853 -0.00612863 -0.08500785] [ 0.083847 0.00591246 0.9964611 -0.08393159] [ 0. 0. 0. 1. ]] SLAMing on 162.99463043999998 meters Centerline goodness : 0.460869 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99652134 -0.00271645 -0.08329365 0.7655499 ] [ 0.00221991 0.99997921 -0.00605338 -0.08466712] [ 0.08330836 0.00584742 0.99650666 -0.08343247] [ 0. 0. 0. 1. ]] SLAMing on 163.02463043999998 meters Centerline goodness : 0.466866 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.08 [[ 0.99655745 -0.00289458 -0.08285446 0.76456451] [ 0.00238074 0.99997732 -0.00629994 -0.08433952] [ 0.08287082 0.006081 0.99654174 -0.08346375] [ 0. 0. 0. 1. ]] SLAMing on 163.05463043999998 meters Centerline goodness : 0.094190 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99653059 -0.0030225 -0.08317237 0.76587238] [ 0.00249158 0.99997586 -0.00648644 -0.08400911] [ 0.08318997 0.00625671 0.99651407 -0.08422865] [ 0. 0. 0. 1. ]] SLAMing on 163.08463043999998 meters Centerline goodness : 0.097367 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.08 [[ 0.99649819 -0.00298998 -0.08356084 0.76734758] [ 0.0024518 0.99997559 -0.00654244 -0.08345218] [ 0.08357836 0.00631465 0.9964812 -0.08497827] [ 0. 0. 0. 1. ]] SLAMing on 163.11463043999998 meters Centerline goodness : 0.259324 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99648468 -0.00284395 -0.08372685 0.76809832] [ 0.00230882 0.99997629 -0.00648742 -0.08293808] [ 0.08374332 0.0062713 0.99646762 -0.08541224] [ 0. 0. 0. 1. ]] SLAMing on 163.14463044 meters Centerline goodness : 0.091451 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99654222 -0.00263206 -0.08304629 0.76618376] [ 0.00210949 0.99997743 -0.00637957 -0.08253555] [ 0.0830612 0.00618232 0.99652527 -0.08510153] [ 0. 0. 0. 1. ]] SLAMing on 163.17463044 meters Centerline goodness : 0.106798 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.08 [[ 0.99661641 0.00485339 -0.08204978 0.78431682] [-0.0055129 0.99995428 -0.00781327 -0.08508968] [ 0.08200811 0.00823917 0.99659761 -0.08200759] [ 0. 0. 0. 1. ]] SLAMing on 163.20463044 meters Centerline goodness : 0.102382 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.08 [[ 0.99662248 0.00491661 -0.08197234 0.78431189] [-0.00556257 0.99995524 -0.00765368 -0.08601738] [ 0.08193104 0.0080838 0.99660522 -0.08224451] [ 0. 0. 0. 1. ]] SLAMing on 163.23463044 meters Centerline goodness : 0.258379 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.08 [[ 0.99661559 0.00505881 -0.08204736 0.78490942] [-0.00568264 0.99995668 -0.00737163 -0.08722184] [ 0.08200651 0.00781292 0.99660117 -0.0827542 ] [ 0. 0. 0. 1. ]] SLAMing on 163.26463044 meters Centerline goodness : 0.101952 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 0.99649454 -0.00250295 -0.08362036 0.76742833] [ 0.00204645 0.99998254 -0.00554446 -0.0867464 ] [ 0.08363277 0.00535389 0.99648226 -0.08639981] [ 0. 0. 0. 1. ]] SLAMing on 163.29463044 meters Centerline goodness : 0.274883 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 0.99647465 -0.00251909 -0.0838566 0.76832276] [ 0.00205876 0.99998234 -0.00557557 -0.08681515] [ 0.08386916 0.00538328 0.99646223 -0.08682815] [ 0. 0. 0. 1. ]] SLAMing on 163.32463044 meters Centerline goodness : 0.466356 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 0.99647124 -0.00257718 -0.08389535 0.76827053] [ 0.00209548 0.99998081 -0.00582916 -0.08539462] [ 0.08390876 0.00563279 0.99645752 -0.08669892] [ 0. 0. 0. 1. ]] SLAMing on 163.35463044 meters Centerline goodness : 0.285419 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.09 [[ 0.99645997 0.00576351 -0.08387074 0.74819424] [-0.00632911 0.99995898 -0.00647941 -0.08972014] [ 0.08382995 0.0069873 0.99645558 -0.08912208] [ 0. 0. 0. 1. ]] SLAMing on 163.38463044 meters Centerline goodness : 0.099961 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 9.96482685e-01 -3.31101959e-05 -8.37989050e-02 7.68824419e-01] [-2.98736980e-04 9.99992164e-01 -3.94749985e-03 -8.45234024e-02] [ 8.37983791e-02 3.95864908e-03 9.96474867e-01 -8.74020096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41463044 meters Centerline goodness : 0.466807 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 9.96464469e-01 -1.13498998e-04 -8.40151717e-02 7.69664022e-01] [-2.36529467e-04 9.99991335e-01 -4.15628770e-03 -8.34521597e-02] [ 8.40149154e-02 4.16146508e-03 9.96455807e-01 -8.78061057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44463044 meters Centerline goodness : 0.468391 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 9.96449053e-01 -2.82896697e-04 -8.41974107e-02 7.70506325e-01] [-9.11375702e-05 9.99990146e-01 -4.43847206e-03 -8.24391403e-02] [ 8.41978366e-02 4.43038483e-03 9.96439208e-01 -8.83542411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47463044 meters Centerline goodness : 0.464655 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 9.96431356e-01 -3.80586330e-04 -8.44062111e-02 7.71113042e-01] [-1.12639889e-05 9.99989226e-01 -4.64190983e-03 -8.15266534e-02] [ 8.44070684e-02 4.62629526e-03 9.96420616e-01 -8.85114243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50463044 meters Centerline goodness : 0.451992 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.09 [[ 9.96324936e-01 -8.40887108e-04 -8.56499550e-02 7.25518507e-01] [ 3.90221352e-04 9.99985993e-01 -5.27832229e-03 -8.22049961e-02] [ 8.56531938e-02 5.22550168e-03 9.96311309e-01 -9.17742737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53463044 meters Centerline goodness : 0.339929 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.09 [[ 9.96334982e-01 -9.08692825e-04 -8.55323229e-02 7.25202498e-01] [ 4.45238187e-04 9.99985118e-01 -5.43739378e-03 -8.13407663e-02] [ 8.55359910e-02 5.37938337e-03 9.96320559e-01 -9.17026635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56463044 meters Centerline goodness : 0.463426 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.09 [[ 9.96347800e-01 -1.03104486e-03 -8.53814910e-02 7.24808171e-01] [ 5.49918220e-04 9.99983840e-01 -5.65835039e-03 -8.03456477e-02] [ 8.53859452e-02 5.59073212e-03 9.96332266e-01 -9.16691809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59463044 meters Centerline goodness : 0.472672 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.09 [[ 9.96358712e-01 -1.16461552e-03 -8.52523410e-02 7.24643971e-01] [ 6.62976095e-04 9.99982303e-01 -5.91224710e-03 -7.91214873e-02] [ 8.52577178e-02 5.83419864e-03 9.96341851e-01 -9.18636991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62463044 meters Centerline goodness : 0.094440 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.09 [[ 9.96365910e-01 -1.22624432e-03 -8.51673070e-02 7.24633255e-01] [ 7.06236630e-04 9.99980928e-01 -6.13558003e-03 -7.76641673e-02] [ 8.51732064e-02 6.05313451e-03 9.96347773e-01 -9.21274177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65463044 meters Centerline goodness : 0.288319 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.09 [[ 9.96370248e-01 -1.36438953e-03 -8.51144385e-02 7.24874182e-01] [ 7.95103153e-04 9.99977091e-01 -6.72202226e-03 -7.35163575e-02] [ 8.51216600e-02 6.62994823e-03 9.96348507e-01 -9.25967492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68463044 meters Centerline goodness : 0.095867 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.09 [[ 9.96372227e-01 -1.52615889e-03 -8.50885169e-02 7.24660095e-01] [ 9.29639277e-04 9.99974718e-01 -7.04975913e-03 -7.19332844e-02] [ 8.50971247e-02 6.94508258e-03 9.96348456e-01 -9.23909123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71463044 meters Centerline goodness : 0.469899 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.09 [[ 0.99639088 -0.00167549 -0.08486701 0.7238194 ] [ 0.00106187 0.99997297 -0.00727493 -0.0710851 ] [ 0.08487691 0.00715855 0.99636573 -0.09203239] [ 0. 0. 0. 1. ]] SLAMing on 163.74463043999998 meters Centerline goodness : 0.106989 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.09 [[ 0.996398 -0.00172071 -0.08478242 0.72343588] [ 0.00111284 0.99997334 -0.00721653 -0.07124234] [ 0.08479258 0.00709619 0.99637336 -0.09171444] [ 0. 0. 0. 1. ]] SLAMing on 163.77463043999998 meters Centerline goodness : 0.340084 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.09 [[ 0.99636441 -0.0017522 -0.08517571 0.72486246] [ 0.00114636 0.9999737 -0.00716116 -0.07177467] [ 0.08518601 0.00703749 0.99634021 -0.09229407] [ 0. 0. 0. 1. ]] SLAMing on 163.80463043999998 meters Centerline goodness : 0.108212 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 0.99632108 -0.0019009 -0.0856778 0.72686146] [ 0.00128812 0.9999732 -0.00720682 -0.0724216 ] [ 0.0856892 0.00706994 0.99629683 -0.09324279] [ 0. 0. 0. 1. ]] SLAMing on 163.83463043999998 meters Centerline goodness : 0.090368 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 0.99627647 -0.00202468 -0.08619223 0.72866521] [ 0.00140838 0.99997301 -0.00721046 -0.07330508] [ 0.0862045 0.00706222 0.99625243 -0.09391066] [ 0. 0. 0. 1. ]] SLAMing on 163.86463043999998 meters Centerline goodness : 0.467857 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 0.99625359 -0.00193018 -0.08645846 0.72951348] [ 0.001334 0.99997494 -0.00695278 -0.07450781] [ 0.08646972 0.00681139 0.99623119 -0.09411531] [ 0. 0. 0. 1. ]] SLAMing on 163.89463044 meters Centerline goodness : 0.096760 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 0.99626391 -0.00184034 -0.08634134 0.72909731] [ 0.00125342 0.99997574 -0.00685132 -0.0745297 ] [ 0.08635185 0.0067175 0.99624206 -0.09390229] [ 0. 0. 0. 1. ]] SLAMing on 163.92463044 meters Centerline goodness : 0.330886 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 0.99627276 -0.00175048 -0.08624103 0.7287838 ] [ 0.00117096 0.9999764 -0.00676988 -0.07455735] [ 0.08625085 0.00664366 0.9962513 -0.09377245] [ 0. 0. 0. 1. ]] SLAMing on 163.95463044 meters Centerline goodness : 0.283228 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 0.99628749 -0.0017267 -0.08607128 0.72829647] [ 0.00114744 0.99997636 -0.00677893 -0.07438056] [ 0.08608095 0.006655 0.99626592 -0.09369908] [ 0. 0. 0. 1. ]] SLAMing on 163.98463044 meters Centerline goodness : 0.347820 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 9.96282068e-01 -1.55154827e-03 -8.61372933e-02 7.28830252e-01] [ 9.79256551e-04 9.99977170e-01 -6.68580451e-03 -7.41039196e-02] [ 8.61457002e-02 6.57659664e-03 9.96260843e-01 -9.41693161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01463044 meters Centerline goodness : 0.455494 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 9.96269951e-01 -1.51866369e-03 -8.62779134e-02 7.29321862e-01] [ 9.48644856e-04 9.99977456e-01 -6.64739173e-03 -7.42503880e-02] [ 8.62860634e-02 6.54074953e-03 9.96248932e-01 -9.43920773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04463044 meters Centerline goodness : 0.290272 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 9.96257476e-01 -1.55502332e-03 -8.64212017e-02 7.29872488e-01] [ 9.79835257e-04 9.99977090e-01 -6.69765623e-03 -7.42528736e-02] [ 8.64296368e-02 6.58791155e-03 9.96236175e-01 -9.46340532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07463044 meters Centerline goodness : 0.276337 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 0.99626063 -0.00159831 -0.08638403 0.72982434] [ 0.00102046 0.99997681 -0.00673297 -0.07438983] [ 0.08639279 0.00661964 0.99623916 -0.09472209] [ 0. 0. 0. 1. ]] SLAMing on 164.10463044 meters Centerline goodness : 0.094776 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 9.96320553e-01 -1.45040294e-03 -8.56927772e-02 7.27885693e-01] [ 8.84450921e-04 9.99977550e-01 -6.64202706e-03 -7.40335416e-02] [ 8.57004870e-02 6.54179702e-03 9.96299469e-01 -9.43370974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13463044 meters Centerline goodness : 0.097837 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 9.96354371e-01 -1.44627616e-03 -8.52987494e-02 7.27003194e-01] [ 8.74841283e-04 9.99976929e-01 -6.73621660e-03 -7.32560333e-02] [ 8.53065239e-02 6.63703598e-03 9.96332649e-01 -9.44243905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16463044 meters Centerline goodness : 0.463651 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 9.96343635e-01 -1.46308406e-03 -8.54237663e-02 7.27560931e-01] [ 8.79243922e-04 9.99976002e-01 -6.87185654e-03 -7.23492534e-02] [ 8.54317704e-02 6.77162220e-03 9.96321011e-01 -9.47762711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19463044 meters Centerline goodness : 0.428712 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 9.96315310e-01 -1.52699916e-03 -8.57523783e-02 7.28784644e-01] [ 9.26379109e-04 9.99974765e-01 -7.04347733e-03 -7.15549588e-02] [ 8.57609697e-02 6.93808509e-03 9.96291583e-01 -9.53256774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22463044 meters Centerline goodness : 0.460106 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 9.96274046e-01 -1.62581474e-03 -8.62286597e-02 7.30291745e-01] [ 9.90077471e-04 9.99972019e-01 -7.41494491e-03 -6.96997222e-02] [ 8.62383022e-02 7.30194411e-03 9.96247779e-01 -9.59228609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 164.28463044 meters Centerline goodness : 0.092834 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 9.96324115e-01 -1.46938893e-03 -8.56510285e-02 7.28219115e-01] [ 8.43765480e-04 9.99972705e-01 -7.34007452e-03 -6.89296642e-02] [ 8.56594761e-02 7.24082387e-03 9.96298161e-01 -9.50446233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31463044 meters Centerline goodness : 0.091395 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.09 [[ 9.96350066e-01 -1.48099175e-03 -8.53484230e-02 7.27273905e-01] [ 8.57654921e-04 9.99972697e-01 -7.33964090e-03 -6.88900061e-02] [ 8.53569626e-02 7.23965220e-03 9.96324132e-01 -9.47707088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34463044 meters Centerline goodness : 0.462795 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.9963505 -0.0016476 -0.08534029 0.72757152] [ 0.00101532 0.99997172 -0.00745173 -0.06904941] [ 0.08535015 0.00733789 0.996324 -0.09512727] [ 0. 0. 0. 1. ]] SLAMing on 164.37463044 meters Centerline goodness : 0.356626 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 9.96344929e-01 -1.61228065e-03 -8.54059836e-02 7.28045412e-01] [ 9.84213700e-04 9.99972169e-01 -7.39549412e-03 -6.91769091e-02] [ 8.54155302e-02 7.28440533e-03 9.96318787e-01 -9.55103544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40463044 meters Centerline goodness : 0.176050 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 9.96349214e-01 -1.51546980e-03 -8.53577541e-02 7.28119699e-01] [ 8.96323836e-04 9.99973016e-01 -7.29139801e-03 -6.92271996e-02] [ 8.53665007e-02 7.18827049e-03 9.96323687e-01 -9.57692256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43463044 meters Centerline goodness : 0.094915 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 9.96348984e-01 -1.54685874e-03 -8.53598759e-02 7.28068332e-01] [ 9.24284564e-04 9.99972689e-01 -7.33256115e-03 -6.91180387e-02] [ 8.53688871e-02 7.22689304e-03 9.96323203e-01 -9.57137260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46463044 meters Centerline goodness : 0.233453 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99628534 -0.00187787 -0.08609297 0.72975301] [ 0.00123256 0.99997075 -0.00754804 -0.06964167] [ 0.08610462 0.00741389 0.99625851 -0.0955732 ] [ 0. 0. 0. 1. ]] SLAMing on 164.49463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 164.52463043999998 meters Centerline goodness : 0.271052 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99623403 -0.00196943 -0.08668266 0.73167996] [ 0.00132961 0.99997145 -0.00743826 -0.07100617] [ 0.08669483 0.00729499 0.99620821 -0.09617981] [ 0. 0. 0. 1. ]] SLAMing on 164.55463043999998 meters Centerline goodness : 0.253324 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99623692 -0.00196557 -0.08664944 0.73169776] [ 0.00134283 0.99997286 -0.00724451 -0.07213561] [ 0.08666133 0.00710089 0.99621252 -0.0962623 ] [ 0. 0. 0. 1. ]] SLAMing on 164.58463043999998 meters Centerline goodness : 0.088233 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99624768 -0.00192403 -0.08652664 0.73116202] [ 0.0013138 0.99997387 -0.00710893 -0.07283474] [ 0.08653806 0.00696857 0.99622417 -0.09594025] [ 0. 0. 0. 1. ]] SLAMing on 164.61463043999998 meters Centerline goodness : 0.088165 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99625455 -0.00188099 -0.08644849 0.73073017] [ 0.00128259 0.99997484 -0.00697701 -0.07344651] [ 0.08645944 0.00684 0.99623189 -0.09561864] [ 0. 0. 0. 1. ]] SLAMing on 164.64463044 meters Centerline goodness : 0.265113 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 0.99627445 -0.00186117 -0.08621926 0.73021654] [ 0.00129168 0.99997698 -0.0066605 -0.07572531] [ 0.08622967 0.00652432 0.99625392 -0.09558308] [ 0. 0. 0. 1. ]] SLAMing on 164.67463044 meters Centerline goodness : 0.148053 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.996106 0.00467122 -0.0880399 0.74874239] [-0.00538178 0.99995482 -0.00783523 -0.08049478] [ 0.08799933 0.00827853 0.99608613 -0.09207666] [ 0. 0. 0. 1. ]] SLAMing on 164.70463044 meters Centerline goodness : 0.095775 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99607987 0.00465465 -0.08833588 0.74983781] [-0.00536034 0.99995558 -0.00775323 -0.08151541] [ 0.08829587 0.00819634 0.99606057 -0.09255131] [ 0. 0. 0. 1. ]] SLAMing on 164.73463044 meters Centerline goodness : 0.108234 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99605062 0.00467828 -0.08866389 0.75105395] [-0.00538189 0.99995588 -0.00769838 -0.08194737] [ 0.08862397 0.00814515 0.99603185 -0.09312418] [ 0. 0. 0. 1. ]] SLAMing on 164.76463044 meters Centerline goodness : 0.138658 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99602768 0.0047636 -0.08891668 0.7519352 ] [-0.00546108 0.99995619 -0.00760266 -0.08227147] [ 0.08887657 0.00805804 0.99601005 -0.0934993 ] [ 0. 0. 0. 1. ]] SLAMing on 164.79463044 meters Centerline goodness : 0.138658 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99602768 0.0047636 -0.08891668 0.7519352 ] [-0.00546108 0.99995619 -0.00760266 -0.08227147] [ 0.08887657 0.00805804 0.99601005 -0.0934993 ] [ 0. 0. 0. 1. ]] SLAMing on 164.82463044 meters Centerline goodness : 0.097436 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99601886 -0.00235482 -0.0891116 0.77098772] [ 0.00180245 0.99997866 -0.00627865 -0.07723259] [ 0.08912448 0.00609303 0.99600186 -0.09072078] [ 0. 0. 0. 1. ]] SLAMing on 164.85463044 meters Centerline goodness : 0.455991 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99608464 -0.00212687 -0.08837911 0.76898428] [ 0.00159978 0.99998051 -0.00603427 -0.07788588] [ 0.08839022 0.00586925 0.99606863 -0.09043151] [ 0. 0. 0. 1. ]] SLAMing on 164.88463044 meters Centerline goodness : 0.097233 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99611155 -0.00202578 -0.08807771 0.76801252] [ 0.00151513 0.99998166 -0.00586421 -0.07858671] [ 0.08808797 0.00570796 0.99609635 -0.0901252 ] [ 0. 0. 0. 1. ]] SLAMing on 164.91463044 meters Centerline goodness : 0.097104 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99613142 -0.00196839 -0.08785402 0.7675334 ] [ 0.00147313 0.99998266 -0.00570179 -0.07950408] [ 0.08786372 0.00555031 0.99611704 -0.09018782] [ 0. 0. 0. 1. ]] SLAMing on 164.94463044 meters Centerline goodness : 0.212539 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99612759 -0.00188981 -0.08789905 0.76793877] [ 0.00141147 0.99998386 -0.00550367 -0.08070478] [ 0.08790803 0.0053583 0.99611418 -0.09053745] [ 0. 0. 0. 1. ]] SLAMing on 164.97463044 meters Centerline goodness : 0.417280 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.99609697 -0.0018481 -0.08824632 0.76959608] [ 0.00139615 0.99998559 -0.00518286 -0.08322182] [ 0.08825463 0.00503943 0.9960852 -0.09148735] [ 0. 0. 0. 1. ]] SLAMing on 165.00463044 meters Centerline goodness : 0.463093 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:-0.09 [[ 0.9960921 -0.00171955 -0.08830386 0.76977104] [ 0.0012944 0.9999873 -0.00487175 -0.08481763] [ 0.08831111 0.00473842 0.99608167 -0.0914796 ] [ 0. 0. 0. 1. ]] SLAMing on 165.03463044 meters Centerline goodness : 0.098688 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 0.99609393 -0.00158447 -0.08828573 0.76958706] [ 0.00118474 0.99998881 -0.00457989 -0.08621399] [ 0.088292 0.0044574 0.99608466 -0.09126066] [ 0. 0. 0. 1. ]] SLAMing on 165.06463044 meters Centerline goodness : 0.100017 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 0.99608858 -0.00149846 -0.08834764 0.76975844] [ 0.00111482 0.99998974 -0.0043915 -0.08723122] [ 0.08835331 0.00427583 0.99608002 -0.0912785 ] [ 0. 0. 0. 1. ]] SLAMing on 165.09463044 meters Centerline goodness : 0.274481 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96055940e-01 -1.33974335e-03 -8.87173544e-02 7.70953646e-01] [ 9.86264444e-04 9.99991401e-01 -4.02804244e-03 -8.94879776e-02] [ 8.87219880e-02 3.92465683e-03 9.96048697e-01 -9.16031692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12463044 meters Centerline goodness : 0.098910 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96058422e-01 -1.23065730e-03 -8.86910643e-02 7.71047900e-01] [ 8.97746500e-04 9.99992402e-01 -3.79339220e-03 -9.07517846e-02] [ 8.86950588e-02 3.69881816e-03 9.96051959e-01 -9.17879913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15463044 meters Centerline goodness : 0.455466 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96073791e-01 -1.10193838e-03 -8.85199921e-02 7.70686398e-01] [ 7.89190998e-04 9.99993323e-01 -3.56799116e-03 -9.17884186e-02] [ 8.85233328e-02 3.48412330e-03 9.96068010e-01 -9.18480841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18463044 meters Centerline goodness : 0.091719 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96104860e-01 -1.05692275e-03 -8.81702400e-02 7.69845253e-01] [ 7.56769939e-04 9.99993805e-01 -3.43759963e-03 -9.29845616e-02] [ 8.81733270e-02 3.35748511e-03 9.96099489e-01 -9.18667766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.24463043999998 meters Centerline goodness : 0.098123 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96109458e-01 -1.12294309e-03 -8.81174650e-02 7.69874985e-01] [ 8.11255790e-04 9.99993288e-01 -3.57291241e-03 -9.28351583e-02] [ 8.81208857e-02 3.48752604e-03 9.96103683e-01 -9.21231876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27463043999998 meters Centerline goodness : 0.088702 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96075742e-01 -6.97517003e-04 -8.85021430e-02 7.71191076e-01] [ 4.06896024e-04 9.99994466e-01 -3.30177184e-03 -9.22740661e-02] [ 8.85039563e-02 3.25280367e-03 9.96070514e-01 -9.26649728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30463043999998 meters Centerline goodness : 0.109291 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96059649e-01 -6.77317647e-04 -8.86832423e-02 7.71901563e-01] [ 3.82404645e-04 9.99994341e-01 -3.34241250e-03 -9.18092661e-02] [ 8.86850043e-02 3.29532934e-03 9.96054271e-01 -9.30304258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33463043999998 meters Centerline goodness : 0.094178 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96040727e-01 -7.20286776e-04 -8.88951757e-02 7.72662903e-01] [ 4.19481596e-04 9.99994124e-01 -3.40245449e-03 -9.18033312e-02] [ 8.88971041e-02 3.35169336e-03 9.96035176e-01 -9.33844622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36463043999998 meters Centerline goodness : 0.094091 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96012714e-01 -7.63115716e-04 -8.92081310e-02 7.73730591e-01] [ 4.59333384e-04 9.99994026e-01 -3.42580059e-03 -9.20152674e-02] [ 8.92102123e-02 3.37116467e-03 9.96007115e-01 -9.37514499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39463044 meters Centerline goodness : 0.296488 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.09 [[ 9.95974423e-01 -9.06408877e-04 -8.96332923e-02 7.75107975e-01] [ 6.03318412e-04 9.99994009e-01 -3.40848509e-03 -9.32213167e-02] [ 8.96358448e-02 3.34068655e-03 9.95969003e-01 -9.41430671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42463044 meters Centerline goodness : 0.234640 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.95980310e-01 -8.98316471e-04 -8.95679405e-02 7.74624133e-01] [ 6.04325922e-04 9.99994341e-01 -3.30938354e-03 -9.39788459e-02] [ 8.95704065e-02 3.24195262e-03 9.95975217e-01 -9.36813745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45463044 meters Centerline goodness : 0.178103 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.95998318e-01 -8.78227930e-04 -8.93676643e-02 7.73849735e-01] [ 5.94407836e-04 9.99994696e-01 -3.20243422e-03 -9.46928345e-02] [ 8.93700027e-02 3.13649826e-03 9.95993557e-01 -9.32519406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48463044 meters Centerline goodness : 0.461000 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.96014942e-01 -8.57700492e-04 -8.91823918e-02 7.73044539e-01] [ 5.77784117e-04 9.99994826e-01 -3.16446369e-03 -9.47665223e-02] [ 8.91846446e-02 3.10032495e-03 9.96010285e-01 -9.27902493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51463044 meters Centerline goodness : 0.087065 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.09 [[ 9.95998316e-01 -9.08815614e-04 -8.93673850e-02 7.73922688e-01] [ 6.00361441e-04 9.99993770e-01 -3.47834916e-03 -9.28640568e-02] [ 8.93699894e-02 3.41077717e-03 9.95992656e-01 -9.34275529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54463044 meters Centerline goodness : 0.091749 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.09 [[ 9.95968372e-01 -9.68729669e-04 -8.96998480e-02 7.75088676e-01] [ 6.35346254e-04 9.99992785e-01 -3.74513349e-03 -9.13837192e-02] [ 8.97028288e-02 3.67304405e-03 9.95961802e-01 -9.39679120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57463044 meters Centerline goodness : 0.202953 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.09 [[ 9.95932631e-01 -1.03036855e-03 -9.00951297e-02 7.76324520e-01] [ 6.65977840e-04 9.99991478e-01 -4.07447895e-03 -8.93521020e-02] [ 9.00985601e-02 3.99790518e-03 9.95924830e-01 -9.43681318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60463044 meters Centerline goodness : 0.171091 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.10 [[ 9.95847600e-01 -6.47330907e-04 -9.10337167e-02 7.79179604e-01] [ 2.58704318e-04 9.99990804e-01 -4.28077523e-03 -8.49455074e-02] [ 9.10356507e-02 4.23944893e-03 9.95838610e-01 -9.51426222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63463044 meters Centerline goodness : 0.417023 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.10 [[ 9.95643238e-01 -4.88740491e-04 -9.32432485e-02 7.34496466e-01] [ 6.64524872e-05 9.99989729e-01 -4.53193672e-03 -8.60945553e-02] [ 9.32445057e-02 4.50599590e-03 9.95633044e-01 -9.86779526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.69463044 meters Centerline goodness : 0.091682 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95678591e-01 -7.77745971e-04 -9.28630086e-02 7.33063363e-01] [ 2.96241020e-04 9.99986442e-01 -5.19878250e-03 -8.24717121e-02] [ 9.28657930e-02 5.14880661e-03 9.95665322e-01 -9.80858125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72463044 meters Centerline goodness : 0.213871 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95731848e-01 -8.55896778e-04 -9.22895108e-02 7.30667253e-01] [ 3.54691257e-04 9.99985102e-01 -5.44706154e-03 -8.01481016e-02] [ 9.22927980e-02 5.39107837e-03 9.95717317e-01 -9.68740218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75463044 meters Centerline goodness : 0.096597 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95735814e-01 -9.72363725e-04 -9.22455570e-02 7.30330267e-01] [ 4.57224845e-04 9.99984185e-01 -5.60539944e-03 -7.94472443e-02] [ 9.22495487e-02 5.53932002e-03 9.95720511e-01 -9.65428777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78463044 meters Centerline goodness : 0.462847 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95738810e-01 -1.11846787e-03 -9.22115611e-02 7.30174069e-01] [ 5.88714494e-04 9.99983169e-01 -5.77197877e-03 -7.89356047e-02] [ 9.22164648e-02 5.69309699e-03 9.95722709e-01 -9.64247901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81463044 meters Centerline goodness : 0.461633 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95729800e-01 -1.24213259e-03 -9.23072180e-02 7.30371965e-01] [ 7.00294568e-04 9.99982337e-01 -5.90210052e-03 -7.86204471e-02] [ 9.23129188e-02 5.81225513e-03 9.95713083e-01 -9.63666923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84463044 meters Centerline goodness : 0.460276 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95716079e-01 -1.28442825e-03 -9.24545268e-02 7.30792168e-01] [ 7.40391911e-04 9.99982212e-01 -5.91842593e-03 -7.86688772e-02] [ 9.24604840e-02 5.82461927e-03 9.95699318e-01 -9.64185058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87463044 meters Centerline goodness : 0.090067 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95670410e-01 -1.43881620e-03 -9.29428073e-02 7.32177580e-01] [ 8.94901362e-04 9.99982232e-01 -5.89355808e-03 -7.96500861e-02] [ 9.29496357e-02 5.78486674e-03 9.95654006e-01 -9.65784512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90463044 meters Centerline goodness : 0.461249 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 9.95659990e-01 -1.44938691e-03 -9.30541936e-02 7.32331768e-01] [ 9.17807229e-04 9.99983018e-01 -5.75512335e-03 -8.07946006e-02] [ 9.30609547e-02 5.64474025e-03 9.95644412e-01 -9.63595638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93463044 meters Centerline goodness : 0.154340 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99572591 0.00459857 -0.09224301 0.71069943] [-0.00536828 0.9999528 -0.00809798 -0.08679248] [ 0.09220142 0.00855855 0.9957036 -0.09852177] [ 0. 0. 0. 1. ]] SLAMing on 165.96463044 meters Centerline goodness : 0.441257 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 0.99582334 -0.00275364 -0.09125946 0.72892846] [ 0.00216643 0.99997631 -0.00653289 -0.08282254] [ 0.09127528 0.0063079 0.99580572 -0.0955361 ] [ 0. 0. 0. 1. ]] SLAMing on 165.99463043999998 meters Centerline goodness : 0.463969 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99583849 0.0054551 -0.09097223 0.71042435] [-0.00613435 0.99995535 -0.00718863 -0.08924854] [ 0.09092895 0.00771677 0.99582748 -0.09884009] [ 0. 0. 0. 1. ]] SLAMing on 166.02463043999998 meters Centerline goodness : 0.186935 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99580814 0.00548319 -0.09130218 0.71173291] [-0.00616892 0.99995483 -0.0072301 -0.08895746] [ 0.09125841 0.00776303 0.99579699 -0.09950076] [ 0. 0. 0. 1. ]] SLAMing on 166.05463043999998 meters Centerline goodness : 0.147424 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99577304 0.00543714 -0.09168695 0.71320578] [-0.00614165 0.99995373 -0.00740352 -0.08827673] [ 0.09164246 0.00793534 0.99576036 -0.10016632] [ 0. 0. 0. 1. ]] SLAMing on 166.08463043999998 meters Centerline goodness : 0.104295 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99574462 0.00548175 -0.09199241 0.71415501] [-0.00619441 0.99995296 -0.00746329 -0.08801384] [ 0.09194717 0.00800137 0.99573174 -0.10050557] [ 0. 0. 0. 1. ]] SLAMing on 166.11463043999998 meters Centerline goodness : 0.093688 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99574812 0.00554096 -0.09195094 0.71399025] [-0.00624346 0.99995347 -0.00735407 -0.08849509] [ 0.09190591 0.0078969 0.99573638 -0.10043494] [ 0. 0. 0. 1. ]] SLAMing on 166.14463044 meters Centerline goodness : 0.118681 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99574115 0.00564481 -0.09202009 0.71414601] [-0.00632682 0.99995463 -0.00712154 -0.08961265] [ 0.09197571 0.0076734 0.99573168 -0.10038808] [ 0. 0. 0. 1. ]] SLAMing on 166.17463044 meters Centerline goodness : 0.461206 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99572935 0.00562109 -0.09214912 0.71453266] [-0.0062919 0.99995577 -0.00699073 -0.09088305] [ 0.09210575 0.00754067 0.99572068 -0.10040818] [ 0. 0. 0. 1. ]] SLAMing on 166.20463044 meters Centerline goodness : 0.150585 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99572072 0.00548571 -0.09225052 0.71487627] [-0.00615087 0.99995709 -0.0069276 -0.09253348] [ 0.09220856 0.00746538 0.99571173 -0.10046513] [ 0. 0. 0. 1. ]] SLAMing on 166.23463044 meters Centerline goodness : 0.461463 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.10 [[ 0.9958018 -0.00374188 -0.09145912 0.73400728] [ 0.00313757 0.99997229 -0.00675034 -0.09128411] [ 0.09148185 0.00643504 0.99578595 -0.09774354] [ 0. 0. 0. 1. ]] SLAMing on 166.26463044 meters Centerline goodness : 0.463119 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.10 [[ 0.99579921 -0.00357251 -0.09149415 0.73435596] [ 0.00300404 0.99997533 -0.0063502 -0.09317533] [ 0.09151458 0.00604867 0.99578537 -0.09798804] [ 0. 0. 0. 1. ]] SLAMing on 166.29463044 meters Centerline goodness : 0.087622 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.10 [[ 0.99579374 -0.00336573 -0.09156144 0.73497722] [ 0.00283365 0.99997834 -0.00594059 -0.09495076] [ 0.09157945 0.00565615 0.99578171 -0.09847737] [ 0. 0. 0. 1. ]] SLAMing on 166.32463044 meters Centerline goodness : 0.114439 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.10 [[ 0.9957919 -0.00328378 -0.09158447 0.73551581] [ 0.00279057 0.99998091 -0.00551276 -0.09798117] [ 0.09160082 0.00523399 0.99578205 -0.09894652] [ 0. 0. 0. 1. ]] SLAMing on 166.35463044 meters Centerline goodness : 0.439691 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.10 [[ 0.99578645 -0.00323959 -0.09164528 0.73538865] [ 0.00276012 0.99998184 -0.00535807 -0.09901199] [ 0.09166098 0.00508254 0.9957773 -0.09852178] [ 0. 0. 0. 1. ]] SLAMing on 166.38463044 meters Centerline goodness : 0.151922 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.10 [[ 0.99578089 -0.00313754 -0.09170914 0.73539371] [ 0.00267037 0.99998283 -0.00521632 -0.09957049] [ 0.09172394 0.00494941 0.99577217 -0.09833648] [ 0. 0. 0. 1. ]] SLAMing on 166.41463044 meters Centerline goodness : 0.090351 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.10 [[ 0.99576197 -0.00306133 -0.09191696 0.73620013] [ 0.0025965 0.99998323 -0.00517627 -0.09944075] [ 0.09193127 0.00491567 0.99575322 -0.09872726] [ 0. 0. 0. 1. ]] SLAMing on 166.44463044 meters Centerline goodness : 0.092970 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.10 [[ 0.99573773 -0.00300069 -0.09218114 0.73751796] [ 0.00252996 0.99998316 -0.00522298 -0.09888258] [ 0.09219526 0.0049675 0.99572856 -0.09955694] [ 0. 0. 0. 1. ]] SLAMing on 166.47463044 meters Centerline goodness : 0.458282 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.10 [[ 0.9957057 -0.00289202 -0.09252995 0.73892662] [ 0.00239781 0.99998226 -0.0054519 -0.0971844 ] [ 0.09254408 0.00520662 0.99569498 -0.10035398] [ 0. 0. 0. 1. ]] SLAMing on 166.50463044 meters Centerline goodness : 0.089414 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.10 [[ 0.99553299 -0.00239281 -0.09438398 0.69398724] [ 0.00189 0.99998355 -0.00541631 -0.09933714] [ 0.09439539 0.00521373 0.99552113 -0.10355411] [ 0. 0. 0. 1. ]] SLAMing on 166.53463044 meters Centerline goodness : 0.087366 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.10 [[ 0.99560806 0.00564197 -0.09344927 0.71429349] [-0.00626801 0.99995983 -0.00640716 -0.09889475] [ 0.09340937 0.00696476 0.99560343 -0.1007954 ] [ 0. 0. 0. 1. ]] SLAMing on 166.56463044 meters Centerline goodness : 0.094545 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.10 [[ 0.99560549 0.00563732 -0.09347684 0.71447705] [-0.00630161 0.99995694 -0.00681283 -0.09588838] [ 0.09343441 0.00737195 0.99559814 -0.10103589] [ 0. 0. 0. 1. ]] SLAMing on 166.59463044 meters Centerline goodness : 0.097153 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99561135 0.00551678 -0.09342163 0.71455853] [-0.00620548 0.99995566 -0.00708311 -0.09453224] [ 0.09337841 0.00763175 0.99560144 -0.10135459] [ 0. 0. 0. 1. ]] SLAMing on 166.62463044 meters Centerline goodness : 0.095952 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99561982 0.00541336 -0.09333743 0.71454603] [-0.00612209 0.99995455 -0.00730849 -0.09322196] [ 0.09329362 0.00784789 0.99560771 -0.10157184] [ 0. 0. 0. 1. ]] SLAMing on 166.65463044 meters Centerline goodness : 0.410307 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99561994 0.00529347 -0.09334297 0.71452334] [-0.00602321 0.99995345 -0.00753778 -0.09196311] [ 0.09329872 0.00806699 0.99560548 -0.10151432] [ 0. 0. 0. 1. ]] SLAMing on 166.68463044 meters Centerline goodness : 0.463144 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 0.99557539 0.00488337 -0.09383919 0.71562911] [-0.0056707 0.99995091 -0.00812529 -0.08941825] [ 0.0937949 0.00862147 0.99555421 -0.10133077] [ 0. 0. 0. 1. ]] SLAMing on 166.71463044 meters Centerline goodness : 0.463144 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 0.99557539 0.00488337 -0.09383919 0.71562911] [-0.0056707 0.99995091 -0.00812529 -0.08941825] [ 0.0937949 0.00862147 0.99555421 -0.10133077] [ 0. 0. 0. 1. ]] SLAMing on 166.74463043999998 meters Centerline goodness : 0.092829 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:-0.10 [[ 0.99553927 0.00469559 -0.09423118 0.71652353] [-0.00551492 0.99994921 -0.00843638 -0.08803298] [ 0.09418678 0.00891843 0.9955146 -0.101201 ] [ 0. 0. 0. 1. ]] SLAMing on 166.77463043999998 meters Centerline goodness : 0.102930 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:-0.10 [[ 0.99545762 -0.00246647 -0.09517378 0.7351316 ] [ 0.00178771 0.99997236 -0.00721642 -0.08043775] [ 0.09518895 0.00701349 0.99543452 -0.09763386] [ 0. 0. 0. 1. ]] SLAMing on 166.80463043999998 meters Centerline goodness : 0.453132 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:-0.10 [[ 0.99544606 -0.00243968 -0.09529532 0.73527477] [ 0.00175468 0.99997202 -0.00727126 -0.07952685] [ 0.0953104 0.00707094 0.99542249 -0.09741645] [ 0. 0. 0. 1. ]] SLAMing on 166.83463043999998 meters Centerline goodness : 0.211367 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 0.99551255 -0.00245803 -0.09459764 0.73268189] [ 0.00175692 0.99997038 -0.00749408 -0.07737181] [ 0.09461325 0.00729425 0.99548738 -0.09624652] [ 0. 0. 0. 1. ]] SLAMing on 166.86463043999998 meters Centerline goodness : 0.457259 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.10 [[ 0.99554716 -0.00257684 -0.09422953 0.73139084] [ 0.00185629 0.99996837 -0.00773356 -0.07614767] [ 0.09424647 0.00752421 0.99552046 -0.09573382] [ 0. 0. 0. 1. ]] SLAMing on 166.89463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.92463044 meters Centerline goodness : 0.464031 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.9955469 -0.00265621 -0.09423011 0.7310563 ] [ 0.00190342 0.99996556 -0.00807785 -0.07362038] [ 0.09424833 0.00786252 0.99551767 -0.09539339] [ 0. 0. 0. 1. ]] SLAMing on 166.95463044 meters Centerline goodness : 0.366351 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99550966 -0.00273595 -0.09462048 0.73241522] [ 0.00194642 0.99996253 -0.00843549 -0.07129966] [ 0.09464001 0.00821344 0.99547768 -0.09590071] [ 0. 0. 0. 1. ]] SLAMing on 166.98463044 meters Centerline goodness : 0.451800 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99549375 -0.00282652 -0.09478507 0.73300873] [ 0.00201437 0.99996045 -0.00866285 -0.07031041] [ 0.09480581 0.00843288 0.99546007 -0.09614603] [ 0. 0. 0. 1. ]] SLAMing on 167.01463044 meters Centerline goodness : 0.110737 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99547652 -0.00291055 -0.09496327 0.73335299] [ 0.00207696 0.99995845 -0.00887576 -0.06922848] [ 0.09498515 0.00863838 0.99544121 -0.09604998] [ 0. 0. 0. 1. ]] SLAMing on 167.04463044 meters Centerline goodness : 0.360681 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99545144 -0.00284103 -0.09522795 0.73382184] [ 0.00198463 0.99995675 -0.00908663 -0.06701761] [ 0.09524964 0.00885631 0.99541402 -0.09591332] [ 0. 0. 0. 1. ]] SLAMing on 167.07463044 meters Centerline goodness : 0.093351 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.10 [[ 0.99544536 -0.00290393 -0.09528962 0.73405015] [ 0.00202532 0.99995456 -0.00931584 -0.06553095] [ 0.09531234 0.00908041 0.995406 -0.09603926] [ 0. 0. 0. 1. ]] SLAMing on 167.10463044 meters Centerline goodness : 0.460218 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.10 [[ 0.9954405 -0.00300244 -0.09533728 0.73434259] [ 0.00209896 0.99995195 -0.00957549 -0.06410874] [ 0.09536145 0.00933172 0.99539897 -0.09628262] [ 0. 0. 0. 1. ]] SLAMing on 167.13463044 meters Centerline goodness : 0.336355 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.10 [[ 0.99544564 -0.0031377 -0.09527921 0.73427341] [ 0.00220751 0.99994889 -0.0098666 -0.06265766] [ 0.0953053 0.00961134 0.99540169 -0.09642895] [ 0. 0. 0. 1. ]] SLAMing on 167.16463044 meters Centerline goodness : 0.223411 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.10 [[ 0.99545534 -0.00317995 -0.09517641 0.73382482] [ 0.00223583 0.99994725 -0.01002476 -0.06150252] [ 0.09520327 0.0097664 0.99540994 -0.09619905] [ 0. 0. 0. 1. ]] SLAMing on 167.19463044 meters Centerline goodness : 0.095449 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.10 [[ 0.99547826 -0.00312298 -0.09493831 0.73288624] [ 0.0021755 0.99994681 -0.01008182 -0.06046361] [ 0.09496475 0.0098297 0.9954321 -0.09571868] [ 0. 0. 0. 1. ]] SLAMing on 167.22463044 meters Centerline goodness : 0.106071 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.9954946 -0.00328511 -0.09476137 0.73144787] [ 0.00231666 0.99994398 -0.01032811 -0.05932232] [ 0.09479 0.01006205 0.99544644 -0.09445995] [ 0. 0. 0. 1. ]] SLAMing on 167.25463044 meters Centerline goodness : 0.209566 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.99546604 -0.00340234 -0.09505675 0.73221947] [ 0.00241772 0.99994225 -0.01047139 -0.05899083] [ 0.09508689 0.01019409 0.99541678 -0.09448952] [ 0. 0. 0. 1. ]] SLAMing on 167.28463044 meters Centerline goodness : 0.111188 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.99544525 -0.00349888 -0.09527078 0.73284923] [ 0.00250076 0.99994076 -0.01059395 -0.05869967] [ 0.0953022 0.01030745 0.99539502 -0.09459964] [ 0. 0. 0. 1. ]] SLAMing on 167.31463044 meters Centerline goodness : 0.438199 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.9954281 -0.00348203 -0.09545036 0.73323983] [ 0.00248417 0.99994104 -0.01057103 -0.05857981] [ 0.09548154 0.01028559 0.99537806 -0.09450117] [ 0. 0. 0. 1. ]] SLAMing on 167.34463044 meters Centerline goodness : 0.092495 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.99544977 -0.0033986 -0.09522712 0.73236653] [ 0.00241708 0.99994278 -0.01042055 -0.05875694] [ 0.09525709 0.01014296 0.99540103 -0.09399152] [ 0. 0. 0. 1. ]] SLAMing on 167.37463044 meters Centerline goodness : 0.455775 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.99544217 -0.00344378 -0.09530486 0.73252779] [ 0.00245703 0.99994218 -0.01046901 -0.058678 ] [ 0.0953354 0.01018713 0.99539308 -0.09391134] [ 0. 0. 0. 1. ]] SLAMing on 167.40463044 meters Centerline goodness : 0.283529 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.9954247 -0.00345053 -0.09548699 0.73297148] [ 0.00245858 0.99994181 -0.01050397 -0.05850744] [ 0.09551768 0.01022115 0.99537526 -0.09384499] [ 0. 0. 0. 1. ]] SLAMing on 167.43463044 meters Centerline goodness : 0.146394 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.99537312 -0.00327047 -0.09602941 0.7342815 ] [ 0.00226051 0.99994101 -0.0106241 -0.05662913] [ 0.09605849 0.01035787 0.9953218 -0.09382965] [ 0. 0. 0. 1. ]] SLAMing on 167.46463044 meters Centerline goodness : 0.460337 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.09 [[ 0.99536066 -0.00322562 -0.09616001 0.73478899] [ 0.00219744 0.9999393 -0.01079633 -0.05502178] [ 0.09618899 0.01053493 0.99530734 -0.09411842] [ 0. 0. 0. 1. ]] SLAMing on 167.49463043999998 meters Centerline goodness : 0.097015 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.09 [[ 0.99536755 -0.00329319 -0.09608636 0.73475149] [ 0.00223635 0.99993584 -0.01110443 -0.0530955 ] [ 0.09611676 0.01083811 0.99531106 -0.094369 ] [ 0. 0. 0. 1. ]] SLAMing on 167.52463043999998 meters Centerline goodness : 0.091779 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.09 [[ 0.9953804 -0.00338333 -0.09595004 0.73443503] [ 0.00229818 0.99993217 -0.01141788 -0.05131507] [ 0.09598216 0.01114462 0.99532066 -0.09445148] [ 0. 0. 0. 1. ]] SLAMing on 167.55463043999998 meters Centerline goodness : 0.139785 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.09 [[ 0.99539568 -0.00342265 -0.09578997 0.73383453] [ 0.00231046 0.99992866 -0.01171921 -0.04920557] [ 0.09582325 0.01144393 0.99533258 -0.09427198] [ 0. 0. 0. 1. ]] SLAMing on 167.58463043999998 meters Centerline goodness : 0.128938 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.09 [[ 0.99543649 -0.0022195 -0.0954006 0.73255007] [ 0.00115367 0.99993632 -0.01122582 -0.04225118] [ 0.09541944 0.01106453 0.99537566 -0.09395125] [ 0. 0. 0. 1. ]] SLAMing on 167.61463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 167.64463044 meters Centerline goodness : 0.095751 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.09 [[ 0.9954325 -0.00261014 -0.09543233 0.73278357] [ 0.00145899 0.99992536 -0.01213031 -0.03754596] [ 0.09545687 0.01193567 0.99536201 -0.09419358] [ 0. 0. 0. 1. ]] SLAMing on 167.67463044 meters Centerline goodness : 0.371581 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.09 [[ 0.99543746 -0.00275005 -0.0953766 0.73246704] [ 0.00156884 0.99992117 -0.01245743 -0.0356906 ] [ 0.09540334 0.01225096 0.99536331 -0.09399332] [ 0. 0. 0. 1. ]] SLAMing on 167.70463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 167.73463044 meters Centerline goodness : 0.465513 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.09 [[ 0.99538927 -0.00292002 -0.09587318 0.73298469] [ 0.00168366 0.99991441 -0.01297413 -0.03063506] [ 0.09590286 0.0127529 0.995309 -0.09318784] [ 0. 0. 0. 1. ]] SLAMing on 167.76463044 meters Centerline goodness : 0.460542 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.09 [[ 0.99537402 -0.00307807 -0.09602652 0.73327803] [ 0.00182841 0.99991253 -0.01309895 -0.03066305] [ 0.09605844 0.01286277 0.99529258 -0.09303096] [ 0. 0. 0. 1. ]] SLAMing on 167.79463044 meters Centerline goodness : 0.102770 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.09 [[ 0.9953671 -0.00319041 -0.09609449 0.73309694] [ 0.00194527 0.99991297 -0.01304836 -0.03158041] [ 0.09612775 0.01280098 0.99528669 -0.09250566] [ 0. 0. 0. 1. ]] SLAMing on 167.82463044 meters Centerline goodness : 0.460707 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.09 [[ 0.99536132 -0.01207932 -0.09544595 0.75383102] [ 0.01095462 0.99986436 -0.01229882 -0.03060203] [ 0.09558156 0.01119619 0.99535863 -0.09019181] [ 0. 0. 0. 1. ]] SLAMing on 167.85463044 meters Centerline goodness : 0.101363 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.09 [[ 0.99535059 -0.01204525 -0.09556212 0.75457334] [ 0.01095387 0.99986875 -0.01193702 -0.03310301] [ 0.09569336 0.01083475 0.99535189 -0.09058946] [ 0. 0. 0. 1. ]] SLAMing on 167.88463044 meters Centerline goodness : 0.401298 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.09 [[ 0.99533184 -0.01197736 -0.09576575 0.75537445] [ 0.01092158 0.99987375 -0.01154118 -0.035873 ] [ 0.09589189 0.01044139 0.99533699 -0.09083797] [ 0. 0. 0. 1. ]] SLAMing on 167.91463044 meters Centerline goodness : 0.098247 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.09 [[ 0.99533498 -0.01185342 -0.09574847 0.75541683] [ 0.01086501 0.99988224 -0.01083778 -0.0415729 ] [ 0.09586566 0.00974691 0.99534656 -0.09075282] [ 0. 0. 0. 1. ]] SLAMing on 167.94463044 meters Centerline goodness : 0.099441 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.09 [[ 0.99532875 -0.01167652 -0.09583493 0.75570813] [ 0.01072128 0.99988764 -0.01047642 -0.04338463] [ 0.09594649 0.00940001 0.99534211 -0.09078221] [ 0. 0. 0. 1. ]] SLAMing on 167.97463044 meters Centerline goodness : 0.461630 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.09 [[ 0.9953964 -0.0038925 -0.09576453 0.73809073] [ 0.00278129 0.99992728 -0.01173429 -0.05035207] [ 0.09580325 0.01141392 0.99533485 -0.09453482] [ 0. 0. 0. 1. ]] SLAMing on 168.00463044 meters Centerline goodness : 0.089926 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.10 [[ 0.99538697 -0.00379027 -0.09586667 0.73868932] [ 0.00268363 0.9999283 -0.01166977 -0.05056063] [ 0.09590402 0.01135867 0.99532578 -0.09500197] [ 0. 0. 0. 1. ]] SLAMing on 168.03463044 meters Centerline goodness : 0.428667 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.10 [[ 0.99537716 -0.00371662 -0.09597138 0.73926516] [ 0.00261065 0.99992876 -0.01164693 -0.05063668] [ 0.09600783 0.01134254 0.99531595 -0.09546694] [ 0. 0. 0. 1. ]] SLAMing on 168.06463044 meters Centerline goodness : 0.105627 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.10 [[ 0.99537838 -0.00335981 -0.09597181 0.7393167 ] [ 0.00227989 0.99993288 -0.01135984 -0.05099492] [ 0.09600354 0.01108853 0.99531923 -0.09558952] [ 0. 0. 0. 1. ]] SLAMing on 168.09463044 meters Centerline goodness : 0.095951 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.10 [[ 0.9953986 -0.00319136 -0.09576764 0.73841221] [ 0.00213996 0.99993633 -0.01107936 -0.05203218] [ 0.0957969 0.01082345 0.99534206 -0.09506524] [ 0. 0. 0. 1. ]] SLAMing on 168.12463044 meters Centerline goodness : 0.096325 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.09 [[ 0.99541238 -0.00302169 -0.09562978 0.73768099] [ 0.00200505 0.99994047 -0.01072527 -0.05361213] [ 0.09565649 0.01048432 0.99535919 -0.09451059] [ 0. 0. 0. 1. ]] SLAMing on 168.15463044 meters Centerline goodness : 0.100722 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 0.99542257 -0.00306194 -0.09552243 0.73735186] [ 0.00208857 0.99994489 -0.01028823 -0.05793588] [ 0.09554867 0.01004163 0.99537411 -0.09427328] [ 0. 0. 0. 1. ]] SLAMing on 168.18463044 meters Centerline goodness : 0.089004 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 0.99541716 -0.00307616 -0.09557836 0.73793651] [ 0.00211619 0.99994631 -0.01014362 -0.05949862] [ 0.09560443 0.00989487 0.99537023 -0.09477701] [ 0. 0. 0. 1. ]] SLAMing on 168.21463044 meters Centerline goodness : 0.152061 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.10 [[ 0.99541126 -0.00302854 -0.09564125 0.73843822] [ 0.00208518 0.99994821 -0.00996188 -0.06089565] [ 0.09566647 0.00971674 0.99536602 -0.09520077] [ 0. 0. 0. 1. ]] SLAMing on 168.24463043999998 meters Centerline goodness : 0.093029 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.10 [[ 0.99541158 -0.00294537 -0.09564049 0.73871169] [ 0.00201609 0.99994983 -0.00981159 -0.06171226] [ 0.09566459 0.00957375 0.99536758 -0.09552884] [ 0. 0. 0. 1. ]] SLAMing on 168.27463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 168.30463043999998 meters Centerline goodness : 0.121306 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.10 [[ 0.99532064 -0.00225876 -0.09660088 0.74097116] [ 0.00136707 0.99995586 -0.00929584 -0.06254913] [ 0.09661762 0.00912028 0.99527979 -0.09554812] [ 0. 0. 0. 1. ]] SLAMing on 168.33463043999998 meters Centerline goodness : 0.130766 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.10 [[ 0.99530128 -0.00209601 -0.09680374 0.74135982] [ 0.00121542 0.99995736 -0.00915479 -0.06271209] [ 0.0968188 0.00899411 0.99526139 -0.09546363] [ 0. 0. 0. 1. ]] SLAMing on 168.36463043999998 meters Centerline goodness : 0.096475 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.10 [[ 0.99529646 -0.00194658 -0.09685639 0.7414586 ] [ 0.00108234 0.99995914 -0.00897468 -0.06323039] [ 0.0968699 0.00882764 0.9952579 -0.09541866] [ 0. 0. 0. 1. ]] SLAMing on 168.39463044 meters Centerline goodness : 0.141216 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.10 [[ 0.99530938 -0.00191282 -0.09672421 0.7409702 ] [ 0.00106283 0.99996037 -0.00883862 -0.06412774] [ 0.09673729 0.00869436 0.99527198 -0.09519045] [ 0. 0. 0. 1. ]] SLAMing on 168.42463044 meters Centerline goodness : 0.200634 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.09 [[ 0.99551763 -0.01033513 -0.09400974 0.75933474] [ 0.00962579 0.9999217 -0.00799572 -0.06373425] [ 0.09408501 0.00705496 0.99553917 -0.0922522 ] [ 0. 0. 0. 1. ]] SLAMing on 168.45463044 meters Centerline goodness : 0.119517 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 0.99556397 -0.01045317 -0.09350466 0.75754977] [ 0.00977466 0.99992249 -0.00771154 -0.06609646] [ 0.09357803 0.00676335 0.99558898 -0.09143207] [ 0. 0. 0. 1. ]] SLAMing on 168.48463044 meters Centerline goodness : 0.115708 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 0.99560414 -0.01064503 -0.09305418 0.7560962 ] [ 0.01000011 0.99992266 -0.00739412 -0.06905256] [ 0.0931257 0.00643106 0.99563359 -0.09077726] [ 0. 0. 0. 1. ]] SLAMing on 168.51463044 meters Centerline goodness : 0.281470 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.09 [[ 0.99563128 -0.01080518 -0.09274483 0.75526018] [ 0.01019603 0.99992324 -0.00703936 -0.07215213] [ 0.09281377 0.00606298 0.99566503 -0.09042576] [ 0. 0. 0. 1. ]] SLAMing on 168.54463044 meters Centerline goodness : 0.228284 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.09 [[ 0.99559897 -0.01389922 -0.0926796 0.75423029] [ 0.01313983 0.99987495 -0.008799 -0.08016229] [ 0.09279031 0.00754248 0.9956571 -0.08921086] [ 0. 0. 0. 1. ]] SLAMing on 168.57463044 meters Centerline goodness : 0.458144 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.09 [[ 0.99583674 -0.00837868 -0.09076884 0.73971573] [ 0.00753385 0.99992509 -0.00964619 -0.09060993] [ 0.09084286 0.00892219 0.99582527 -0.09316021] [ 0. 0. 0. 1. ]] SLAMing on 168.60463044 meters Centerline goodness : 0.458144 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.09 [[ 0.99583674 -0.00837868 -0.09076884 0.73971573] [ 0.00753385 0.99992509 -0.00964619 -0.09060993] [ 0.09084286 0.00892219 0.99582527 -0.09316021] [ 0. 0. 0. 1. ]] SLAMing on 168.63463044 meters Centerline goodness : 0.113624 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.09 [[ 0.99577336 -0.00852296 -0.0914482 0.74174037] [ 0.00771344 0.99992791 -0.00920208 -0.09492625] [ 0.09152004 0.00845781 0.99576732 -0.09349631] [ 0. 0. 0. 1. ]] SLAMing on 168.66463044 meters Centerline goodness : 0.228033 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.09 [[ 0.99571646 -0.00866776 -0.09205216 0.74380321] [ 0.00789132 0.99993018 -0.00879541 -0.09947357] [ 0.09212197 0.00803132 0.99571534 -0.09405951] [ 0. 0. 0. 1. ]] SLAMing on 168.69463044 meters Centerline goodness : 0.216165 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.09 [[ 0.99568172 -0.00865587 -0.09242833 0.74535461] [ 0.00792219 0.99993416 -0.00830178 -0.10356895] [ 0.0924941 0.0075337 0.99568473 -0.09472857] [ 0. 0. 0. 1. ]] SLAMing on 168.72463044 meters Centerline goodness : 0.404099 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.10 [[ 0.99592198 -0.00314089 -0.09016396 0.72798054] [ 0.00229694 0.99995259 -0.00946237 -0.11694098] [ 0.0901894 0.00921668 0.99588198 -0.09907982] [ 0. 0. 0. 1. ]] SLAMing on 168.75463044 meters Centerline goodness : 0.422759 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.10 [[ 0.99590516 -0.00291205 -0.0903572 0.72846769] [ 0.00210803 0.99995735 -0.00899237 -0.11936465] [ 0.09037953 0.00876507 0.99586882 -0.09909431] [ 0. 0. 0. 1. ]] SLAMing on 168.78463044 meters Centerline goodness : 0.104014 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.10 [[ 0.99590998 -0.00266769 -0.09031168 0.72844939] [ 0.00190438 0.99996175 -0.00853699 -0.121351 ] [ 0.09033099 0.00833009 0.99587696 -0.09921592] [ 0. 0. 0. 1. ]] SLAMing on 168.81463044 meters Centerline goodness : 0.424332 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.10 [[ 0.99590567 -0.00246149 -0.09036499 0.72873831] [ 0.0017307 0.99996517 -0.00816448 -0.12307506] [ 0.09038194 0.00797465 0.99587525 -0.09937137] [ 0. 0. 0. 1. ]] SLAMing on 168.84463044 meters Centerline goodness : 0.250972 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.10 [[ 0.99590472 -0.00243043 -0.0903763 0.72995162] [ 0.00172596 0.99996752 -0.00787213 -0.1260198 ] [ 0.0903925 0.00768391 0.99587658 -0.10079611] [ 0. 0. 0. 1. ]] SLAMing on 168.87463044 meters Centerline goodness : 0.451707 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.10 [[ 0.99588705 -0.0024265 -0.09057095 0.73093668] [ 0.00173542 0.99996879 -0.00770826 -0.12752166] [ 0.09058682 0.00751938 0.99586017 -0.10146363] [ 0. 0. 0. 1. ]] SLAMing on 168.90463044 meters Centerline goodness : 0.379006 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.10 [[ 0.99585703 -0.00231494 -0.09090333 0.73200935] [ 0.00165222 0.99997151 -0.00736494 -0.12959052] [ 0.09091779 0.00718423 0.99583249 -0.10182281] [ 0. 0. 0. 1. ]] SLAMing on 168.93463044 meters Centerline goodness : 0.261504 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 0.99581422 -0.00203866 -0.09137771 0.73317989] [ 0.00145589 0.99997818 -0.00644386 -0.13503946] [ 0.09138886 0.00628385 0.99579546 -0.10176704] [ 0. 0. 0. 1. ]] SLAMing on 168.96463043999998 meters Centerline goodness : 0.481687 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 0.99581103 -0.00190801 -0.0914153 0.73300491] [ 0.00136678 0.99998117 -0.00598282 -0.13777153] [ 0.09142499 0.00583282 0.99579488 -0.10137889] [ 0. 0. 0. 1. ]] SLAMing on 168.99463043999998 meters Centerline goodness : 0.508182 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 0.99582129 -0.00186616 -0.09130433 0.73257626] [ 0.00135413 0.99998301 -0.00566957 -0.14000623] [ 0.09131336 0.00552224 0.9958069 -0.10113679] [ 0. 0. 0. 1. ]] SLAMing on 169.02463043999998 meters Centerline goodness : 0.391209 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 0.99582452 -0.00177169 -0.09127093 0.73260012] [ 0.00128673 0.99998474 -0.00537201 -0.14188612] [ 0.09127905 0.00523214 0.99581161 -0.1012146 ] [ 0. 0. 0. 1. ]] SLAMing on 169.05463043999998 meters Centerline goodness : 0.096057 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 0.99583563 -0.00168431 -0.09115136 0.7323386 ] [ 0.00121632 0.99998579 -0.00518954 -0.14296543] [ 0.0911588 0.00505705 0.99582353 -0.10128755] [ 0. 0. 0. 1. ]] SLAMing on 169.08463043999998 meters Centerline goodness : 0.097094 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99592134 0.00600337 -0.09002581 0.71171502] [-0.0065757 0.99996 -0.00606217 -0.15034025] [ 0.08998581 0.00662943 0.99592098 -0.10412524] [ 0. 0. 0. 1. ]] SLAMing on 169.11463043999998 meters Centerline goodness : 0.474562 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 9.95931684e-01 -1.10609972e-03 -9.01047047e-02 7.30560105e-01] [ 6.87106445e-04 9.99988808e-01 -4.68095712e-03 -1.46185376e-01] [ 9.01088739e-02 4.60000198e-03 9.95921298e-01 -1.00971973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14463044 meters Centerline goodness : 0.501505 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 9.95911673e-01 -9.58647893e-04 -9.03272992e-02 7.31056984e-01] [ 5.53457189e-04 9.99989673e-01 -4.51074617e-03 -1.46619920e-01] [ 9.03306907e-02 4.44231247e-03 9.95901919e-01 -1.00955008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17463044 meters Centerline goodness : 0.433652 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 9.95892184e-01 -8.12056681e-04 -9.05433478e-02 7.31468418e-01] [ 4.21515671e-04 9.99990527e-01 -4.33234285e-03 -1.47119940e-01] [ 9.05460081e-02 4.27638094e-03 9.95883092e-01 -1.00804999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20463044 meters Centerline goodness : 0.095055 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 9.95890598e-01 -7.50477099e-04 -9.05613288e-02 7.31412248e-01] [ 3.69778124e-04 9.99991025e-01 -4.22047481e-03 -1.47839722e-01] [ 9.05636834e-02 4.16964359e-03 9.95881937e-01 -1.00668153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23463044 meters Centerline goodness : 0.059456 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 9.95928088e-01 -8.75123115e-04 -9.01469756e-02 7.29890251e-01] [ 4.99174529e-04 9.99991085e-01 -4.19285702e-03 -1.49799983e-01] [ 9.01498412e-02 4.13078500e-03 9.95919647e-01 -1.00021750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26463044 meters Centerline goodness : 0.089849 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.9960093 0.0066387 -0.08900231 0.71025618] [-0.00710662 0.99996254 -0.00494158 -0.15709699] [ 0.08896617 0.00555437 0.99601916 -0.10306995] [ 0. 0. 0. 1. ]] SLAMing on 169.29463044 meters Centerline goodness : 0.264402 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99602486 0.00681836 -0.08881437 0.70983 ] [-0.00725676 0.99996302 -0.00461414 -0.1585042 ] [ 0.08877962 0.0052403 0.99603751 -0.1030957 ] [ 0. 0. 0. 1. ]] SLAMing on 169.32463044 meters Centerline goodness : 0.096553 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99601888 0.00703106 -0.08886477 0.71007192] [-0.0074375 0.99996334 -0.00424339 -0.15993057] [ 0.08883168 0.00488742 0.99603466 -0.10322387] [ 0. 0. 0. 1. ]] SLAMing on 169.35463044 meters Centerline goodness : 0.083703 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99597587 0.00717334 -0.08933431 0.71157542] [-0.00754993 0.99996398 -0.00387839 -0.16239895] [ 0.08930327 0.00453725 0.99599415 -0.10367793] [ 0. 0. 0. 1. ]] SLAMing on 169.38463044 meters Centerline goodness : 0.104946 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99595767 0.00714956 -0.08953878 0.71222523] [-0.00752482 0.99996426 -0.00385413 -0.16310106] [ 0.08950803 0.00451231 0.99597588 -0.10388677] [ 0. 0. 0. 1. ]] SLAMing on 169.41463044 meters Centerline goodness : 0.102962 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99598198 0.00740668 -0.08924708 0.71137176] [-0.0077444 0.9999641 -0.00343851 -0.16500097] [ 0.08921841 0.00411585 0.99600358 -0.10368231] [ 0. 0. 0. 1. ]] SLAMing on 169.44463044 meters Centerline goodness : 0.126554 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99600219 0.00756282 -0.08900806 0.71075969] [-0.00787589 0.99996397 -0.00316665 -0.16620328] [ 0.08898091 0.00385501 0.99602587 -0.10363427] [ 0. 0. 0. 1. ]] SLAMing on 169.47463044 meters Centerline goodness : 0.104935 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99601057 0.00759515 -0.0889115 0.71066137] [-0.00789752 0.99996416 -0.00304946 -0.16719027] [ 0.08888516 0.00373948 0.99603486 -0.1037574 ] [ 0. 0. 0. 1. ]] SLAMing on 169.50463044 meters Centerline goodness : 0.095239 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99599612 0.00760949 -0.08907203 0.71126039] [-0.00790712 0.99996427 -0.00298911 -0.16802306] [ 0.0890461 0.00368144 0.9960207 -0.10403527] [ 0. 0. 0. 1. ]] SLAMing on 169.53463044 meters Centerline goodness : 0.171329 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99596356 0.00765563 -0.08943143 0.71239516] [-0.00794968 0.9999641 -0.00293226 -0.16841593] [ 0.08940577 0.00363137 0.99598867 -0.10437597] [ 0. 0. 0. 1. ]] SLAMing on 169.56463044 meters Centerline goodness : 0.103042 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.11 [[ 0.9958935 0.00820276 -0.09016011 0.71475083] [-0.00847158 0.99996074 -0.00259936 -0.16810524] [ 0.09013524 0.00335249 0.99592389 -0.10522859] [ 0. 0. 0. 1. ]] SLAMing on 169.59463044 meters Centerline goodness : 0.108711 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.11 [[ 0.99590347 0.00820481 -0.09004971 0.71462071] [-0.00848505 0.99996028 -0.00272973 -0.16737145] [ 0.09002374 0.00348262 0.99593353 -0.10542918] [ 0. 0. 0. 1. ]] SLAMing on 169.62463044 meters Centerline goodness : 0.107951 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.11 [[ 0.99590645 0.00805314 -0.09003053 0.71466786] [-0.00836023 0.99996045 -0.00303434 -0.16633352] [ 0.09000253 0.00377459 0.99593438 -0.10557055] [ 0. 0. 0. 1. ]] SLAMing on 169.65463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 169.68463044 meters Centerline goodness : 0.116908 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.11 [[ 0.99589023 0.00841019 -0.09017711 0.71543603] [-0.00872494 0.99995714 -0.00309668 -0.1632653 ] [ 0.0901472 0.00387074 0.99592093 -0.10621394] [ 0. 0. 0. 1. ]] SLAMing on 169.71463043999998 meters Centerline goodness : 0.178509 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.11 [[ 0.99589764 0.00846344 -0.09009025 0.71544428] [-0.00877344 0.99995687 -0.0030455 -0.16314543] [ 0.09006059 0.00382341 0.99592895 -0.10647964] [ 0. 0. 0. 1. ]] SLAMing on 169.74463043999998 meters Centerline goodness : 0.086865 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.11 [[ 0.99589559 0.00835182 -0.09012332 0.71559501] [-0.00866716 0.99995761 -0.00310824 -0.16338598] [ 0.09009354 0.0038766 0.99592576 -0.10652482] [ 0. 0. 0. 1. ]] SLAMing on 169.77463043999998 meters Centerline goodness : 0.130320 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.11 [[ 0.99589827 0.00427052 -0.09037918 0.71621301] [-0.0049089 0.99996454 -0.00684219 -0.16323628] [ 0.09034676 0.00725779 0.99588392 -0.10659118] [ 0. 0. 0. 1. ]] SLAMing on 169.80463043999998 meters Centerline goodness : 0.124649 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.11 [[ 0.99588673 0.00420554 -0.09050933 0.71638264] [-0.00484699 0.99996467 -0.00686842 -0.16337167] [ 0.09047725 0.00727887 0.99587192 -0.10638212] [ 0. 0. 0. 1. ]] SLAMing on 169.83463043999998 meters Centerline goodness : 0.101159 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.11 [[ 0.99588938 0.00426599 -0.09047729 0.71591514] [-0.00489764 0.99996515 -0.00676041 -0.16366933] [ 0.0904453 0.00717574 0.99587557 -0.10587298] [ 0. 0. 0. 1. ]] SLAMing on 169.86463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 169.89463044 meters Centerline goodness : 0.102285 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.11 [[ 0.99597229 -0.00386442 -0.08957824 0.69409974] [ 0.00333794 0.99997627 -0.00602638 -0.15996974] [ 0.0895994 0.0057031 0.99596156 -0.10809991] [ 0. 0. 0. 1. ]] SLAMing on 169.92463044 meters Centerline goodness : 0.116685 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.10 [[ 0.99604175 -0.00285894 -0.08884068 0.73713178] [ 0.00235385 0.99998047 -0.00578957 -0.15643955] [ 0.0888555 0.00555754 0.99602902 -0.10393294] [ 0. 0. 0. 1. ]] SLAMing on 169.95463044 meters Centerline goodness : 0.085616 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.10 [[ 0.99604213 -0.00281902 -0.0888377 0.73721887] [ 0.00230601 0.99998007 -0.00587676 -0.15551114] [ 0.08885249 0.00564864 0.99602878 -0.10405735] [ 0. 0. 0. 1. ]] SLAMing on 169.98463044 meters Centerline goodness : 0.097187 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.10 [[ 0.99604736 -0.00276192 -0.08878082 0.73708251] [ 0.00224123 0.9999797 -0.00596404 -0.15441108] [ 0.08879549 0.00574149 0.99603333 -0.10409778] [ 0. 0. 0. 1. ]] SLAMing on 170.01463044 meters Centerline goodness : 0.100672 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.10 [[ 0.9961016 -0.00265009 -0.08817358 0.73512485] [ 0.00211631 0.99997887 -0.00614672 -0.15268399] [ 0.08818801 0.00593616 0.99608616 -0.10350021] [ 0. 0. 0. 1. ]] SLAMing on 170.04463044 meters Centerline goodness : 0.085437 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 0.99613439 -0.00269992 -0.08780086 0.73387442] [ 0.00215323 0.99997771 -0.00632061 -0.15177818] [ 0.08781597 0.00610712 0.99611799 -0.10309264] [ 0. 0. 0. 1. ]] SLAMing on 170.07463044 meters Centerline goodness : 0.069820 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 0.99616106 -0.00268403 -0.08749821 0.73278862] [ 0.0021264 0.99997684 -0.00646563 -0.15051551] [ 0.08751353 0.00625475 0.99614369 -0.10268084] [ 0. 0. 0. 1. ]] SLAMing on 170.10463044 meters Centerline goodness : 0.086689 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.10 [[ 0.99618074 -0.00258266 -0.08727694 0.73219037] [ 0.00201308 0.9999761 -0.00661346 -0.14866413] [ 0.08729193 0.0064125 0.99616213 -0.10265636] [ 0. 0. 0. 1. ]] SLAMing on 170.13463044 meters Centerline goodness : 0.092264 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 9.96183708e-01 2.87389771e-04 -8.72808000e-02 7.33734109e-01] [-6.99104189e-04 9.99988773e-01 -4.68659383e-03 -1.42921907e-01] [ 8.72784732e-02 4.72972679e-03 9.96172725e-01 -1.04185886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16463044 meters Centerline goodness : 0.093241 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 9.96183726e-01 1.51658920e-04 -8.72809350e-02 7.33961322e-01] [-6.12270090e-04 9.99986028e-01 -5.25059337e-03 -1.39757328e-01] [ 8.72789192e-02 5.28399517e-03 9.96169900e-01 -1.04604602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19463044 meters Centerline goodness : 0.113412 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.10 [[ 9.96186193e-01 9.50760115e-05 -8.72528552e-02 7.33846408e-01] [-5.92548829e-04 9.99983718e-01 -5.67562514e-03 -1.36980512e-01] [ 8.72508949e-02 5.70568098e-03 9.96170029e-01 -1.04645397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22463044 meters Centerline goodness : 0.084443 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.10 [[ 9.96189234e-01 1.40025448e-04 -8.72180623e-02 7.33536499e-01] [-6.64752026e-04 9.99981855e-01 -5.98724496e-03 -1.34281975e-01] [ 8.72156414e-02 6.02240735e-03 9.96171252e-01 -1.04468679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25463044 meters Centerline goodness : 0.383635 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.10 [[ 0.99616608 0.00381084 -0.08739922 0.7341744 ] [-0.00409803 0.99998678 -0.00310677 -0.12996434] [ 0.08738622 0.00345302 0.99616852 -0.10471896] [ 0. 0. 0. 1. ]] SLAMing on 170.28463044 meters Centerline goodness : 0.309814 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.11 [[ 0.99616463 0.0036185 -0.08742391 0.73451375] [-0.00394277 0.99998597 -0.00353679 -0.12779353] [ 0.08740989 0.00386791 0.99616492 -0.1051382 ] [ 0. 0. 0. 1. ]] SLAMing on 170.31463044 meters Centerline goodness : 0.109934 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 0.99615495 0.00340924 -0.08754253 0.73513175] [-0.00376744 0.99998519 -0.00392688 -0.12597999] [ 0.08752785 0.00424159 0.99615304 -0.10560672] [ 0. 0. 0. 1. ]] SLAMing on 170.34463044 meters Centerline goodness : 0.086283 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.12, Z:-0.10 [[ 0.99606313 -0.00406384 -0.08855357 0.75476078] [ 0.00379437 0.99998765 -0.00321107 -0.11855511] [ 0.08856552 0.00286242 0.99606624 -0.10297885] [ 0. 0. 0. 1. ]] SLAMing on 170.37463044 meters Centerline goodness : 0.194595 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.10 [[ 0.995986 -0.00458466 -0.08939165 0.75699272] [ 0.00427422 0.99998415 -0.00366393 -0.11740735] [ 0.08940703 0.00326714 0.99598981 -0.10311775] [ 0. 0. 0. 1. ]] SLAMing on 170.40463044 meters Centerline goodness : 0.161133 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.10 [[ 0.99597859 -0.00478181 -0.08946387 0.75696642] [ 0.00446674 0.9999831 -0.00372163 -0.11790693] [ 0.08948016 0.00330705 0.99598311 -0.10275766] [ 0. 0. 0. 1. ]] SLAMing on 170.43463044 meters Centerline goodness : 0.096256 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96166535e-01 1.95321260e-04 -8.74768345e-02 7.37634255e-01] [-7.45416615e-04 9.99980154e-01 -6.25584712e-03 -1.23560680e-01] [ 8.74738766e-02 6.29707223e-03 9.96146911e-01 -1.05862004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46463043999998 meters Centerline goodness : 0.479410 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96174469e-01 7.45117364e-05 -8.73866246e-02 7.37280373e-01] [-6.05388123e-04 9.99981524e-01 -6.04854387e-03 -1.24894713e-01] [ 8.73845594e-02 6.07830780e-03 9.96156109e-01 -1.05544807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49463043999998 meters Centerline goodness : 0.479410 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96174469e-01 7.45117364e-05 -8.73866246e-02 7.37280373e-01] [-6.05388123e-04 9.99981524e-01 -6.04854387e-03 -1.24894713e-01] [ 8.73845594e-02 6.07830780e-03 9.96156109e-01 -1.05544807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52463043999998 meters Centerline goodness : 0.166157 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96159737e-01 9.32953675e-05 -8.75543844e-02 7.37886118e-01] [-6.15585204e-04 9.99982178e-01 -5.93833757e-03 -1.25456614e-01] [ 8.75522700e-02 5.96942997e-03 9.96142041e-01 -1.05730641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55463043999998 meters Centerline goodness : 0.470454 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96144335e-01 5.68981979e-05 -8.77294761e-02 7.38455209e-01] [-5.81250876e-04 9.99982121e-01 -5.95139297e-03 -1.25596124e-01] [ 8.77275690e-02 5.97943922e-03 9.96126558e-01 -1.05873600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58463043999998 meters Centerline goodness : 0.093573 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96118574e-01 4.20701392e-05 -8.80215029e-02 7.39250865e-01] [-5.70163521e-04 9.99981990e-01 -5.97446163e-03 -1.25625196e-01] [ 8.80196663e-02 6.00145885e-03 9.96100658e-01 -1.05958068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61463043999998 meters Centerline goodness : 0.091552 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96116186e-01 1.30870336e-04 -8.80484362e-02 7.39453073e-01] [-6.52750156e-04 9.99982391e-01 -5.89842349e-03 -1.25593395e-01] [ 8.80461138e-02 5.93298874e-03 9.96098731e-01 -1.06123056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64463044 meters Centerline goodness : 0.101048 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96106211e-01 1.78311900e-04 -8.81611331e-02 7.39775028e-01] [-7.01389286e-04 9.99982336e-01 -5.90225482e-03 -1.25299784e-01] [ 8.81585233e-02 5.94110796e-03 9.96088740e-01 -1.06167155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67463044 meters Centerline goodness : 0.306482 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96118889e-01 1.71690831e-04 -8.80177815e-02 7.39569953e-01] [-6.94349239e-04 9.99982309e-01 -5.90751766e-03 -1.25495507e-01] [ 8.80152101e-02 5.94570501e-03 9.96101386e-01 -1.06349643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70463044 meters Centerline goodness : 0.433631 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96150116e-01 1.11525586e-04 -8.76637604e-02 7.38217800e-01] [-6.31791208e-04 9.99982354e-01 -5.90706198e-03 -1.26005041e-01] [ 8.76615546e-02 5.93970567e-03 9.96132608e-01 -1.05697038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73463044 meters Centerline goodness : 0.132550 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96169667e-01 1.60613589e-04 -8.74412350e-02 7.37420442e-01] [-6.68913781e-04 9.99983050e-01 -5.78377869e-03 -1.26568127e-01] [ 8.74388239e-02 5.82011554e-03 9.96152889e-01 -1.05350524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76463044 meters Centerline goodness : 0.211194 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96170986e-01 2.19871355e-04 -8.74260755e-02 7.37149228e-01] [-7.14076130e-04 9.99983944e-01 -5.62159624e-03 -1.27367282e-01] [ 8.74234358e-02 5.66249994e-03 9.96155148e-01 -1.05015136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79463044 meters Centerline goodness : 0.358003 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.10 [[ 9.96163585e-01 2.98874938e-04 -8.75101243e-02 7.37312280e-01] [-7.77266465e-04 9.99984941e-01 -5.43267553e-03 -1.28219631e-01] [ 8.75071827e-02 5.47985222e-03 9.96148816e-01 -1.04939042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82463044 meters Centerline goodness : 0.129254 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96161619e-01 4.00546912e-04 -8.75320959e-02 7.37543121e-01] [-8.49024416e-04 9.99986704e-01 -5.08640798e-03 -1.30215124e-01] [ 8.75288947e-02 5.14120130e-03 9.96148714e-01 -1.05058618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85463044 meters Centerline goodness : 0.266589 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.10 [[ 9.96177387e-01 4.47345439e-04 -8.73522374e-02 7.37055894e-01] [-8.87531503e-04 9.99987104e-01 -5.00043452e-03 -1.30727723e-01] [ 8.73488739e-02 5.05884766e-03 9.96164937e-01 -1.04995610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88463044 meters Centerline goodness : 0.152774 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.10 [[ 9.96204384e-01 4.74091011e-04 -8.70436691e-02 7.36050808e-01] [-9.13971172e-04 9.99987013e-01 -5.01377341e-03 -1.30639191e-01] [ 8.70401617e-02 5.07429846e-03 9.96191880e-01 -1.04670932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91463044 meters Centerline goodness : 0.089136 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.10 [[ 9.96274533e-01 8.98708074e-04 -8.62336772e-02 7.33832350e-01] [-1.33529762e-03 9.99986582e-01 -5.00531820e-03 -1.28721960e-01] [ 8.62280218e-02 5.10181868e-03 9.96262365e-01 -1.04418895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94463044 meters Centerline goodness : 0.242807 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.10 [[ 9.96266803e-01 9.03981952e-04 -8.63228843e-02 7.34319567e-01] [-1.36022865e-03 9.99985416e-01 -5.22667755e-03 -1.27222628e-01] [ 8.63169006e-02 5.32458419e-03 9.96253503e-01 -1.04843611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97463044 meters Centerline goodness : 0.093897 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96252175e-01 8.62255822e-04 -8.64919635e-02 7.35249919e-01] [-1.33744676e-03 9.99984329e-01 -5.43624996e-03 -1.25964335e-01] [ 8.64859207e-02 5.53155424e-03 9.96237716e-01 -1.05533728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00463044 meters Centerline goodness : 0.094905 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.11 [[ 9.96236578e-01 8.35215601e-04 -8.66717013e-02 7.36101062e-01] [-1.32273982e-03 9.99983626e-01 -5.56767504e-03 -1.25176366e-01] [ 8.66656319e-02 5.66136564e-03 9.96221370e-01 -1.06086969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03463044 meters Centerline goodness : 0.093316 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96202328e-01 9.01117216e-04 -8.70638291e-02 7.37336618e-01] [-1.39173757e-03 9.99983493e-01 -5.57464412e-03 -1.24454425e-01] [ 8.70573685e-02 5.67464345e-03 9.96187138e-01 -1.06467640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06463044 meters Centerline goodness : 0.091593 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96202462e-01 8.00400734e-04 -8.70632751e-02 7.37312445e-01] [-1.30082298e-03 9.99982959e-01 -5.69121665e-03 -1.24202866e-01] [ 8.70572362e-02 5.78285794e-03 9.96186527e-01 -1.06420707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09463044 meters Centerline goodness : 0.171345 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96202975e-01 6.64989366e-04 -8.70585481e-02 7.37369101e-01] [-1.17906557e-03 9.99982172e-01 -5.85365975e-03 -1.23884898e-01] [ 8.70531034e-02 5.93408099e-03 9.96185999e-01 -1.06512870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12463044 meters Centerline goodness : 0.172474 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96190163e-01 5.16803487e-04 -8.72060303e-02 7.38121489e-01] [-1.05027703e-03 9.99981016e-01 -6.07162103e-03 -1.23347555e-01] [ 8.72012370e-02 6.14007963e-03 9.96171794e-01 -1.06980574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15463044 meters Centerline goodness : 0.289769 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96144418e-01 4.60865106e-04 -8.77273359e-02 7.40430611e-01] [-1.02496095e-03 9.99979089e-01 -6.38516663e-03 -1.21160430e-01] [ 8.77225588e-02 6.45046519e-03 9.96124061e-01 -1.08352752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18463044 meters Centerline goodness : 0.118488 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96137659e-01 5.39144370e-04 -8.78036030e-02 7.40828791e-01] [-1.10944010e-03 9.99978606e-01 -6.44645786e-03 -1.19889893e-01] [ 8.77982490e-02 6.51897228e-03 9.96116946e-01 -1.08640317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21463043999998 meters Centerline goodness : 0.102320 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96132930e-01 5.98773290e-04 -8.78568561e-02 7.40651062e-01] [-1.17980010e-03 9.99977777e-01 -6.56155679e-03 -1.18230256e-01] [ 8.78509748e-02 6.63983632e-03 9.96111499e-01 -1.08289278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24463043999998 meters Centerline goodness : 0.109297 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.11 [[ 9.96149171e-01 5.99777582e-04 -8.76725145e-02 7.40003934e-01] [-1.19342845e-03 9.99976715e-01 -6.71897171e-03 -1.16710705e-01] [ 8.76664432e-02 6.79772897e-03 9.96126692e-01 -1.08070010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27463043999998 meters Centerline goodness : 0.462593 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.11 [[ 9.96173590e-01 3.13490299e-04 -8.73961127e-02 7.39284949e-01] [-9.66493892e-04 9.99971933e-01 -7.42955458e-03 -1.13098260e-01] [ 8.73913307e-02 7.48559387e-03 9.96145934e-01 -1.08066566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30463043999998 meters Centerline goodness : 0.102430 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.11 [[ 9.96170863e-01 1.39526834e-04 -8.74276389e-02 7.39431653e-01] [-8.29488788e-04 9.99968801e-01 -7.85552589e-03 -1.11014988e-01] [ 8.74238152e-02 7.89796625e-03 9.96139899e-01 -1.08238011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33463043999998 meters Centerline goodness : 0.116855 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.11 [[ 9.96161978e-01 2.69530557e-05 -8.75289227e-02 7.39756490e-01] [-7.52385255e-04 9.99965644e-01 -8.25493371e-03 -1.08501151e-01] [ 8.75256930e-02 8.28910657e-03 9.96127775e-01 -1.08403728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36463043999998 meters Centerline goodness : 0.247191 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.11 [[ 9.96150779e-01 -3.55064774e-05 -8.76562790e-02 7.40158696e-01] [-7.27595264e-04 9.99962118e-01 -8.67364815e-03 -1.05345307e-01] [ 8.76532664e-02 8.70403966e-03 9.96113018e-01 -1.08627395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39463044 meters Centerline goodness : 0.466499 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96141383e-01 -1.83392519e-04 -8.77628159e-02 7.40407639e-01] [-6.20341929e-04 9.99958122e-01 -9.13066767e-03 -1.02462090e-01] [ 8.77608151e-02 9.14987888e-03 9.96099553e-01 -1.08653597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42463044 meters Centerline goodness : 0.161094 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96151219e-01 -5.98914379e-04 -8.76492506e-02 7.39548906e-01] [-2.64609252e-04 9.99951550e-01 -9.84008631e-03 -9.89462917e-02] [ 8.76508974e-02 9.82540677e-03 9.96102797e-01 -1.08009266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45463044 meters Centerline goodness : 0.241281 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96154652e-01 -7.19142544e-04 -8.76093193e-02 7.38982907e-01] [-1.50106400e-04 9.99950835e-01 -9.91488557e-03 -9.86767113e-02] [ 8.76121422e-02 9.88991010e-03 9.96105568e-01 -1.07371800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48463044 meters Centerline goodness : 0.113349 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96164702e-01 -8.51318743e-04 -8.74937866e-02 7.38180984e-01] [-1.74965654e-05 9.99950708e-01 -9.92877637e-03 -9.88464425e-02] [ 8.74979265e-02 9.89222739e-03 9.96115584e-01 -1.06637733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51463044 meters Centerline goodness : 0.440182 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96214010e-01 -1.62750132e-03 -8.69194941e-02 7.36605942e-01] [ 7.20384783e-04 9.99944964e-01 -1.04666317e-02 -9.85038433e-02] [ 8.69317449e-02 1.03643896e-02 9.96160354e-01 -1.06180059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54463044 meters Centerline goodness : 0.195583 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96212695e-01 -1.79172296e-03 -8.69313278e-02 7.36642085e-01] [ 8.69043823e-04 9.99942903e-01 -1.06505698e-02 -9.79627142e-02] [ 8.69454472e-02 1.05346857e-02 9.96157372e-01 -1.06149507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57463044 meters Centerline goodness : 0.195155 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96215691e-01 -1.86187932e-03 -8.68955192e-02 7.36418284e-01] [ 9.28216303e-04 9.99941422e-01 -1.07838312e-02 -9.70056593e-02] [ 8.69105072e-02 1.06623640e-02 9.96159062e-01 -1.05906605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60463044 meters Centerline goodness : 0.110337 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 9.96145388e-01 -1.36812004e-03 -8.77068607e-02 6.89216531e-01] [ 4.59541108e-04 9.99946035e-01 -1.03786231e-02 -9.89811587e-02] [ 8.77163268e-02 1.02983127e-02 9.96092260e-01 -1.08770268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63463044 meters Centerline goodness : 0.462638 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 9.96209119e-01 -1.11275013e-03 -8.69836407e-02 6.86842553e-01] [ 2.14096777e-04 9.99946518e-01 -1.03399381e-02 -9.70374518e-02] [ 8.69904945e-02 1.02821177e-02 9.96156078e-01 -1.07927258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66463044 meters Centerline goodness : 0.373574 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 9.96198557e-01 -1.21478268e-03 -8.71031584e-02 6.87198482e-01] [ 2.98811617e-04 9.99944532e-01 -1.05282015e-02 -9.63899172e-02] [ 8.71111164e-02 1.04621517e-02 9.96143663e-01 -1.08020183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69463044 meters Centerline goodness : 0.097504 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 9.96169003e-01 -1.41208371e-03 -8.74375405e-02 6.88447985e-01] [ 4.74986547e-04 9.99942242e-01 -1.07372104e-02 -9.64181241e-02] [ 8.74476521e-02 1.06545445e-02 9.96112137e-01 -1.08552232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72463044 meters Centerline goodness : 0.176324 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 9.96126777e-01 -1.55721550e-03 -8.79148451e-02 6.90024049e-01] [ 6.08484661e-04 9.99941307e-01 -1.08172429e-02 -9.70900760e-02] [ 8.79265299e-02 1.07218505e-02 9.96069258e-01 -1.09109720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75463044 meters Centerline goodness : 0.295534 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 9.96098372e-01 -1.38728048e-03 -8.82389308e-02 6.90947302e-01] [ 4.84710313e-04 9.99947357e-01 -1.02493116e-02 -9.99486474e-02] [ 8.82485043e-02 1.01665523e-02 9.96046607e-01 -1.09210310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78463044 meters Centerline goodness : 0.098081 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 9.96119683e-01 -1.23321694e-03 -8.80003237e-02 6.90436839e-01] [ 3.67373551e-04 9.99951375e-01 -9.85461085e-03 -1.01785643e-01] [ 8.80081976e-02 9.78404284e-03 9.96071699e-01 -1.09199952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81463044 meters Centerline goodness : 0.465951 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.11 [[ 0.99616378 -0.00921351 -0.08702207 0.70981748] [ 0.0084712 0.99992455 -0.00889553 -0.09862006] [ 0.08709746 0.00812422 0.99616667 -0.10667083] [ 0. 0. 0. 1. ]] SLAMing on 171.84463044 meters Centerline goodness : 0.461487 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.11 [[ 0.99616769 -0.00944424 -0.08695254 0.7101724 ] [ 0.00869651 0.99992192 -0.00897411 -0.10003934] [ 0.0870305 0.00818353 0.99617203 -0.10723355] [ 0. 0. 0. 1. ]] SLAMing on 171.87463044 meters Centerline goodness : 0.451731 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.11 [[ 0.99614675 -0.00928718 -0.08720895 0.71142438] [ 0.00854617 0.99992417 -0.00886649 -0.09976457] [ 0.08728468 0.00808703 0.99615058 -0.10803421] [ 0. 0. 0. 1. ]] SLAMing on 171.90463044 meters Centerline goodness : 0.323628 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.11 [[ 0.99612619 -0.00906067 -0.08746724 0.7126564 ] [ 0.00832769 0.99992712 -0.00874133 -0.09908182] [ 0.08754007 0.00797906 0.99612904 -0.10878369] [ 0. 0. 0. 1. ]] SLAMing on 171.93463044 meters Centerline goodness : 0.089511 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.11 [[ 0.99611117 -0.00903737 -0.08764051 0.7135036 ] [ 0.0082964 0.99992673 -0.00881524 -0.09845893] [ 0.08771376 0.00805385 0.99611316 -0.10929376] [ 0. 0. 0. 1. ]] SLAMing on 171.96463043999998 meters Centerline goodness : 0.095858 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.11 [[ 0.9960924 -0.00921564 -0.08783509 0.71397178] [ 0.00845873 0.99992385 -0.00898576 -0.09856099] [ 0.08791121 0.00820767 0.9960945 -0.10926595] [ 0. 0. 0. 1. ]] SLAMing on 171.99463043999998 meters Centerline goodness : 0.460325 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.11 [[ 0.99606739 -0.00928238 -0.08811126 0.71478793] [ 0.00852114 0.99992309 -0.0090117 -0.09887753] [ 0.08818813 0.00822545 0.99606987 -0.10944051] [ 0. 0. 0. 1. ]] SLAMing on 172.02463043999998 meters Centerline goodness : 0.459478 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:-0.11 [[ 0.99603693 -0.00925926 -0.0884573 0.71587596] [ 0.00849814 0.99992359 -0.00897713 -0.09887445] [ 0.08853366 0.00818983 0.99603952 -0.10973364] [ 0. 0. 0. 1. ]] SLAMing on 172.05463043999998 meters Centerline goodness : 0.423171 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:-0.11 [[ 0.99602084 -0.00885924 -0.08867922 0.71691634] [ 0.0081466 0.99993158 -0.0083949 -0.10026703] [ 0.08874753 0.00763906 0.99602486 -0.11022401] [ 0. 0. 0. 1. ]] SLAMing on 172.08463043999998 meters Centerline goodness : 0.464043 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.11 [[ 9.96154256e-01 -1.32640348e-03 -8.76067317e-02 7.36113599e-01] [ 4.95801684e-04 9.99954731e-01 -9.50210628e-03 -1.02968332e-01] [ 8.76153694e-02 9.42212804e-03 9.96109819e-01 -1.07309567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11463043999998 meters Centerline goodness : 0.091079 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.11 [[ 0.99618889 0.00473371 -0.0870936 0.71328511] [-0.00580443 0.99991061 -0.01204483 -0.10750572] [ 0.0870288 0.01250445 0.99612731 -0.10873997] [ 0. 0. 0. 1. ]] SLAMing on 172.14463044 meters Centerline goodness : 0.463507 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.11 [[ 0.99627368 -0.00255569 -0.08621033 0.73103118] [ 0.00162734 0.99993995 -0.010837 -0.10263379] [ 0.08623285 0.01065632 0.99621802 -0.10565484] [ 0. 0. 0. 1. ]] SLAMing on 172.17463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 172.20463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 172.23463044 meters Centerline goodness : 0.122762 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.11 [[ 0.99629362 0.00143874 -0.0860055 0.7301198 ] [-0.00209944 0.99996898 -0.00759204 -0.10024621] [ 0.08599191 0.00774447 0.99626574 -0.10531397] [ 0. 0. 0. 1. ]] SLAMing on 172.26463044 meters Centerline goodness : 0.116401 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.11 [[ 0.99626133 0.00147659 -0.08637816 0.73123516] [-0.00215723 0.99996735 -0.00778703 -0.0987011 ] [ 0.08636384 0.00794425 0.99623199 -0.10562538] [ 0. 0. 0. 1. ]] SLAMing on 172.29463044 meters Centerline goodness : 0.121741 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 0.99614231 0.00254418 -0.08771562 0.68572248] [-0.0032331 0.99996503 -0.00771287 -0.09846332] [ 0.08769292 0.00796671 0.9961157 -0.10857858] [ 0. 0. 0. 1. ]] SLAMing on 172.32463044 meters Centerline goodness : 0.462130 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.11 [[ 0.99616567 0.00239883 -0.08745397 0.68468242] [-0.00311616 0.99996261 -0.00806676 -0.09679831] [ 0.08743135 0.00830835 0.9961359 -0.10810265] [ 0. 0. 0. 1. ]] SLAMing on 172.35463044 meters Centerline goodness : 0.175210 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.11 [[ 0.99618063 0.00224631 -0.08728744 0.68414901] [-0.00299545 0.99995979 -0.00845241 -0.09474216] [ 0.08726494 0.00868159 0.99614731 -0.107962 ] [ 0. 0. 0. 1. ]] SLAMing on 172.38463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 172.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 172.44463044 meters Centerline goodness : 0.102546 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.11 [[ 0.99619334 0.00232392 -0.08714029 0.6838218 ] [-0.0031007 0.99995665 -0.00877986 -0.09091598] [ 0.08711611 0.00901663 0.99615736 -0.10807427] [ 0. 0. 0. 1. ]] SLAMing on 172.47463044 meters Centerline goodness : 0.460202 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.11 [[ 0.99618903 0.0022633 -0.08719115 0.68392266] [-0.00306084 0.99995469 -0.00901439 -0.08924706] [ 0.08716679 0.00924691 0.99615081 -0.1080578 ] [ 0. 0. 0. 1. ]] SLAMing on 172.50463044 meters Centerline goodness : 0.252222 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.11 [[ 0.99618454 0.00181923 -0.08725284 0.68367998] [-0.00266713 0.99995034 -0.00960219 -0.08759645] [ 0.08723104 0.00979826 0.99613992 -0.1075323 ] [ 0. 0. 0. 1. ]] SLAMing on 172.53463044 meters Centerline goodness : 0.102008 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.11 [[ 0.99616209 0.00164735 -0.08751214 0.68413485] [-0.00251681 0.99994856 -0.0098259 -0.0869551 ] [ 0.08749146 0.01000844 0.99611499 -0.10730289] [ 0. 0. 0. 1. ]] SLAMing on 172.56463044 meters Centerline goodness : 0.098535 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99609469 0.00164614 -0.08827599 0.68655261] [-0.00253775 0.99994689 -0.00998898 -0.08527862] [ 0.08825485 0.01017399 0.99604597 -0.10794423] [ 0. 0. 0. 1. ]] SLAMing on 172.59463044 meters Centerline goodness : 0.460170 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99608374 0.00161649 -0.08840003 0.6873322 ] [-0.00251541 0.99994625 -0.0100583 -0.08500319] [ 0.08837902 0.01024127 0.99603427 -0.10854754] [ 0. 0. 0. 1. ]] SLAMing on 172.62463044 meters Centerline goodness : 0.099785 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99607567 0.00155767 -0.08849204 0.68766238] [-0.00246101 0.99994596 -0.01010004 -0.0851553 ] [ 0.08847153 0.01027818 0.99602568 -0.108643 ] [ 0. 0. 0. 1. ]] SLAMing on 172.65463044 meters Centerline goodness : 0.318702 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99608729 0.00153841 -0.08836144 0.68740096] [-0.00243712 0.99994639 -0.01006392 -0.08555947] [ 0.08834122 0.01023989 0.99603764 -0.10870003] [ 0. 0. 0. 1. ]] SLAMing on 172.68463044 meters Centerline goodness : 0.456901 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99608134 0.00157713 -0.08842785 0.68721636] [-0.00246351 0.99994781 -0.00991546 -0.08637794] [ 0.08840759 0.01009445 0.99603323 -0.1081773 ] [ 0. 0. 0. 1. ]] SLAMing on 172.71463043999998 meters Centerline goodness : 0.096348 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99606069 0.00162126 -0.08865926 0.68780453] [-0.00249858 0.999949 -0.00978531 -0.08707171] [ 0.08863887 0.00996828 0.99601395 -0.10818019] [ 0. 0. 0. 1. ]] SLAMing on 172.74463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 172.77463043999998 meters Centerline goodness : 0.135322 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.9960434 0.00156281 -0.08885435 0.68873536] [-0.00242286 0.99995125 -0.00957229 -0.08930354] [ 0.08883506 0.0097497 0.99599863 -0.10862397] [ 0. 0. 0. 1. ]] SLAMing on 172.80463043999998 meters Centerline goodness : 0.093556 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.996048 0.00158513 -0.08880237 0.68872837] [-0.00242632 0.9999532 -0.0093655 -0.09070495] [ 0.08878337 0.00954395 0.99600523 -0.10869106] [ 0. 0. 0. 1. ]] SLAMing on 172.83463043999998 meters Centerline goodness : 0.458590 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99602264 0.00171532 -0.08908395 0.68951943] [-0.00252323 0.9999567 -0.0089573 -0.09281648] [ 0.08906472 0.00914645 0.99598384 -0.10866552] [ 0. 0. 0. 1. ]] SLAMing on 172.86463043999998 meters Centerline goodness : 0.100103 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99599081 0.00172179 -0.08943902 0.69042114] [-0.00252863 0.99995712 -0.00890861 -0.09323396] [ 0.08941985 0.00909905 0.99595246 -0.10868263] [ 0. 0. 0. 1. ]] SLAMing on 172.89463044 meters Centerline goodness : 0.462490 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99596098 0.00162676 -0.08977238 0.69112974] [-0.00244645 0.99995631 -0.00902148 -0.09314939] [ 0.08975378 0.00920467 0.99592145 -0.10853188] [ 0. 0. 0. 1. ]] SLAMing on 172.92463044 meters Centerline goodness : 0.091856 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99596326 0.00153073 -0.08974872 0.69092706] [-0.00235908 0.99995559 -0.00912438 -0.09310938] [ 0.08973076 0.00929927 0.99592264 -0.10832773] [ 0. 0. 0. 1. ]] SLAMing on 172.95463044 meters Centerline goodness : 0.095123 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.11 [[ 0.99601115 0.00147609 -0.08921663 0.68905791] [-0.0022903 0.99995666 -0.0090245 -0.09398682] [ 0.08919944 0.00919284 0.99597136 -0.10751849] [ 0. 0. 0. 1. ]] SLAMing on 172.98463044 meters Centerline goodness : 0.198783 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.11 [[ 0.99601212 0.00161442 -0.08920342 0.68877123] [-0.00240254 0.99995902 -0.00872842 -0.09508206] [ 0.08918568 0.00890793 0.99597518 -0.10713262] [ 0. 0. 0. 1. ]] SLAMing on 173.01463044 meters Centerline goodness : 0.462415 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99601634 -0.0056998 -0.08898852 0.70743076] [ 0.00509883 0.99996265 -0.00697913 -0.09157279] [ 0.08902497 0.00649759 0.9960082 -0.10381055] [ 0. 0. 0. 1. ]] SLAMing on 173.04463044 meters Centerline goodness : 0.098675 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.10 [[ 0.99598354 -0.00563028 -0.08935934 0.70833318] [ 0.00505594 0.99996509 -0.00665244 -0.09362942] [ 0.08939367 0.00617392 0.99597724 -0.10369011] [ 0. 0. 0. 1. ]] SLAMing on 173.07463044 meters Centerline goodness : 0.193759 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.10 [[ 0.99592677 -0.00621325 -0.08995144 0.70980097] [ 0.00563361 0.99996171 -0.00669638 -0.09976077] [ 0.08998961 0.00616235 0.99592364 -0.10350809] [ 0. 0. 0. 1. ]] SLAMing on 173.10463044 meters Centerline goodness : 0.132492 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.10 [[ 0.99592911 -0.00612251 -0.08993181 0.7096956 ] [ 0.00557512 0.99996438 -0.00633669 -0.10206711] [ 0.0899674 0.00580951 0.99592777 -0.10333474] [ 0. 0. 0. 1. ]] SLAMing on 173.13463044 meters Centerline goodness : 0.134603 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.10 [[ 0.99594035 -0.00596889 -0.08981756 0.70951407] [ 0.00545922 0.99996758 -0.00591913 -0.10430259] [ 0.08984998 0.00540477 0.99594065 -0.10333129] [ 0. 0. 0. 1. ]] SLAMing on 173.16463044 meters Centerline goodness : 0.140393 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.11 [[ 9.96132493e-01 6.20673101e-04 -8.78616552e-02 6.92800857e-01] [-1.20628336e-03 9.99977412e-01 -6.61220155e-03 -1.14961503e-01] [ 8.78555665e-02 6.69261486e-03 9.96110741e-01 -1.07513445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19463044 meters Centerline goodness : 0.459602 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.11 [[ 9.96115029e-01 7.19332323e-04 -8.80586821e-02 6.93480579e-01] [-1.28570083e-03 9.99978852e-01 -6.37516707e-03 -1.16470352e-01] [ 8.80522340e-02 6.46361685e-03 9.96094888e-01 -1.07719896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22463044 meters Centerline goodness : 0.462569 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.11 [[ 9.96102960e-01 8.17994034e-04 -8.81942409e-02 6.93955248e-01] [-1.36470557e-03 9.99980226e-01 -6.13882937e-03 -1.17993954e-01] [ 8.81874754e-02 6.23526528e-03 9.96084379e-01 -1.07894396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25463044 meters Centerline goodness : 0.106491 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.11 [[ 9.96094548e-01 9.71298396e-04 -8.82876388e-02 6.94150507e-01] [-1.49316520e-03 9.99981802e-01 -5.84513301e-03 -1.19520987e-01] [ 8.82803548e-02 5.95413315e-03 9.96077872e-01 -1.07857796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28463044 meters Centerline goodness : 0.102158 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.11 [[ 0.99612157 0.00132865 -0.08797761 0.69301142] [-0.00179766 0.99998459 -0.00525202 -0.12215782] [ 0.08796928 0.0053898 0.99610861 -0.10732794] [ 0. 0. 0. 1. ]] SLAMing on 173.31463044 meters Centerline goodness : 0.129590 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.11 [[ 0.99612981 0.00140183 -0.08788312 0.69278846] [-0.00185406 0.99998546 -0.00506431 -0.12334625] [ 0.08787474 0.00520765 0.99611792 -0.10731334] [ 0. 0. 0. 1. ]] SLAMing on 173.34463044 meters Centerline goodness : 0.120025 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.11 [[ 0.99612036 0.00141172 -0.08799002 0.69321304] [-0.00185304 0.99998611 -0.00493412 -0.1245975 ] [ 0.08798184 0.00507802 0.99610914 -0.10747105] [ 0. 0. 0. 1. ]] SLAMing on 173.37463044 meters Centerline goodness : 0.101437 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.11 [[ 0.99611521 0.00147579 -0.08804722 0.69358354] [-0.00190235 0.99998686 -0.00476097 -0.12579493] [ 0.08803904 0.00490998 0.99610492 -0.10774702] [ 0. 0. 0. 1. ]] SLAMing on 173.40463044 meters Centerline goodness : 0.105034 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.11 [[ 0.9961062 0.00186227 -0.0881418 0.6940443 ] [-0.00222765 0.99998933 -0.00404711 -0.1288717 ] [ 0.08813332 0.0042277 0.99609972 -0.10794974] [ 0. 0. 0. 1. ]] SLAMing on 173.43463044 meters Centerline goodness : 0.103818 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.11 [[ 0.99611238 0.00194344 -0.08807014 0.69392365] [-0.0022876 0.99999014 -0.00380701 -0.13027481] [ 0.08806187 0.00399368 0.996107 -0.10795856] [ 0. 0. 0. 1. ]] SLAMing on 173.46463043999998 meters Centerline goodness : 0.106701 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.11 [[ 0.99610183 0.00191884 -0.0881899 0.69425629] [-0.00225788 0.99999044 -0.0037448 -0.13120635] [ 0.08818187 0.00392932 0.99609664 -0.10797316] [ 0. 0. 0. 1. ]] SLAMing on 173.49463043999998 meters Centerline goodness : 0.104192 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99605537 0.00194946 -0.08871246 0.69536599] [-0.00229204 0.9999903 -0.00375994 -0.1314041 ] [ 0.08870427 0.00394844 0.99605018 -0.10779488] [ 0. 0. 0. 1. ]] SLAMing on 173.52463043999998 meters Centerline goodness : 0.106072 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99603543 0.00206742 -0.08893343 0.69609527] [-0.00240965 0.9999901 -0.00374095 -0.13085545] [ 0.08892481 0.00394042 0.99603055 -0.10810014] [ 0. 0. 0. 1. ]] SLAMing on 173.55463043999998 meters Centerline goodness : 0.099870 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99602672 0.00215246 -0.08902882 0.69688735] [-0.00249718 0.99998981 -0.00376083 -0.13019787] [ 0.08901982 0.0039682 0.99602195 -0.10885106] [ 0. 0. 0. 1. ]] SLAMing on 173.58463043999998 meters Centerline goodness : 0.102527 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99602445 0.00220626 -0.08905292 0.69723852] [-0.00255448 0.99998953 -0.00379639 -0.12967843] [ 0.08904361 0.00400878 0.99601966 -0.10924747] [ 0. 0. 0. 1. ]] SLAMing on 173.61463043999998 meters Centerline goodness : 0.103543 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99602473 0.002149 -0.08905127 0.69697457] [-0.00252441 0.9999884 -0.00410324 -0.12817408] [ 0.08904141 0.00431173 0.99601859 -0.10897152] [ 0. 0. 0. 1. ]] SLAMing on 173.64463044 meters Centerline goodness : 0.104615 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99601814 0.00203509 -0.08912758 0.69711464] [-0.00243327 0.99998754 -0.00435913 -0.1270979 ] [ 0.0891176 0.00455864 0.99601068 -0.10896364] [ 0. 0. 0. 1. ]] SLAMing on 173.67463044 meters Centerline goodness : 0.114635 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.9960078 0.00197603 -0.08924438 0.69749544] [-0.00239271 0.99998673 -0.00456228 -0.12600014] [ 0.08923418 0.00475761 0.99599931 -0.10915177] [ 0. 0. 0. 1. ]] SLAMing on 173.70463044 meters Centerline goodness : 0.111246 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.11 [[ 0.99598625 0.00197644 -0.08948458 0.69820477] [-0.00240513 0.99998614 -0.00468315 -0.12494904] [ 0.08947408 0.00487958 0.9959772 -0.10930832] [ 0. 0. 0. 1. ]] SLAMing on 173.73463044 meters Centerline goodness : 0.105552 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.11 [[ 0.99598778 0.00196672 -0.08946771 0.69835949] [-0.00239991 0.99998591 -0.00473461 -0.12448741] [ 0.08945713 0.00493033 0.99597847 -0.10956021] [ 0. 0. 0. 1. ]] SLAMing on 173.76463044 meters Centerline goodness : 0.103374 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.11 [[ 0.99598602 0.00192551 -0.08948826 0.69818045] [-0.00235514 0.9999862 -0.00469555 -0.12478562] [ 0.08947798 0.00488746 0.99597681 -0.10917429] [ 0. 0. 0. 1. ]] SLAMing on 173.79463044 meters Centerline goodness : 0.106255 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99599669 0.00190029 -0.08936996 0.69764684] [-0.00231992 0.99998677 -0.00459176 -0.12561735] [ 0.08936005 0.00478071 0.99598791 -0.10878189] [ 0. 0. 0. 1. ]] SLAMing on 173.82463044 meters Centerline goodness : 0.099501 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99600479 0.00185234 -0.08928062 0.69720776] [-0.00226237 0.99998735 -0.00449157 -0.12654309] [ 0.08927117 0.00467561 0.99599638 -0.10840873] [ 0. 0. 0. 1. ]] SLAMing on 173.85463044 meters Centerline goodness : 0.432473 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.9960158 0.00178091 -0.08915911 0.69670807] [-0.00218206 0.99998793 -0.00440198 -0.12765324] [ 0.08915019 0.004579 0.99600767 -0.10806303] [ 0. 0. 0. 1. ]] SLAMing on 173.88463044 meters Centerline goodness : 0.106607 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99603973 0.00160487 -0.08889482 0.69606916] [-0.0019862 0.9999892 -0.00420143 -0.12997601] [ 0.08888711 0.00436135 0.99603216 -0.1078697 ] [ 0. 0. 0. 1. ]] SLAMing on 173.91463044 meters Centerline goodness : 0.103679 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99605281 0.00169146 -0.0887465 0.69575953] [-0.0020465 0.99999026 -0.00390982 -0.13165736] [ 0.08873903 0.00407601 0.99604657 -0.10785389] [ 0. 0. 0. 1. ]] SLAMing on 173.94463044 meters Centerline goodness : 0.103082 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.11 [[ 0.99606062 0.00178775 -0.08865693 0.69551083] [-0.00211537 0.99999128 -0.00360146 -0.13345866] [ 0.08864972 0.00377482 0.99605571 -0.10776183] [ 0. 0. 0. 1. ]] SLAMing on 173.97463044 meters Centerline goodness : 0.102369 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99605857 0.00186895 -0.08867822 0.69552243] [-0.00215436 0.9999928 -0.00312294 -0.13694279] [ 0.08867175 0.00330168 0.99605543 -0.1075668 ] [ 0. 0. 0. 1. ]] SLAMing on 174.00463044 meters Centerline goodness : 0.101526 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99603611 0.00195315 -0.08892841 0.69613068] [-0.00221488 0.9999935 -0.00284459 -0.13861813] [ 0.08892228 0.00303028 0.99603396 -0.10748608] [ 0. 0. 0. 1. ]] SLAMing on 174.03463044 meters Centerline goodness : 0.158039 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99601642 0.00207776 -0.08914584 0.69680197] [-0.00231244 0.99999413 -0.00252932 -0.14033512] [ 0.08914006 0.00272539 0.99601537 -0.10759303] [ 0. 0. 0. 1. ]] SLAMing on 174.06463044 meters Centerline goodness : 0.108847 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99599998 0.00215478 -0.08932746 0.69748769] [-0.00237065 0.99999452 -0.00231059 -0.141791 ] [ 0.08932199 0.00251311 0.99599963 -0.10782118] [ 0. 0. 0. 1. ]] SLAMing on 174.09463044 meters Centerline goodness : 0.106234 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99598308 0.00215947 -0.08951555 0.69821249] [-0.00236574 0.99999479 -0.00219828 -0.14288497] [ 0.08951034 0.00240122 0.995983 -0.10813695] [ 0. 0. 0. 1. ]] SLAMing on 174.12463044 meters Centerline goodness : 0.201789 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99596363 0.00232693 -0.0897275 0.69898809] [-0.0025107 0.99999498 -0.00193524 -0.14409636] [ 0.08972255 0.00215271 0.99596447 -0.10846702] [ 0. 0. 0. 1. ]] SLAMing on 174.15463044 meters Centerline goodness : 0.106749 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99594446 0.00233429 -0.0899399 0.69970634] [-0.00252494 0.9999948 -0.00200609 -0.14362367] [ 0.08993475 0.00222505 0.99594517 -0.10873604] [ 0. 0. 0. 1. ]] SLAMing on 174.18463044 meters Centerline goodness : 0.120408 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99593613 0.00229417 -0.09003309 0.6999507 ] [-0.00249687 0.9999946 -0.00213881 -0.14308265] [ 0.09002769 0.00235492 0.99593648 -0.10879492] [ 0. 0. 0. 1. ]] SLAMing on 174.21463043999998 meters Centerline goodness : 0.115407 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99594015 0.00232521 -0.08998782 0.69962205] [-0.00254075 0.99999417 -0.00228067 -0.14213248] [ 0.089982 0.00250004 0.99594025 -0.10860177] [ 0. 0. 0. 1. ]] SLAMing on 174.24463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 174.27463043999998 meters Centerline goodness : 0.148779 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 9.96048361e-01 -2.56946303e-03 -8.87753398e-02 7.20175793e-01] [ 2.66613675e-03 9.99995975e-01 9.70409642e-04 -1.37910140e-01] [ 8.87724891e-02 -1.20326213e-03 9.96051202e-01 -1.06640619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30463043999998 meters Centerline goodness : 0.148779 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 9.96048361e-01 -2.56946303e-03 -8.87753398e-02 7.20175793e-01] [ 2.66613675e-03 9.99995975e-01 9.70409642e-04 -1.37910140e-01] [ 8.87724891e-02 -1.20326213e-03 9.96051202e-01 -1.06640619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33463043999998 meters Centerline goodness : 0.121247 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 9.96060710e-01 -2.62114446e-03 -8.86351649e-02 7.19576074e-01] [ 2.71184078e-03 9.99995915e-01 9.02850472e-04 -1.37780046e-01] [ 8.86324363e-02 -1.13965834e-03 9.96063749e-01 -1.06362175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36463043999998 meters Centerline goodness : 0.123140 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 9.96067441e-01 -2.88811078e-03 -8.85511840e-02 7.19497120e-01] [ 2.96260564e-03 9.99995360e-01 7.09845277e-04 -1.38402882e-01] [ 8.85487230e-02 -9.69396006e-04 9.96071375e-01 -1.06452586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39463044 meters Centerline goodness : 0.163845 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 9.96052752e-01 -2.87755780e-03 -8.87166002e-02 7.19945932e-01] [ 2.96054388e-03 9.99995295e-01 8.03836208e-04 -1.39152418e-01] [ 8.87138697e-02 -1.06331265e-03 9.96056584e-01 -1.06486499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42463044 meters Centerline goodness : 0.117582 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 9.96042541e-01 -2.80769017e-03 -8.88334054e-02 7.20338466e-01] [ 2.90632078e-03 9.99995295e-01 9.80961765e-04 -1.40023767e-01] [ 8.88302332e-02 -1.23525802e-03 9.96046015e-01 -1.06593336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45463044 meters Centerline goodness : 0.123820 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99605436 -0.00269624 -0.08870428 0.71961145] [ 0.00282856 0.99999507 0.0013661 -0.14207651] [ 0.08870016 -0.00161162 0.99605707 -0.10599123] [ 0. 0. 0. 1. ]] SLAMing on 174.48463044 meters Centerline goodness : 0.120147 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99606887 -0.00264163 -0.08854283 0.71903087] [ 0.00279109 0.99999488 0.00156424 -0.14325688] [ 0.08853825 -0.00180522 0.99607114 -0.10567736] [ 0. 0. 0. 1. ]] SLAMing on 174.51463044 meters Centerline goodness : 0.121093 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99607891 -0.00259602 -0.08843115 0.71878812] [ 0.00275421 0.99999482 0.00166692 -0.14384467] [ 0.08842636 -0.00190394 0.9960809 -0.10569458] [ 0. 0. 0. 1. ]] SLAMing on 174.54463044 meters Centerline goodness : 0.118565 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99607721 -0.00255681 -0.08845145 0.71911588] [ 0.00272274 0.99999475 0.00175529 -0.14458662] [ 0.0884465 -0.00198924 0.99607894 -0.10602525] [ 0. 0. 0. 1. ]] SLAMing on 174.57463044 meters Centerline goodness : 0.113872 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99607171 -0.00255819 -0.08851332 0.71927361] [ 0.0027259 0.99999471 0.00177398 -0.14482995] [ 0.08850832 -0.00200829 0.99607341 -0.10603611] [ 0. 0. 0. 1. ]] SLAMing on 174.60463044 meters Centerline goodness : 0.118815 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.11 [[ 0.99606279 -0.00253394 -0.08861431 0.71951707] [ 0.00270786 0.99999464 0.00184257 -0.14523928] [ 0.08860916 -0.00207527 0.99606431 -0.10600038] [ 0. 0. 0. 1. ]] SLAMing on 174.63463044 meters Centerline goodness : 0.068180 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.11 [[ 0.99606197 -0.00254343 -0.08862322 0.71976848] [ 0.0027164 0.99999463 0.00183122 -0.14529758] [ 0.08861809 -0.00206474 0.99606354 -0.10627618] [ 0. 0. 0. 1. ]] SLAMing on 174.66463044 meters Centerline goodness : 0.117052 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.11 [[ 0.99606395 -0.00261968 -0.08859881 0.7202457 ] [ 0.00278536 0.9999946 0.00174637 -0.14533688] [ 0.08859376 -0.00198628 0.99606586 -0.10688906] [ 0. 0. 0. 1. ]] SLAMing on 174.69463044 meters Centerline goodness : 0.119974 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.11 [[ 0.99606246 -0.00269709 -0.08861327 0.72052829] [ 0.00285372 0.99999458 0.00164094 -0.14519578] [ 0.08860836 -0.00188736 0.99606476 -0.10722144] [ 0. 0. 0. 1. ]] SLAMing on 174.72463044 meters Centerline goodness : 0.121048 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99605528 -0.0027188 -0.0886932 0.72083001] [ 0.00287025 0.99999463 0.00158006 -0.14489875] [ 0.08868843 -0.00182839 0.99605774 -0.10736873] [ 0. 0. 0. 1. ]] SLAMing on 174.75463044 meters Centerline goodness : 0.094193 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99604323 -0.00271492 -0.08882856 0.72130797] [ 0.00286132 0.99999475 0.00152091 -0.14429505] [ 0.08882397 -0.00176906 0.99604577 -0.10758209] [ 0. 0. 0. 1. ]] SLAMing on 174.78463044 meters Centerline goodness : 0.113476 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99601816 -0.00273125 -0.08910869 0.72228483] [ 0.0028724 0.99999481 0.00145582 -0.14369763] [ 0.08910425 -0.00170598 0.99602084 -0.1079778 ] [ 0. 0. 0. 1. ]] SLAMing on 174.81463044 meters Centerline goodness : 0.111385 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99599835 -0.00284986 -0.08932616 0.72290422] [ 0.00298451 0.9999946 0.00137393 -0.14387554] [ 0.08932177 -0.00163503 0.99600148 -0.10802664] [ 0. 0. 0. 1. ]] SLAMing on 174.84463044 meters Centerline goodness : 0.360540 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.11 [[ 0.99597517 -0.00298878 -0.08957969 0.72377689] [ 0.0031244 0.99999418 0.00137374 -0.14477863] [ 0.08957507 -0.00164809 0.99597871 -0.10828097] [ 0. 0. 0. 1. ]] SLAMing on 174.87463044 meters Centerline goodness : 0.135522 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.11 [[ 0.99590439 -0.00366991 -0.0903381 0.72582328] [ 0.00378434 0.99999224 0.00109544 -0.14664324] [ 0.09033338 -0.00143283 0.99591055 -0.10834556] [ 0. 0. 0. 1. ]] SLAMing on 174.90463044 meters Centerline goodness : 0.104199 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.11 [[ 0.99590423 -0.0037133 -0.09033813 0.72583102] [ 0.00383833 0.9999919 0.0012104 -0.1477092 ] [ 0.0903329 -0.00155219 0.99591042 -0.10828246] [ 0. 0. 0. 1. ]] SLAMing on 174.93463044 meters Centerline goodness : 0.097217 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.11 [[ 0.99590282 -0.00372084 -0.0903534 0.72593073] [ 0.00384967 0.99999181 0.00125165 -0.14798361] [ 0.090348 -0.00159436 0.99590898 -0.10833909] [ 0. 0. 0. 1. ]] SLAMing on 174.96463043999998 meters Centerline goodness : 0.145953 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.11 [[ 0.99590631 -0.00370469 -0.09031552 0.72599224] [ 0.00383202 0.99999189 0.00123651 -0.14756881] [ 0.09031021 -0.00157754 0.99591243 -0.10853449] [ 0. 0. 0. 1. ]] SLAMing on 174.99463043999998 meters Centerline goodness : 0.101166 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.11 [[ 0.99587417 -0.00356553 -0.09067478 0.7272553 ] [ 0.00367224 0.99999275 0.00101001 -0.14488167] [ 0.09067052 -0.00133882 0.99588005 -0.1091068 ] [ 0. 0. 0. 1. ]] SLAMing on 175.02463043999998 meters Centerline goodness : 0.218831 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 9.95634556e-01 -3.54147912e-03 -9.32699804e-02 6.83419206e-01] [ 3.64673346e-03 9.99992892e-01 9.58077888e-04 -1.46496635e-01] [ 9.32659244e-02 -1.29402621e-03 9.95640393e-01 -1.12818968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05463043999998 meters Centerline goodness : 0.121729 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.11 [[ 9.95638997e-01 3.96058084e-03 -9.32056938e-02 7.03319579e-01] [-4.03884389e-03 9.99991632e-01 -6.51063045e-04 -1.47103522e-01] [ 9.32023353e-02 1.02466700e-03 9.95646662e-01 -1.09711961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08463043999998 meters Centerline goodness : 0.122351 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.11 [[ 9.95624590e-01 3.80045670e-03 -9.33661233e-02 7.03537966e-01] [-3.90618976e-03 9.99991920e-01 -9.49729801e-04 -1.45923611e-01] [ 9.33617594e-02 1.31028014e-03 9.95631390e-01 -1.09533688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11463043999998 meters Centerline goodness : 0.118632 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.11 [[ 0.99561571 0.00365905 -0.09346637 0.70357184] [-0.00378919 0.99999208 -0.00121494 -0.1447362 ] [ 0.09346118 0.00156378 0.9956217 -0.10930496] [ 0. 0. 0. 1. ]] SLAMing on 175.14463044 meters Centerline goodness : 0.109112 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 0.99575206 -0.00251629 -0.09204073 0.67923433] [ 0.00262215 0.99999603 0.00102927 -0.14088335] [ 0.09203778 -0.00126625 0.99575471 -0.11114685] [ 0. 0. 0. 1. ]] SLAMing on 175.17463044 meters Centerline goodness : 0.118331 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 9.95793788e-01 -2.55152570e-03 -9.15872356e-02 6.77744761e-01] [ 2.64658992e-03 9.99996078e-01 9.16526270e-04 -1.40048907e-01] [ 9.15845378e-02 -1.15506502e-03 9.95796635e-01 -1.10684639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20463044 meters Centerline goodness : 0.117142 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 9.95819928e-01 -2.62883980e-03 -9.13003816e-02 6.76615805e-01] [ 2.71465070e-03 9.99995983e-01 8.15703336e-04 -1.39602588e-01] [ 9.12978705e-02 -1.06014228e-03 9.95823064e-01 -1.10098101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23463044 meters Centerline goodness : 0.429018 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 9.95841353e-01 -2.74476928e-03 -9.10629790e-02 6.75830590e-01] [ 2.82146907e-03 9.99995765e-01 7.13549264e-04 -1.39480949e-01] [ 9.10606348e-02 -9.67513243e-04 9.95844880e-01 -1.09820517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26463044 meters Centerline goodness : 0.098519 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 9.95827985e-01 -2.91551528e-03 -9.12037549e-02 6.75792490e-01] [ 2.98462831e-03 9.99995353e-01 6.21407160e-04 -1.39650718e-01] [ 9.12015193e-02 -8.91023949e-04 9.95832059e-01 -1.09333411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29463044 meters Centerline goodness : 0.103481 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 9.95814646e-01 -2.85091254e-03 -9.13513187e-02 6.76324773e-01] [ 2.93745432e-03 9.99995355e-01 8.12913660e-04 -1.40672299e-01] [ 9.13485768e-02 -1.07785165e-03 9.95818395e-01 -1.09515715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32463044 meters Centerline goodness : 0.122915 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 9.95807202e-01 -2.84108343e-03 -9.14327296e-02 6.76582634e-01] [ 2.94215491e-03 9.99995201e-01 9.70650797e-04 -1.41811882e-01] [ 9.14295331e-02 -1.23559031e-03 9.95810782e-01 -1.09519094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35463044 meters Centerline goodness : 0.124322 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.11 [[ 0.99580081 -0.00283301 -0.09150255 0.67673276] [ 0.00295309 0.99999495 0.00117692 -0.14335462] [ 0.09149876 -0.00144219 0.99580415 -0.10941909] [ 0. 0. 0. 1. ]] SLAMing on 175.38463044 meters Centerline goodness : 0.127275 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99580062 -0.00300817 -0.09149906 0.67703545] [ 0.00315629 0.99999393 0.00147412 -0.14715574] [ 0.09149407 -0.00175673 0.99580407 -0.10963034] [ 0. 0. 0. 1. ]] SLAMing on 175.41463044 meters Centerline goodness : 0.111087 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99579124 -0.00289929 -0.09160457 0.67749336] [ 0.0030785 0.99999361 0.00181515 -0.1491719 ] [ 0.09159872 -0.00208952 0.99579381 -0.10980234] [ 0. 0. 0. 1. ]] SLAMing on 175.44463044 meters Centerline goodness : 0.115665 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99577537 -0.00257318 -0.09178665 0.67861511] [ 0.00281093 0.99999302 0.00246113 -0.15223606] [ 0.09177967 -0.00270873 0.99577565 -0.11057367] [ 0. 0. 0. 1. ]] SLAMing on 175.47463044 meters Centerline goodness : 0.115807 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99577139 -0.00246661 -0.09183272 0.67908468] [ 0.00272168 0.99999278 0.00265239 -0.15325534] [ 0.09182551 -0.00289112 0.99577092 -0.1110111 ] [ 0. 0. 0. 1. ]] SLAMing on 175.50463044 meters Centerline goodness : 0.106910 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99575656 -0.00246555 -0.09199342 0.67982749] [ 0.00272191 0.99999275 0.00266132 -0.15364744] [ 0.09198619 -0.00290042 0.99575606 -0.11144799] [ 0. 0. 0. 1. ]] SLAMing on 175.53463044 meters Centerline goodness : 0.107472 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99573428 -0.00243927 -0.09223501 0.68070681] [ 0.00269176 0.99999296 0.00261324 -0.15344478] [ 0.09222799 -0.00285037 0.99573384 -0.11189035] [ 0. 0. 0. 1. ]] SLAMing on 175.56463044 meters Centerline goodness : 0.111310 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99569522 -0.00231432 -0.09265892 0.68195886] [ 0.00256118 0.99999348 0.00254534 -0.15259664] [ 0.09265243 -0.0027717 0.99569465 -0.11225174] [ 0. 0. 0. 1. ]] SLAMing on 175.59463044 meters Centerline goodness : 0.118711 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99565516 -0.00191797 -0.09309736 0.68352247] [ 0.00215196 0.99999477 0.00241311 -0.14995956] [ 0.09309225 -0.00260297 0.99565409 -0.11311138] [ 0. 0. 0. 1. ]] SLAMing on 175.62463044 meters Centerline goodness : 0.119717 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.11 [[ 9.95693314e-01 6.01906894e-03 -9.25126763e-02 7.03072747e-01] [-5.94661891e-03 9.99981758e-01 1.05877876e-03 -1.50600506e-01] [ 9.25173615e-02 -5.04081299e-04 9.95710944e-01 -1.10126708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65463044 meters Centerline goodness : 0.143581 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.11 [[ 9.95700686e-01 5.94290228e-03 -9.24382234e-02 7.02921288e-01] [-5.88985803e-03 9.99982296e-01 8.46634440e-04 -1.49544030e-01] [ 9.24416183e-02 -2.98546481e-04 9.95718062e-01 -1.10228344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68463044 meters Centerline goodness : 0.124489 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99573074 -0.00252666 -0.09227083 0.6816841 ] [ 0.00266438 0.99999551 0.00136947 -0.14594958] [ 0.09226695 -0.00160947 0.99573301 -0.11310346] [ 0. 0. 0. 1. ]] SLAMing on 175.71463043999998 meters Centerline goodness : 0.123721 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.9957333 -0.00249932 -0.09224397 0.68143602] [ 0.00264397 0.99999546 0.00144592 -0.14630333] [ 0.09223994 -0.00168364 0.99573539 -0.11283769] [ 0. 0. 0. 1. ]] SLAMing on 175.74463043999998 meters Centerline goodness : 0.121960 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99574925 -0.00252661 -0.09207088 0.68080239] [ 0.00267488 0.99999532 0.00148701 -0.14663879] [ 0.09206669 -0.00172697 0.99575135 -0.11249216] [ 0. 0. 0. 1. ]] SLAMing on 175.77463043999998 meters Centerline goodness : 0.109836 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99575916 -0.00257626 -0.09196229 0.68045562] [ 0.0027233 0.99999521 0.00147345 -0.14686083] [ 0.09195805 -0.00171764 0.9957614 -0.11235361] [ 0. 0. 0. 1. ]] SLAMing on 175.80463043999998 meters Centerline goodness : 0.114067 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99573698 -0.00264767 -0.09220014 0.68101887] [ 0.00278034 0.99999528 0.00131054 -0.14618408] [ 0.09219623 -0.0015613 0.99573963 -0.11233745] [ 0. 0. 0. 1. ]] SLAMing on 175.83463043999998 meters Centerline goodness : 0.118026 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99572648 -0.00257971 -0.09231536 0.68131284] [ 0.00271269 0.99999546 0.00131504 -0.14578915] [ 0.09231155 -0.00155984 0.99572895 -0.11241868] [ 0. 0. 0. 1. ]] SLAMing on 175.86463043999998 meters Centerline goodness : 0.108804 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.9957234 -0.00246101 -0.09235176 0.68141382] [ 0.00260148 0.99999564 0.00140066 -0.14556906] [ 0.09234791 -0.00163492 0.99572546 -0.11244025] [ 0. 0. 0. 1. ]] SLAMing on 175.89463044 meters Centerline goodness : 0.118940 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99575426 -0.00230763 -0.09202247 0.68071215] [ 0.00247184 0.99999555 0.00167054 -0.1467664 ] [ 0.0920182 -0.00189091 0.99575553 -0.11252551] [ 0. 0. 0. 1. ]] SLAMing on 175.92463044 meters Centerline goodness : 0.107012 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.9957696 -0.00233822 -0.09185553 0.68032515] [ 0.00251667 0.99999516 0.00182692 -0.148445 ] [ 0.09185082 -0.00205036 0.99577067 -0.11248703] [ 0. 0. 0. 1. ]] SLAMing on 175.95463044 meters Centerline goodness : 0.116839 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.11 [[ 0.99578419 -0.00234904 -0.09169697 0.67984916] [ 0.00255087 0.99999458 0.00208387 -0.15062346] [ 0.09169158 -0.00230899 0.99578478 -0.1122896 ] [ 0. 0. 0. 1. ]] SLAMing on 175.98463044 meters Centerline goodness : 0.090236 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.11 [[ 0.99582524 -0.00208937 -0.0912564 0.67840675] [ 0.0023708 0.99999276 0.00297566 -0.15616267] [ 0.09124952 -0.00317959 0.99582298 -0.11166093] [ 0. 0. 0. 1. ]] SLAMing on 176.01463044 meters Centerline goodness : 0.111267 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.11 [[ 0.99583541 -0.00186508 -0.0911502 0.67818746] [ 0.00219703 0.99999131 0.00354162 -0.1590759 ] [ 0.0911428 -0.00372713 0.99583086 -0.11160465] [ 0. 0. 0. 1. ]] SLAMing on 176.04463044 meters Centerline goodness : 0.103580 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.11 [[ 0.99583576 -0.00169085 -0.09114979 0.67827024] [ 0.00207017 0.99998959 0.00406716 -0.16220792] [ 0.09114196 -0.00423892 0.99582889 -0.1115905 ] [ 0. 0. 0. 1. ]] SLAMing on 176.07463044 meters Centerline goodness : 0.101412 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.11 [[ 0.99583113 -0.00157011 -0.09120245 0.67866742] [ 0.00199134 0.99998777 0.00452786 -0.16545137] [ 0.09119423 -0.0046906 0.99582208 -0.11181869] [ 0. 0. 0. 1. ]] SLAMing on 176.10463044 meters Centerline goodness : 0.118326 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.11 [[ 0.99574638 -0.00354709 -0.0920683 0.68305742] [ 0.00386651 0.99998711 0.00329123 -0.17222933] [ 0.09205543 -0.00363322 0.99574726 -0.11393981] [ 0. 0. 0. 1. ]] SLAMing on 176.13463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 176.16463044 meters Centerline goodness : 0.126254 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.12 [[ 0.99568332 -0.00330432 -0.09275671 0.68567868] [ 0.00367587 0.99998589 0.00383506 -0.17589102] [ 0.09274273 -0.00415947 0.99568142 -0.1150224 ] [ 0. 0. 0. 1. ]] SLAMing on 176.19463044 meters Centerline goodness : 0.124456 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.12 [[ 0.995662 -0.00315055 -0.09299066 0.68655855] [ 0.0035335 0.99998594 0.00395385 -0.17622066] [ 0.0929769 -0.00426529 0.99565913 -0.11541467] [ 0. 0. 0. 1. ]] SLAMing on 176.22463044 meters Centerline goodness : 0.124456 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.12 [[ 0.995662 -0.00315055 -0.09299066 0.68655855] [ 0.0035335 0.99998594 0.00395385 -0.17622066] [ 0.0929769 -0.00426529 0.99565913 -0.11541467] [ 0. 0. 0. 1. ]] SLAMing on 176.25463044 meters Centerline goodness : 0.122563 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.12 [[ 0.99567944 -0.00233126 -0.09282785 0.68652278] [ 0.00274534 0.99998684 0.00433336 -0.17518863] [ 0.09281653 -0.00456948 0.99567274 -0.11599374] [ 0. 0. 0. 1. ]] SLAMing on 176.28463044 meters Centerline goodness : 0.152718 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.12 [[ 0.99570199 -0.00210918 -0.09259102 0.68602725] [ 0.00251635 0.99998767 0.00428103 -0.17384106] [ 0.09258085 -0.00449562 0.99569502 -0.11620504] [ 0. 0. 0. 1. ]] SLAMing on 176.31463044 meters Centerline goodness : 0.198658 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.12 [[ 0.99573004 -0.00200267 -0.09229123 0.68516573] [ 0.00239356 0.99998863 0.00412489 -0.1722159 ] [ 0.09228192 -0.00432818 0.99572351 -0.11617927] [ 0. 0. 0. 1. ]] SLAMing on 176.34463044 meters Centerline goodness : 0.174752 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.12 [[ 0.99574035 -0.00204063 -0.09217908 0.68478004] [ 0.00240542 0.99998971 0.00384645 -0.17050503] [ 0.09217028 -0.0040518 0.99573502 -0.1161483 ] [ 0. 0. 0. 1. ]] SLAMing on 176.37463044 meters Centerline goodness : 0.120933 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.12 [[ 0.99574046 -0.00216296 -0.09217513 0.684783 ] [ 0.00249907 0.99999064 0.00353125 -0.16902533] [ 0.09216663 -0.00374656 0.99573655 -0.11626647] [ 0. 0. 0. 1. ]] SLAMing on 176.40463044 meters Centerline goodness : 0.193971 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.12 [[ 0.99570493 -0.00247544 -0.09255038 0.68574557] [ 0.00277661 0.99999126 0.00312555 -0.16789043] [ 0.09254183 -0.0033691 0.9957031 -0.11637299] [ 0. 0. 0. 1. ]] SLAMing on 176.43463044 meters Centerline goodness : 0.121072 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.12 [[ 0.99567735 -0.00256594 -0.09284412 0.68643569] [ 0.00286949 0.99999097 0.00313611 -0.16838991] [ 0.09283523 -0.00338896 0.99567572 -0.11628593] [ 0. 0. 0. 1. ]] SLAMing on 176.46463043999998 meters Centerline goodness : 0.119600 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.12 [[ 0.99580408 0.00310464 -0.09145813 0.67109748] [-0.00299011 0.99999456 0.0013893 -0.17489052] [ 0.09146194 -0.00111 0.99580795 -0.12045944] [ 0. 0. 0. 1. ]] SLAMing on 176.49463043999998 meters Centerline goodness : 0.082836 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.12 [[ 0.99579867 0.0030236 -0.09151975 0.67127291] [-0.00290151 0.99999471 0.00146701 -0.17583045] [ 0.09152371 -0.00119531 0.99580218 -0.12042563] [ 0. 0. 0. 1. ]] SLAMing on 176.52463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 176.55463043999998 meters Centerline goodness : 0.121136 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.12 [[ 9.95821690e-01 8.69188494e-04 -9.13148785e-02 6.69124708e-01] [-8.82240815e-04 9.99999606e-01 -1.02572420e-04 -1.78582593e-01] [ 9.13147533e-02 1.82705553e-04 9.95822064e-01 -1.18774310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58463043999998 meters Centerline goodness : 0.124759 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.12 [[ 9.95804609e-01 8.60786129e-04 -9.15010420e-02 6.69543229e-01] [-8.66179228e-04 9.99999625e-01 -1.92288741e-05 -1.79206983e-01] [ 9.15009911e-02 9.84045034e-05 9.95804980e-01 -1.18720652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61463043999998 meters Centerline goodness : 0.203529 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.12 [[ 9.95788838e-01 8.42308519e-04 -9.16726853e-02 6.70167464e-01] [-8.39576109e-04 9.99999645e-01 6.83704433e-05 -1.79992937e-01] [ 9.16727103e-02 8.88367219e-06 9.95789192e-01 -1.18910401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64463044 meters Centerline goodness : 0.124087 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.12 [[ 9.95816683e-01 9.46985722e-04 -9.13686907e-02 6.69442064e-01] [-9.33024297e-04 9.99999546e-01 1.95516999e-04 -1.80240695e-01] [ 9.13688344e-02 -1.09449881e-04 9.95817114e-01 -1.18931744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67463044 meters Centerline goodness : 0.209641 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.12 [[ 9.95851320e-01 1.06896523e-03 -9.09890456e-02 6.68251768e-01] [-1.04308795e-03 9.99999401e-01 3.31952888e-04 -1.80374757e-01] [ 9.09893459e-02 -2.35666144e-04 9.95851838e-01 -1.18621792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70463044 meters Centerline goodness : 0.119027 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.12 [[ 9.95888761e-01 1.12393782e-03 -9.05776591e-02 6.67053398e-01] [-1.09615091e-03 9.99999336e-01 3.56519523e-04 -1.80122465e-01] [ 9.05779996e-02 -2.55767003e-04 9.95889331e-01 -1.18383661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73463044 meters Centerline goodness : 0.135516 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96051146e-01 1.23614992e-03 -8.87726667e-02 7.09811171e-01] [-1.28386259e-03 9.99999060e-01 -4.80373564e-04 -1.75633125e-01] [ 8.87719894e-02 5.92448545e-04 9.96051797e-01 -1.14040148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76463044 meters Centerline goodness : 0.133862 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96038848e-01 1.19200249e-03 -8.89111438e-02 7.10242334e-01] [-1.24219033e-03 9.99999099e-01 -5.09142108e-04 -1.75798378e-01] [ 8.89104568e-02 6.17569882e-04 9.96039432e-01 -1.14173339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79463044 meters Centerline goodness : 0.122052 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96019660e-01 1.19951036e-03 -8.91257404e-02 7.11117586e-01] [-1.24664195e-03 9.99999111e-01 -4.73158398e-04 -1.76050406e-01] [ 8.91250936e-02 5.82382953e-04 9.96020270e-01 -1.14594778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82463044 meters Centerline goodness : 0.122729 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96028477e-01 1.31482554e-03 -8.90255282e-02 7.10976138e-01] [-1.34312165e-03 9.99999065e-01 -2.57938373e-04 -1.76939530e-01] [ 8.90251058e-02 3.76486079e-04 9.96029311e-01 -1.14711868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85463044 meters Centerline goodness : 0.120985 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96146313e-01 -2.84284169e-04 -8.77065689e-02 7.05909512e-01] [ 1.54835744e-04 9.99998889e-01 -1.48272586e-03 -1.79130510e-01] [ 8.77068930e-02 1.46343179e-03 9.96145250e-01 -1.12880272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88463044 meters Centerline goodness : 0.117422 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96162250e-01 -2.99266793e-04 -8.75253277e-02 7.05542376e-01] [ 1.83090914e-04 9.99999092e-01 -1.33536506e-03 -1.80494380e-01] [ 8.75256478e-02 1.31421517e-03 9.96161399e-01 -1.12935857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91463044 meters Centerline goodness : 0.123703 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96157846e-01 -2.64624635e-04 -8.75755379e-02 7.05906670e-01] [ 1.62922499e-04 9.99999304e-01 -1.16845329e-03 -1.81707517e-01] [ 8.75757862e-02 1.14969589e-03 9.96157196e-01 -1.13215445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 176.97463044 meters Centerline goodness : 0.089867 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.11 [[ 9.96107235e-01 -2.93104283e-04 -8.81492503e-02 7.08120036e-01] [ 2.17146317e-04 9.99999597e-01 -8.71285320e-04 -1.84955820e-01] [ 8.81494701e-02 8.48752326e-04 9.96106897e-01 -1.14159969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 177.03463044 meters Centerline goodness : 0.125977 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.11 [[ 9.96058062e-01 -2.19808341e-04 -8.87033782e-02 7.09828683e-01] [ 1.58255723e-04 9.99999742e-01 -7.00947320e-04 -1.86082719e-01] [ 8.87035093e-02 6.84146412e-04 9.96057839e-01 -1.14616563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06463044 meters Centerline goodness : 0.128564 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.96005797e-01 -1.82852958e-04 -8.92884028e-02 7.11906841e-01] [ 1.23886147e-04 9.99999771e-01 -6.65949817e-04 -1.86549374e-01] [ 8.92885041e-02 6.52228282e-04 9.96005591e-01 -1.15413545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09463044 meters Centerline goodness : 0.137598 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.96006739e-01 -2.39215995e-04 -8.92777644e-02 7.12293565e-01] [ 1.75244806e-04 9.99999722e-01 -7.24378805e-04 -1.86697526e-01] [ 8.92779129e-02 7.05840707e-04 9.96006504e-01 -1.15936112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12463044 meters Centerline goodness : 0.144770 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.96007509e-01 -2.28153255e-04 -8.92692037e-02 7.12336172e-01] [ 1.70626241e-04 9.99999773e-01 -6.52052262e-04 -1.87321762e-01] [ 8.92693322e-02 6.34217280e-04 9.96007321e-01 -1.15997260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15463044 meters Centerline goodness : 0.127227 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.96014165e-01 -2.06949362e-04 -8.91949561e-02 7.12052316e-01] [ 1.55585833e-04 9.99999818e-01 -5.82809076e-04 -1.87800634e-01] [ 8.91950605e-02 5.66608624e-04 9.96014016e-01 -1.15878108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18463044 meters Centerline goodness : 0.090545 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.96013008e-01 -1.28289089e-04 -8.92080185e-02 7.12041907e-01] [ 9.87324483e-05 9.99999939e-01 -3.35735272e-04 -1.89218200e-01] [ 8.92080561e-02 3.25588973e-04 9.96012960e-01 -1.15747490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21463043999998 meters Centerline goodness : 0.123155 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.96011503e-01 -1.72313172e-04 -8.92247460e-02 7.12052896e-01] [ 1.50458190e-04 9.99999957e-01 -2.51668711e-04 -1.90267313e-01] [ 8.92247855e-02 2.37240338e-04 9.96011487e-01 -1.15677892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24463043999998 meters Centerline goodness : 0.129856 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.95998090e-01 -1.93730611e-04 -8.93743110e-02 7.12486184e-01] [ 1.85677664e-04 9.99999978e-01 -9.84176265e-05 -1.91685032e-01] [ 8.93743281e-02 8.14289546e-05 9.95998104e-01 -1.15741170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27463043999998 meters Centerline goodness : 0.160228 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.12 [[ 9.95952838e-01 -4.82121494e-05 -8.98773766e-02 7.13964734e-01] [ 8.81910830e-05 9.99999899e-01 4.40845253e-04 -1.94712672e-01] [ 8.98773463e-02 -4.46987464e-04 9.95952741e-01 -1.15907981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30463043999998 meters Centerline goodness : 0.141052 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.12 [[ 9.95940825e-01 9.95194910e-05 -9.00103510e-02 7.14263812e-01] [-3.12215359e-05 9.99999711e-01 7.60186570e-04 -1.96132500e-01] [ 9.00104006e-02 -7.54290578e-04 9.95940540e-01 -1.15834182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33463043999998 meters Centerline goodness : 0.125119 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.12 [[ 9.95944472e-01 2.25544684e-04 -8.99697567e-02 7.14178433e-01] [-1.27710057e-04 9.99999394e-01 1.09317204e-03 -1.97910519e-01] [ 8.99699487e-02 -1.07724861e-03 9.95943898e-01 -1.15744215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36463043999998 meters Centerline goodness : 0.123146 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.12 [[ 9.95943743e-01 2.08190787e-04 -8.99778770e-02 7.14144533e-01] [-9.57197370e-05 9.99999209e-01 1.25429886e-03 -1.99491320e-01] [ 8.99780669e-02 -1.24059845e-03 9.95942974e-01 -1.15603537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39463044 meters Centerline goodness : 0.123164 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.12 [[ 0.99611727 0.00475567 -0.08790767 0.6911268 ] [-0.00490447 0.99998688 -0.0014768 -0.20732812] [ 0.08789949 0.0019022 0.99612753 -0.1176267 ] [ 0. 0. 0. 1. ]] SLAMing on 177.42463044 meters Centerline goodness : 0.124782 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.12 [[ 0.99613776 0.00490067 -0.08766724 0.69033343] [-0.0050274 0.99998661 -0.00122488 -0.20817035] [ 0.08766006 0.00166088 0.99614906 -0.11734732] [ 0. 0. 0. 1. ]] SLAMing on 177.45463044 meters Centerline goodness : 0.128427 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.12 [[ 0.99614853 0.00499662 -0.08753939 0.68988563] [-0.00511455 0.99998629 -0.00112299 -0.20824422] [ 0.08753257 0.00156639 0.99616043 -0.11712726] [ 0. 0. 0. 1. ]] SLAMing on 177.48463044 meters Centerline goodness : 0.163725 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.12 [[ 9.96187408e-01 -3.75037618e-04 -8.72382204e-02 7.11738876e-01] [ 4.98270301e-04 9.99998909e-01 1.39082837e-03 -2.04600146e-01] [ 8.72376036e-02 -1.42899392e-03 9.96186508e-01 -1.15523476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51463044 meters Centerline goodness : 0.138326 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.12 [[ 9.96192402e-01 -3.98339264e-04 -8.71810705e-02 7.11637597e-01] [ 5.19049564e-04 9.99998938e-01 1.36192858e-03 -2.04670900e-01] [ 8.71804354e-02 -1.40199420e-03 9.96191551e-01 -1.15610836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54463044 meters Centerline goodness : 0.126278 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.12 [[ 9.96202506e-01 -3.66547683e-04 -8.70656815e-02 7.11326028e-01] [ 4.95204807e-04 9.99998817e-01 1.45610783e-03 -2.05276408e-01] [ 8.70650448e-02 -1.49369361e-03 9.96201509e-01 -1.15555192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57463044 meters Centerline goodness : 0.108855 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.12 [[ 9.96209610e-01 -3.22585199e-04 -8.69845371e-02 7.11083434e-01] [ 4.62841722e-04 9.99998625e-01 1.59226708e-03 -2.06070448e-01] [ 8.69839039e-02 -1.62649184e-03 9.96208389e-01 -1.15501135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60463044 meters Centerline goodness : 0.118807 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.12 [[ 0.99614403 0.00449915 -0.08761747 0.69121259] [-0.00466407 0.99998772 -0.00167766 -0.21241304] [ 0.08760885 0.00207984 0.99615278 -0.11835346] [ 0. 0. 0. 1. ]] SLAMing on 177.63463044 meters Centerline goodness : 0.138284 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.12 [[ 0.99610772 0.00439112 -0.08803485 0.69245753] [-0.00455238 0.99998831 -0.00163109 -0.21378976] [ 0.08802666 0.00202551 0.99611606 -0.11862119] [ 0. 0. 0. 1. ]] SLAMing on 177.66463044 meters Centerline goodness : 0.125675 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.12 [[ 0.99607315 0.00434092 -0.08842753 0.69368425] [-0.0044939 0.99998873 -0.00153103 -0.21520138] [ 0.08841989 0.0019224 0.99608144 -0.11893946] [ 0. 0. 0. 1. ]] SLAMing on 177.69463044 meters Centerline goodness : 0.184965 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.12 [[ 0.99605306 0.00441716 -0.0886498 0.69451178] [-0.00455086 0.99998879 -0.00130614 -0.21654642] [ 0.08864303 0.00170441 0.996062 -0.11926652] [ 0. 0. 0. 1. ]] SLAMing on 177.72463044 meters Centerline goodness : 0.128101 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.12 [[ 0.99604633 0.00458898 -0.08871666 0.69495562] [-0.00469732 0.99998845 -0.00101252 -0.21768718] [ 0.08871099 0.00142525 0.99605639 -0.11961986] [ 0. 0. 0. 1. ]] SLAMing on 177.75463044 meters Centerline goodness : 0.130777 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.12 [[ 9.96025473e-01 4.71576428e-03 -8.89439042e-02 6.95963217e-01] [-4.80775725e-03 9.99988106e-01 -8.20073082e-04 -2.18828897e-01] [ 8.89389790e-02 1.24443438e-03 9.96036299e-01 -1.20135169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78463044 meters Centerline goodness : 0.207606 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.12 [[ 9.96008617e-01 4.69690239e-03 -8.91334600e-02 6.96546560e-01] [-4.79034851e-03 9.99988178e-01 -8.34496213e-04 -2.19186278e-01] [ 8.91284867e-02 1.25814576e-03 9.96019342e-01 -1.20288813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81463044 meters Centerline goodness : 0.141768 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.12 [[ 9.95990445e-01 4.74306513e-03 -8.93338549e-02 6.97096949e-01] [-4.82722922e-03 9.99988085e-01 -7.26102863e-04 -2.19950130e-01] [ 8.93293465e-02 1.15442651e-03 9.96001473e-01 -1.20381688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84463044 meters Centerline goodness : 0.132531 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.12 [[ 9.95962011e-01 4.87690646e-03 -8.96431180e-02 6.98067756e-01] [-4.93658327e-03 9.99987716e-01 -4.44014537e-04 -2.21315916e-01] [ 8.96398514e-02 8.84752328e-04 9.95973852e-01 -1.20672468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87463044 meters Centerline goodness : 0.165900 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.12 [[ 9.95965690e-01 -2.72325388e-03 -8.96935281e-02 7.19915379e-01] [ 2.80563844e-03 9.99995750e-01 7.92446461e-04 -2.21769778e-01] [ 8.96909889e-02 -1.04089710e-03 9.95969097e-01 -1.18754332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90463044 meters Centerline goodness : 0.118538 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.12 [[ 0.99596573 -0.00269265 -0.08969405 0.71989136] [ 0.00280743 0.99999539 0.00115358 -0.22466189] [ 0.08969054 -0.00140073 0.9959687 -0.11861462] [ 0. 0. 0. 1. ]] SLAMing on 177.93463044 meters Centerline goodness : 0.157647 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.12 [[ 0.99596831 -0.0026175 -0.0896676 0.71930087] [ 0.00276607 0.999995 0.00153266 -0.22743391] [ 0.08966314 -0.00177451 0.99597057 -0.11785874] [ 0. 0. 0. 1. ]] SLAMing on 177.96463043999998 meters Centerline goodness : 0.121963 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.12 [[ 0.99598376 -0.00237439 -0.0895026 0.71840405] [ 0.00256963 0.99999456 0.00206627 -0.22996624] [ 0.08949721 -0.00228796 0.99598445 -0.11718445] [ 0. 0. 0. 1. ]] SLAMing on 177.99463043999998 meters Centerline goodness : 0.152650 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.11 [[ 0.99616033 0.00612402 -0.08733321 0.73673347] [-0.00600015 0.99998059 0.00168076 -0.23604613] [ 0.08734181 -0.00115029 0.99617774 -0.11412358] [ 0. 0. 0. 1. ]] SLAMing on 178.02463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 178.05463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 178.08463043999998 meters Centerline goodness : 0.135299 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.11 [[ 0.99607625 0.00714744 -0.08821011 0.73845326] [-0.00696998 0.99997302 0.00231971 -0.23686558] [ 0.08822431 -0.00169578 0.99609919 -0.11375974] [ 0. 0. 0. 1. ]] SLAMing on 178.11463043999998 meters Centerline goodness : 0.135299 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.11 [[ 0.99607625 0.00714744 -0.08821011 0.73845326] [-0.00696998 0.99997302 0.00231971 -0.23686558] [ 0.08822431 -0.00169578 0.99609919 -0.11375974] [ 0. 0. 0. 1. ]] SLAMing on 178.14463044 meters Centerline goodness : 0.131645 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.11 [[ 0.99609512 0.00746813 -0.08797007 0.73775746] [-0.00728309 0.99997054 0.0024242 -0.23594714] [ 0.08798558 -0.00177404 0.99612017 -0.11363924] [ 0. 0. 0. 1. ]] SLAMing on 178.17463044 meters Centerline goodness : 0.144410 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.11 [[ 0.99612793 0.00762097 -0.08758465 0.73669108] [-0.00744396 0.99996954 0.00234756 -0.23473197] [ 0.08759987 -0.0016865 0.99615431 -0.1135305 ] [ 0. 0. 0. 1. ]] SLAMing on 178.20463044 meters Centerline goodness : 0.116345 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.11 [[ 0.99616719 0.00745198 -0.08715162 0.73539435] [-0.0073219 0.99997155 0.00181206 -0.23247671] [ 0.08716265 -0.001167 0.99619341 -0.1132883 ] [ 0. 0. 0. 1. ]] SLAMing on 178.23463044 meters Centerline goodness : 0.116441 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.11 [[ 9.96162108e-01 7.35635443e-03 -8.72177703e-02 7.35620417e-01] [-7.24633092e-03 9.99972500e-01 1.57802529e-03 -2.31340479e-01] [ 8.72269803e-02 -9.39960175e-04 9.96188020e-01 -1.13416340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26463044 meters Centerline goodness : 0.147857 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.11 [[ 0.99600283 0.00182487 -0.08930299 0.75131823] [-0.00160697 0.99999555 0.00251184 -0.2241168 ] [ 0.08930718 -0.00235829 0.99600134 -0.10994551] [ 0. 0. 0. 1. ]] SLAMing on 178.29463044 meters Centerline goodness : 0.136972 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.11 [[ 0.99599659 0.00178516 -0.0893734 0.75164315] [-0.00157896 0.99999593 0.0023779 -0.22321769] [ 0.08937728 -0.00222726 0.99599535 -0.1101477 ] [ 0. 0. 0. 1. ]] SLAMing on 178.32463044 meters Centerline goodness : 0.129306 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.11 [[ 0.99599341 0.00166779 -0.08941109 0.75167143] [-0.00147711 0.99999649 0.00219879 -0.22260808] [ 0.08941444 -0.00205792 0.99599238 -0.11007102] [ 0. 0. 0. 1. ]] SLAMing on 178.35463044 meters Centerline goodness : 0.118187 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.11 [[ 0.99600039 0.00129118 -0.08933954 0.75095711] [-0.00115711 0.99999813 0.00155244 -0.21989807] [ 0.08934138 -0.00144285 0.99600002 -0.10943373] [ 0. 0. 0. 1. ]] SLAMing on 178.38463044 meters Centerline goodness : 0.088773 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.11 [[ 0.9960121 0.00121978 -0.08920987 0.75070591] [-0.00111409 0.99999862 0.00123442 -0.2175357 ] [ 0.08921126 -0.00113011 0.99601209 -0.10956605] [ 0. 0. 0. 1. ]] SLAMing on 178.41463044 meters Centerline goodness : 0.146228 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.11 [[ 0.99595239 0.00476491 -0.08975598 0.752622 ] [-0.00444036 0.99998286 0.00381526 -0.21121322] [ 0.08977262 -0.00340127 0.99595648 -0.11028632] [ 0. 0. 0. 1. ]] SLAMing on 178.44463044 meters Centerline goodness : 0.120347 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.11 [[ 0.99593427 0.00451687 -0.08996961 0.75325442] [-0.00425439 0.99998612 0.00310899 -0.20712184] [ 0.0899824 -0.00271358 0.99593966 -0.11056755] [ 0. 0. 0. 1. ]] SLAMing on 178.47463044 meters Centerline goodness : 0.087968 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.11 [[ 0.99591588 0.00421498 -0.09018753 0.75360319] [-0.00401709 0.99998911 0.00237568 -0.2030494 ] [ 0.09019656 -0.00200369 0.99592197 -0.11045897] [ 0. 0. 0. 1. ]] SLAMing on 178.50463044 meters Centerline goodness : 0.127410 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.11 [[ 0.99590569 0.00394943 -0.09031202 0.7536658 ] [-0.00380906 0.99999125 0.00172663 -0.19919093] [ 0.09031805 -0.00137556 0.99591202 -0.11025852] [ 0. 0. 0. 1. ]] SLAMing on 178.53463044 meters Centerline goodness : 0.110105 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.11 [[ 0.99598186 -0.00416251 -0.08945845 0.73291951] [ 0.00435832 0.99998852 0.0019936 -0.18819059] [ 0.08944912 -0.00237548 0.99598856 -0.11286416] [ 0. 0. 0. 1. ]] SLAMing on 178.56463044 meters Centerline goodness : 0.134790 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.11 [[ 0.99596811 -0.00447736 -0.08959614 0.73328938] [ 0.00462202 0.99998833 0.00140711 -0.18540053] [ 0.0895888 -0.00181556 0.99597718 -0.11296984] [ 0. 0. 0. 1. ]] SLAMing on 178.59463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 178.62463044 meters Centerline goodness : 0.112754 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.11 [[ 9.95965338e-01 -5.90164825e-03 -8.95444909e-02 7.31875330e-01] [ 5.91308776e-03 9.99982508e-01 -1.37524617e-04 -1.80212552e-01] [ 8.95437362e-02 -3.92514681e-04 9.95982814e-01 -1.11411557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65463044 meters Centerline goodness : 0.115183 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.11 [[ 9.95947583e-01 -6.06374674e-03 -8.97309504e-02 7.32137562e-01] [ 6.06874719e-03 9.99981561e-01 -2.17102817e-04 -1.80191401e-01] [ 8.97306123e-02 -3.28331427e-04 9.95966018e-01 -1.11078717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68463044 meters Centerline goodness : 0.162049 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.11 [[ 9.95905609e-01 -6.19023554e-03 -9.01870248e-02 7.33295935e-01] [ 6.19210722e-03 9.99980795e-01 -2.59043225e-04 -1.80411938e-01] [ 9.01868963e-02 -3.00465127e-04 9.95924813e-01 -1.11026364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71463043999998 meters Centerline goodness : 0.121715 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.11 [[ 9.95870424e-01 -6.34886716e-03 -9.05637406e-02 7.34361526e-01] [ 6.35104321e-03 9.99979797e-01 -2.64154227e-04 -1.81047436e-01] [ 9.05635880e-02 -3.12110847e-04 9.95890626e-01 -1.11124488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74463043999998 meters Centerline goodness : 0.107956 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:-0.11 [[ 9.95821545e-01 -6.89705730e-03 -9.10597720e-02 7.35525798e-01] [ 6.89637503e-03 9.99976168e-01 -3.22141020e-04 -1.83209870e-01] [ 9.10598237e-02 -3.07187370e-04 9.95845377e-01 -1.10804186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77463043999998 meters Centerline goodness : 0.099584 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:-0.11 [[ 9.95810505e-01 -6.89110497e-03 -9.11808652e-02 7.35453515e-01] [ 6.91079159e-03 9.99976115e-01 -9.98181549e-05 -1.84738493e-01] [ 9.11793753e-02 -5.30731990e-04 9.95834344e-01 -1.10240332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80463043999998 meters Centerline goodness : 0.105422 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.11 [[ 9.95804450e-01 -6.83999007e-03 -9.12508203e-02 7.35349603e-01] [ 6.87720920e-03 9.99976347e-01 9.34483804e-05 -1.85910669e-01] [ 9.12480228e-02 -7.20607294e-04 9.95827936e-01 -1.09806353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83463043999998 meters Centerline goodness : 0.122224 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.11 [[ 9.95882860e-01 8.32157230e-04 -9.06456694e-02 7.54094929e-01] [-9.56941785e-04 9.99998653e-01 -1.33316696e-03 -1.88674321e-01] [ 9.06444379e-02 1.41442076e-03 9.95882315e-01 -1.06638839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86463043999998 meters Centerline goodness : 0.122675 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.11 [[ 9.95887508e-01 7.94011363e-04 -9.05949234e-02 7.54120876e-01] [-9.44376747e-04 9.99998247e-01 -1.61690113e-03 -1.87101428e-01] [ 9.05934807e-02 1.69580738e-03 9.95886512e-01 -1.06827491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89463044 meters Centerline goodness : 0.090300 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.11 [[ 9.95874485e-01 7.62951003e-04 -9.07382403e-02 7.54691349e-01] [-9.36743132e-04 9.99997808e-01 -1.87274135e-03 -1.85511356e-01] [ 9.07366125e-02 1.95001375e-03 9.95873016e-01 -1.07173795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92463044 meters Centerline goodness : 0.085711 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.11 [[ 9.95861832e-01 7.87991271e-04 -9.08767852e-02 7.55112985e-01] [-9.76473346e-04 9.99997464e-01 -2.02959714e-03 -1.84154727e-01] [ 9.08749554e-02 2.10993708e-03 9.95860076e-01 -1.07333408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95463044 meters Centerline goodness : 0.106915 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.11 [[ 9.95852758e-01 8.59258006e-04 -9.09755273e-02 7.55355566e-01] [-1.05276646e-03 9.99997285e-01 -2.07907239e-03 -1.83137786e-01] [ 9.09734938e-02 2.16622596e-03 9.95850958e-01 -1.07324041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98463044 meters Centerline goodness : 0.086128 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.11 [[ 9.95877435e-01 8.83015094e-04 -9.07047688e-02 7.54073602e-01] [-1.06117646e-03 9.99997601e-01 -1.91598207e-03 -1.84308878e-01] [ 9.07028594e-02 2.00433707e-03 9.95875983e-01 -1.06454560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01463044 meters Centerline goodness : 0.087557 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.11 [[ 9.95900387e-01 7.11700791e-04 -9.04539256e-02 7.53041861e-01] [-8.80239286e-04 9.99997950e-01 -1.82337375e-03 -1.86180781e-01] [ 9.04524425e-02 1.89551972e-03 9.95898972e-01 -1.05844517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04463044 meters Centerline goodness : 0.087417 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.11 [[ 9.95914962e-01 5.56149392e-04 -9.02944048e-02 7.52537952e-01] [-7.06905434e-04 9.99998409e-01 -1.63763405e-03 -1.88658692e-01] [ 9.02933504e-02 1.69477386e-03 9.95913771e-01 -1.05561899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07463044 meters Centerline goodness : 0.086609 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.11 [[ 9.95736925e-01 -8.58507155e-03 -9.18382933e-02 7.32252405e-01] [ 8.56255136e-03 9.99963136e-01 -6.39237731e-04 -1.93616789e-01] [ 9.18403957e-02 -1.49857490e-04 9.95773729e-01 -1.07865116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10463044 meters Centerline goodness : 0.087465 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.10 [[ 0.99568609 -0.00128807 -0.09277687 0.75238267] [ 0.00115408 0.99999821 -0.00149788 -0.20065344] [ 0.09277863 0.00138435 0.9956858 -0.10493178] [ 0. 0. 0. 1. ]] SLAMing on 179.13463044 meters Centerline goodness : 0.088661 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.10 [[ 9.95658303e-01 -1.20340648e-03 -9.30757508e-02 7.52962994e-01] [ 1.11267491e-03 9.99998854e-01 -1.02670228e-03 -2.04018203e-01] [ 9.30768797e-02 9.18681600e-04 9.95658501e-01 -1.04664916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16463044 meters Centerline goodness : 0.085063 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.10 [[ 0.99563199 -0.0047433 -0.09324395 0.75303633] [ 0.00442029 0.99998349 -0.00367039 -0.209613 ] [ 0.09325982 0.00324219 0.99563653 -0.1040982 ] [ 0. 0. 0. 1. ]] SLAMing on 179.19463044 meters Centerline goodness : 0.086644 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.10 [[ 0.99561398 -0.00457475 -0.09344453 0.75356439] [ 0.00430232 0.99998589 -0.00311667 -0.21331518] [ 0.09345747 0.00270098 0.99561961 -0.10405901] [ 0. 0. 0. 1. ]] SLAMing on 179.22463044 meters Centerline goodness : 0.085932 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.10 [[ 0.99559313 -0.00431887 -0.09367857 0.75424375] [ 0.00410899 0.9999886 -0.00243323 -0.21735509] [ 0.09368801 0.00203758 0.99559952 -0.10408984] [ 0. 0. 0. 1. ]] SLAMing on 179.25463044 meters Centerline goodness : 0.154663 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.10 [[ 0.99558983 -0.00404944 -0.09372559 0.75440981] [ 0.00390884 0.99999094 -0.00168359 -0.22184021] [ 0.09373155 0.0013098 0.99559665 -0.10404896] [ 0. 0. 0. 1. ]] SLAMing on 179.28463044 meters Centerline goodness : 0.115743 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.23, Z:-0.10 [[ 9.95581371e-01 -3.86384256e-03 -9.38232626e-02 7.54453715e-01] [ 3.78643276e-03 9.99992328e-01 -1.00306684e-03 -2.26596662e-01] [ 9.38264185e-02 6.43379189e-04 9.95588363e-01 -1.03701316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31463044 meters Centerline goodness : 0.188728 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.24, Z:-0.10 [[ 0.99559309 -0.00687499 -0.09352608 0.75245488] [ 0.00664338 0.99997405 -0.00278753 -0.23550063] [ 0.09354281 0.00215391 0.99561293 -0.10217091] [ 0. 0. 0. 1. ]] SLAMing on 179.34463044 meters Centerline goodness : 0.183176 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.24, Z:-0.10 [[ 0.99559573 -0.00668508 -0.09351179 0.75219296] [ 0.00651279 0.99997649 -0.00214757 -0.23943142] [ 0.09352395 0.00152909 0.99561586 -0.10179354] [ 0. 0. 0. 1. ]] SLAMing on 179.37463044 meters Centerline goodness : 0.466491 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.24, Z:-0.10 [[ 9.95589591e-01 -6.45801730e-03 -9.35930592e-02 7.52387737e-01] [ 6.33888507e-03 9.99978676e-01 -1.57011212e-03 -2.42507070e-01] [ 9.36012033e-02 9.69911635e-04 9.95609298e-01 -1.01727766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40463044 meters Centerline goodness : 0.108253 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.25, Z:-0.10 [[ 0.99559025 0.00129218 -0.09379972 0.77220881] [-0.0015361 0.99999562 -0.00252823 -0.24858584] [ 0.09379604 0.00266117 0.99558788 -0.09896045] [ 0. 0. 0. 1. ]] SLAMing on 179.43463044 meters Centerline goodness : 0.121170 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.25, Z:-0.10 [[ 0.99559014 0.00146543 -0.09379837 0.77252502] [-0.00165472 0.99999675 -0.00194033 -0.25294714] [ 0.09379522 0.00208698 0.99558932 -0.09929589] [ 0. 0. 0. 1. ]] SLAMing on 179.46463043999998 meters Centerline goodness : 0.464911 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.26, Z:-0.10 [[ 0.99560123 0.0015855 -0.09367858 0.77214536] [-0.00173957 0.99999727 -0.00156303 -0.25521081] [ 0.09367585 0.00171912 0.99560127 -0.09910831] [ 0. 0. 0. 1. ]] SLAMing on 179.49463043999998 meters Centerline goodness : 0.145167 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.26, Z:-0.10 [[ 0.99559723 0.00169459 -0.09371914 0.77198501] [-0.00181804 0.99999759 -0.00123191 -0.25711189] [ 0.09371682 0.00139687 0.99559791 -0.09878033] [ 0. 0. 0. 1. ]] SLAMing on 179.52463043999998 meters Centerline goodness : 0.096306 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.26, Z:-0.10 [[ 9.95542635e-01 1.62223495e-03 -9.42986219e-02 7.73510928e-01] [-1.71016782e-03 9.99998175e-01 -8.51687761e-04 -2.60305402e-01] [ 9.42970682e-02 1.00915795e-03 9.95543592e-01 -9.88575120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55463043999998 meters Centerline goodness : 0.167042 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.26, Z:-0.10 [[ 9.95507744e-01 1.56316467e-03 -9.46672488e-02 7.74763153e-01] [-1.63979506e-03 9.99998388e-01 -7.31684199e-04 -2.61669439e-01] [ 9.46659525e-02 8.83632173e-04 9.95508702e-01 -9.93013941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58463043999998 meters Centerline goodness : 0.149427 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 9.95474197e-01 1.53513118e-03 -9.50198254e-02 7.76058212e-01] [-1.60572914e-03 9.99998489e-01 -6.66524767e-04 -2.62326922e-01] [ 9.50186586e-02 8.16084310e-04 9.95475157e-01 -9.98227894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61463043999998 meters Centerline goodness : 0.465937 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 9.95437393e-01 1.57109609e-03 -9.54040304e-02 7.77827298e-01] [-1.63776702e-03 9.99998466e-01 -6.20527746e-04 -2.62029667e-01] [ 9.54029092e-02 7.73946096e-04 9.95438439e-01 -1.00796540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64463044 meters Centerline goodness : 0.224758 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 9.95440943e-01 1.59038524e-03 -9.53666577e-02 7.77945392e-01] [-1.66173967e-03 9.99998396e-01 -6.68797888e-04 -2.61381189e-01] [ 9.53654411e-02 8.24223359e-04 9.95441989e-01 -1.01058459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67463044 meters Centerline goodness : 0.329544 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 9.95439750e-01 1.51745828e-03 -9.53803031e-02 7.78018148e-01] [-1.60059596e-03 9.99998403e-01 -7.95143032e-04 -2.60699754e-01] [ 9.53789442e-02 9.44182309e-04 9.95440589e-01 -1.01096680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70463044 meters Centerline goodness : 0.110877 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 0.99541442 0.00129944 -0.0956475 0.77843521] [-0.00140499 0.99999848 -0.00103618 -0.26000677] [ 0.09564601 0.00116582 0.99541473 -0.10079583] [ 0. 0. 0. 1. ]] SLAMing on 179.73463044 meters Centerline goodness : 0.116335 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 0.9953882 0.00117141 -0.0959216 0.77916039] [-0.00128227 0.99999858 -0.00109412 -0.26026933] [ 0.09592018 0.00121207 0.99538829 -0.10085925] [ 0. 0. 0. 1. ]] SLAMing on 179.76463044 meters Centerline goodness : 0.118287 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 9.95362795e-01 9.78604611e-04 -9.61870517e-02 7.80114600e-01] [-1.09709233e-03 9.99998703e-01 -1.17896892e-03 -2.60740268e-01] [ 9.61857732e-02 1.27902788e-03 9.95362578e-01 -1.01218442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79463044 meters Centerline goodness : 0.112448 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.10 [[ 9.95325674e-01 4.84797235e-04 -9.65741587e-02 7.80786163e-01] [-6.19987296e-04 9.99998870e-01 -1.36985492e-03 -2.61540283e-01] [ 9.65733854e-02 1.42332652e-03 9.95324849e-01 -1.00871524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82463044 meters Centerline goodness : 0.462171 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.10 [[ 9.95213402e-01 -4.84252877e-04 -9.77243521e-02 7.34206213e-01] [ 4.00844117e-04 9.99999538e-01 -8.73141798e-04 -2.63385911e-01] [ 9.77247299e-02 8.29790189e-04 9.95213137e-01 -1.03739506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85463044 meters Centerline goodness : 0.106614 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.10 [[ 9.95228661e-01 -5.05780654e-04 -9.75687261e-02 7.33550902e-01] [ 4.33040482e-04 9.99999612e-01 -7.66702214e-04 -2.63945620e-01] [ 9.75690760e-02 7.20792810e-04 9.95228494e-01 -1.03317299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88463044 meters Centerline goodness : 0.111378 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.10 [[ 9.95238508e-01 -5.52624251e-04 -9.74679826e-02 7.33265747e-01] [ 4.88733616e-04 9.99999650e-01 -6.79377384e-04 -2.64742665e-01] [ 9.74683239e-02 6.28506654e-04 9.95238429e-01 -1.03213694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91463044 meters Centerline goodness : 0.102696 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.10 [[ 9.95249487e-01 -5.96066923e-04 -9.73555513e-02 7.32840264e-01] [ 5.40340554e-04 9.99999675e-01 -5.98764726e-04 -2.65675470e-01] [ 9.73558765e-02 5.43315134e-04 9.95249485e-01 -1.02995142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94463044 meters Centerline goodness : 0.107551 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.10 [[ 9.95322525e-01 -1.02488506e-03 -9.66023862e-02 7.30224818e-01] [ 9.75602724e-04 9.99999369e-01 -5.57388343e-04 -2.67446778e-01] [ 9.66028965e-02 4.60535622e-04 9.95322896e-01 -1.02275928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97463044 meters Centerline goodness : 0.108364 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.10 [[ 9.95344573e-01 -1.02599002e-03 -9.63749380e-02 7.29507510e-01] [ 1.00498702e-03 9.99999459e-01 -2.66470664e-04 -2.68996765e-01] [ 9.63751594e-02 1.68374567e-04 9.95345066e-01 -1.02255252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00463044 meters Centerline goodness : 0.106762 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.10 [[ 9.95360661e-01 -1.13756011e-03 -9.62073823e-02 7.28929558e-01] [ 1.13623334e-03 9.99999352e-01 -6.85748390e-05 -2.70599807e-01] [ 9.62073979e-02 -4.10573379e-05 9.95361309e-01 -1.02192764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03463044 meters Centerline goodness : 0.106762 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.10 [[ 9.95360661e-01 -1.13756011e-03 -9.62073823e-02 7.28929558e-01] [ 1.13623334e-03 9.99999352e-01 -6.85748390e-05 -2.70599807e-01] [ 9.62073979e-02 -4.10573379e-05 9.95361309e-01 -1.02192764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06463044 meters Centerline goodness : 0.091696 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.28, Z:-0.10 [[ 9.95433318e-01 -2.16845920e-03 -9.54348369e-02 7.26830270e-01] [ 2.13172981e-03 9.99997609e-01 -4.86815238e-04 -2.76329039e-01] [ 9.54356644e-02 2.81150820e-04 9.95435560e-01 -1.01673530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09463044 meters Centerline goodness : 0.095276 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.28, Z:-0.10 [[ 9.95458523e-01 5.63309310e-03 -9.50294527e-02 7.42958031e-01] [-5.71506896e-03 9.99983495e-01 -5.90490409e-04 -2.82771818e-01] [ 9.50245579e-02 1.13090859e-03 9.95474286e-01 -9.91790382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12463044 meters Centerline goodness : 0.130636 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.28, Z:-0.10 [[ 9.95465893e-01 5.70273907e-03 -9.49480624e-02 7.42275596e-01] [-5.76738448e-03 9.99983286e-01 -4.06441033e-04 -2.83633638e-01] [ 9.49441576e-02 9.52200168e-04 9.95482145e-01 -9.85522069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15463044 meters Centerline goodness : 0.464176 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.28, Z:-0.10 [[ 9.95546838e-01 -1.74928448e-03 -9.42519691e-02 7.62468859e-01] [ 1.81778786e-03 9.99998142e-01 6.40959893e-04 -2.81184654e-01] [ 9.42506728e-02 -8.09435680e-04 9.95548168e-01 -9.55561009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18463044 meters Centerline goodness : 0.097584 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.28, Z:-0.10 [[ 9.95554444e-01 -1.70849443e-03 -9.41723467e-02 7.62255427e-01] [ 1.78161483e-03 9.99998173e-01 6.92382219e-04 -2.81107764e-01] [ 9.41709917e-02 -8.57083044e-04 9.95555669e-01 -9.55623967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21463043999998 meters Centerline goodness : 0.245488 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.28, Z:-0.10 [[ 9.95572113e-01 -1.69081984e-03 -9.39856853e-02 7.61748559e-01] [ 1.76343924e-03 9.99998207e-01 6.89616929e-04 -2.80836724e-01] [ 9.39843508e-02 -8.52301429e-04 9.95573310e-01 -9.54809812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24463043999998 meters Centerline goodness : 0.117331 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.28, Z:-0.10 [[ 9.95574185e-01 -1.68231024e-03 -9.39638849e-02 7.61837326e-01] [ 1.74871087e-03 9.99998276e-01 6.24325639e-04 -2.80039028e-01] [ 9.39626726e-02 -7.85878156e-04 9.95575411e-01 -9.56701772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27463043999998 meters Centerline goodness : 0.091412 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.28, Z:-0.10 [[ 9.95562765e-01 -1.73711331e-03 -9.40838140e-02 7.62437577e-01] [ 1.79068353e-03 9.99998279e-01 4.84966779e-04 -2.79252993e-01] [ 9.40828096e-02 -6.51289204e-04 9.95564162e-01 -9.60033030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30463043999998 meters Centerline goodness : 0.092070 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.28, Z:-0.10 [[ 9.95490475e-01 -2.12032581e-03 -9.48378564e-02 7.64767962e-01] [ 2.12623070e-03 9.99997739e-01 -3.87884635e-05 -2.77423819e-01] [ 9.48377242e-02 -1.63033615e-04 9.95492732e-01 -9.66753214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33463043999998 meters Centerline goodness : 0.092964 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.28, Z:-0.10 [[ 9.95452980e-01 -2.23744942e-03 -9.52279339e-02 7.65764018e-01] [ 2.22301230e-03 9.99997496e-01 -2.57693249e-04 -2.76152310e-01] [ 9.52282720e-02 4.48286437e-05 9.95455461e-01 -9.67540201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36463043999998 meters Centerline goodness : 0.170338 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.27, Z:-0.09 [[ 9.95169596e-01 -8.50476207e-03 -9.78015555e-02 7.85476493e-01] [ 8.61058510e-03 9.99962710e-01 6.59985102e-04 -2.67351149e-01] [ 9.77922955e-02 -1.49892572e-03 9.95205718e-01 -9.30714940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39463044 meters Centerline goodness : 0.073855 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.27, Z:-0.09 [[ 9.95141466e-01 -8.43213991e-03 -9.80936404e-02 7.86374012e-01] [ 8.53545497e-03 9.99963372e-01 6.33620284e-04 -2.66680156e-01] [ 9.80847046e-02 -1.46781567e-03 9.95176987e-01 -9.33557765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42463044 meters Centerline goodness : 0.097408 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.27, Z:-0.10 [[ 9.95135403e-01 3.94125754e-04 -9.85158567e-02 7.71008431e-01] [-5.11907172e-04 9.99999184e-01 -1.17028386e-03 -2.69441604e-01] [ 9.85153151e-02 1.21502188e-03 9.95134793e-01 -9.57370994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45463044 meters Centerline goodness : 0.098727 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.27, Z:-0.10 [[ 9.95135953e-01 2.23351053e-04 -9.85108412e-02 7.70760998e-01] [-3.67393005e-04 9.99998890e-01 -1.44405612e-03 -2.68142865e-01] [ 9.85104093e-02 1.47322436e-03 9.95134930e-01 -9.54387483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48463044 meters Centerline goodness : 0.094402 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.27, Z:-0.10 [[ 9.95138907e-01 4.54842093e-05 -9.84812358e-02 7.70520868e-01] [-2.12994778e-04 9.99998549e-01 -1.69042606e-03 -2.66853939e-01] [ 9.84810160e-02 1.70318473e-03 9.95137472e-01 -9.51814101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51463044 meters Centerline goodness : 0.094587 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95220537e-01 -7.17996375e-03 -9.73885579e-02 7.88607876e-01] [ 7.17389145e-03 9.99974182e-01 -4.12515452e-04 -2.59508890e-01] [ 9.73890054e-02 -2.88111093e-04 9.95246351e-01 -9.16079771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54463044 meters Centerline goodness : 0.168238 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95204584e-01 -7.20825472e-03 -9.75493577e-02 7.88980619e-01] [ 7.19302593e-03 9.99974001e-01 -5.07793583e-04 -2.58408963e-01] [ 9.75504818e-02 -1.96316558e-04 9.95230559e-01 -9.15737560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57463044 meters Centerline goodness : 0.101089 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95181897e-01 -7.31989819e-03 -9.77722385e-02 7.89775453e-01] [ 7.28742030e-03 9.99973209e-01 -6.89288941e-04 -2.57369388e-01] [ 9.77746646e-02 -2.65395198e-05 9.95208578e-01 -9.18638790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60463044 meters Centerline goodness : 0.103366 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95129334e-01 -7.71597317e-03 -9.82754896e-02 7.91179368e-01] [ 7.63991024e-03 9.99970154e-01 -1.15027744e-03 -2.56168736e-01] [ 9.82814320e-02 3.93858906e-04 9.95158583e-01 -9.20759552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63463044 meters Centerline goodness : 0.170562 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95124083e-01 -7.81168821e-03 -9.83210861e-02 7.91073301e-01] [ 7.72702319e-03 9.99969375e-01 -1.24187096e-03 -2.55584930e-01] [ 9.83277762e-02 4.76086390e-04 9.95153969e-01 -9.18014685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66463044 meters Centerline goodness : 0.160929 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95122822e-01 -7.82778353e-03 -9.83325749e-02 7.90823272e-01] [ 7.74221584e-03 9.99969245e-01 -1.25174298e-03 -2.55116490e-01] [ 9.83393490e-02 4.84325991e-04 9.95152821e-01 -9.14180894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69463044 meters Centerline goodness : 0.098609 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 9.95152661e-01 -7.83609377e-03 -9.80294669e-02 7.89734274e-01] [ 7.75135178e-03 9.99969182e-01 -1.24527789e-03 -2.54688141e-01] [ 9.80362040e-02 4.79380720e-04 9.95182733e-01 -9.09461208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72463044 meters Centerline goodness : 0.098951 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 9.95161898e-01 -7.84915660e-03 -9.79346054e-02 7.89221155e-01] [ 7.76679561e-03 9.99969091e-01 -1.22219239e-03 -2.54970385e-01] [ 9.79411715e-02 4.55641237e-04 9.95192102e-01 -9.05981762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75463044 meters Centerline goodness : 0.155869 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95184159e-01 -7.86051407e-03 -9.77072273e-02 7.88334534e-01] [ 7.78584138e-03 9.99969034e-01 -1.14551053e-03 -2.55111479e-01] [ 9.77132060e-02 3.79260958e-04 9.95214542e-01 -9.01101729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78463044 meters Centerline goodness : 0.099352 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:-0.09 [[ 9.95213442e-01 -7.80244023e-03 -9.74131806e-02 7.87187480e-01] [ 7.73739384e-03 9.99969519e-01 -1.04548535e-03 -2.55366649e-01] [ 9.74183688e-02 2.86756926e-04 9.95243477e-01 -8.95834906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81463044 meters Centerline goodness : 0.102172 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 9.95260649e-01 -7.70782649e-03 -9.69372444e-02 7.85614012e-01] [ 7.64457401e-03 9.99970256e-01 -1.02389475e-03 -2.54482799e-01] [ 9.69422531e-02 2.77998216e-04 9.95289969e-01 -8.89854083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84463044 meters Centerline goodness : 0.097175 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 9.95261054e-01 -7.86458839e-03 -9.69205015e-02 7.85638402e-01] [ 7.77666781e-03 9.99968936e-01 -1.28486214e-03 -2.53530020e-01] [ 9.69275956e-02 5.25054702e-04 9.95291297e-01 -8.90286243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87463044 meters Centerline goodness : 0.163508 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 9.95242505e-01 -8.04880146e-03 -9.70956946e-02 7.86177127e-01] [ 7.93122935e-03 9.99967272e-01 -1.59679043e-03 -2.52173898e-01] [ 9.71053692e-02 8.19105479e-04 9.95273770e-01 -8.91682637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90463044 meters Centerline goodness : 0.100927 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 9.95209911e-01 -8.06984525e-03 -9.74274585e-02 7.87309819e-01] [ 7.93836587e-03 9.99966982e-01 -1.73707087e-03 -2.50938997e-01] [ 9.74382596e-02 9.55335336e-04 9.95241113e-01 -8.95805437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93463044 meters Centerline goodness : 0.104364 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 0.99515404 -0.00437453 -0.09823088 0.78969823] [ 0.00454659 0.9999885 0.00152782 -0.24901632] [ 0.09822306 -0.00196703 0.99516248 -0.09020321] [ 0. 0. 0. 1. ]] SLAMing on 180.96463043999998 meters Centerline goodness : 0.103661 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 0.99513755 -0.00451463 -0.0983914 0.79011476] [ 0.00465359 0.99998847 0.00118289 -0.24711398] [ 0.09838493 -0.00163501 0.99514709 -0.09019356] [ 0. 0. 0. 1. ]] SLAMing on 180.99463043999998 meters Centerline goodness : 0.164931 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:-0.09 [[ 9.95129825e-01 -4.72109315e-03 -9.84598530e-02 7.90190497e-01] [ 4.82534219e-03 9.99988021e-01 8.20693171e-04 -2.45118635e-01] [ 9.84547990e-02 -1.29179873e-03 9.95140685e-01 -9.00002708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02463043999998 meters Centerline goodness : 0.101051 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:-0.09 [[ 9.95106411e-01 -4.93720589e-03 -9.86856353e-02 7.90814275e-01] [ 4.98171609e-03 9.99987570e-01 2.04620525e-04 -2.40297836e-01] [ 9.86833985e-02 -6.95243014e-04 9.95118638e-01 -9.00334211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05463043999998 meters Centerline goodness : 0.464443 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:-0.09 [[ 9.95080066e-01 -4.98085511e-03 -9.89487380e-02 7.91744359e-01] [ 4.99351216e-03 9.99987525e-01 -1.19744422e-04 -2.37464505e-01] [ 9.89481001e-02 -3.74946440e-04 9.95092525e-01 -9.03290374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08463043999998 meters Centerline goodness : 0.431394 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.09 [[ 9.95051835e-01 -5.08188746e-03 -9.92271151e-02 7.92800316e-01] [ 5.05388606e-03 9.99987087e-01 -5.33556146e-04 -2.34526985e-01] [ 9.92285452e-02 2.94334886e-05 9.95064669e-01 -9.06971960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11463043999998 meters Centerline goodness : 0.464771 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.09 [[ 9.95025441e-01 -5.34315542e-03 -9.94777519e-02 7.93404619e-01] [ 5.23158934e-03 9.99985360e-01 -1.38234637e-03 -2.27656834e-01] [ 9.94836816e-02 8.55043059e-04 9.95038826e-01 -9.06014141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14463044 meters Centerline goodness : 0.231428 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.09 [[ 0.99502781 -0.00547054 -0.09944711 0.79320479] [ 0.00531038 0.99998414 -0.00187513 -0.22450427] [ 0.09945579 0.00133771 0.99504108 -0.09038748] [ 0. 0. 0. 1. ]] SLAMing on 181.17463044 meters Centerline goodness : 0.455240 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.09 [[ 9.95093340e-01 -3.01875735e-03 -9.88945452e-02 7.91014966e-01] [ 3.03168190e-03 9.99995404e-01 -1.95865533e-05 -2.20224417e-01] [ 9.88941498e-02 -2.80326354e-04 9.95097919e-01 -8.96137725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20463044 meters Centerline goodness : 0.309882 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.09 [[ 9.95076203e-01 5.56826729e-04 -9.91112516e-02 7.91787444e-01] [-2.66061979e-04 9.99995622e-01 2.94691413e-03 -2.17646892e-01] [ 9.91124587e-02 -2.90603438e-03 9.95071995e-01 -8.98472477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23463044 meters Centerline goodness : 0.457886 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.21, Z:-0.09 [[ 0.99509385 0.00277871 -0.09889642 0.79062233] [-0.00239269 0.99998905 0.00402161 -0.20945524] [ 0.09890651 -0.00376525 0.99508961 -0.08906775] [ 0. 0. 0. 1. ]] SLAMing on 181.26463044 meters Centerline goodness : 0.136734 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.21, Z:-0.09 [[ 0.99512024 0.00271453 -0.09863237 0.78961699] [-0.00238218 0.99999108 0.00348719 -0.20564773] [ 0.09864096 -0.00323521 0.99511783 -0.08858245] [ 0. 0. 0. 1. ]] SLAMing on 181.29463044 meters Centerline goodness : 0.469283 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.20, Z:-0.09 [[ 0.99512984 0.00273288 -0.09853496 0.78903405] [-0.00244619 0.99999242 0.00303017 -0.20181612] [ 0.09854249 -0.00277438 0.99512898 -0.08815347] [ 0. 0. 0. 1. ]] SLAMing on 181.32463044 meters Centerline goodness : 0.278829 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.20, Z:-0.09 [[ 0.99512883 0.00271847 -0.09854555 0.78884699] [-0.00248105 0.99999372 0.00253169 -0.1979859 ] [ 0.09855182 -0.00227486 0.99512932 -0.08783466] [ 0. 0. 0. 1. ]] SLAMing on 181.35463044 meters Centerline goodness : 0.319874 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.19, Z:-0.09 [[ 0.99514891 0.00433997 -0.0982843 0.78815088] [-0.00407343 0.99998746 0.0029124 -0.18861756] [ 0.09829571 -0.00249791 0.99515412 -0.08763153] [ 0. 0. 0. 1. ]] SLAMing on 181.38463044 meters Centerline goodness : 0.453195 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:-0.09 [[ 0.99514795 0.00418309 -0.09830089 0.78815451] [-0.00397881 0.9999895 0.00227399 -0.1846433 ] [ 0.09830937 -0.00187183 0.99515414 -0.08753877] [ 0. 0. 0. 1. ]] SLAMing on 181.41463044 meters Centerline goodness : 0.089966 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:-0.09 [[ 0.99516085 0.00402821 -0.09817671 0.78751205] [-0.00388584 0.9999911 0.00164125 -0.1804372 ] [ 0.09818244 -0.00125181 0.99516764 -0.08713698] [ 0. 0. 0. 1. ]] SLAMing on 181.44463044 meters Centerline goodness : 0.467114 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:-0.09 [[ 0.99515788 0.00763761 -0.09799217 0.78638266] [-0.00726293 0.99996489 0.00417973 -0.17373275] [ 0.09802065 -0.00344778 0.99517841 -0.08621499] [ 0. 0. 0. 1. ]] SLAMing on 181.47463044 meters Centerline goodness : 0.092067 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:-0.09 [[ 0.99515888 0.00752393 -0.09799076 0.78636447] [-0.00720168 0.99996744 0.00364183 -0.17002267] [ 0.09801497 -0.0029185 0.99518066 -0.08617129] [ 0. 0. 0. 1. ]] SLAMing on 181.50463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 181.53463044 meters Centerline goodness : 0.470998 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.16, Z:-0.09 [[ 0.99515743 0.0074595 -0.09801047 0.78671019] [-0.0072125 0.99996986 0.0028742 -0.16177078] [ 0.09802896 -0.00215338 0.99518123 -0.08641051] [ 0. 0. 0. 1. ]] SLAMing on 181.56463044 meters Centerline goodness : 0.365884 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:-0.09 [[ 0.99517118 0.00716078 -0.09789304 0.78632691] [-0.00699707 0.99997349 0.00201556 -0.15494663] [ 0.09790487 -0.00132086 0.9951949 -0.08619348] [ 0. 0. 0. 1. ]] SLAMing on 181.59463044 meters Centerline goodness : 0.362461 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:-0.09 [[ 9.95177484e-01 6.99399888e-03 -9.78409947e-02 7.86327501e-01] [-6.87546334e-03 9.99975165e-01 1.54862360e-03 -1.52261907e-01] [ 9.78493958e-02 -8.68453161e-04 9.95200855e-01 -8.63677148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62463044 meters Centerline goodness : 0.095337 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:-0.09 [[ 9.95161764e-01 6.89947634e-03 -9.80074573e-02 7.86890536e-01] [-6.81431158e-03 9.99976058e-01 1.20367189e-03 -1.49889612e-01] [ 9.80134155e-02 -5.29994888e-04 9.95184952e-01 -8.65689865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65463044 meters Centerline goodness : 0.144222 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:-0.09 [[ 9.95150391e-01 6.81578555e-03 -9.81287092e-02 7.87375708e-01] [-6.75522913e-03 9.99976733e-01 9.49345569e-04 -1.48259971e-01] [ 9.81328965e-02 -2.81859700e-04 9.95173279e-01 -8.67773097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68463044 meters Centerline goodness : 0.467532 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:-0.09 [[ 9.95144163e-01 6.66002370e-03 -9.82025431e-02 7.87591473e-01] [-6.63896789e-03 9.99977815e-01 5.41185690e-04 -1.45565026e-01] [ 9.82039689e-02 1.13405750e-04 9.95166301e-01 -8.67714332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71463043999998 meters Centerline goodness : 0.303598 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.09 [[ 9.95136666e-01 6.57332086e-03 -9.82843232e-02 7.87852875e-01] [-6.57388903e-03 9.99978341e-01 3.18061715e-04 -1.44344157e-01] [ 9.82842852e-02 3.29595359e-04 9.95158324e-01 -8.68031529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74463043999998 meters Centerline goodness : 0.138637 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.09 [[ 9.95114856e-01 6.45312548e-03 -9.85128416e-02 7.88528331e-01] [-6.48492085e-03 9.99978973e-01 -2.55079597e-06 -1.42530721e-01] [ 9.85107537e-02 6.41386315e-04 9.95135780e-01 -8.69514223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77463043999998 meters Centerline goodness : 0.104397 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.09 [[ 9.95095563e-01 6.34945838e-03 -9.87142622e-02 7.89286876e-01] [-6.41711382e-03 9.99979342e-01 -3.67872604e-04 -1.40452840e-01] [ 9.87098872e-02 9.99529052e-04 9.95115752e-01 -8.72747744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80463043999998 meters Centerline goodness : 0.461823 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.09 [[ 9.95016679e-01 6.44142434e-03 -9.95003369e-02 7.91512684e-01] [-6.56987123e-03 9.99977954e-01 -9.63304435e-04 -1.36133242e-01] [ 9.94919383e-02 1.61220838e-03 9.95037062e-01 -8.78022936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83463043999998 meters Centerline goodness : 0.468062 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:-0.09 [[ 0.99495729 0.00139464 -0.10028983 0.81263978] [-0.00124804 0.99999806 0.00152455 -0.13079226] [ 0.10029176 -0.00139169 0.9949571 -0.08537053] [ 0. 0. 0. 1. ]] SLAMing on 181.86463043999998 meters Centerline goodness : 0.373567 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:-0.09 [[ 0.99494851 0.00139751 -0.1003768 0.81274259] [-0.00127942 0.99999841 0.00124084 -0.12856942] [ 0.10037838 -0.00110615 0.99494872 -0.08528599] [ 0. 0. 0. 1. ]] SLAMing on 181.89463044 meters Centerline goodness : 0.097817 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:-0.09 [[ 9.94947911e-01 1.34613410e-03 -1.00383473e-01 8.12681084e-01] [-1.25069262e-03 9.99998704e-01 1.01369623e-03 -1.27125338e-01] [ 1.00384707e-01 -8.83026082e-04 9.94948306e-01 -8.52424790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92463044 meters Centerline goodness : 0.097817 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:-0.09 [[ 9.94947911e-01 1.34613410e-03 -1.00383473e-01 8.12681084e-01] [-1.25069262e-03 9.99998704e-01 1.01369623e-03 -1.27125338e-01] [ 1.00384707e-01 -8.83026082e-04 9.94948306e-01 -8.52424790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95463044 meters Centerline goodness : 0.463799 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:-0.09 [[ 9.94938926e-01 1.29792684e-03 -1.00473121e-01 8.12827414e-01] [-1.20756336e-03 9.99998810e-01 9.60192194e-04 -1.27093633e-01] [ 1.00474248e-01 -8.34004932e-04 9.94939310e-01 -8.51473311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98463044 meters Centerline goodness : 0.297901 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.09 [[ 9.94843227e-01 -7.13695628e-04 -1.01422114e-01 8.16203955e-01] [ 6.58877053e-04 9.99999618e-01 -5.73996928e-04 -1.30629789e-01] [ 1.01422485e-01 5.04212252e-04 9.94843317e-01 -8.58551488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01463044 meters Centerline goodness : 0.296125 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.09 [[ 9.94842722e-01 -6.86303516e-04 -1.01427252e-01 8.15941753e-01] [ 6.66771146e-04 9.99999752e-01 -2.26476848e-04 -1.33377096e-01] [ 1.01427382e-01 1.57680079e-04 9.94842933e-01 -8.54949098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04463044 meters Centerline goodness : 0.456156 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.09 [[ 9.94853877e-01 -6.87709826e-04 -1.01317770e-01 8.15439019e-01] [ 7.06776092e-04 9.99999739e-01 1.52286111e-04 -1.36665569e-01] [ 1.01317639e-01 -2.23111405e-04 9.94854103e-01 -8.51226522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07463044 meters Centerline goodness : 0.458189 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.08 [[ 9.94895429e-01 -6.55196015e-04 -1.00909144e-01 8.14451130e-01] [ 7.40217374e-04 9.99999402e-01 8.05112952e-04 -1.44789124e-01] [ 1.00908557e-01 -8.75697898e-04 9.94895319e-01 -8.49933968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10463044 meters Centerline goodness : 0.455504 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.08 [[ 9.94903114e-01 -3.54483068e-04 -1.00834856e-01 8.14259142e-01] [ 4.94797965e-04 9.99998944e-01 1.36652492e-03 -1.47549188e-01] [ 1.00834265e-01 -1.40945278e-03 9.94902239e-01 -8.48998406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13463044 meters Centerline goodness : 0.089858 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.08 [[ 9.94914637e-01 -1.09973642e-04 -1.00721664e-01 8.14038438e-01] [ 2.93965126e-04 9.99998315e-01 1.81189172e-03 -1.49800399e-01] [ 1.00721295e-01 -1.83228625e-03 9.94912993e-01 -8.49088866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16463044 meters Centerline goodness : 0.461243 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.08 [[ 9.94876513e-01 6.70441246e-04 -1.01095377e-01 8.14742608e-01] [-3.94351529e-04 9.99996138e-01 2.75094264e-03 -1.54059095e-01] [ 1.01096831e-01 -2.69698111e-03 9.94872935e-01 -8.45853910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19463044 meters Centerline goodness : 0.094817 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.08 [[ 9.94862934e-01 1.01200686e-03 -1.01226076e-01 8.15002162e-01] [-6.95380535e-04 9.99994755e-01 3.16314975e-03 -1.55715469e-01] [ 1.01228746e-01 -3.07650980e-03 9.94858420e-01 -8.45032171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22463044 meters Centerline goodness : 0.432364 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.16, Z:-0.08 [[ 9.94866654e-01 1.33790421e-03 -1.01185722e-01 8.14967186e-01] [-9.78826671e-04 9.99993047e-01 3.59826353e-03 -1.57636039e-01] [ 1.01189832e-01 -3.48074911e-03 9.94861047e-01 -8.45521373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25463044 meters Centerline goodness : 0.467387 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.16, Z:-0.08 [[ 0.99486404 0.00160508 -0.10120758 0.81494201] [-0.00120375 0.99999117 0.00402635 -0.1598127 ] [ 0.10121315 -0.00388384 0.99485718 -0.08445544] [ 0. 0. 0. 1. ]] SLAMing on 182.28463044 meters Centerline goodness : 0.446136 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.17, Z:-0.08 [[ 0.99486583 0.00210716 -0.1011807 0.81499867] [-0.00162422 0.99998689 0.00485523 -0.16532821] [ 0.1011896 -0.00466596 0.99485622 -0.08449842] [ 0. 0. 0. 1. ]] SLAMing on 182.31463044 meters Centerline goodness : 0.092891 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.17, Z:-0.08 [[ 0.99488532 0.00238651 -0.10098266 0.81460508] [-0.0018482 0.99998358 0.00542399 -0.16841149] [ 0.10099394 -0.00520961 0.9948734 -0.0845465 ] [ 0. 0. 0. 1. ]] SLAMing on 182.34463044 meters Centerline goodness : 0.096374 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.17, Z:-0.08 [[ 0.9948915 0.00270776 -0.10091364 0.81440594] [-0.00210649 0.99997939 0.00606431 -0.17167496] [ 0.10092798 -0.00582076 0.99487671 -0.08444384] [ 0. 0. 0. 1. ]] SLAMing on 182.37463044 meters Centerline goodness : 0.094212 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:-0.08 [[ 0.99488817 0.00306316 -0.1009363 0.81467665] [-0.00239005 0.9999741 0.00678894 -0.17526814] [ 0.10095448 -0.00651299 0.99486973 -0.08464565] [ 0. 0. 0. 1. ]] SLAMing on 182.40463044 meters Centerline goodness : 0.121585 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:-0.09 [[ 9.94748047e-01 1.57109849e-03 -1.02341856e-01 8.19928495e-01] [-9.26434058e-04 9.99979433e-01 6.34635460e-03 -1.84611714e-01] [ 1.02349722e-01 -6.21821086e-03 9.94729043e-01 -8.63296776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43463044 meters Centerline goodness : 0.110412 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.19, Z:-0.09 [[ 0.99470456 0.0017616 -0.10276056 0.82116281] [-0.00104991 0.99997509 0.00697945 -0.18888703] [ 0.10277029 -0.0068346 0.99468164 -0.08648321] [ 0. 0. 0. 1. ]] SLAMing on 182.46463043999998 meters Centerline goodness : 0.125384 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.19, Z:-0.09 [[ 0.99468008 0.00200075 -0.10299285 0.82172346] [-0.00122057 0.99997009 0.00763757 -0.19300137] [ 0.10300505 -0.00747123 0.99465277 -0.08636373] [ 0. 0. 0. 1. ]] SLAMing on 182.49463043999998 meters Centerline goodness : 0.093271 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.09 [[ 0.99466985 0.00246754 -0.10308155 0.82174101] [-0.0015837 0.99996129 0.00865515 -0.20007612] [ 0.10309892 -0.00844577 0.99463525 -0.08595472] [ 0. 0. 0. 1. ]] SLAMing on 182.52463043999998 meters Centerline goodness : 0.102266 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.09 [[ 0.99468198 0.00267997 -0.10295913 0.82153192] [-0.00175411 0.99995722 0.009082 -0.20214989] [ 0.10297906 -0.0088531 0.99464413 -0.0859769 ] [ 0. 0. 0. 1. ]] SLAMing on 182.55463043999998 meters Centerline goodness : 0.106254 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.09 [[ 0.99470574 0.00286742 -0.1027242 0.82093157] [-0.00190512 0.99995339 0.00946477 -0.20401597] [ 0.10274655 -0.00921896 0.99466485 -0.08588449] [ 0. 0. 0. 1. ]] SLAMing on 182.58463043999998 meters Centerline goodness : 0.083481 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99473657 0.00318456 -0.10241589 0.82011831] [-0.00215931 0.99994646 0.01011997 -0.20749037] [ 0.10244263 -0.00984556 0.99469019 -0.08565294] [ 0. 0. 0. 1. ]] SLAMing on 182.61463043999998 meters Centerline goodness : 0.086950 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99471749 0.00325418 -0.10259882 0.82060533] [-0.00220461 0.99994409 0.0103416 -0.2090298 ] [ 0.10262674 -0.01006078 0.99466906 -0.08565731] [ 0. 0. 0. 1. ]] SLAMing on 182.64463044 meters Centerline goodness : 0.082866 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99467934 0.00327196 -0.10296752 0.82157258] [-0.00220687 0.9999429 0.01045621 -0.21018657] [ 0.10299585 -0.01017334 0.99462976 -0.08566999] [ 0. 0. 0. 1. ]] SLAMing on 182.67463044 meters Centerline goodness : 0.124489 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99466367 0.00327691 -0.10311862 0.82204152] [-0.00220418 0.99994229 0.01051514 -0.21090799] [ 0.10314713 -0.01023174 0.99461348 -0.08577954] [ 0. 0. 0. 1. ]] SLAMing on 182.70463044 meters Centerline goodness : 0.123293 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99469785 0.00343797 -0.10278307 0.82135583] [-0.00236728 0.99994168 0.01053712 -0.21035575] [ 0.10281331 -0.01023793 0.99464798 -0.08597206] [ 0. 0. 0. 1. ]] SLAMing on 182.73463044 meters Centerline goodness : 0.095033 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99473635 0.00347585 -0.10240855 0.82050618] [-0.00242063 0.99994271 0.01042651 -0.20933741] [ 0.10243893 -0.01012374 0.99468778 -0.08604531] [ 0. 0. 0. 1. ]] SLAMing on 182.76463044 meters Centerline goodness : 0.120728 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99476694 0.00341863 -0.10211295 0.81981763] [-0.00238837 0.99994502 0.01020994 -0.20808027] [ 0.10214224 -0.00991263 0.99472041 -0.08612617] [ 0. 0. 0. 1. ]] SLAMing on 182.79463044 meters Centerline goodness : 0.108321 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99476761 0.00338688 -0.10210744 0.81987579] [-0.00237767 0.99994713 0.01000395 -0.20676298] [ 0.10213592 -0.00970883 0.99472307 -0.08624748] [ 0. 0. 0. 1. ]] SLAMing on 182.82463044 meters Centerline goodness : 0.109322 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.09 [[ 0.99467785 0.00347284 -0.10297533 0.82208183] [-0.00247902 0.99994913 0.00977741 -0.2048622 ] [ 0.10300405 -0.0094701 0.99463585 -0.08647169] [ 0. 0. 0. 1. ]] SLAMing on 182.85463044 meters Centerline goodness : 0.117337 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.09 [[ 0.99466091 0.00335279 -0.10314277 0.82245135] [-0.00237452 0.99995104 0.00960587 -0.20442553] [ 0.10316993 -0.00930967 0.99462018 -0.08640855] [ 0. 0. 0. 1. ]] SLAMing on 182.88463044 meters Centerline goodness : 0.103049 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.09 [[ 0.99466071 0.00330257 -0.1031463 0.82247032] [-0.00232537 0.99995129 0.00959265 -0.20483581] [ 0.10317295 -0.00930158 0.99461994 -0.08643663] [ 0. 0. 0. 1. ]] SLAMing on 182.91463044 meters Centerline goodness : 0.112855 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99470306 0.00332935 -0.10273627 0.82138783] [-0.00233111 0.99994892 0.00983506 -0.20627721] [ 0.10276377 -0.00954347 0.99466001 -0.08626692] [ 0. 0. 0. 1. ]] SLAMing on 182.94463044 meters Centerline goodness : 0.115090 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99471386 0.00342993 -0.10262836 0.82096609] [-0.0024066 0.99994616 0.01009336 -0.20746641] [ 0.10265746 -0.00979302 0.99466856 -0.08604034] [ 0. 0. 0. 1. ]] SLAMing on 182.97463044 meters Centerline goodness : 0.125755 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99471338 0.00355563 -0.10262866 0.82079712] [-0.00250276 0.99994293 0.01038597 -0.20879423] [ 0.10265973 -0.0100742 0.99466552 -0.08575849] [ 0. 0. 0. 1. ]] SLAMing on 183.00463044 meters Centerline goodness : 0.085887 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99470822 0.00364623 -0.1026755 0.82078508] [-0.00256708 0.99994009 0.01064046 -0.21016638] [ 0.10270814 -0.01032058 0.99465799 -0.08552661] [ 0. 0. 0. 1. ]] SLAMing on 183.03463044 meters Centerline goodness : 0.119362 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.9946655 0.00368534 -0.10308719 0.82196003] [-0.00257973 0.99993774 0.01085628 -0.21183245] [ 0.10312079 -0.01053243 0.99461308 -0.08565249] [ 0. 0. 0. 1. ]] SLAMing on 183.06463044 meters Centerline goodness : 0.101463 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99463768 0.00372118 -0.10335393 0.82300352] [-0.00260899 0.99993725 0.01089404 -0.21200165] [ 0.10338798 -0.01056597 0.99458498 -0.08616279] [ 0. 0. 0. 1. ]] SLAMing on 183.09463044 meters Centerline goodness : 0.127174 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99461673 0.0038235 -0.1035516 0.82400846] [-0.002705 0.9999365 0.01093966 -0.21162017] [ 0.10358685 -0.01060066 0.99456392 -0.086815 ] [ 0. 0. 0. 1. ]] SLAMing on 183.12463044 meters Centerline goodness : 0.119800 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99461536 0.00385417 -0.10356367 0.8243977 ] [-0.00273669 0.99993652 0.01093026 -0.21127899] [ 0.10359922 -0.01058798 0.99456277 -0.08726849] [ 0. 0. 0. 1. ]] SLAMing on 183.15463044 meters Centerline goodness : 0.119291 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99462127 0.003809 -0.10350852 0.82422581] [-0.00269797 0.99993726 0.0108716 -0.21114547] [ 0.10354344 -0.01053386 0.99456915 -0.08718405] [ 0. 0. 0. 1. ]] SLAMing on 183.18463044 meters Centerline goodness : 0.120588 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99466797 0.00367714 -0.10306361 0.8224132 ] [-0.00256756 0.99993733 0.01089663 -0.21209656] [ 0.10309722 -0.01057391 0.99461508 -0.08624445] [ 0. 0. 0. 1. ]] SLAMing on 183.21463043999998 meters Centerline goodness : 0.096171 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.99466164 0.00365569 -0.10312543 0.82220222] [-0.00253398 0.99993622 0.01100599 -0.2130109 ] [ 0.10315909 -0.01068592 0.99460747 -0.08573892] [ 0. 0. 0. 1. ]] SLAMing on 183.24463043999998 meters Centerline goodness : 0.119822 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.09 [[ 0.9946378 0.00360125 -0.10335707 0.82274567] [-0.00246249 0.99993488 0.01114324 -0.21448316] [ 0.10339047 -0.01082897 0.99458189 -0.08567122] [ 0. 0. 0. 1. ]] SLAMing on 183.27463043999998 meters Centerline goodness : 0.101220 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.22, Z:-0.09 [[ 9.94607923e-01 8.89291290e-04 -1.03702885e-01 8.25511028e-01] [ 6.22449810e-05 9.99957934e-01 9.17200363e-03 -2.18805836e-01] [ 1.03706679e-01 -9.12900246e-03 9.94566029e-01 -8.72585076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30463043999998 meters Centerline goodness : 0.117772 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.22, Z:-0.09 [[ 9.94595516e-01 9.21737336e-04 -1.03821533e-01 8.25679886e-01] [ 6.47059662e-05 9.99954895e-01 9.49756756e-03 -2.21150226e-01] [ 1.03825605e-01 -9.45295598e-03 9.94550595e-01 -8.70258801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33463043999998 meters Centerline goodness : 0.118358 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.22, Z:-0.09 [[ 9.94584153e-01 1.10371968e-03 -1.03928558e-01 8.25829600e-01] [-6.55573716e-05 9.99950076e-01 9.99207794e-03 -2.23832278e-01] [ 1.03934398e-01 -9.93114908e-03 9.94534571e-01 -8.68187563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36463043999998 meters Centerline goodness : 0.132871 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.09 [[ 9.94567943e-01 1.32418414e-03 -1.04080994e-01 8.26049992e-01] [-2.34293707e-04 9.99945023e-01 1.04830890e-02 -2.26258562e-01] [ 1.04089154e-01 -1.04017588e-02 9.94513575e-01 -8.65319569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39463044 meters Centerline goodness : 0.122704 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.09 [[ 9.94451993e-01 -4.83490739e-04 -1.05190305e-01 8.30331958e-01] [ 1.45685225e-03 9.99956832e-01 9.17669889e-03 -2.30982420e-01] [ 1.05181328e-01 -9.27903323e-03 9.94409769e-01 -8.77233491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42463044 meters Centerline goodness : 0.127297 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.09 [[ 9.94430169e-01 -5.00557216e-04 -1.05396340e-01 8.30946713e-01] [ 1.49508089e-03 9.99955102e-01 9.35723955e-03 -2.32950197e-01] [ 1.05386924e-01 -9.46269736e-03 9.94386270e-01 -8.78121141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45463044 meters Centerline goodness : 0.142486 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94460519e-01 -1.64653071e-04 -1.05110651e-01 8.30059284e-01] [ 1.21928400e-03 9.99949561e-01 9.96935157e-03 -2.35750790e-01] [ 1.05103708e-01 -1.00422863e-02 9.94410561e-01 -8.75150550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48463044 meters Centerline goodness : 0.126681 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94486153e-01 8.85931661e-05 -1.04867935e-01 8.29513315e-01] [ 9.93227878e-04 9.99946833e-01 1.02637649e-02 -2.36320596e-01] [ 1.04863269e-01 -1.03113298e-02 9.94433191e-01 -8.75232223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51463044 meters Centerline goodness : 0.138891 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94507310e-01 2.26347131e-04 -1.04666893e-01 8.29049594e-01] [ 8.71689315e-04 9.99945071e-01 1.04449083e-02 -2.36902012e-01] [ 1.04663508e-01 -1.04787746e-02 9.94452485e-01 -8.75421808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54463044 meters Centerline goodness : 0.267737 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94493257e-01 2.19681955e-04 -1.04800355e-01 8.29476570e-01] [ 8.78368202e-04 9.99945207e-01 1.04312735e-02 -2.37252916e-01] [ 1.04796905e-01 -1.04658845e-02 9.94438572e-01 -8.76366072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57463044 meters Centerline goodness : 0.198603 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94448408e-01 1.77412449e-04 -1.05225147e-01 8.30622135e-01] [ 9.12395482e-04 9.99946448e-01 1.03086877e-02 -2.37223984e-01] [ 1.05221341e-01 -1.03474650e-02 9.94394992e-01 -8.77922068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60463044 meters Centerline goodness : 0.163882 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94449963e-01 3.18291237e-04 -1.05210127e-01 8.30581911e-01] [ 7.74410291e-04 9.99946190e-01 1.03448825e-02 -2.36590338e-01] [ 1.05207758e-01 -1.03689438e-02 9.94396205e-01 -8.78397417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63463044 meters Centerline goodness : 0.120863 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94464305e-01 5.52211506e-04 -1.05073507e-01 8.30209638e-01] [ 5.47666153e-04 9.99945367e-01 1.04385569e-02 -2.35757616e-01] [ 1.05073530e-01 -1.04383174e-02 9.94409671e-01 -8.78277015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66463044 meters Centerline goodness : 0.158405 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.09 [[ 9.94505913e-01 7.97928837e-04 -1.04677369e-01 8.29285841e-01] [ 3.02581817e-04 9.99944859e-01 1.04970564e-02 -2.34875499e-01] [ 1.04679973e-01 -1.04710581e-02 9.94450834e-01 -8.78802378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69463044 meters Centerline goodness : 0.087680 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.09 [[ 9.94494579e-01 7.06755931e-04 -1.04785654e-01 8.29679642e-01] [ 3.84364229e-04 9.99945925e-01 1.03923182e-02 -2.34795726e-01] [ 1.04787332e-01 -1.03753800e-02 9.94440529e-01 -8.80239725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72463044 meters Centerline goodness : 0.116438 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.08 [[ 0.99445494 0.00825707 -0.10483887 0.84859153] [-0.00737985 0.99993446 0.00875255 -0.23739444] [ 0.10490427 -0.00793032 0.9944507 -0.08460689] [ 0. 0. 0. 1. ]] SLAMing on 183.75463044 meters Centerline goodness : 0.134638 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94375321e-01 1.59932143e-04 -1.05913627e-01 8.29575699e-01] [ 9.24218092e-04 9.99947684e-01 1.01870125e-02 -2.35317037e-01] [ 1.05909715e-01 -1.02276011e-02 9.94323151e-01 -8.77863434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78463044 meters Centerline goodness : 0.163531 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94368523e-01 4.10935929e-04 -1.05976749e-01 8.30047564e-01] [ 7.08457246e-04 9.99944362e-01 1.05247675e-02 -2.36135874e-01] [ 1.05975178e-01 -1.05405775e-02 9.94312907e-01 -8.80706423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81463044 meters Centerline goodness : 0.191083 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94364951e-01 4.31172853e-04 -1.06010182e-01 8.30240593e-01] [ 6.94499196e-04 9.99943774e-01 1.05813823e-02 -2.36481281e-01] [ 1.06008784e-01 -1.05953797e-02 9.94308743e-01 -8.81715488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84463044 meters Centerline goodness : 0.191083 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94364951e-01 4.31172853e-04 -1.06010182e-01 8.30240593e-01] [ 6.94499196e-04 9.99943774e-01 1.05813823e-02 -2.36481281e-01] [ 1.06008784e-01 -1.05953797e-02 9.94308743e-01 -8.81715488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87463044 meters Centerline goodness : 0.132309 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94342527e-01 3.90849287e-04 -1.06220459e-01 8.30885862e-01] [ 7.42092008e-04 9.99943265e-01 1.06262086e-02 -2.37126218e-01] [ 1.06218586e-01 -1.06449165e-02 9.94285823e-01 -8.83050863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90463044 meters Centerline goodness : 0.132219 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94293786e-01 3.91529339e-04 -1.06675746e-01 8.32449879e-01] [ 7.55920822e-04 9.99942299e-01 1.07157828e-02 -2.37897281e-01] [ 1.06673786e-01 -1.07352746e-02 9.94236117e-01 -8.88011770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93463044 meters Centerline goodness : 0.084065 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94291170e-01 4.38485207e-04 -1.06699942e-01 8.32585580e-01] [ 7.15895293e-04 9.99941634e-01 1.07803994e-02 -2.38070437e-01] [ 1.06698441e-01 -1.07952419e-02 9.94232823e-01 -8.88957083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96463043999998 meters Centerline goodness : 0.237203 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94299035e-01 4.49947660e-04 -1.06626579e-01 8.32286091e-01] [ 7.08158454e-04 9.99941177e-01 1.08232156e-02 -2.38246374e-01] [ 1.06625177e-01 -1.08370214e-02 9.94240228e-01 -8.87409652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99463043999998 meters Centerline goodness : 0.119917 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94319792e-01 4.03764928e-04 -1.06433018e-01 8.31686213e-01] [ 7.53162818e-04 9.99941075e-01 1.08295889e-02 -2.38624763e-01] [ 1.06431119e-01 -1.08482360e-02 9.94260898e-01 -8.85300985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02463043999998 meters Centerline goodness : 0.140085 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94326820e-01 1.79156795e-04 -1.06367960e-01 8.31392687e-01] [ 9.61715562e-04 9.99942565e-01 1.06743241e-02 -2.39114623e-01] [ 1.06363763e-01 -1.07160625e-02 9.94269539e-01 -8.83059830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05463043999998 meters Centerline goodness : 0.186071 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.24, Z:-0.09 [[ 9.94311979e-01 1.59309200e-04 -1.06506632e-01 8.31843649e-01] [ 9.82337494e-04 9.99942629e-01 1.06664719e-02 -2.39135980e-01] [ 1.06502221e-01 -1.07104262e-02 9.94254778e-01 -8.84439708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08463043999998 meters Centerline goodness : 0.126590 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99431156 0.00797149 -0.10621198 0.85114622] [-0.00701383 0.99993134 0.00938702 -0.24136248] [ 0.10627952 -0.00858867 0.9942992 -0.08543031] [ 0. 0. 0. 1. ]] SLAMing on 184.11463043999998 meters Centerline goodness : 0.123439 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99430765 0.00799996 -0.10624643 0.85109315] [-0.00703243 0.99993035 0.00947802 -0.24181231] [ 0.10631485 -0.0086769 0.99429466 -0.08521965] [ 0. 0. 0. 1. ]] SLAMing on 184.14463044 meters Centerline goodness : 0.119517 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.08 [[ 0.99434274 0.00789699 -0.10592519 0.84999089] [-0.00692059 0.99993014 0.00958222 -0.24310576] [ 0.10599346 -0.00879495 0.99432793 -0.08476975] [ 0. 0. 0. 1. ]] SLAMing on 184.17463044 meters Centerline goodness : 0.127546 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.08 [[ 0.9943518 0.00786462 -0.10584252 0.84977566] [-0.00688025 0.99992965 0.00966223 -0.24398961] [ 0.10591107 -0.00887944 0.99433596 -0.08472404] [ 0. 0. 0. 1. ]] SLAMing on 184.20463044 meters Centerline goodness : 0.124458 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.08 [[ 0.99434727 0.00782371 -0.10588809 0.8498842 ] [-0.00683155 0.99992933 0.00972934 -0.24474229] [ 0.10595672 -0.00895097 0.99433045 -0.08464849] [ 0. 0. 0. 1. ]] SLAMing on 184.23463044 meters Centerline goodness : 0.137989 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99433107 0.0078447 -0.10603859 0.85042425] [-0.00683992 0.99992823 0.009836 -0.24541594] [ 0.10610814 -0.00905494 0.99431337 -0.08482567] [ 0. 0. 0. 1. ]] SLAMing on 184.26463044 meters Centerline goodness : 0.126049 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99431375 0.00784331 -0.10620102 0.85110502] [-0.00682867 0.99992754 0.00991424 -0.24604427] [ 0.10627109 -0.00913265 0.99429525 -0.0851267 ] [ 0. 0. 0. 1. ]] SLAMing on 184.29463044 meters Centerline goodness : 0.125433 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99429376 0.00770953 -0.10639771 0.85168227] [-0.00669088 0.99992833 0.00992769 -0.24718823] [ 0.10646663 -0.00915915 0.99427409 -0.08517256] [ 0. 0. 0. 1. ]] SLAMing on 184.32463044 meters Centerline goodness : 0.172064 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99429534 0.00770103 -0.10638365 0.85145334] [-0.00667643 0.99992787 0.009984 -0.24783609] [ 0.10645286 -0.00921679 0.99427503 -0.08489212] [ 0. 0. 0. 1. ]] SLAMing on 184.35463044 meters Centerline goodness : 0.125509 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99430444 0.00780177 -0.10629121 0.85113271] [-0.00676248 0.99992578 0.01013466 -0.24830873] [ 0.10636239 -0.00935814 0.99428339 -0.08476506] [ 0. 0. 0. 1. ]] SLAMing on 184.38463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 184.41463044 meters Centerline goodness : 0.143582 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99434725 0.0079593 -0.10587823 0.85046403] [-0.00690095 0.99992254 0.01035849 -0.24921868] [ 0.10595248 -0.00956927 0.99432515 -0.08508519] [ 0. 0. 0. 1. ]] SLAMing on 184.44463044 meters Centerline goodness : 0.162873 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.25, Z:-0.09 [[ 9.94326604e-01 -7.42621583e-04 -1.06367535e-01 8.30454937e-01] [ 1.94169885e-03 9.99935730e-01 1.11698458e-02 -2.47127361e-01] [ 1.06352404e-01 -1.13130085e-02 9.94264141e-01 -8.81800228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47463044 meters Centerline goodness : 0.114033 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99431206 0.00692709 -0.1062805 0.84952519] [-0.00594264 0.99993648 0.00957659 -0.25053695] [ 0.10634009 -0.00889053 0.99429007 -0.08470721] [ 0. 0. 0. 1. ]] SLAMing on 184.50463044 meters Centerline goodness : 0.136012 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99429765 0.0071419 -0.10640098 0.84987531] [-0.00611421 0.99993149 0.0099817 -0.25228333] [ 0.10646498 -0.00927422 0.9942732 -0.0847568 ] [ 0. 0. 0. 1. ]] SLAMing on 184.53463044 meters Centerline goodness : 0.130016 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99429801 0.00726269 -0.10638949 0.8498774 ] [-0.00620974 0.99992844 0.01022511 -0.25336366] [ 0.10645614 -0.00950616 0.99427196 -0.08475207] [ 0. 0. 0. 1. ]] SLAMing on 184.56463044 meters Centerline goodness : 0.114875 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99429948 0.00733185 -0.10637095 0.84978874] [-0.00625989 0.99992624 0.01040796 -0.25446299] [ 0.10643941 -0.00968276 0.99427204 -0.08465014] [ 0. 0. 0. 1. ]] SLAMing on 184.59463044 meters Centerline goodness : 0.135684 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.08 [[ 0.99439974 0.00421484 -0.1056002 0.84787519] [-0.00342507 0.9999648 0.00765912 -0.25597641] [ 0.10562876 -0.00725454 0.99437917 -0.08467072] [ 0. 0. 0. 1. ]] SLAMing on 184.62463044 meters Centerline goodness : 0.124936 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.08 [[ 0.9944009 0.00428027 -0.10558656 0.8480548 ] [-0.0034819 0.99996395 0.00774442 -0.25626247] [ 0.1056159 -0.00733342 0.99437996 -0.08496637] [ 0. 0. 0. 1. ]] SLAMing on 184.65463044 meters Centerline goodness : 0.103261 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 0.99440377 0.00438122 -0.10555538 0.84816087] [-0.00357087 0.9999627 0.0078648 -0.25643907] [ 0.1055859 -0.00744387 0.99438232 -0.08516384] [ 0. 0. 0. 1. ]] SLAMing on 184.68463044 meters Centerline goodness : 0.170286 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 0.99440185 0.00437656 -0.10557366 0.84856264] [-0.00356555 0.99996268 0.00786943 -0.25649951] [ 0.10560416 -0.00744895 0.99438035 -0.08560887] [ 0. 0. 0. 1. ]] SLAMing on 184.71463043999998 meters Centerline goodness : 0.149344 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 0.99439749 0.00427467 -0.10561895 0.84881239] [-0.00347395 0.99996382 0.00776407 -0.25648036] [ 0.10564832 -0.00735365 0.99437637 -0.08575362] [ 0. 0. 0. 1. ]] SLAMing on 184.74463043999998 meters Centerline goodness : 0.114956 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 0.99438858 0.00417142 -0.10570688 0.84888124] [-0.0033839 0.99996518 0.00762826 -0.25610265] [ 0.10573502 -0.00722775 0.99436807 -0.08560106] [ 0. 0. 0. 1. ]] SLAMing on 184.77463043999998 meters Centerline goodness : 0.139652 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 0.99438091 0.00414973 -0.10577992 0.84888456] [-0.00337096 0.99996589 0.0075399 -0.25547773] [ 0.1058076 -0.00714095 0.99436098 -0.0853958 ] [ 0. 0. 0. 1. ]] SLAMing on 184.80463043999998 meters Centerline goodness : 0.126152 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99439951 0.00411766 -0.10560611 0.84861396] [-0.00336611 0.99996773 0.00729384 -0.25375589] [ 0.10563273 -0.00689751 0.99438129 -0.08553839] [ 0. 0. 0. 1. ]] SLAMing on 184.83463043999998 meters Centerline goodness : 0.113367 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99440234 0.00398332 -0.10558464 0.84873533] [-0.00326018 0.99997004 0.00702063 -0.25254301] [ 0.10560944 -0.0066371 0.99438554 -0.08577305] [ 0. 0. 0. 1. ]] SLAMing on 184.86463043999998 meters Centerline goodness : 0.104815 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.9943999 0.00385872 -0.10561224 0.84910534] [-0.00316556 0.99997234 0.00673015 -0.25126005] [ 0.10563528 -0.00635813 0.99438461 -0.08616217] [ 0. 0. 0. 1. ]] SLAMing on 184.89463044 meters Centerline goodness : 0.084459 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99439999 0.00379705 -0.1056136 0.84900385] [-0.00313375 0.99997432 0.00644575 -0.24931278] [ 0.10563536 -0.00607869 0.99438635 -0.08606924] [ 0. 0. 0. 1. ]] SLAMing on 184.92463044 meters Centerline goodness : 0.083621 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99439548 0.00371643 -0.10565896 0.84920668] [-0.00306818 0.99997547 0.00629716 -0.24865104] [ 0.10567977 -0.00593769 0.99438249 -0.08619195] [ 0. 0. 0. 1. ]] SLAMing on 184.95463044 meters Centerline goodness : 0.109294 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99437802 0.00364774 -0.10582558 0.84967704] [-0.00300945 0.99997631 0.00619052 -0.24826458] [ 0.10584565 -0.00583724 0.99436544 -0.08623529] [ 0. 0. 0. 1. ]] SLAMing on 184.98463044 meters Centerline goodness : 0.131230 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99436918 0.00346684 -0.10591469 0.84996111] [-0.00285389 0.9999783 0.00593823 -0.24750878] [ 0.10593298 -0.00560252 0.99435749 -0.08628158] [ 0. 0. 0. 1. ]] SLAMing on 185.01463044 meters Centerline goodness : 0.153882 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99436767 0.00330998 -0.10593383 0.84998278] [-0.00271869 0.99997991 0.00572553 -0.24687054] [ 0.10595065 -0.00540528 0.9943567 -0.08623846] [ 0. 0. 0. 1. ]] SLAMing on 185.04463044 meters Centerline goodness : 0.117842 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99436574 0.00310692 -0.1059581 0.84998956] [-0.00255171 0.9999823 0.00537511 -0.24542179] [ 0.10597292 -0.00507445 0.99435607 -0.08618351] [ 0. 0. 0. 1. ]] SLAMing on 185.07463044 meters Centerline goodness : 0.125406 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99437245 0.00308999 -0.10589558 0.84981564] [-0.00254628 0.99998288 0.00526929 -0.24452013] [ 0.10591004 -0.00496999 0.99436329 -0.08618061] [ 0. 0. 0. 1. ]] SLAMing on 185.10463044 meters Centerline goodness : 0.129653 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99436891 0.00311625 -0.10592812 0.84987 ] [-0.00257456 0.9999829 0.00525013 -0.24388778] [ 0.10594267 -0.00494785 0.99435993 -0.08616939] [ 0. 0. 0. 1. ]] SLAMing on 185.13463044 meters Centerline goodness : 0.127682 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.9943401 0.00285825 -0.10620542 0.85083744] [-0.00234665 0.99998504 0.00494175 -0.24314126] [ 0.10621795 -0.00466455 0.99433193 -0.08643511] [ 0. 0. 0. 1. ]] SLAMing on 185.16463044 meters Centerline goodness : 0.139945 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99432868 0.00268239 -0.10631693 0.85112218] [-0.00218982 0.99998632 0.00474947 -0.24292991] [ 0.10632821 -0.00448972 0.99432095 -0.08646352] [ 0. 0. 0. 1. ]] SLAMing on 185.19463044 meters Centerline goodness : 0.091734 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99433457 0.00255953 -0.10626485 0.85101371] [-0.0020827 0.99998726 0.00459793 -0.24256863] [ 0.10627526 -0.00435057 0.99432723 -0.08646349] [ 0. 0. 0. 1. ]] SLAMing on 185.22463044 meters Centerline goodness : 0.216502 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99434126 0.0025609 -0.10620217 0.85089704] [-0.00208974 0.99998748 0.00454751 -0.24195309] [ 0.10621249 -0.00429984 0.99433416 -0.08652487] [ 0. 0. 0. 1. ]] SLAMing on 185.25463044 meters Centerline goodness : 0.119584 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99433753 0.00263376 -0.10623534 0.85122786] [-0.00216942 0.99998758 0.00448619 -0.24062215] [ 0.10624584 -0.00423032 0.99433089 -0.08679416] [ 0. 0. 0. 1. ]] SLAMing on 185.28463044 meters Centerline goodness : 0.138522 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99432786 0.00258057 -0.10632709 0.85149599] [-0.00212481 0.99998807 0.0043994 -0.24036166] [ 0.10633717 -0.00414852 0.99432147 -0.08682402] [ 0. 0. 0. 1. ]] SLAMing on 185.31463044 meters Centerline goodness : 0.119262 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99432344 0.00249194 -0.10637055 0.85140629] [-0.00204844 0.99998875 0.0042784 -0.24014161] [ 0.10638002 -0.00403621 0.99431735 -0.08655533] [ 0. 0. 0. 1. ]] SLAMing on 185.34463044 meters Centerline goodness : 0.122655 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99432767 0.00243068 -0.10633234 0.85117583] [-0.00199661 0.99998924 0.00418847 -0.23992933] [ 0.10634138 -0.00395241 0.99432182 -0.08640702] [ 0. 0. 0. 1. ]] SLAMing on 185.37463044 meters Centerline goodness : 0.119226 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99432146 0.00252197 -0.10638831 0.8514637 ] [-0.00208215 0.99998882 0.00424492 -0.23985943] [ 0.10639783 -0.00399929 0.9943156 -0.08657182] [ 0. 0. 0. 1. ]] SLAMing on 185.40463044 meters Centerline goodness : 0.099114 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99431717 0.00253548 -0.1064281 0.85163325] [-0.00209465 0.99998876 0.00425368 -0.23993855] [ 0.10643769 -0.00400658 0.9943113 -0.08663009] [ 0. 0. 0. 1. ]] SLAMing on 185.43463044 meters Centerline goodness : 0.163698 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.9943141 0.00253747 -0.10645672 0.85174789] [-0.00209635 0.99998875 0.0042553 -0.24015983] [ 0.10646632 -0.00400794 0.99430823 -0.08668682] [ 0. 0. 0. 1. ]] SLAMing on 185.46463043999998 meters Centerline goodness : 0.134798 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.24, Z:-0.08 [[ 0.99431959 0.01046107 -0.10592036 0.87080609] [-0.01021373 0.9999437 0.00287734 -0.24319141] [ 0.10594449 -0.00177916 0.99437045 -0.08335848] [ 0. 0. 0. 1. ]] SLAMing on 185.49463043999998 meters Centerline goodness : 0.120993 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.994356 0.0038556 -0.10602488 0.84839242] [-0.00329941 0.99997986 0.00542066 -0.24277337] [ 0.10604365 -0.00504025 0.9943487 -0.08536544] [ 0. 0. 0. 1. ]] SLAMing on 185.52463043999998 meters Centerline goodness : 0.124629 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.25, Z:-0.08 [[ 0.99433274 0.0119878 -0.1056347 0.86798084] [-0.0116063 0.99992372 0.00422557 -0.24540516] [ 0.1056773 -0.00297559 0.99439603 -0.08237781] [ 0. 0. 0. 1. ]] SLAMing on 185.55463043999998 meters Centerline goodness : 0.119145 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99431926 0.00356737 -0.106379 0.84964664] [-0.00304835 0.99998265 0.00504111 -0.24143207] [ 0.10639514 -0.0046882 0.99431288 -0.08562984] [ 0. 0. 0. 1. ]] SLAMing on 185.58463043999998 meters Centerline goodness : 0.110859 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99429029 0.00352897 -0.10665067 0.85048532] [-0.00302308 0.9999834 0.00490475 -0.24082966] [ 0.10666621 -0.00455433 0.99428446 -0.08583873] [ 0. 0. 0. 1. ]] SLAMing on 185.61463043999998 meters Centerline goodness : 0.132328 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99426222 0.00387675 -0.10690001 0.85127862] [-0.00335774 0.99998169 0.00503472 -0.23963947] [ 0.10691757 -0.00464689 0.99425703 -0.08619508] [ 0. 0. 0. 1. ]] SLAMing on 185.64463044 meters Centerline goodness : 0.124808 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99427132 0.00395549 -0.10681246 0.85106736] [-0.00343101 0.99998114 0.00509356 -0.23950766] [ 0.10683059 -0.0046979 0.99426614 -0.08619606] [ 0. 0. 0. 1. ]] SLAMing on 185.67463044 meters Centerline goodness : 0.131052 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99427967 0.00391396 -0.10673622 0.85080696] [-0.00339125 0.99998136 0.00507828 -0.23976526] [ 0.10675411 -0.00468726 0.9942744 -0.08607678] [ 0. 0. 0. 1. ]] SLAMing on 185.70463044 meters Centerline goodness : 0.128810 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99428264 0.00383162 -0.10671152 0.85069225] [-0.00330627 0.99998153 0.00509954 -0.24054501] [ 0.10672909 -0.00471757 0.99427695 -0.08597131] [ 0. 0. 0. 1. ]] SLAMing on 185.73463044 meters Centerline goodness : 0.128810 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99428264 0.00383162 -0.10671152 0.85069225] [-0.00330627 0.99998153 0.00509954 -0.24054501] [ 0.10672909 -0.00471757 0.99427695 -0.08597131] [ 0. 0. 0. 1. ]] SLAMing on 185.76463044 meters Centerline goodness : 0.125032 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99427805 0.00383948 -0.10675396 0.85069861] [-0.00329384 0.9999806 0.00528703 -0.24208946] [ 0.10677219 -0.00490515 0.99427141 -0.08583255] [ 0. 0. 0. 1. ]] SLAMing on 185.79463044 meters Centerline goodness : 0.124600 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99425677 0.00381732 -0.10695278 0.85090025] [-0.0032211 0.9999783 0.00574684 -0.24555884] [ 0.1069724 -0.00536933 0.99424749 -0.08535669] [ 0. 0. 0. 1. ]] SLAMing on 185.82463044 meters Centerline goodness : 0.127168 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99423793 0.0037968 -0.1071285 0.85135149] [-0.00317365 0.99997704 0.0059867 -0.24753749] [ 0.10714878 -0.00561221 0.99422716 -0.08527438] [ 0. 0. 0. 1. ]] SLAMing on 185.85463044 meters Centerline goodness : 0.115809 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.9943282 0.00163845 -0.10634255 0.84875889] [-0.00118845 0.99999007 0.00429488 -0.25054555] [ 0.10634853 -0.00414414 0.99432028 -0.08469107] [ 0. 0. 0. 1. ]] SLAMing on 185.88463044 meters Centerline goodness : 0.123427 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99430407 0.00164047 -0.10656795 0.84935574] [-0.00114855 0.9999884 0.0046772 -0.25360474] [ 0.10657439 -0.00452816 0.99429442 -0.08462574] [ 0. 0. 0. 1. ]] SLAMing on 185.91463044 meters Centerline goodness : 0.126114 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.9943014 0.00173376 -0.10659139 0.84947312] [-0.00122424 0.99998751 0.00484531 -0.25429906] [ 0.10659846 -0.0046872 0.9942911 -0.08467015] [ 0. 0. 0. 1. ]] SLAMing on 185.94463044 meters Centerline goodness : 0.125121 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99428552 0.00178055 -0.10673861 0.8498792 ] [-0.00126448 0.99998718 0.00490236 -0.25451206] [ 0.10674597 -0.00473937 0.99427503 -0.08470195] [ 0. 0. 0. 1. ]] SLAMing on 185.97463044 meters Centerline goodness : 0.131413 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99428784 0.001823 -0.10671629 0.84972408] [-0.00132212 0.99998778 0.00476407 -0.25355333] [ 0.10672367 -0.00459577 0.9942781 -0.08460629] [ 0. 0. 0. 1. ]] SLAMing on 186.00463044 meters Centerline goodness : 0.121717 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99429582 0.00187338 -0.10664104 0.84947709] [-0.00137977 0.99998799 0.00470223 -0.25272567] [ 0.10664857 -0.00452827 0.99428647 -0.08452962] [ 0. 0. 0. 1. ]] SLAMing on 186.03463044 meters Centerline goodness : 0.118736 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99432288 0.00193521 -0.10638732 0.84886943] [-0.00145181 0.99998827 0.00462109 -0.25180827] [ 0.10639502 -0.0044404 0.99431403 -0.08458511] [ 0. 0. 0. 1. ]] SLAMing on 186.06463044 meters Centerline goodness : 0.118205 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99433207 0.0019219 -0.10630161 0.84858654] [-0.00145886 0.99998911 0.00443347 -0.25061795] [ 0.10630898 -0.00425326 0.99432405 -0.08454602] [ 0. 0. 0. 1. ]] SLAMing on 186.09463044 meters Centerline goodness : 0.083471 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99433129 0.00187407 -0.10630981 0.84860872] [-0.00145101 0.99999072 0.00405668 -0.24836573] [ 0.10631642 -0.00387943 0.99432478 -0.08463198] [ 0. 0. 0. 1. ]] SLAMing on 186.12463044 meters Centerline goodness : 0.129743 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 0.99432565 0.00183622 -0.10636317 0.84893669] [-0.0014321 0.99999146 0.00387566 -0.2471064 ] [ 0.10636938 -0.00370134 0.9943198 -0.08492732] [ 0. 0. 0. 1. ]] SLAMing on 186.15463044 meters Centerline goodness : 0.123384 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99431917 0.00181235 -0.10642419 0.84936788] [-0.00142464 0.99999207 0.00371904 -0.2458913 ] [ 0.10643008 -0.0035463 0.99431386 -0.08528804] [ 0. 0. 0. 1. ]] SLAMing on 186.18463044 meters Centerline goodness : 0.099783 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99435513 0.00171384 -0.10608927 0.84873316] [-0.00135365 0.99999307 0.00346708 -0.24444614] [ 0.10609448 -0.0033039 0.99435056 -0.08551315] [ 0. 0. 0. 1. ]] SLAMing on 186.21463043999998 meters Centerline goodness : 0.216520 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99435114 0.00158202 -0.10612877 0.84870736] [-0.00123763 0.99999375 0.00331074 -0.2440961 ] [ 0.10613335 -0.00316069 0.99434688 -0.08538095] [ 0. 0. 0. 1. ]] SLAMing on 186.24463043999998 meters Centerline goodness : 0.116598 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.09 [[ 0.99434488 0.00151185 -0.10618841 0.84860433] [-0.0011709 0.99999396 0.00327306 -0.24422863] [ 0.10619272 -0.00313021 0.99434064 -0.08505541] [ 0. 0. 0. 1. ]] SLAMing on 186.27463043999998 meters Centerline goodness : 0.119772 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:-0.08 [[ 0.99432775 0.00146252 -0.10634938 0.84890529] [-0.00111661 0.99999389 0.00331206 -0.24469978] [ 0.10635358 -0.00317452 0.99432331 -0.08489488] [ 0. 0. 0. 1. ]] SLAMing on 186.30463043999998 meters Centerline goodness : 0.137577 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 9.94238984e-01 1.20493486e-03 -1.07179250e-01 8.50962068e-01] [-8.45646448e-04 9.99993871e-01 3.39760549e-03 -2.46525375e-01] [ 1.07182687e-01 -3.28739608e-03 9.94233908e-01 -8.48289192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33463043999998 meters Centerline goodness : 0.111094 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 9.94229220e-01 1.16675206e-03 -1.07270203e-01 8.51168923e-01] [-7.92173665e-04 9.99993440e-01 3.53445967e-03 -2.47916544e-01] [ 1.07273623e-01 -3.42908645e-03 9.94223622e-01 -8.47505472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36463043999998 meters Centerline goodness : 0.125029 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 9.94232375e-01 1.13131554e-03 -1.07241335e-01 8.50986740e-01] [-7.39875826e-04 9.99992919e-01 3.68979955e-03 -2.49435546e-01] [ 1.07244750e-01 -3.58917290e-03 9.94226172e-01 -8.45247735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39463044 meters Centerline goodness : 0.139726 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 9.94230672e-01 1.19085024e-03 -1.07256479e-01 8.50758966e-01] [-7.75963173e-04 9.99992056e-01 3.90982809e-03 -2.50877168e-01] [ 1.07260283e-01 -3.80404394e-03 9.94223698e-01 -8.41432081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42463044 meters Centerline goodness : 0.145853 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 9.94224237e-01 1.32244289e-03 -1.07314577e-01 8.50837544e-01] [-8.78110751e-04 9.99990846e-01 4.18761183e-03 -2.52144096e-01] [ 1.07319133e-01 -4.06919109e-03 9.94216297e-01 -8.40158203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45463044 meters Centerline goodness : 0.128970 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.08 [[ 9.94179558e-01 1.42656736e-03 -1.07726373e-01 8.52235971e-01] [-9.71477396e-04 9.99990382e-01 4.27686051e-03 -2.52188269e-01] [ 1.07731438e-01 -4.14731356e-03 9.94171382e-01 -8.44754042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48463044 meters Centerline goodness : 0.141871 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.09 [[ 0.99414075 0.00145924 -0.10808347 0.85363936] [-0.00100652 0.99999049 0.00424303 -0.25188121] [ 0.10808863 -0.00410938 0.99413277 -0.08510074] [ 0. 0. 0. 1. ]] SLAMing on 186.51463044 meters Centerline goodness : 0.271843 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.26, Z:-0.09 [[ 0.99442 0.00631926 -0.10530402 0.84003376] [-0.00608567 0.99997826 0.00253939 -0.25531042] [ 0.10531777 -0.00188437 0.99443683 -0.09095137] [ 0. 0. 0. 1. ]] SLAMing on 186.54463044 meters Centerline goodness : 0.118909 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.25, Z:-0.09 [[ 9.94577460e-01 -5.94981061e-04 -1.03996744e-01 8.58186395e-01] [ 9.91527374e-04 9.99992434e-01 3.76140830e-03 -2.50928143e-01] [ 1.03993720e-01 -3.84412753e-03 9.94570525e-01 -8.77665845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57463044 meters Centerline goodness : 0.116406 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.25, Z:-0.09 [[ 9.94600858e-01 -5.58749298e-04 -1.03772931e-01 8.57225211e-01] [ 9.64086243e-04 9.99992101e-01 3.85588148e-03 -2.51468244e-01] [ 1.03769956e-01 -3.93510908e-03 9.94593541e-01 -8.72475611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60463044 meters Centerline goodness : 0.136716 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.25, Z:-0.09 [[ 9.94613111e-01 -5.07995599e-04 -1.03655686e-01 8.56731834e-01] [ 9.27945867e-04 9.99991557e-01 4.00321326e-03 -2.52299468e-01] [ 1.03652777e-01 -4.07783526e-03 9.94605185e-01 -8.69629867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63463044 meters Centerline goodness : 0.137808 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.25, Z:-0.09 [[ 9.94617605e-01 -4.29686491e-03 -1.03524664e-01 8.56767065e-01] [ 4.40098164e-03 9.99990014e-01 7.77320261e-04 -2.54027569e-01] [ 1.03520291e-01 -1.22874656e-03 9.94626583e-01 -8.72428014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66463044 meters Centerline goodness : 0.116439 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99460552 -0.00431042 -0.10364019 0.85708753] [ 0.00444315 0.99998958 0.00104984 -0.25627966] [ 0.10363458 -0.00150467 0.9946143 -0.0872206 ] [ 0. 0. 0. 1. ]] SLAMing on 186.69463044 meters Centerline goodness : 0.254336 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.26, Z:-0.09 [[ 9.94734428e-01 5.42178757e-04 -1.02484750e-01 8.36539772e-01] [-6.91588097e-04 9.99998749e-01 -1.42234245e-03 -2.63479143e-01] [ 1.02483851e-01 1.48573024e-03 9.94733559e-01 -9.06755395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72463044 meters Centerline goodness : 0.095200 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.09 [[ 9.94705662e-01 5.25327438e-04 -1.02763665e-01 8.37369910e-01] [-6.39157716e-04 9.99999218e-01 -1.07476482e-03 -2.66140015e-01] [ 1.02763020e-01 1.13475684e-03 9.94705220e-01 -9.07484923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75463044 meters Centerline goodness : 0.139615 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.09 [[ 0.99462287 -0.00178982 -0.10354776 0.84096764] [ 0.00153278 0.99999554 -0.0025618 -0.2719859 ] [ 0.10355189 0.00238931 0.99462118 -0.09206973] [ 0. 0. 0. 1. ]] SLAMing on 186.78463044 meters Centerline goodness : 0.116177 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.09 [[ 0.99460646 -0.00169455 -0.10370689 0.84143721] [ 0.00147651 0.99999654 -0.0021792 -0.27451457] [ 0.10371022 0.00201432 0.99460552 -0.09211585] [ 0. 0. 0. 1. ]] SLAMing on 186.81463044 meters Centerline goodness : 0.094286 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.09 [[ 0.99458297 -0.00151839 -0.10393464 0.84214637] [ 0.0013492 0.99999765 -0.00169818 -0.27737545] [ 0.10393698 0.00154875 0.99458268 -0.09221383] [ 0. 0. 0. 1. ]] SLAMing on 186.84463044 meters Centerline goodness : 0.122454 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.29, Z:-0.10 [[ 0.99462731 0.00482857 -0.10340792 0.82531635] [-0.00510724 0.999984 -0.00243021 -0.28988139] [ 0.10339453 0.00294529 0.99463606 -0.09656143] [ 0. 0. 0. 1. ]] SLAMing on 186.87463044 meters Centerline goodness : 0.111208 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.29, Z:-0.09 [[ 0.99474619 0.00508232 -0.1022457 0.86710847] [-0.00533506 0.99998335 -0.00219864 -0.29140768] [ 0.10223283 0.00273257 0.99475675 -0.09237444] [ 0. 0. 0. 1. ]] SLAMing on 186.90463044 meters Centerline goodness : 0.137269 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.29, Z:-0.09 [[ 0.99473268 0.00527349 -0.10236738 0.86729791] [-0.00547937 0.99998349 -0.0017301 -0.29418135] [ 0.10235657 0.00228189 0.99474516 -0.09217156] [ 0. 0. 0. 1. ]] SLAMing on 186.93463044 meters Centerline goodness : 0.093523 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.30, Z:-0.09 [[ 0.99472127 0.00549136 -0.10246676 0.86735451] [-0.00564495 0.99998334 -0.00120897 -0.29714824] [ 0.10245841 0.00178101 0.99473569 -0.09189366] [ 0. 0. 0. 1. ]] SLAMing on 186.96463043999998 meters Centerline goodness : 0.092945 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.30, Z:-0.09 [[ 0.99473343 0.00239135 -0.10246793 0.86812635] [-0.00274975 0.99999059 -0.00335652 -0.30299697] [ 0.10245894 0.0036206 0.99473065 -0.0926252 ] [ 0. 0. 0. 1. ]] SLAMing on 186.99463043999998 meters Centerline goodness : 0.093034 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.31, Z:-0.09 [[ 0.99472849 0.00251776 -0.10251288 0.86822852] [-0.00282038 0.99999208 -0.00280721 -0.30631269] [ 0.102505 0.00308154 0.99472772 -0.09265546] [ 0. 0. 0. 1. ]] SLAMing on 187.02463043999998 meters Centerline goodness : 0.094095 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.31, Z:-0.09 [[ 0.99472947 0.00271144 -0.10249846 0.86804888] [-0.00295812 0.99999308 -0.00225471 -0.30959556] [ 0.10249163 0.00254603 0.99473061 -0.0924278 ] [ 0. 0. 0. 1. ]] SLAMing on 187.05463043999998 meters Centerline goodness : 0.139308 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.31, Z:-0.09 [[ 0.9947332 0.00312967 -0.10245027 0.8674895 ] [-0.00327921 0.99999379 -0.00129129 -0.31497815] [ 0.10244559 0.00162045 0.99473729 -0.09181371] [ 0. 0. 0. 1. ]] SLAMing on 187.08463043999998 meters Centerline goodness : 0.098744 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.32, Z:-0.09 [[ 9.94728294e-01 3.27201819e-03 -1.02493490e-01 8.67633159e-01] [-3.38450137e-03 9.99993846e-01 -9.23582754e-04 -3.17017373e-01] [ 1.02489837e-01 1.26560325e-03 9.94733246e-01 -9.18229436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11463043999998 meters Centerline goodness : 0.158966 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.32, Z:-0.09 [[ 9.94723661e-01 3.33024802e-03 -1.02536563e-01 8.67716042e-01] [-3.41665184e-03 9.99993941e-01 -6.67045799e-04 -3.18900507e-01] [ 1.02533720e-01 1.01385798e-03 9.94729013e-01 -9.17444608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14463044 meters Centerline goodness : 0.133582 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.32, Z:-0.09 [[ 9.94730493e-01 3.35210893e-03 -1.02469552e-01 8.67370733e-01] [-3.41627718e-03 9.99994063e-01 -4.50729587e-04 -3.20637980e-01] [ 1.02467433e-01 7.98418856e-04 9.94736039e-01 -9.14984974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17463044 meters Centerline goodness : 0.155406 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.32, Z:-0.09 [[ 9.94838318e-01 -3.75420507e-03 -1.01403293e-01 8.86922186e-01] [ 3.86232527e-03 9.99992163e-01 8.69927635e-04 -3.19518106e-01] [ 1.01399233e-01 -1.25708985e-03 9.94845021e-01 -8.80504299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20463044 meters Centerline goodness : 0.166427 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95163890e-01 2.67571469e-03 -9.81920148e-02 8.72311878e-01] [-2.65324271e-03 9.99996416e-01 3.59436091e-04 -3.26077754e-01] [ 9.81926246e-02 -9.71705707e-05 9.95167423e-01 -9.24881482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23463044 meters Centerline goodness : 0.150785 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95150513e-01 2.62639640e-03 -9.83288239e-02 8.72707128e-01] [-2.59776880e-03 9.99996538e-01 4.19168616e-04 -3.26851165e-01] [ 9.83295844e-02 -1.61700313e-04 9.95153891e-01 -9.25151112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26463044 meters Centerline goodness : 0.123757 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95160327e-01 2.61347594e-03 -9.82297989e-02 8.72393826e-01] [-2.57625597e-03 9.99996554e-01 5.05744689e-04 -3.27704030e-01] [ 9.82307821e-02 -2.50231944e-04 9.95163630e-01 -9.23800536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29463044 meters Centerline goodness : 0.139789 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95226730e-01 2.55611857e-03 -9.75562484e-02 8.70282405e-01] [-2.49971769e-03 9.99996630e-01 7.00355930e-04 -3.29122157e-01] [ 9.75577099e-02 -4.53149862e-04 9.95229766e-01 -9.17551853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32463044 meters Centerline goodness : 0.139049 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95234072e-01 2.50255137e-03 -9.74827157e-02 8.69956697e-01] [-2.43681630e-03 9.99996716e-01 7.93377002e-04 -3.30056256e-01] [ 9.74843810e-02 -5.52048353e-04 9.95236902e-01 -9.15450082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35463044 meters Centerline goodness : 0.123907 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95227673e-01 2.40834740e-03 -9.75503957e-02 8.70173789e-01] [-2.33068227e-03 9.99996870e-01 9.10097482e-04 -3.31469944e-01] [ 9.75522822e-02 -6.78395221e-04 9.95230170e-01 -9.16059909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38463044 meters Centerline goodness : 0.125029 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95187949e-01 2.20087054e-03 -9.79596941e-02 8.71410860e-01] [-2.11817777e-03 9.99997307e-01 9.48141225e-04 -3.32808126e-01] [ 9.79615170e-02 -7.36082675e-04 9.95189931e-01 -9.18990746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41463044 meters Centerline goodness : 0.125788 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.34, Z:-0.09 [[ 9.95137836e-01 1.69748965e-03 -9.84774364e-02 8.73224765e-01] [-1.60131735e-03 9.99998161e-01 1.05562296e-03 -3.36080494e-01] [ 9.84790472e-02 -8.92796723e-04 9.95138724e-01 -9.24426375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44463044 meters Centerline goodness : 0.197068 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.34, Z:-0.09 [[ 0.99512913 0.00169096 -0.09856553 0.87347587] [-0.0015672 0.99999788 0.00133305 -0.33799835] [ 0.09856757 -0.00117208 0.99512967 -0.09245595] [ 0. 0. 0. 1. ]] SLAMing on 187.47463044 meters Centerline goodness : 0.160991 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.34, Z:-0.09 [[ 0.99510657 0.00155982 -0.09879517 0.87424887] [-0.00142565 0.99999796 0.00142865 -0.33955185] [ 0.0987972 -0.00128081 0.99510676 -0.09265589] [ 0. 0. 0. 1. ]] SLAMing on 187.50463044 meters Centerline goodness : 0.163684 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 0.99508447 0.00145674 -0.09901906 0.87506056] [-0.00131689 0.99999804 0.00147774 -0.34067443] [ 0.09902102 -0.00134008 0.99508444 -0.09298001] [ 0. 0. 0. 1. ]] SLAMing on 187.53463044 meters Centerline goodness : 0.107483 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 0.99503136 0.00138934 -0.09955229 0.87690207] [-0.00123513 0.99999794 0.00161067 -0.34192608] [ 0.09955432 -0.00147971 0.99503103 -0.09364523] [ 0. 0. 0. 1. ]] SLAMing on 187.56463044 meters Centerline goodness : 0.112914 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 0.99502225 0.00144998 -0.0996425 0.8774323 ] [-0.00128446 0.99999769 0.00172526 -0.3421961 ] [ 0.09964478 -0.00158868 0.99502181 -0.09399036] [ 0. 0. 0. 1. ]] SLAMing on 187.59463044 meters Centerline goodness : 0.094126 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 0.99500982 0.00145035 -0.09976654 0.877997 ] [-0.00128439 0.99999768 0.00172769 -0.34210863] [ 0.09976881 -0.00159093 0.99500937 -0.09424436] [ 0. 0. 0. 1. ]] SLAMing on 187.62463044 meters Centerline goodness : 0.095576 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 0.99500015 0.00138917 -0.0998638 0.87843365] [-0.00122768 0.99999784 0.00167861 -0.34215409] [ 0.09986592 -0.00154761 0.9949997 -0.09447773] [ 0. 0. 0. 1. ]] SLAMing on 187.65463044 meters Centerline goodness : 0.095899 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 0.9950114 0.00116703 -0.09975447 0.87815622] [-0.00101427 0.99999823 0.00158203 -0.34282258] [ 0.09975614 -0.00147296 0.99501083 -0.09446757] [ 0. 0. 0. 1. ]] SLAMing on 187.68463044 meters Centerline goodness : 0.095899 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 0.9950114 0.00116703 -0.09975447 0.87815622] [-0.00101427 0.99999823 0.00158203 -0.34282258] [ 0.09975614 -0.00147296 0.99501083 -0.09446757] [ 0. 0. 0. 1. ]] SLAMing on 187.71463043999998 meters Centerline goodness : 0.166926 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 9.95027777e-01 1.15903321e-03 -9.95910596e-02 8.77793337e-01] [-9.94493360e-04 9.99998057e-01 1.70178367e-03 -3.43658113e-01] [ 9.95928385e-02 -1.59427937e-03 9.95026997e-01 -9.45020238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74463043999998 meters Centerline goodness : 0.272194 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 9.95033085e-01 1.13716111e-03 -9.95382701e-02 8.77725529e-01] [-9.59431421e-04 9.99997859e-01 1.83339202e-03 -3.44662329e-01] [ 9.95401419e-02 -1.72878558e-03 9.95032045e-01 -9.45918292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77463043999998 meters Centerline goodness : 0.228896 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.35, Z:-0.09 [[ 9.95028610e-01 1.09023342e-03 -9.95835184e-02 8.77892726e-01] [-8.98713370e-04 9.99997660e-01 1.96805013e-03 -3.45839368e-01] [ 9.95854310e-02 -1.86876914e-03 9.95027261e-01 -9.46730096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80463043999998 meters Centerline goodness : 0.093275 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.35, Z:-0.09 [[ 9.94952456e-01 8.06162477e-04 -1.00344207e-01 8.79932176e-01] [-6.04500967e-04 9.99997736e-01 2.04008718e-03 -3.47660101e-01] [ 1.00345624e-01 -1.96913158e-03 9.94950691e-01 -9.48670077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83463043999998 meters Centerline goodness : 0.306211 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.35, Z:-0.09 [[ 9.94926164e-01 7.58226867e-04 -1.00604935e-01 8.80457767e-01] [-5.52183126e-04 9.99997693e-01 2.07587906e-03 -3.48236721e-01] [ 1.00606277e-01 -2.00979404e-03 9.94924287e-01 -9.47070269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86463043999998 meters Centerline goodness : 0.228794 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.35, Z:-0.09 [[ 9.94919208e-01 6.76069974e-04 -1.00674288e-01 8.80663665e-01] [-4.74949836e-04 9.99997844e-01 2.02168602e-03 -3.48486371e-01] [ 1.00675438e-01 -1.96359902e-03 9.94917384e-01 -9.47049038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89463044 meters Centerline goodness : 0.228185 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.35, Z:-0.09 [[ 9.94919743e-01 5.83701068e-04 -1.00669579e-01 8.80520020e-01] [-3.94661191e-04 9.99998121e-01 1.89773079e-03 -3.48192417e-01] [ 1.00670498e-01 -1.84835946e-03 9.94918104e-01 -9.45036057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92463044 meters Centerline goodness : 0.125927 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.35, Z:-0.09 [[ 9.95020889e-01 8.70374626e-04 -9.96627978e-02 8.77926909e-01] [-6.94292357e-04 9.99998136e-01 1.80145059e-03 -3.45509047e-01] [ 9.96641800e-02 -1.72328585e-03 9.95019639e-01 -9.42047938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95463044 meters Centerline goodness : 0.097976 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.34, Z:-0.09 [[ 9.95067652e-01 1.00491917e-03 -9.91935339e-02 8.76941900e-01] [-8.42486123e-04 9.99998235e-01 1.67941093e-03 -3.43578297e-01] [ 9.91950464e-02 -1.58755831e-03 9.95066743e-01 -9.43625851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98463044 meters Centerline goodness : 0.229945 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.34, Z:-0.09 [[ 9.95221235e-01 8.98812531e-03 -9.72312020e-02 8.97247640e-01] [-9.04245873e-03 9.99959109e-01 -1.18163356e-04 -3.41833328e-01] [ 9.72261640e-02 9.96807813e-04 9.95261814e-01 -9.28577805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01463044 meters Centerline goodness : 0.207987 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.34, Z:-0.09 [[ 9.95223389e-01 8.79360075e-03 -9.72269465e-02 8.97408090e-01] [-8.88164387e-03 9.99960446e-01 -4.72778285e-04 -3.40389473e-01] [ 9.72189433e-02 1.33405512e-03 9.95262125e-01 -9.30464787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04463044 meters Centerline goodness : 0.124521 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.33, Z:-0.09 [[ 9.95206960e-01 1.81801241e-03 -9.77742369e-02 9.16990940e-01] [-1.80931323e-03 9.99998347e-01 1.77636641e-04 -3.34880294e-01] [ 9.77743983e-02 1.18998712e-07 9.95208605e-01 -8.98828051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07463044 meters Centerline goodness : 0.410321 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95027982e-01 8.51809703e-04 -9.95921181e-02 8.72451776e-01] [-8.05486449e-04 9.99999548e-01 5.05338817e-04 -3.33214375e-01] [ 9.95925035e-02 -4.22606161e-04 9.95028218e-01 -9.42319214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10463044 meters Centerline goodness : 0.228431 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95068275e-01 6.27473070e-04 -9.91903954e-02 8.71631307e-01] [-6.42169216e-04 9.99999787e-01 -1.16233817e-04 -3.28895627e-01] [ 9.91903014e-02 1.79357602e-04 9.95068466e-01 -9.43492277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13463044 meters Centerline goodness : 0.124415 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.33, Z:-0.09 [[ 9.95079121e-01 4.30218852e-04 -9.90825847e-02 8.71487844e-01] [-4.89101517e-04 9.99999718e-01 -5.69988932e-04 -3.26184391e-01] [ 9.90823115e-02 6.15645527e-04 9.95079050e-01 -9.44931508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16463044 meters Centerline goodness : 0.045350 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.32, Z:-0.09 [[ 9.95083381e-01 2.69150769e-04 -9.90403532e-02 8.71588188e-01] [-3.71686989e-04 9.99999414e-01 -1.01684749e-03 -3.23029109e-01] [ 9.90400215e-02 1.04866005e-03 9.95082898e-01 -9.47272704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19463044 meters Centerline goodness : 0.129410 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.32, Z:-0.09 [[ 9.95078782e-01 8.14437967e-05 -9.90868821e-02 8.71844209e-01] [-2.32837513e-04 9.99998823e-01 -1.51632552e-03 -3.19677697e-01] [ 9.90866420e-02 1.53193450e-03 9.95077630e-01 -9.48423160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22463044 meters Centerline goodness : 0.460561 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.31, Z:-0.10 [[ 9.95059316e-01 -4.83335767e-04 -9.92810312e-02 8.72593364e-01] [ 2.35447467e-04 9.99996826e-01 -2.50853596e-03 -3.13939754e-01] [ 9.92819286e-02 2.47276661e-03 9.95056272e-01 -9.51675919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25463044 meters Centerline goodness : 0.093103 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.31, Z:-0.10 [[ 9.95042667e-01 -8.18785004e-04 -9.94455641e-02 8.73156393e-01] [ 5.18429610e-04 9.99995226e-01 -3.04610383e-03 -3.11508635e-01] [ 9.94475835e-02 2.97944775e-03 9.95038341e-01 -9.53671012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28463044 meters Centerline goodness : 0.113263 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.31, Z:-0.10 [[ 9.95038084e-01 -1.11590136e-03 -9.94885205e-02 8.73458603e-01] [ 7.67493187e-04 9.99993439e-01 -3.54019831e-03 -3.09010928e-01] [ 9.94918182e-02 3.44627538e-03 9.95032412e-01 -9.56238420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31463044 meters Centerline goodness : 0.093476 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.30, Z:-0.09 [[ 9.95082806e-01 -6.42795249e-03 -9.88376987e-02 8.93705243e-01] [ 6.35133948e-03 9.99979236e-01 -1.08976947e-03 -2.99695677e-01] [ 9.88426515e-02 4.56659082e-04 9.95102970e-01 -9.29584823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34463044 meters Centerline goodness : 0.082881 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.30, Z:-0.09 [[ 0.99509524 -0.00672157 -0.09869288 0.89359782] [ 0.00658245 0.99997683 -0.00173517 -0.29568823] [ 0.09870226 0.00107702 0.99511643 -0.09325886] [ 0. 0. 0. 1. ]] SLAMing on 188.37463044 meters Centerline goodness : 0.093994 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.29, Z:-0.09 [[ 0.99509261 -0.00710829 -0.0986923 0.89363793] [ 0.00689611 0.99997312 -0.00249094 -0.29173407] [ 0.09870735 0.00179812 0.99511488 -0.09327839] [ 0. 0. 0. 1. ]] SLAMing on 188.40463044 meters Centerline goodness : 0.095127 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.29, Z:-0.09 [[ 0.99508319 -0.00751145 -0.09875738 0.89403179] [ 0.00722405 0.99996857 -0.00326738 -0.28779759] [ 0.09877882 0.00253788 0.99510618 -0.09357753] [ 0. 0. 0. 1. ]] SLAMing on 188.43463044 meters Centerline goodness : 0.101621 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.28, Z:-0.09 [[ 9.95136391e-01 -4.72618281e-04 -9.85055374e-02 9.15021371e-01] [-6.27700868e-05 9.99985245e-01 -5.43193935e-03 -2.82231929e-01] [ 9.85066511e-02 5.41170372e-03 9.95121678e-01 -9.16173604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46463043999998 meters Centerline goodness : 0.097431 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.28, Z:-0.09 [[ 9.95126075e-01 -7.36105139e-04 -9.86080808e-02 9.15482328e-01] [ 1.48825935e-04 9.99982211e-01 -5.96291369e-03 -2.79232278e-01] [ 9.86107159e-02 5.91917546e-03 9.95108482e-01 -9.18846034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49463043999998 meters Centerline goodness : 0.167623 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.28, Z:-0.09 [[ 9.95116696e-01 -1.03319490e-03 -9.87000182e-02 9.15862710e-01] [ 3.92898688e-04 9.99978755e-01 -6.50651251e-03 -2.76409575e-01] [ 9.87046438e-02 6.43596013e-03 9.95095961e-01 -9.19849255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52463043999998 meters Centerline goodness : 0.100941 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.27, Z:-0.09 [[ 9.95157858e-01 -1.72446966e-03 -9.82744332e-02 9.15297726e-01] [ 9.73469944e-04 9.99969963e-01 -7.68930001e-03 -2.70362394e-01] [ 9.82847413e-02 7.55640012e-03 9.95129645e-01 -9.24204918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55463043999998 meters Centerline goodness : 0.103591 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.27, Z:-0.09 [[ 0.99516718 -0.00193712 -0.09817601 0.91547966] [ 0.00113727 0.99996571 -0.00820245 -0.26733489] [ 0.09818854 0.00805116 0.99513526 -0.09287468] [ 0. 0. 0. 1. ]] SLAMing on 188.58463043999998 meters Centerline goodness : 0.103104 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.26, Z:-0.09 [[ 0.99516606 -0.00205386 -0.09818502 0.91590789] [ 0.00121512 0.99996227 -0.00860152 -0.26438327] [ 0.09819898 0.00844063 0.995131 -0.09327888] [ 0. 0. 0. 1. ]] SLAMing on 188.61463043999998 meters Centerline goodness : 0.141795 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.26, Z:-0.09 [[ 0.99516499 -0.0021743 -0.0981933 0.91622862] [ 0.00129055 0.9999581 -0.00906263 -0.26115995] [ 0.09820889 0.00889209 0.9951261 -0.09351611] [ 0. 0. 0. 1. ]] SLAMing on 188.64463044 meters Centerline goodness : 0.104549 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.26, Z:-0.09 [[ 0.99514598 -0.00224808 -0.09838407 0.91682898] [ 0.0013183 0.99995387 -0.00951452 -0.25792308] [ 0.09840092 0.00933864 0.99510303 -0.09357549] [ 0. 0. 0. 1. ]] SLAMing on 188.67463044 meters Centerline goodness : 0.096102 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.09 [[ 9.95097949e-01 8.45940091e-04 -9.88906279e-02 9.18534266e-01] [-1.60735449e-03 9.99969674e-01 -7.62014289e-03 -2.50478794e-01] [ 9.88811829e-02 7.74174085e-03 9.95069132e-01 -9.38303479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70463044 meters Centerline goodness : 0.096935 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.10 [[ 0.99501238 0.00313556 -0.09970223 0.92208695] [-0.00375901 0.99997454 -0.0060659 -0.24567821] [ 0.09968067 0.00641043 0.99499883 -0.09509621] [ 0. 0. 0. 1. ]] SLAMing on 188.73463044 meters Centerline goodness : 0.094004 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.09 [[ 0.99498682 0.00601351 -0.09982518 0.92216037] [-0.00649713 0.99996868 -0.00452031 -0.23694784] [ 0.09979488 0.00514623 0.99499472 -0.09466187] [ 0. 0. 0. 1. ]] SLAMing on 188.76463044 meters Centerline goodness : 0.099141 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.09 [[ 0.99500933 0.00600446 -0.09960106 0.92143778] [-0.00653895 0.99996592 -0.00504066 -0.23302969] [ 0.0995674 0.00566679 0.99501468 -0.09434269] [ 0. 0. 0. 1. ]] SLAMing on 188.79463044 meters Centerline goodness : 0.074667 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.09 [[ 0.99501166 0.00594041 -0.0995817 0.92130206] [-0.0065253 0.99996332 -0.00554879 -0.22930995] [ 0.09954509 0.00617091 0.99501392 -0.09413575] [ 0. 0. 0. 1. ]] SLAMing on 188.82463044 meters Centerline goodness : 0.096811 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.09 [[ 0.9950092 0.00594388 -0.099606 0.92138152] [-0.00656388 0.99996106 -0.00589794 -0.22632228] [ 0.09956706 0.0065223 0.99500948 -0.09407631] [ 0. 0. 0. 1. ]] SLAMing on 188.85463044 meters Centerline goodness : 0.493641 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.09 [[ 0.99500282 0.00600353 -0.09966616 0.92188322] [-0.00666506 0.99995791 -0.00630585 -0.22169548] [ 0.09962411 0.00693862 0.99500095 -0.09440692] [ 0. 0. 0. 1. ]] SLAMing on 188.88463044 meters Centerline goodness : 0.097480 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.09 [[ 0.9950036 0.00592501 -0.09966311 0.92185004] [-0.00661019 0.99995673 -0.00654614 -0.22021686] [ 0.09962001 0.00717222 0.99499971 -0.09436291] [ 0. 0. 0. 1. ]] SLAMing on 188.91463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 188.94463044 meters Centerline goodness : 0.096394 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.09 [[ 0.99499874 0.00577582 -0.09972039 0.92175047] [-0.00649158 0.99995543 -0.00685474 -0.21858062] [ 0.09967636 0.0074678 0.99499189 -0.09397646] [ 0. 0. 0. 1. ]] SLAMing on 188.97463044 meters Centerline goodness : 0.089941 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.21, Z:-0.09 [[ 9.95019117e-01 -1.40218863e-03 -9.96744216e-02 9.41296548e-01] [ 8.21946874e-04 9.99982479e-01 -5.86219811e-03 -2.13964607e-01] [ 9.96808951e-02 5.75107211e-03 9.95002836e-01 -9.04445123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00463044 meters Centerline goodness : 0.092431 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.21, Z:-0.09 [[ 9.95007605e-01 -1.37351454e-03 -9.97896731e-02 9.41650972e-01] [ 7.92508648e-04 9.99982506e-01 -5.86171251e-03 -2.13788512e-01] [ 9.97959785e-02 5.75336435e-03 9.94991287e-01 -9.05117621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03463044 meters Centerline goodness : 0.091902 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.21, Z:-0.09 [[ 9.95005231e-01 -1.28695308e-03 -9.98145002e-02 9.41854378e-01] [ 7.11720226e-04 9.99982936e-01 -5.79841373e-03 -2.13710602e-01] [ 9.98202592e-02 5.69841200e-03 9.94989168e-01 -9.06261070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06463044 meters Centerline goodness : 0.098826 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.21, Z:-0.09 [[ 9.95008180e-01 -1.06011425e-03 -9.97877659e-02 9.41921148e-01] [ 5.08134968e-04 9.99984432e-01 -5.55678641e-03 -2.14178489e-01] [ 9.97921032e-02 5.47834228e-03 9.94993228e-01 -9.06861357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09463044 meters Centerline goodness : 0.091939 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.21, Z:-0.09 [[ 9.95004287e-01 -9.61138276e-04 -9.98275751e-02 9.42126857e-01] [ 4.23098974e-04 9.99985272e-01 -5.41071770e-03 -2.14764774e-01] [ 9.98313053e-02 5.34145036e-03 9.94990040e-01 -9.07681062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12463044 meters Centerline goodness : 0.098356 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.22, Z:-0.09 [[ 9.94997939e-01 -8.98905912e-04 -9.98914127e-02 9.42317708e-01] [ 3.72020424e-04 9.99985922e-01 -5.29308464e-03 -2.15510861e-01] [ 9.98947645e-02 5.22944666e-03 9.94984266e-01 -9.07653455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15463044 meters Centerline goodness : 0.095036 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.22, Z:-0.09 [[ 9.94987658e-01 -8.76746102e-04 -9.99939538e-02 9.42543674e-01] [ 3.63104242e-04 9.99986648e-01 -5.15481323e-03 -2.16564493e-01] [ 9.99971381e-02 5.09266732e-03 9.94974692e-01 -9.06687119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18463044 meters Centerline goodness : 0.095594 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.22, Z:-0.09 [[ 9.94983333e-01 -7.61315893e-04 -1.00037928e-01 9.42400909e-01] [ 2.89854535e-04 9.99988784e-01 -4.72727627e-03 -2.19614522e-01] [ 1.00040405e-01 4.67456465e-03 9.94972394e-01 -9.03119752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21463043999998 meters Centerline goodness : 0.101218 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.22, Z:-0.09 [[ 9.94957681e-01 -6.81151516e-04 -1.00293311e-01 9.43027198e-01] [ 2.32685667e-04 9.99989923e-01 -4.48317297e-03 -2.21124343e-01] [ 1.00295354e-01 4.43723056e-03 9.94947814e-01 -9.02737037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24463043999998 meters Centerline goodness : 0.095327 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.22, Z:-0.09 [[ 9.94943178e-01 -5.63127840e-04 -1.00437822e-01 9.43369091e-01] [ 1.34867947e-04 9.99990872e-01 -4.27066964e-03 -2.22197649e-01] [ 1.00439310e-01 4.23552778e-03 9.94934171e-01 -9.01729526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27463043999998 meters Centerline goodness : 0.094374 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.09 [[ 0.99495802 0.00743713 -0.1000161 0.96302346] [-0.00803103 0.99995242 -0.00553672 -0.22760642] [ 0.09997016 0.00631204 0.99497041 -0.0869615 ] [ 0. 0. 0. 1. ]] SLAMing on 189.30463043999998 meters Centerline goodness : 0.095157 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.09 [[ 0.9949472 0.00752557 -0.10011711 0.96309376] [-0.00811887 0.99995181 -0.00551989 -0.22769559] [ 0.10007075 0.00630484 0.99496035 -0.08660263] [ 0. 0. 0. 1. ]] SLAMing on 189.33463043999998 meters Centerline goodness : 0.103311 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.09 [[ 0.99494883 0.00769074 -0.10008836 0.96282973] [-0.00827742 0.9999509 -0.00544761 -0.2275893 ] [ 0.10004155 0.00624857 0.99496364 -0.08626532] [ 0. 0. 0. 1. ]] SLAMing on 189.36463043999998 meters Centerline goodness : 0.129766 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.09 [[ 0.99495284 0.00785436 -0.10003576 0.96265813] [-0.00843572 0.99994989 -0.00538985 -0.22722175] [ 0.09998842 0.00620652 0.99496924 -0.08616035] [ 0. 0. 0. 1. ]] SLAMing on 189.39463044 meters Centerline goodness : 0.090886 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.09 [[ 0.99492744 0.00831682 -0.10025077 0.96346656] [-0.00890499 0.99994566 -0.00542086 -0.22538856] [ 0.10020024 0.00628609 0.99494743 -0.08614836] [ 0. 0. 0. 1. ]] SLAMing on 189.42463044 meters Centerline goodness : 0.101187 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.22, Z:-0.09 [[ 0.99488446 0.00840365 -0.10066924 0.96469844] [-0.00901399 0.99994364 -0.00560955 -0.22387451] [ 0.10061642 0.00648828 0.99490414 -0.08622716] [ 0. 0. 0. 1. ]] SLAMing on 189.45463044 meters Centerline goodness : 0.127005 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.22, Z:-0.09 [[ 0.99484621 0.00851679 -0.10103706 0.96577054] [-0.00914929 0.99994133 -0.0057983 -0.22186522] [ 0.10098175 0.00669283 0.99486577 -0.08633305] [ 0. 0. 0. 1. ]] SLAMing on 189.48463044 meters Centerline goodness : 0.137565 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.22, Z:-0.09 [[ 0.99478295 0.00912872 -0.10160489 0.96767327] [-0.00976723 0.99993555 -0.00578847 -0.21828569] [ 0.1015455 0.00675067 0.99480799 -0.08681445] [ 0. 0. 0. 1. ]] SLAMing on 189.51463044 meters Centerline goodness : 0.070292 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99478958 0.00220069 -0.10192569 0.98679182] [-0.00269676 0.99998518 -0.00472945 -0.21134416] [ 0.10191377 0.00497968 0.99478077 -0.0839514 ] [ 0. 0. 0. 1. ]] SLAMing on 189.54463044 meters Centerline goodness : 0.070292 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99478958 0.00220069 -0.10192569 0.98679182] [-0.00269676 0.99998518 -0.00472945 -0.21134416] [ 0.10191377 0.00497968 0.99478077 -0.0839514 ] [ 0. 0. 0. 1. ]] SLAMing on 189.57463044 meters Centerline goodness : 0.100493 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99478702 0.00215949 -0.10195161 0.98695883] [-0.00266832 0.99998466 -0.00485482 -0.21068543] [ 0.10193956 0.00510155 0.99477751 -0.08407237] [ 0. 0. 0. 1. ]] SLAMing on 189.60463044 meters Centerline goodness : 0.097855 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99477853 0.00210782 -0.10203542 0.98708611] [-0.00262036 0.99998461 -0.00488939 -0.21085052] [ 0.10202355 0.00513123 0.99476875 -0.08396126] [ 0. 0. 0. 1. ]] SLAMing on 189.63463044 meters Centerline goodness : 0.172575 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99475167 0.0020132 -0.1022989 0.98768624] [-0.00250932 0.99998571 -0.00472122 -0.21260135] [ 0.10228794 0.00495314 0.9947425 -0.08382268] [ 0. 0. 0. 1. ]] SLAMing on 189.66463044 meters Centerline goodness : 0.100684 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99472727 0.001977 -0.10253657 0.98843631] [-0.00246142 0.9999864 -0.00459807 -0.2138524 ] [ 0.10252608 0.00482621 0.99471861 -0.08400124] [ 0. 0. 0. 1. ]] SLAMing on 189.69463044 meters Centerline goodness : 0.118074 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99470628 0.00194474 -0.10274064 0.98902327] [-0.00241992 0.99998694 -0.00450057 -0.21488484] [ 0.10273055 0.00472537 0.994698 -0.08402164] [ 0. 0. 0. 1. ]] SLAMing on 189.72463044 meters Centerline goodness : 0.098715 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.08 [[ 0.99469527 0.00194978 -0.10284709 0.9892376 ] [-0.00241634 0.99998735 -0.00441209 -0.2156187 ] [ 0.10283718 0.0046372 0.99468739 -0.08392551] [ 0. 0. 0. 1. ]] SLAMing on 189.75463044 meters Centerline goodness : 0.118150 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.08 [[ 0.99467304 0.0020407 -0.10306011 0.98960951] [-0.00250182 0.99998743 -0.00434518 -0.21541519] [ 0.10304995 0.00457987 0.99466564 -0.08366744] [ 0. 0. 0. 1. ]] SLAMing on 189.78463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 189.81463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 189.84463044 meters Centerline goodness : 0.101957 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99458929 0.00232464 -0.10385924 0.9922918 ] [-0.00280857 0.99998587 -0.00451354 -0.21231295] [ 0.10384728 0.00478082 0.99458176 -0.08438717] [ 0. 0. 0. 1. ]] SLAMing on 189.87463044 meters Centerline goodness : 0.088519 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99455613 -0.00428204 -0.1041142 1.00978172] [ 0.00399302 0.99998757 -0.00298431 -0.20710461] [ 0.10412569 0.00255234 0.99456087 -0.08040521] [ 0. 0. 0. 1. ]] SLAMing on 189.90463044 meters Centerline goodness : 0.089741 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99455698 -0.00426613 -0.10410675 1.00943942] [ 0.00397871 0.99998768 -0.00296835 -0.207112 ] [ 0.10411813 0.00253798 0.9945617 -0.07998284] [ 0. 0. 0. 1. ]] SLAMing on 189.93463044 meters Centerline goodness : 0.088707 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99454451 -0.00431207 -0.10422395 1.0095793 ] [ 0.00402626 0.99998754 -0.00295255 -0.20757386] [ 0.10423538 0.00251681 0.99454947 -0.0797705 ] [ 0. 0. 0. 1. ]] SLAMing on 189.96463043999998 meters Centerline goodness : 0.100086 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99451962 -0.0043486 -0.1044596 1.01026898] [ 0.00407256 0.99998763 -0.00285571 -0.2087025 ] [ 0.10447072 0.00241465 0.99452503 -0.07977845] [ 0. 0. 0. 1. ]] SLAMing on 189.99463043999998 meters Centerline goodness : 0.193610 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99451039 -0.00424071 -0.10455192 1.01049103] [ 0.00398474 0.99998853 -0.00265705 -0.20954488] [ 0.10456199 0.00222585 0.99451588 -0.07967881] [ 0. 0. 0. 1. ]] SLAMing on 190.02463043999998 meters Centerline goodness : 0.213973 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99450852 -0.00418431 -0.10457195 1.01050685] [ 0.00394161 0.99998904 -0.00252746 -0.21027198] [ 0.10458138 0.0021014 0.99451411 -0.07959849] [ 0. 0. 0. 1. ]] SLAMing on 190.05463043999998 meters Centerline goodness : 0.134163 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99447297 -0.00419629 -0.10490899 1.0117231 ] [ 0.00395201 0.99998897 -0.00253626 -0.21075133] [ 0.10491848 0.00210764 0.99447859 -0.0799212 ] [ 0. 0. 0. 1. ]] SLAMing on 190.08463043999998 meters Centerline goodness : 0.114817 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.9944608 -0.00415225 -0.1050261 1.01216696] [ 0.00390796 0.99998916 -0.00253163 -0.21051944] [ 0.10503548 0.00210716 0.99446624 -0.08009232] [ 0. 0. 0. 1. ]] SLAMing on 190.11463043999998 meters Centerline goodness : 0.119097 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.99446928 -0.00405206 -0.10494965 1.01200752] [ 0.00381274 0.99998965 -0.00248087 -0.21016145] [ 0.10495862 0.00206701 0.99447444 -0.08007766] [ 0. 0. 0. 1. ]] SLAMing on 190.14463044 meters Centerline goodness : 0.117334 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.08 [[ 0.9944872 -0.00390495 -0.1047853 1.01135701] [ 0.00368072 0.9999905 -0.00233321 -0.21053043] [ 0.10479342 0.00193467 0.99449213 -0.07968512] [ 0. 0. 0. 1. ]] SLAMing on 190.17463044 meters Centerline goodness : 0.130230 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.08 [[ 0.99444337 0.00382084 -0.10520354 1.03061593] [-0.00423621 0.99998409 -0.00372505 -0.21390289] [ 0.10518763 0.00415002 0.99444373 -0.07623215] [ 0. 0. 0. 1. ]] SLAMing on 190.20463044 meters Centerline goodness : 0.268058 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.08 [[ 0.99441966 0.00384349 -0.1054266 1.03150137] [-0.00425179 0.99998431 -0.00364833 -0.21451419] [ 0.10541092 0.00407622 0.9944204 -0.07659196] [ 0. 0. 0. 1. ]] SLAMing on 190.23463044 meters Centerline goodness : 0.101655 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.08 [[ 0.99440011 0.00389863 -0.10560878 1.0321146 ] [-0.0042942 0.99998459 -0.00351853 -0.21528572] [ 0.10559343 0.00395233 0.99440153 -0.07676707] [ 0. 0. 0. 1. ]] SLAMing on 190.26463044 meters Centerline goodness : 0.200380 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.08 [[ 0.99439612 0.0039738 -0.10564361 1.03223737] [-0.00435263 0.9999849 -0.00335556 -0.21611311] [ 0.10562868 0.00379658 0.99439839 -0.07678814] [ 0. 0. 0. 1. ]] SLAMing on 190.29463044 meters Centerline goodness : 0.114316 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.08 [[ 0.9943979 0.00408749 -0.10562244 1.03198724] [-0.00444364 0.99998521 -0.00313673 -0.21733908] [ 0.10560806 0.00358851 0.99440136 -0.07637606] [ 0. 0. 0. 1. ]] SLAMing on 190.32463044 meters Centerline goodness : 0.119864 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.08 [[ 0.99441792 0.00407112 -0.10543443 1.03145247] [-0.00443223 0.99998509 -0.00319086 -0.21722305] [ 0.10541987 0.00364035 0.99442114 -0.07623061] [ 0. 0. 0. 1. ]] SLAMing on 190.35463044 meters Centerline goodness : 0.148532 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.08 [[ 0.99448442 0.00425203 -0.10479816 1.02982482] [-0.00462969 0.99998364 -0.0033607 -0.21535204] [ 0.10478216 0.00382735 0.99448783 -0.07598138] [ 0. 0. 0. 1. ]] SLAMing on 190.38463044 meters Centerline goodness : 0.138892 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.08 [[ 0.99448655 0.00423564 -0.10477865 1.02997853] [-0.00464153 0.99998264 -0.00363026 -0.21348403] [ 0.10476146 0.00409658 0.99448894 -0.07624567] [ 0. 0. 0. 1. ]] SLAMing on 190.41463044 meters Centerline goodness : 0.125929 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.08 [[ 0.99446047 0.00415793 -0.10502894 1.03104298] [-0.00460025 0.99998154 -0.00396952 -0.21150357] [ 0.10501049 0.00443069 0.99446124 -0.07680643] [ 0. 0. 0. 1. ]] SLAMing on 190.44463044 meters Centerline goodness : 0.112535 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.08 [[ 0.99443701 0.00406206 -0.10525461 1.03196824] [-0.0045392 0.99998048 -0.00429399 -0.20958133] [ 0.10523511 0.00474787 0.99443604 -0.07726452] [ 0. 0. 0. 1. ]] SLAMing on 190.47463044 meters Centerline goodness : 0.131824 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.08 [[ 0.99442892 0.00409423 -0.1053298 1.03243251] [-0.00460036 0.99997901 -0.00456271 -0.20694295] [ 0.10530891 0.00502185 0.99442688 -0.07756016] [ 0. 0. 0. 1. ]] SLAMing on 190.50463044 meters Centerline goodness : 0.121981 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99424802 0.00342417 -0.10704745 0.98786988] [-0.00391373 0.99998282 -0.00436358 -0.20864992] [ 0.10703067 0.00475744 0.99424434 -0.08173922] [ 0. 0. 0. 1. ]] SLAMing on 190.53463044 meters Centerline goodness : 0.197401 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99422404 0.00329532 -0.10727394 0.98843617] [-0.00380003 0.99998265 -0.00450078 -0.20839159] [ 0.10725725 0.00488243 0.99421931 -0.08168637] [ 0. 0. 0. 1. ]] SLAMing on 190.56463044 meters Centerline goodness : 0.094083 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99419746 0.00312171 -0.10752518 0.98926064] [-0.00364669 0.99998237 -0.0046861 -0.20817896] [ 0.10750866 0.00505102 0.99419132 -0.08189585] [ 0. 0. 0. 1. ]] SLAMing on 190.59463044 meters Centerline goodness : 0.259021 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99414804 0.00283998 -0.10798893 0.99113345] [-0.00339033 0.99998218 -0.00491312 -0.20808577] [ 0.10797305 0.00525049 0.99413996 -0.08264405] [ 0. 0. 0. 1. ]] SLAMing on 190.62463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 190.65463044 meters Centerline goodness : 0.044564 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99421853 0.00307312 -0.10733158 0.98897833] [-0.00359673 0.99998256 -0.00468519 -0.20795104] [ 0.10731531 0.00504414 0.99421224 -0.08188435] [ 0. 0. 0. 1. ]] SLAMing on 190.68463044 meters Centerline goodness : 0.119750 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99425268 0.00314975 -0.10701252 0.98799768] [-0.00365399 0.99998313 -0.00451628 -0.20873908] [ 0.10699649 0.00488135 0.99424742 -0.08145814] [ 0. 0. 0. 1. ]] SLAMing on 190.71463043999998 meters Centerline goodness : 0.114774 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99422651 0.00313432 -0.10725587 0.98877687] [-0.00363254 0.9999835 -0.00445005 -0.20948639] [ 0.10724015 0.00481397 0.99422149 -0.08165426] [ 0. 0. 0. 1. ]] SLAMing on 190.74463043999998 meters Centerline goodness : 0.115238 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99418588 0.0031455 -0.10763149 0.99016453] [-0.00363091 0.9999841 -0.00431433 -0.2105593 ] [ 0.10761621 0.00468004 0.9941815 -0.08216586] [ 0. 0. 0. 1. ]] SLAMing on 190.77463043999998 meters Centerline goodness : 0.140765 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.08 [[ 0.99414857 0.00315205 -0.10797536 0.99151576] [-0.00362346 0.99998474 -0.00416998 -0.21175006] [ 0.10796057 0.00453683 0.99414483 -0.0827168 ] [ 0. 0. 0. 1. ]] SLAMing on 190.80463043999998 meters Centerline goodness : 0.100211 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.08 [[ 0.99414424 0.00321578 -0.10801338 0.99175453] [-0.00363678 0.99998654 -0.0037009 -0.21537715] [ 0.10800003 0.00407205 0.99414255 -0.08274798] [ 0. 0. 0. 1. ]] SLAMing on 190.83463043999998 meters Centerline goodness : 0.126443 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.08 [[ 0.99415785 0.00324906 -0.10788706 0.99135515] [-0.00363974 0.99998751 -0.00342449 -0.21749078] [ 0.10787458 0.00379716 0.99415726 -0.08260577] [ 0. 0. 0. 1. ]] SLAMing on 190.86463043999998 meters Centerline goodness : 0.254525 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.08 [[ 0.99416362 0.00330439 -0.10783215 0.99101991] [-0.0036619 0.99998844 -0.00311754 -0.21969249] [ 0.1078206 0.00349421 0.99416423 -0.08228016] [ 0. 0. 0. 1. ]] SLAMing on 190.89463044 meters Centerline goodness : 0.122559 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.08 [[ 0.99415061 0.00341273 -0.10794867 0.99131174] [-0.00373649 0.99998911 -0.00279704 -0.22161029] [ 0.10793795 0.00318403 0.99415253 -0.08224064] [ 0. 0. 0. 1. ]] SLAMing on 190.92463044 meters Centerline goodness : 0.109022 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.22, Z:-0.08 [[ 0.99411401 0.00365633 -0.10827729 0.99278722] [-0.00392164 0.99998981 -0.00223751 -0.22463907] [ 0.10826801 0.00264896 0.99411821 -0.08288113] [ 0. 0. 0. 1. ]] SLAMing on 190.95463044 meters Centerline goodness : 0.093917 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.08 [[ 0.99410827 0.00375541 -0.10832654 0.99317537] [-0.00399846 0.99998995 -0.00202653 -0.22581828] [ 0.10831784 0.00244773 0.9941133 -0.08315559] [ 0. 0. 0. 1. ]] SLAMing on 190.98463044 meters Centerline goodness : 0.085938 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.08 [[ 0.99410758 0.00380392 -0.10833117 0.99333635] [-0.00403443 0.99999004 -0.00190869 -0.22671199] [ 0.10832283 0.00233449 0.99411303 -0.08330436] [ 0. 0. 0. 1. ]] SLAMing on 191.01463044 meters Centerline goodness : 0.431793 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.08 [[ 0.99412778 0.00414509 -0.10813316 0.99303814] [-0.00434877 0.99998919 -0.0016479 -0.22702273] [ 0.10812516 0.00210847 0.99413505 -0.08347226] [ 0. 0. 0. 1. ]] SLAMing on 191.04463044 meters Centerline goodness : 0.122949 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.08 [[ 0.99411189 0.00432157 -0.10827225 0.99349835] [-0.00451524 0.99998861 -0.00154364 -0.22665792] [ 0.10826434 0.00202342 0.99412008 -0.08362107] [ 0. 0. 0. 1. ]] SLAMing on 191.07463044 meters Centerline goodness : 0.094297 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.08 [[ 0.99410243 0.00444265 -0.10835419 0.99413969] [-0.0046258 0.99998827 -0.00143893 -0.22670607] [ 0.10834652 0.00193167 0.99411131 -0.08412462] [ 0. 0. 0. 1. ]] SLAMing on 191.10463044 meters Centerline goodness : 0.085617 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.23, Z:-0.08 [[ 0.99406544 0.00414792 -0.10870459 0.99580559] [-0.00435505 0.99998913 -0.00166808 -0.22741386] [ 0.10869649 0.0021316 0.9940727 -0.08491855] [ 0. 0. 0. 1. ]] SLAMing on 191.13463044 meters Centerline goodness : 0.123521 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.23, Z:-0.09 [[ 0.99404473 0.00403935 -0.10889795 0.99642542] [-0.00424448 0.99998963 -0.00165202 -0.22847117] [ 0.10889015 0.0021044 0.99405156 -0.08506575] [ 0. 0. 0. 1. ]] SLAMing on 191.16463044 meters Centerline goodness : 0.110679 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.23, Z:-0.09 [[ 0.99403727 0.00404212 -0.10896592 0.9967871 ] [-0.00423253 0.99998989 -0.0015162 -0.22952776] [ 0.10895869 0.00196836 0.99404433 -0.08527673] [ 0. 0. 0. 1. ]] SLAMing on 191.19463044 meters Centerline goodness : 0.096414 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.23, Z:-0.09 [[ 0.99400687 0.00404635 -0.10924271 0.9975619 ] [-0.00421727 0.99999022 -0.00133355 -0.23085741] [ 0.10923625 0.00178627 0.99401421 -0.08532946] [ 0. 0. 0. 1. ]] SLAMing on 191.22463044 meters Centerline goodness : 0.091052 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99389219 0.0017733 -0.11034119 1.00199263] [-0.00211267 0.99999339 -0.00295878 -0.23501493] [ 0.11033522 0.00317383 0.99388936 -0.08681976] [ 0. 0. 0. 1. ]] SLAMing on 191.25463044 meters Centerline goodness : 0.099191 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99386549 0.00178075 -0.11058126 1.00257895] [-0.00208584 0.99999433 -0.00264337 -0.23727648] [ 0.11057593 0.00285781 0.99386357 -0.08676153] [ 0. 0. 0. 1. ]] SLAMing on 191.28463044 meters Centerline goodness : 0.119274 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99384259 0.00182105 -0.11078623 1.00300491] [-0.0020866 0.99999522 -0.00228108 -0.23970235] [ 0.11078155 0.0024982 0.99384164 -0.08658291] [ 0. 0. 0. 1. ]] SLAMing on 191.31463044 meters Centerline goodness : 0.097524 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99384002 0.00185245 -0.11080877 1.00301038] [-0.00207887 0.99999598 -0.00192785 -0.24229943] [ 0.11080476 0.00214633 0.99383988 -0.0864734 ] [ 0. 0. 0. 1. ]] SLAMing on 191.34463044 meters Centerline goodness : 0.119405 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 0.99384657 0.00180682 -0.1107508 1.00261355] [-0.00198307 0.99999694 -0.00148128 -0.24695789] [ 0.11074779 0.00169179 0.9938471 -0.08602125] [ 0. 0. 0. 1. ]] SLAMing on 191.37463044 meters Centerline goodness : 0.152622 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 0.99384717 0.00196401 -0.11074268 1.00244769] [-0.00210999 0.99999705 -0.00120105 -0.24818931] [ 0.11073999 0.00142733 0.99384839 -0.08579748] [ 0. 0. 0. 1. ]] SLAMing on 191.40463044 meters Centerline goodness : 0.097951 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 9.93909376e-01 2.48754209e-03 -1.10172433e-01 1.00114606e+00] [-2.59869111e-03 9.99996249e-01 -8.65286259e-04 -2.48058809e-01] [ 1.10169867e-01 1.14632025e-03 9.93912112e-01 -8.58278797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43463044 meters Centerline goodness : 0.117493 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 9.93935190e-01 2.62805587e-03 -1.09936030e-01 1.00058054e+00] [-2.74982309e-03 9.99995762e-01 -9.56021441e-04 -2.46809551e-01] [ 1.09933051e-01 1.25252799e-03 9.93938205e-01 -8.58873494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46463043999998 meters Centerline goodness : 0.117493 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 9.93935190e-01 2.62805587e-03 -1.09936030e-01 1.00058054e+00] [-2.74982309e-03 9.99995762e-01 -9.56021441e-04 -2.46809551e-01] [ 1.09933051e-01 1.25252799e-03 9.93938205e-01 -8.58873494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49463043999998 meters Centerline goodness : 0.122669 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 0.9939575 0.00280634 -0.10972974 0.99982221] [-0.00293696 0.99999516 -0.00102881 -0.24545513] [ 0.10972632 0.00134486 0.99396093 -0.08560525] [ 0. 0. 0. 1. ]] SLAMing on 191.52463043999998 meters Centerline goodness : 0.116713 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99397213 0.00299693 -0.10959205 0.99943475] [-0.00313521 0.99999449 -0.00108941 -0.24391524] [ 0.10958818 0.00142643 0.99397605 -0.0856007 ] [ 0. 0. 0. 1. ]] SLAMing on 191.55463043999998 meters Centerline goodness : 0.117045 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99398278 0.00312782 -0.1094918 0.99929517] [-0.00327302 0.99999399 -0.00114644 -0.24268783] [ 0.10948755 0.00149791 0.99398704 -0.08575154] [ 0. 0. 0. 1. ]] SLAMing on 191.58463043999998 meters Centerline goodness : 0.146666 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99398098 0.00310915 -0.10950867 0.99992549] [-0.00327461 0.99999375 -0.00133107 -0.2417388 ] [ 0.10950385 0.00168165 0.99398495 -0.08643614] [ 0. 0. 0. 1. ]] SLAMing on 191.61463043999998 meters Centerline goodness : 0.121027 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99398088 0.00302432 -0.10951197 1.00008853] [-0.00320235 0.99999382 -0.00144979 -0.24158138] [ 0.10950691 0.00179176 0.99398442 -0.0866583 ] [ 0. 0. 0. 1. ]] SLAMing on 191.64463044 meters Centerline goodness : 0.123038 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.9939771 0.00297111 -0.10954774 1.00024169] [-0.00315313 0.99999392 -0.00148839 -0.24162754] [ 0.10954265 0.00182484 0.99398042 -0.08672995] [ 0. 0. 0. 1. ]] SLAMing on 191.67463044 meters Centerline goodness : 0.128540 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99396616 0.00303508 -0.10964517 1.00038954] [-0.00320103 0.99999398 -0.00133746 -0.24225816] [ 0.10964045 0.00168037 0.99396989 -0.08661759] [ 0. 0. 0. 1. ]] SLAMing on 191.70463044 meters Centerline goodness : 0.073617 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99396039 0.00305535 -0.10969691 1.00035761] [-0.00321351 0.99999404 -0.00126508 -0.24264265] [ 0.10969239 0.00160995 0.99396428 -0.08640607] [ 0. 0. 0. 1. ]] SLAMing on 191.73463044 meters Centerline goodness : 0.057672 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99394898 0.00304305 -0.10980056 1.00078111] [-0.00319744 0.99999413 -0.00123005 -0.24300557] [ 0.10979617 0.00157369 0.99395288 -0.08659374] [ 0. 0. 0. 1. ]] SLAMing on 191.76463044 meters Centerline goodness : 0.121566 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99390465 0.00295624 -0.11020345 1.00263883] [-0.00312816 0.99999415 -0.00138717 -0.24233916] [ 0.11019871 0.00172345 0.99390808 -0.08764953] [ 0. 0. 0. 1. ]] SLAMing on 191.79463044 meters Centerline goodness : 0.120795 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99388285 0.00289667 -0.11040147 1.00338345] [-0.00308547 0.99999406 -0.0015393 -0.24166294] [ 0.11039636 0.00187052 0.99388588 -0.08797278] [ 0. 0. 0. 1. ]] SLAMing on 191.82463044 meters Centerline goodness : 0.137886 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99388584 0.00288748 -0.11037481 1.00346827] [-0.00308983 0.99999384 -0.00166229 -0.24077207] [ 0.11036933 0.00199316 0.99388864 -0.08814231] [ 0. 0. 0. 1. ]] SLAMing on 191.85463044 meters Centerline goodness : 0.124976 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99390477 0.00282219 -0.11020594 1.00284526] [-0.00304284 0.99999369 -0.00183408 -0.23986102] [ 0.11020007 0.00215824 0.99390708 -0.08792468] [ 0. 0. 0. 1. ]] SLAMing on 191.88463044 meters Centerline goodness : 0.086920 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99391335 0.00280432 -0.110129 1.0023784 ] [-0.00303751 0.99999349 -0.0019497 -0.23895007] [ 0.11012281 0.00227235 0.99391539 -0.08755921] [ 0. 0. 0. 1. ]] SLAMing on 191.91463044 meters Centerline goodness : 0.126229 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99394447 0.00291379 -0.10984489 1.0011605 ] [-0.00312235 0.99999363 -0.00172668 -0.23937839] [ 0.10983916 0.0020592 0.99394724 -0.08694459] [ 0. 0. 0. 1. ]] SLAMing on 191.94463044 meters Centerline goodness : 0.120189 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.9939285 0.00283079 -0.10999148 1.00170389] [-0.00303068 0.99999405 -0.00165019 -0.24040119] [ 0.10998615 0.00197352 0.99393116 -0.08710409] [ 0. 0. 0. 1. ]] SLAMing on 191.97463044 meters Centerline goodness : 0.089372 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.09 [[ 0.99388844 0.0026292 -0.11035785 1.00292631] [-0.0028224 0.99999475 -0.00159452 -0.24192686] [ 0.11035308 0.00189625 0.99389064 -0.08743592] [ 0. 0. 0. 1. ]] SLAMing on 192.00463044 meters Centerline goodness : 0.123786 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 9.93919877e-01 -1.35855922e-03 -1.10097373e-01 1.00265304e+00] [ 8.47525527e-04 9.99988651e-01 -4.68831651e-03 -2.45676938e-01] [ 1.10102492e-01 4.56650064e-03 9.93909749e-01 -8.77562781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03463044 meters Centerline goodness : 0.101416 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 9.93929712e-01 -1.26559797e-03 -1.10009664e-01 1.00223377e+00] [ 7.99343471e-04 9.99990511e-01 -4.28230323e-03 -2.48176206e-01] [ 1.10014039e-01 4.16837291e-03 9.93921293e-01 -8.74358695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06463044 meters Centerline goodness : 0.083158 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 9.93927182e-01 -1.12077198e-03 -1.10034087e-01 1.00205416e+00] [ 6.96214835e-04 9.99992165e-01 -3.89675933e-03 -2.50296076e-01] [ 1.10037592e-01 3.79648766e-03 9.93920175e-01 -8.70839044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09463044 meters Centerline goodness : 0.099446 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.09 [[ 9.93911883e-01 -9.98653670e-04 -1.10173368e-01 1.00249681e+00] [ 6.03003417e-04 9.99993250e-01 -3.62442100e-03 -2.51754449e-01] [ 1.10176244e-01 3.53592018e-03 9.93905777e-01 -8.71424548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12463044 meters Centerline goodness : 0.228278 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93824126e-01 -9.00378968e-04 -1.10963041e-01 1.00519417e+00] [ 5.18121594e-04 9.99993832e-01 -3.47369424e-03 -2.53118856e-01] [ 1.10965484e-01 3.39474879e-03 9.93818463e-01 -8.79847949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15463044 meters Centerline goodness : 0.091154 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93794608e-01 -7.57743504e-04 -1.11228155e-01 1.00624678e+00] [ 3.89136392e-04 9.99994361e-01 -3.33564451e-03 -2.53551330e-01] [ 1.11230055e-01 3.27166261e-03 9.93789299e-01 -8.84750938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18463044 meters Centerline goodness : 0.076582 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93748909e-01 -5.17194550e-04 -1.11637083e-01 1.00771397e+00] [ 1.68779945e-04 9.99995086e-01 -3.13038566e-03 -2.53940993e-01] [ 1.11638153e-01 3.09197524e-03 9.93744113e-01 -8.90058260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21463043999998 meters Centerline goodness : 0.114168 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93734671e-01 -3.59534968e-04 -1.11764367e-01 1.00845998e+00] [ 2.11765155e-05 9.99995414e-01 -3.02859928e-03 -2.53975457e-01] [ 1.11764943e-01 3.00725734e-03 9.93730121e-01 -8.95567352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24463043999998 meters Centerline goodness : 0.123321 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93748884e-01 -1.03117214e-04 -1.11638460e-01 1.00828091e+00] [-2.21745379e-04 9.99995778e-01 -2.89753192e-03 -2.54274200e-01] [ 1.11638287e-01 2.90417442e-03 9.93744665e-01 -8.97208094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27463043999998 meters Centerline goodness : 0.083001 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93755054e-01 -2.16980304e-05 -1.11583568e-01 1.00804623e+00] [-2.97228535e-04 9.99995919e-01 -2.84155011e-03 -2.54405437e-01] [ 1.11583175e-01 2.85697060e-03 9.93750991e-01 -8.95935903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30463043999998 meters Centerline goodness : 0.067871 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93736886e-01 2.66811237e-04 -1.11744931e-01 1.00883660e+00] [-5.81478136e-04 9.99995957e-01 -2.78335770e-03 -2.53190415e-01] [ 1.11743737e-01 2.83090245e-03 9.93733024e-01 -9.01460611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33463043999998 meters Centerline goodness : 0.083925 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93705729e-01 2.20730216e-04 -1.12021766e-01 1.01016408e+00] [-5.57321035e-04 9.99995424e-01 -2.97338554e-03 -2.52028338e-01] [ 1.12020597e-01 3.01710233e-03 9.93701305e-01 -9.09528423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36463043999998 meters Centerline goodness : 0.151933 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93675691e-01 1.09273518e-04 -1.12288065e-01 1.01138018e+00] [-4.72481204e-04 9.99994743e-01 -3.20800026e-03 -2.51078707e-01] [ 1.12287125e-01 3.24076587e-03 9.93670518e-01 -9.16622220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39463044 meters Centerline goodness : 0.137068 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93665834e-01 6.52835041e-05 -1.12375288e-01 1.01169786e+00] [-4.38421706e-04 9.99994473e-01 -3.29575598e-03 -2.50702191e-01] [ 1.12374452e-01 3.32414788e-03 9.93660371e-01 -9.18141499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42463044 meters Centerline goodness : 0.084043 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93694146e-01 2.29379198e-04 -1.12124446e-01 1.01048790e+00] [-5.67422786e-04 9.99995390e-01 -2.98299409e-03 -2.51543053e-01] [ 1.12123245e-01 3.02780573e-03 9.93689695e-01 -9.11417793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45463044 meters Centerline goodness : 0.083899 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93689953e-01 2.76475818e-04 -1.12161492e-01 1.01041364e+00] [-5.92889590e-04 9.99995939e-01 -2.78771020e-03 -2.52448191e-01] [ 1.12160265e-01 2.83661900e-03 9.93686081e-01 -9.08722781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48463044 meters Centerline goodness : 0.102976 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.25, Z:-0.09 [[ 9.93670869e-01 1.79596264e-04 -1.12330632e-01 1.01078252e+00] [-4.82378100e-04 9.99996324e-01 -2.66827896e-03 -2.53814600e-01] [ 1.12329740e-01 2.70557691e-03 9.93667303e-01 -9.07251632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51463044 meters Centerline goodness : 0.083940 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:-0.09 [[ 9.93661479e-01 4.49916788e-05 -1.12413804e-01 1.01090601e+00] [-3.28630182e-04 9.99996809e-01 -2.50463562e-03 -2.55739713e-01] [ 1.12413332e-01 2.52570251e-03 9.93658323e-01 -9.05731107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54463044 meters Centerline goodness : 0.115380 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:-0.09 [[ 0.99369728 -0.00297478 -0.11205738 1.00926178] [ 0.00247335 0.9999863 -0.00461354 -0.26033273] [ 0.11206957 0.00430731 0.99369103 -0.08982627] [ 0. 0. 0. 1. ]] SLAMing on 192.57463044 meters Centerline goodness : 0.091093 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:-0.09 [[ 0.99370204 -0.00280196 -0.11201965 1.00930585] [ 0.00236117 0.99998894 -0.00406739 -0.26312243] [ 0.11202981 0.00377728 0.99369767 -0.08992263] [ 0. 0. 0. 1. ]] SLAMing on 192.60463044 meters Centerline goodness : 0.226299 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.27, Z:-0.09 [[ 0.99369345 -0.00265695 -0.11209935 1.00960698] [ 0.00226953 0.999991 -0.00358355 -0.26578291] [ 0.11210786 0.00330653 0.99369054 -0.08997605] [ 0. 0. 0. 1. ]] SLAMing on 192.63463044 meters Centerline goodness : 0.118248 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.27, Z:-0.09 [[ 0.99368478 -0.00656581 -0.11201535 1.00984859] [ 0.00585794 0.99996075 -0.00664737 -0.26979635] [ 0.1120546 0.00594921 0.99368424 -0.090313 ] [ 0. 0. 0. 1. ]] SLAMing on 192.66463044 meters Centerline goodness : 0.160014 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.27, Z:-0.09 [[ 0.99365603 -0.00649284 -0.11227434 1.01050385] [ 0.00582068 0.99996313 -0.00631351 -0.27220258] [ 0.1123112 0.00561994 0.99365719 -0.09028462] [ 0. 0. 0. 1. ]] SLAMing on 192.69463044 meters Centerline goodness : 0.092036 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.27, Z:-0.09 [[ 0.99364104 -0.00633701 -0.11241585 1.01099441] [ 0.00570541 0.99996609 -0.00593927 -0.27424961] [ 0.11244968 0.00526012 0.9936435 -0.09045432] [ 0. 0. 0. 1. ]] SLAMing on 192.72463044 meters Centerline goodness : 0.123682 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99353591 0.00205517 -0.11349964 1.03128203] [-0.00278583 0.9999764 -0.0062793 -0.28098581] [ 0.11348405 0.0065549 0.99351819 -0.08773324] [ 0. 0. 0. 1. ]] SLAMing on 192.75463044 meters Centerline goodness : 0.107620 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99354734 0.00218326 -0.11339712 1.03109513] [-0.00289389 0.99997719 -0.00610257 -0.28177782] [ 0.11338121 0.00639135 0.993531 -0.08779293] [ 0. 0. 0. 1. ]] SLAMing on 192.78463044 meters Centerline goodness : 0.205983 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99353533 0.00222517 -0.1135015 1.03128086] [-0.00292857 0.99997753 -0.00603085 -0.28231596] [ 0.11348553 0.00632426 0.99351952 -0.08772 ] [ 0. 0. 0. 1. ]] SLAMing on 192.81463044 meters Centerline goodness : 0.095857 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99351676 0.00231312 -0.11366225 1.03169434] [-0.00300938 0.99997774 -0.00595457 -0.28263684] [ 0.11364594 0.00625802 0.9935016 -0.08770671] [ 0. 0. 0. 1. ]] SLAMing on 192.84463044 meters Centerline goodness : 0.083424 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99355699 0.00263302 -0.11330305 1.03057925] [-0.00330018 0.9999783 -0.00570114 -0.28304303] [ 0.11328558 0.00603833 0.99354412 -0.08745281] [ 0. 0. 0. 1. ]] SLAMing on 192.87463044 meters Centerline goodness : 0.191480 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99360457 0.00271718 -0.11288297 1.02945716] [-0.00337719 0.9999783 -0.00565607 -0.28303516] [ 0.11286516 0.00600112 0.99359219 -0.08731609] [ 0. 0. 0. 1. ]] SLAMing on 192.90463044 meters Centerline goodness : 0.082823 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99363587 0.00279794 -0.11260518 1.02882977] [-0.00346139 0.99997778 -0.00569671 -0.28236345] [ 0.11258674 0.00605022 0.99362348 -0.08739468] [ 0. 0. 0. 1. ]] SLAMing on 192.93463044 meters Centerline goodness : 0.082692 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99364207 0.00281298 -0.11255006 1.02901473] [-0.00349424 0.99997675 -0.00585612 -0.28108125] [ 0.11253097 0.00621216 0.9936288 -0.08782099] [ 0. 0. 0. 1. ]] SLAMing on 192.96463043999998 meters Centerline goodness : 0.082596 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.99360686 0.00305431 -0.11285421 1.03042726] [-0.00376551 0.99997437 -0.0060893 -0.27810081] [ 0.11283272 0.00647532 0.9935929 -0.08869733] [ 0. 0. 0. 1. ]] SLAMing on 192.99463043999998 meters Centerline goodness : 0.084334 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.09 [[ 0.9935869 0.00302035 -0.11303072 1.03117027] [-0.00376159 0.99997279 -0.00634516 -0.276244 ] [ 0.11300848 0.00672964 0.99357123 -0.08911107] [ 0. 0. 0. 1. ]] SLAMing on 193.02463043999998 meters Centerline goodness : 0.084791 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.27, Z:-0.09 [[ 0.99355194 0.00288919 -0.1133411 1.03218815] [-0.00367625 0.99997056 -0.0067358 -0.27407462] [ 0.1133183 0.00710904 0.9935333 -0.08941926] [ 0. 0. 0. 1. ]] SLAMing on 193.05463043999998 meters Centerline goodness : 0.084259 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.27, Z:-0.09 [[ 0.99348119 0.00250794 -0.1139686 1.03426322] [-0.00339765 0.99996525 -0.00761311 -0.26960772] [ 0.11394555 0.00795071 0.99345518 -0.09015422] [ 0. 0. 0. 1. ]] SLAMing on 193.08463043999998 meters Centerline goodness : 0.083402 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.27, Z:-0.09 [[ 0.99346548 0.00233082 -0.11410916 1.03486363] [-0.00326351 0.99996277 -0.00798752 -0.2676284 ] [ 0.1140863 0.00830772 0.99343611 -0.09050736] [ 0. 0. 0. 1. ]] SLAMing on 193.11463043999998 meters Centerline goodness : 0.083694 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.27, Z:-0.09 [[ 0.9934705 0.00222359 -0.11406765 1.03497189] [-0.00318793 0.9999607 -0.00827238 -0.26585273] [ 0.11404477 0.00858201 0.99343854 -0.09081369] [ 0. 0. 0. 1. ]] SLAMing on 193.14463044 meters Centerline goodness : 0.121207 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.26, Z:-0.09 [[ 0.99346876 0.00211417 -0.11408488 1.03506611] [-0.0031106 0.99995855 -0.00855678 -0.26399358] [ 0.11406206 0.00885576 0.99343416 -0.09090966] [ 0. 0. 0. 1. ]] SLAMing on 193.17463044 meters Centerline goodness : 0.083537 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.26, Z:-0.09 [[ 0.99342237 0.0017259 -0.1144946 1.03630259] [-0.00279962 0.9999536 -0.00921778 -0.26089819] [ 0.11447337 0.00947769 0.99338111 -0.09120574] [ 0. 0. 0. 1. ]] SLAMing on 193.20463044 meters Centerline goodness : 0.156257 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.26, Z:-0.09 [[ 0.99339347 0.00151017 -0.11474817 1.03704329] [-0.00262322 0.99995096 -0.00954951 -0.25963597] [ 0.11472812 0.00978743 0.99334871 -0.09137862] [ 0. 0. 0. 1. ]] SLAMing on 193.23463044 meters Centerline goodness : 0.262021 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.25, Z:-0.09 [[ 0.99331039 -0.00551388 -0.11534328 1.05602946] [ 0.00452449 0.99995071 -0.00883788 -0.25253193] [ 0.11538632 0.00825689 0.99328637 -0.08804118] [ 0. 0. 0. 1. ]] SLAMing on 193.26463044 meters Centerline goodness : 0.128521 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.25, Z:-0.09 [[ 0.99331292 -0.00556058 -0.11531921 1.05612671] [ 0.00455956 0.99994962 -0.00894238 -0.25171221] [ 0.11536312 0.00835678 0.99328823 -0.08825333] [ 0. 0. 0. 1. ]] SLAMing on 193.29463044 meters Centerline goodness : 0.115381 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.25, Z:-0.09 [[ 0.99334156 -0.0056739 -0.11506671 1.05534418] [ 0.00466684 0.99994843 -0.00901948 -0.2511946 ] [ 0.11511195 0.00842243 0.99331682 -0.08805245] [ 0. 0. 0. 1. ]] SLAMing on 193.32463044 meters Centerline goodness : 0.120501 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.25, Z:-0.09 [[ 0.9933325 -0.00582941 -0.11513715 1.05543314] [ 0.00480087 0.99994608 -0.00920851 -0.25067261] [ 0.11518462 0.00859436 0.99330692 -0.08794875] [ 0. 0. 0. 1. ]] SLAMing on 193.35463044 meters Centerline goodness : 0.120501 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.25, Z:-0.09 [[ 0.9933325 -0.00582941 -0.11513715 1.05543314] [ 0.00480087 0.99994608 -0.00920851 -0.25067261] [ 0.11518462 0.00859436 0.99330692 -0.08794875] [ 0. 0. 0. 1. ]] SLAMing on 193.38463044 meters Centerline goodness : 0.128157 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.25, Z:-0.09 [[ 0.99330131 -0.00599988 -0.11539718 1.05620123] [ 0.00494037 0.999943 -0.00946522 -0.24978931] [ 0.11544739 0.00883171 0.99327433 -0.08806696] [ 0. 0. 0. 1. ]] SLAMing on 193.41463044 meters Centerline goodness : 0.115431 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.25, Z:-0.09 [[ 0.99324247 0.00148557 -0.11604822 1.03730807] [-0.00274264 0.99993928 -0.01067338 -0.25049579] [ 0.11602532 0.01091953 0.99318623 -0.09162744] [ 0. 0. 0. 1. ]] SLAMing on 193.44463044 meters Centerline goodness : 0.112882 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.25, Z:-0.09 [[ 0.99325355 0.00145545 -0.11595371 1.0369766 ] [-0.00273966 0.99993666 -0.01091663 -0.24861623] [ 0.11593048 0.01116065 0.99319463 -0.09151376] [ 0. 0. 0. 1. ]] SLAMing on 193.47463044 meters Centerline goodness : 0.116649 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.25, Z:-0.09 [[ 0.99326004 0.00141316 -0.11589865 1.03669017] [-0.00273209 0.9999333 -0.01122194 -0.2463332 ] [ 0.11587506 0.01146295 0.99319765 -0.09133205] [ 0. 0. 0. 1. ]] SLAMing on 193.50463044 meters Centerline goodness : 0.118924 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.24, Z:-0.09 [[ 0.99335833 0.0016912 -0.11504938 1.03408287] [-0.00303694 0.999929 -0.01152275 -0.24219623] [ 0.11502172 0.01179562 0.99329294 -0.09083117] [ 0. 0. 0. 1. ]] SLAMing on 193.53463044 meters Centerline goodness : 0.113291 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.24, Z:-0.09 [[ 0.99339163 0.00161452 -0.11476266 1.03331354] [-0.00300035 0.99992465 -0.01190385 -0.23989982] [ 0.11473479 0.01216952 0.99332161 -0.0907973 ] [ 0. 0. 0. 1. ]] SLAMing on 193.56463044 meters Centerline goodness : 0.122386 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.24, Z:-0.09 [[ 0.99340528 0.00153457 -0.11464551 1.03293031] [-0.00295916 0.9999205 -0.0122569 -0.23777646] [ 0.11461758 0.01251532 0.99333085 -0.09074424] [ 0. 0. 0. 1. ]] SLAMing on 193.59463044 meters Centerline goodness : 0.120754 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.23, Z:-0.09 [[ 0.99338013 0.00168317 -0.11486112 1.03367807] [-0.00314729 0.99991608 -0.01256677 -0.23437358] [ 0.11483033 0.01284508 0.99330207 -0.09107774] [ 0. 0. 0. 1. ]] SLAMing on 193.62463044 meters Centerline goodness : 0.128120 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.23, Z:-0.09 [[ 0.99337241 0.00163687 -0.11492853 1.03418171] [-0.00313071 0.99991294 -0.01281872 -0.23250823] [ 0.11489754 0.01309357 0.99329105 -0.09150828] [ 0. 0. 0. 1. ]] SLAMing on 193.65463044 meters Centerline goodness : 0.120227 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.23, Z:-0.10 [[ 0.99331565 -0.00624626 -0.11526063 1.01544725] [ 0.00495001 0.99992129 -0.01152901 -0.22717812] [ 0.11532357 0.01088141 0.99326838 -0.09519106] [ 0. 0. 0. 1. ]] SLAMing on 193.68463044 meters Centerline goodness : 0.123825 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.23, Z:-0.09 [[ 0.99346318 0.00160283 -0.11414176 1.0343131 ] [-0.00315847 0.99990456 -0.01344944 -0.22510322] [ 0.11410931 0.01372204 0.99337343 -0.09216359] [ 0. 0. 0. 1. ]] SLAMing on 193.71463043999998 meters Centerline goodness : 0.124393 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.09 [[ 0.99348194 0.00156729 -0.11397881 1.03382291] [-0.00313622 0.99990277 -0.01358702 -0.22405019] [ 0.11394643 0.01385592 0.99339027 -0.09208219] [ 0. 0. 0. 1. ]] SLAMing on 193.74463043999998 meters Centerline goodness : 0.122804 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.09 [[ 0.99349413 0.00152694 -0.11387313 1.03349606] [-0.00310027 0.99990215 -0.01364075 -0.22364667] [ 0.11384115 0.01390504 0.99340165 -0.09202317] [ 0. 0. 0. 1. ]] SLAMing on 193.77463043999998 meters Centerline goodness : 0.131217 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.10 [[ 0.993212 -0.00785112 -0.11605295 1.01419563] [ 0.00637581 0.99989415 -0.01307815 -0.22479121] [ 0.11614334 0.01224944 0.99315692 -0.09510239] [ 0. 0. 0. 1. ]] SLAMing on 193.80463043999998 meters Centerline goodness : 0.263304 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 0.99293315 -0.0033341 -0.11862821 1.03621973] [ 0.00143639 0.99986969 -0.01607905 -0.2296981 ] [ 0.11866636 0.01579502 0.99280855 -0.09249983] [ 0. 0. 0. 1. ]] SLAMing on 193.83463043999998 meters Centerline goodness : 0.102006 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 0.99284277 -0.0035375 -0.11937634 1.03833076] [ 0.00164447 0.9998714 -0.01595245 -0.23194584] [ 0.11941742 0.01564196 0.99272091 -0.09274423] [ 0. 0. 0. 1. ]] SLAMing on 193.86463043999998 meters Centerline goodness : 0.111932 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 0.99280008 -0.00346045 -0.11973319 1.03920056] [ 0.00160442 0.99987711 -0.01559433 -0.2342045 ] [ 0.11977244 0.01528995 0.99268363 -0.0926998 ] [ 0. 0. 0. 1. ]] SLAMing on 193.89463044 meters Centerline goodness : 0.044089 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.24, Z:-0.09 [[ 0.99282803 -0.00305145 -0.1195123 1.03778147] [ 0.00128141 0.9998884 -0.01488453 -0.23704093] [ 0.11954438 0.01462463 0.99272114 -0.09162398] [ 0. 0. 0. 1. ]] SLAMing on 193.92463044 meters Centerline goodness : 0.225101 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.24, Z:-0.09 [[ 0.99286649 -0.00294299 -0.11919511 1.03679905] [ 0.00119108 0.99989026 -0.01476636 -0.2374015 ] [ 0.11922548 0.01451906 0.99276104 -0.09140124] [ 0. 0. 0. 1. ]] SLAMing on 193.95463044 meters Centerline goodness : 0.243911 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.24, Z:-0.09 [[ 0.99287995 -0.00291601 -0.11908357 1.03671578] [ 0.00115728 0.99988928 -0.01483536 -0.23691889] [ 0.11911364 0.01459192 0.9927734 -0.09164296] [ 0. 0. 0. 1. ]] SLAMing on 193.98463044 meters Centerline goodness : 0.130341 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 9.92786489e-01 -2.39567478e-03 -1.19871796e-01 1.03961632e+00] [ 6.22141811e-04 9.99889829e-01 -1.48304849e-02 -2.34106519e-01] [ 1.19894118e-01 1.46489278e-02 9.92678603e-01 -9.27960227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01463044 meters Centerline goodness : 0.145529 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 9.92740552e-01 -2.32200584e-03 -1.20253085e-01 1.04105334e+00] [ 5.13776087e-04 9.99886374e-01 -1.50656896e-02 -2.32055896e-01] [ 1.20274403e-01 1.48945378e-02 9.92628944e-01 -9.34231679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04463044 meters Centerline goodness : 0.122992 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 9.92735893e-01 -2.32310970e-03 -1.20291523e-01 1.04101526e+00] [ 4.79049777e-04 9.99881966e-01 -1.53565733e-02 -2.29934400e-01] [ 1.20313000e-01 1.51873959e-02 9.92619829e-01 -9.32864730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07463044 meters Centerline goodness : 0.149665 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 9.92806775e-01 -2.35690467e-03 -1.19704435e-01 1.03888099e+00] [ 4.76656006e-04 9.99876105e-01 -1.57336305e-02 -2.27345481e-01] [ 1.19726687e-01 1.55633971e-02 9.92684895e-01 -9.25646020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10463044 meters Centerline goodness : 0.126501 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 9.92817141e-01 -2.39713733e-03 -1.19617632e-01 1.03863181e+00] [ 5.02872822e-04 9.99874038e-01 -1.58636699e-02 -2.26424816e-01] [ 1.19640592e-01 1.56895709e-02 9.92693289e-01 -9.25316902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13463044 meters Centerline goodness : 0.122493 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 9.92816064e-01 -2.40153984e-03 -1.19626481e-01 1.03872034e+00] [ 5.03374036e-04 9.99873538e-01 -1.58951286e-02 -2.26001272e-01] [ 1.19649525e-01 1.57207222e-02 9.92691720e-01 -9.26025697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16463044 meters Centerline goodness : 0.123399 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.09 [[ 9.92814168e-01 -2.41918783e-03 -1.19641862e-01 1.03886930e+00] [ 5.13581915e-04 9.99872565e-01 -1.59558545e-02 -2.25401108e-01] [ 1.19665216e-01 1.57797525e-02 9.92688892e-01 -9.27177929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19463044 meters Centerline goodness : 0.125153 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.22, Z:-0.10 [[ 0.99270339 -0.01064234 -0.1201113 1.01918064] [ 0.00892386 0.99985011 -0.01483625 -0.22016781] [ 0.12025119 0.01365614 0.99264957 -0.09597483] [ 0. 0. 0. 1. ]] SLAMing on 194.22463044 meters Centerline goodness : 0.096896 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.22, Z:-0.09 [[ 9.92766820e-01 -2.82614371e-03 -1.20025223e-01 1.03830302e+00] [ 8.81831229e-04 9.99867584e-01 -1.62492237e-02 -2.20978443e-01] [ 1.20055252e-01 1.60258481e-02 9.92637854e-01 -9.26539928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25463044 meters Centerline goodness : 0.127449 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.22, Z:-0.09 [[ 9.92762497e-01 -2.91873098e-03 -1.20058760e-01 1.03853077e+00] [ 9.37528153e-04 9.99862515e-01 -1.65551177e-02 -2.18987999e-01] [ 1.20090574e-01 1.63227415e-02 9.92628743e-01 -9.28247230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28463044 meters Centerline goodness : 0.044775 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.22, Z:-0.09 [[ 9.92765330e-01 -3.00266815e-03 -1.20033262e-01 1.03879028e+00] [ 9.83292105e-04 9.99857053e-01 -1.68791598e-02 -2.16798871e-01] [ 1.20066787e-01 1.66390168e-02 9.92626370e-01 -9.31938713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31463044 meters Centerline goodness : 0.132808 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.09 [[ 0.99277886 -0.00342469 -0.11990996 1.03894829] [ 0.0013057 0.99984168 -0.01774562 -0.21279489] [ 0.11995175 0.01746091 0.99262616 -0.09374956] [ 0. 0. 0. 1. ]] SLAMing on 194.34463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.37463044 meters Centerline goodness : 0.097886 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.09 [[ 0.99276106 -0.00374139 -0.12004783 1.03969929] [ 0.00154872 0.99983037 -0.01835309 -0.21003927] [ 0.12009613 0.01803431 0.99259845 -0.09428039] [ 0. 0. 0. 1. ]] SLAMing on 194.40463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.43463044 meters Centerline goodness : 0.118625 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.10 [[ 0.9926705 -0.00409426 -0.1207829 1.04232452] [ 0.00184268 0.99982255 -0.01874742 -0.20841032] [ 0.12083822 0.01838744 0.9925019 -0.095183 ] [ 0. 0. 0. 1. ]] SLAMing on 194.46463043999998 meters Centerline goodness : 0.215572 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.21, Z:-0.10 [[ 0.99243184 -0.00522255 -0.12268567 0.99669002] [ 0.00292109 0.99981652 -0.01893136 -0.21146088] [ 0.12276203 0.01842971 0.992265 -0.09948786] [ 0. 0. 0. 1. ]] SLAMing on 194.49463043999998 meters Centerline goodness : 0.161593 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.21, Z:-0.10 [[ 0.99243156 -0.00518339 -0.1226896 0.99632502] [ 0.00289477 0.99981861 -0.0188246 -0.21159397] [ 0.12276492 0.01832697 0.99226655 -0.09902085] [ 0. 0. 0. 1. ]] SLAMing on 194.52463043999998 meters Centerline goodness : 0.102588 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.21, Z:-0.10 [[ 0.99245604 -0.00510451 -0.12249468 0.99559335] [ 0.00283217 0.9998208 -0.0187175 -0.21178015] [ 0.12256828 0.01822937 0.99229265 -0.09871039] [ 0. 0. 0. 1. ]] SLAMing on 194.55463043999998 meters Centerline goodness : 0.164007 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.10 [[ 0.99248845 -0.00513483 -0.12223058 0.99470952] [ 0.00287146 0.99982127 -0.01868619 -0.21218563] [ 0.12230469 0.01819485 0.99232581 -0.09842086] [ 0. 0. 0. 1. ]] SLAMing on 194.58463043999998 meters Centerline goodness : 0.089135 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.10 [[ 0.9925163 -0.00521394 -0.12200083 0.99400226] [ 0.00295421 0.99982085 -0.01869582 -0.21265836] [ 0.12207645 0.0181955 0.9923539 -0.09822363] [ 0. 0. 0. 1. ]] SLAMing on 194.61463043999998 meters Centerline goodness : 0.089009 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.10 [[ 0.99253931 -0.00522179 -0.1218132 0.99364247] [ 0.00296976 0.99982144 -0.01866181 -0.21300411] [ 0.1218889 0.01816082 0.99237759 -0.09834179] [ 0. 0. 0. 1. ]] SLAMing on 194.64463044 meters Centerline goodness : 0.103084 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.10 [[ 0.99254487 -0.00513204 -0.1217717 0.99377193] [ 0.00288247 0.99982205 -0.0186427 -0.21254608] [ 0.1218457 0.01815272 0.99238304 -0.09862825] [ 0. 0. 0. 1. ]] SLAMing on 194.67463044 meters Centerline goodness : 0.100552 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.10 [[ 0.99254444 -0.0050579 -0.12177831 0.99405089] [ 0.00280722 0.9998222 -0.01864627 -0.21199958] [ 0.12185097 0.0181654 0.99238216 -0.0989611 ] [ 0. 0. 0. 1. ]] SLAMing on 194.70463044 meters Centerline goodness : 0.103241 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.21, Z:-0.10 [[ 0.99248589 -0.0051133 -0.12225227 0.99542874] [ 0.00282087 0.99981707 -0.01891739 -0.21060847] [ 0.12232664 0.01843038 0.99231876 -0.0992112 ] [ 0. 0. 0. 1. ]] SLAMing on 194.73463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.76463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.79463044 meters Centerline goodness : 0.117184 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.21, Z:-0.10 [[ 9.92255087e-01 -2.87516464e-03 -1.24183639e-01 1.00252960e+00] [ 6.94818656e-04 9.99844916e-01 -1.75971765e-02 -2.05014531e-01] [ 1.24214975e-01 1.73746028e-02 9.92103202e-01 -1.01378350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.85463044 meters Centerline goodness : 0.102385 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.10 [[ 0.99229225 -0.00327257 -0.12387645 1.00150923] [ 0.00103487 0.99983521 -0.01812402 -0.20356986] [ 0.12391535 0.01785613 0.99213212 -0.10110277] [ 0. 0. 0. 1. ]] SLAMing on 194.88463044 meters Centerline goodness : 0.118683 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.10 [[ 9.92348101e-01 -1.86859944e-03 -1.23457505e-01 9.97533509e-01] [-1.86425154e-04 9.99861662e-01 -1.66319543e-02 -2.04801823e-01] [ 1.23471505e-01 1.65277039e-02 9.92210473e-01 -9.82737842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91463044 meters Centerline goodness : 0.254452 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.10 [[ 9.92353011e-01 -1.75744122e-03 -1.23419659e-01 9.97517716e-01] [-2.85020484e-04 9.99863341e-01 -1.65293115e-02 -2.04485239e-01] [ 1.23431841e-01 1.64380892e-02 9.92216897e-01 -9.83266298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94463044 meters Centerline goodness : 0.259677 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.10 [[ 9.92345850e-01 -1.80805434e-03 -1.23476498e-01 9.98071343e-01] [-2.46146415e-04 9.99861863e-01 -1.66190893e-02 -2.04140072e-01] [ 1.23489490e-01 1.65222776e-02 9.92208325e-01 -9.87823258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97463044 meters Centerline goodness : 0.101205 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.10 [[ 9.92361463e-01 -2.21461917e-03 -1.23344325e-01 9.98303266e-01] [ 1.02916615e-04 9.99853366e-01 -1.71241276e-02 -2.03166439e-01] [ 1.23364161e-01 1.69806301e-02 9.92216177e-01 -9.93952237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00463044 meters Centerline goodness : 0.102425 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.10 [[ 9.92363740e-01 -2.33314114e-03 -1.23323820e-01 9.97961481e-01] [ 2.02510198e-04 9.99850558e-01 -1.72864309e-02 -2.02645878e-01] [ 1.23345722e-01 1.71294529e-02 9.92215911e-01 -9.90683596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03463044 meters Centerline goodness : 0.099102 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.10 [[ 9.92367775e-01 -2.31082995e-03 -1.23291762e-01 9.97443990e-01] [ 1.85177323e-04 9.99851199e-01 -1.72495069e-02 -2.02715437e-01] [ 1.23313276e-01 1.70950239e-02 9.92220538e-01 -9.85479541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06463044 meters Centerline goodness : 0.128956 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.10 [[ 9.92088478e-01 -2.73806260e-03 -1.25510775e-01 9.52070842e-01] [ 6.24633191e-04 9.99857414e-01 -1.68748922e-02 -2.05489024e-01] [ 1.25539084e-01 1.66629879e-02 9.91948730e-01 -1.02687770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09463044 meters Centerline goodness : 0.106565 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.10 [[ 0.99197866 -0.01014983 -0.12599727 0.97147379] [ 0.00817064 0.99983514 -0.01621515 -0.19990301] [ 0.12614108 0.01505561 0.99189806 -0.09896216] [ 0. 0. 0. 1. ]] SLAMing on 195.12463044 meters Centerline goodness : 0.103903 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.10 [[ 9.92046924e-01 -2.59780283e-03 -1.25841771e-01 9.51910838e-01] [ 4.48804579e-04 9.99853644e-01 -1.71023294e-02 -2.05265029e-01] [ 1.25867782e-01 1.69098349e-02 9.91902898e-01 -1.02502061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15463044 meters Centerline goodness : 0.117518 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.10 [[ 9.92061665e-01 -2.60692869e-03 -1.25725322e-01 9.51307621e-01] [ 4.51738756e-04 9.99852525e-01 -1.71675165e-02 -2.04727142e-01] [ 1.25751535e-01 1.69744400e-02 9.91916539e-01 -1.02154325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18463044 meters Centerline goodness : 0.103963 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.10 [[ 9.92068265e-01 -2.44722023e-03 -1.25676442e-01 9.51330680e-01] [ 2.93091707e-04 9.99852784e-01 -1.71559040e-02 -2.03510248e-01] [ 1.25699925e-01 1.69829932e-02 9.91922934e-01 -1.02305413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21463043999998 meters Centerline goodness : 0.124948 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.11 [[ 0.99193648 0.00518328 -0.12662999 0.93258246] [-0.00755841 0.99980428 -0.0182832 -0.20737942] [ 0.12651044 0.01909289 0.99178151 -0.10617404] [ 0. 0. 0. 1. ]] SLAMing on 195.24463043999998 meters Centerline goodness : 0.089695 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.11 [[ 0.99191291 0.00512363 -0.12681687 0.9333068 ] [-0.00752612 0.99980104 -0.01847269 -0.20632559] [ 0.12669699 0.01927774 0.99175412 -0.10645954] [ 0. 0. 0. 1. ]] SLAMing on 195.27463043999998 meters Centerline goodness : 0.089695 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.11 [[ 0.99191291 0.00512363 -0.12681687 0.9333068 ] [-0.00752612 0.99980104 -0.01847269 -0.20632559] [ 0.12669699 0.01927774 0.99175412 -0.10645954] [ 0. 0. 0. 1. ]] SLAMing on 195.30463043999998 meters Centerline goodness : 0.169599 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.11 [[ 0.99191097 0.00499361 -0.12683726 0.93336914] [-0.00743352 0.99979619 -0.01877047 -0.20488322] [ 0.12671768 0.01956148 0.99174592 -0.10647923] [ 0. 0. 0. 1. ]] SLAMing on 195.33463043999998 meters Centerline goodness : 0.120797 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.11 [[ 0.99199421 0.00510805 -0.12617998 0.93127475] [-0.00757472 0.99978933 -0.01907672 -0.2020553 ] [ 0.12605595 0.01987977 0.99182392 -0.10595167] [ 0. 0. 0. 1. ]] SLAMing on 195.36463043999998 meters Centerline goodness : 0.118803 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.11 [[ 0.99201793 0.00507784 -0.12599459 0.93072908] [-0.00757536 0.99978405 -0.01935125 -0.19995617] [ 0.12586912 0.02015124 0.99184217 -0.10585463] [ 0. 0. 0. 1. ]] SLAMing on 195.39463044 meters Centerline goodness : 0.076933 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.11 [[ 0.992007 0.00502191 -0.12608292 0.93102373] [-0.00756216 0.99977779 -0.01967689 -0.19769182] [ 0.12595609 0.02047307 0.99182454 -0.10594634] [ 0. 0. 0. 1. ]] SLAMing on 195.42463044 meters Centerline goodness : 0.133446 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99191334 0.00510958 -0.12681414 0.93293063] [-0.00771342 0.99976922 -0.02005014 -0.19374396] [ 0.12668242 0.02086617 0.99172384 -0.10608162] [ 0. 0. 0. 1. ]] SLAMing on 195.45463044 meters Centerline goodness : 0.101710 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99189558 0.0050262 -0.12695624 0.93327179] [-0.00765603 0.99976594 -0.02023497 -0.19263348] [ 0.12682482 0.02104296 0.9917019 -0.1060373 ] [ 0. 0. 0. 1. ]] SLAMing on 195.48463044 meters Centerline goodness : 0.122334 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99188755 0.00488292 -0.12702455 0.93352977] [-0.00753598 0.99976321 -0.02041401 -0.19199843] [ 0.12689479 0.02120566 0.99168948 -0.10612915] [ 0. 0. 0. 1. ]] SLAMing on 195.51463044 meters Centerline goodness : 0.104541 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99189803 0.0047654 -0.1269472 0.9333003 ] [-0.00742742 0.99976217 -0.02050437 -0.19200239] [ 0.1268193 0.02128113 0.99169752 -0.10612334] [ 0. 0. 0. 1. ]] SLAMing on 195.54463044 meters Centerline goodness : 0.137202 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99192882 0.00465589 -0.12671044 0.93240439] [-0.00731136 0.99976312 -0.0205 -0.19203142] [ 0.12658498 0.02126097 0.99172789 -0.10572575] [ 0. 0. 0. 1. ]] SLAMing on 195.57463044 meters Centerline goodness : 0.112799 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99193031 0.00459728 -0.1267009 0.93219922] [-0.00725976 0.99976226 -0.02056011 -0.19170852] [ 0.12657625 0.02131401 0.99172787 -0.10552012] [ 0. 0. 0. 1. ]] SLAMing on 195.60463044 meters Centerline goodness : 0.130515 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99190384 0.00446594 -0.12691269 0.93276614] [-0.00716329 0.99975789 -0.02080515 -0.19050489] [ 0.12678904 0.02154582 0.99169568 -0.10548549] [ 0. 0. 0. 1. ]] SLAMing on 195.63463044 meters Centerline goodness : 0.144138 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.11 [[ 0.99183309 0.00422039 -0.12747275 0.93452766] [-0.00702668 0.99974258 -0.02157313 -0.18593614] [ 0.12734889 0.02229266 0.99160743 -0.10582687] [ 0. 0. 0. 1. ]] SLAMing on 195.66463044 meters Centerline goodness : 0.120670 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.18, Z:-0.11 [[ 0.99180446 0.0040194 -0.12770186 0.93522253] [-0.00689819 0.99973177 -0.02210882 -0.1830352 ] [ 0.12757874 0.02280854 0.99156615 -0.10596536] [ 0. 0. 0. 1. ]] SLAMing on 195.69463044 meters Centerline goodness : 0.123453 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.18, Z:-0.11 [[ 0.99179411 0.00386075 -0.1277871 0.93549909] [-0.00680735 0.99972073 -0.02263002 -0.17994177] [ 0.12766404 0.02331421 0.99154341 -0.10601845] [ 0. 0. 0. 1. ]] SLAMing on 195.72463044 meters Centerline goodness : 0.106519 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.18, Z:-0.11 [[ 0.9918061 0.00371572 -0.12769829 0.93516685] [-0.00671686 0.99971107 -0.02307926 -0.17732342] [ 0.12757564 0.02374788 0.9915445 -0.1058787 ] [ 0. 0. 0. 1. ]] SLAMing on 195.75463044 meters Centerline goodness : 0.128884 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.10 [[ 0.99184324 0.0036637 -0.12741101 0.93357264] [-0.00672003 0.99969969 -0.02356638 -0.17333929] [ 0.12728641 0.02423036 0.99157 -0.10491334] [ 0. 0. 0. 1. ]] SLAMing on 195.78463044 meters Centerline goodness : 0.107252 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.10 [[ 0.99185877 0.00359549 -0.12729196 0.93293673] [-0.00666608 0.99969678 -0.02370469 -0.17245014] [ 0.12716813 0.02436025 0.99158199 -0.10451712] [ 0. 0. 0. 1. ]] SLAMing on 195.81463044 meters Centerline goodness : 0.161642 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.10 [[ 0.9918698 0.00347955 -0.12720921 0.9324264 ] [-0.00655986 0.99969513 -0.02380363 -0.17223051] [ 0.1270876 0.02444458 0.99159024 -0.10414311] [ 0. 0. 0. 1. ]] SLAMing on 195.84463044 meters Centerline goodness : 0.147865 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.10 [[ 0.99188461 0.0032694 -0.12709932 0.93168641] [-0.00636347 0.99969302 -0.02394526 -0.1723148 ] [ 0.12698202 0.02455973 0.99160092 -0.1035546 ] [ 0. 0. 0. 1. ]] SLAMing on 195.87463044 meters Centerline goodness : 0.101317 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.11 [[ 0.99192036 -0.0054378 -0.12674555 0.90982557] [ 0.00248467 0.99972201 -0.02344617 -0.16881852] [ 0.12683781 0.02294181 0.99165813 -0.10603075] [ 0. 0. 0. 1. ]] SLAMing on 195.90463044 meters Centerline goodness : 0.123573 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.11 [[ 0.99187676 -0.00544774 -0.12708588 0.91072192] [ 0.00246634 0.99971831 -0.02360532 -0.16752589] [ 0.12717868 0.02310013 0.99161079 -0.10601006] [ 0. 0. 0. 1. ]] SLAMing on 195.93463044 meters Centerline goodness : 0.145488 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.11 [[ 0.99185954 -0.00551131 -0.12721748 0.91114774] [ 0.00248843 0.99971106 -0.02390822 -0.16552877] [ 0.12731249 0.02339703 0.99158666 -0.10610128] [ 0. 0. 0. 1. ]] SLAMing on 195.96463043999998 meters Centerline goodness : 0.123707 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.11 [[ 9.91834260e-01 -1.84017672e-03 -1.27520248e-01 9.11706578e-01] [-8.56469146e-04 9.99777241e-01 -2.10887470e-02 -1.62072759e-01] [ 1.27530649e-01 2.10257589e-02 9.91611744e-01 -1.05954541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99463043999998 meters Centerline goodness : 0.151753 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.11 [[ 9.91848096e-01 -1.86138869e-03 -1.27412285e-01 9.11225711e-01] [-8.73104053e-04 9.99770558e-01 -2.14025532e-02 -1.59649432e-01] [ 1.27422889e-01 2.13393259e-02 9.91618899e-01 -1.05751976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02463043999998 meters Centerline goodness : 0.105617 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.11 [[ 9.91849873e-01 -1.86249759e-03 -1.27398431e-01 9.10699601e-01] [-9.01834883e-04 9.99765482e-01 -2.16372021e-02 -1.57707391e-01] [ 1.27408853e-01 2.15757485e-02 9.91615586e-01 -1.05192962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05463043999998 meters Centerline goodness : 0.107094 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91832412e-01 -1.96431412e-03 -1.27532776e-01 9.10455168e-01] [-8.51788666e-04 9.99757099e-01 -2.20231119e-02 -1.55256504e-01] [ 1.27545058e-01 2.19518671e-02 9.91589821e-01 -1.04504974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08463043999998 meters Centerline goodness : 0.104637 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91839090e-01 -2.05436789e-03 -1.27479403e-01 9.10184964e-01] [-7.74685081e-04 9.99754609e-01 -2.21386879e-02 -1.54929449e-01] [ 1.27493602e-01 2.20567725e-02 9.91594111e-01 -1.04340139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11463043999998 meters Centerline goodness : 0.104177 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91881583e-01 -2.15076886e-03 -1.27146766e-01 9.08979694e-01] [-6.73559076e-04 9.99754078e-01 -2.21659651e-02 -1.54982294e-01] [ 1.27163172e-01 2.20716534e-02 9.91636208e-01 -1.03896688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14463044 meters Centerline goodness : 0.150500 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91906393e-01 -2.06288217e-03 -1.26954524e-01 9.08138690e-01] [-7.40590745e-04 9.99757006e-01 -2.20313346e-02 -1.55330303e-01] [ 1.26969123e-01 2.19470429e-02 9.91663839e-01 -1.03466482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17463044 meters Centerline goodness : 0.099651 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91936009e-01 -2.01167275e-03 -1.26723743e-01 9.07148690e-01] [-7.74234786e-04 9.99759187e-01 -2.19310099e-02 -1.55449143e-01] [ 1.26737345e-01 2.18522724e-02 9.91695580e-01 -1.02912534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20463044 meters Centerline goodness : 0.103215 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91984098e-01 -2.13917867e-03 -1.26344657e-01 9.05395215e-01] [-6.32399245e-04 9.99760131e-01 -2.18924615e-02 -1.56646520e-01] [ 1.26361183e-01 2.17968739e-02 9.91744800e-01 -1.01920349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23463044 meters Centerline goodness : 0.105181 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91985818e-01 -2.12596725e-03 -1.26331379e-01 9.05442480e-01] [-6.36836704e-04 9.99761602e-01 -2.18250875e-02 -1.57188030e-01] [ 1.26347661e-01 2.17306297e-02 9.91747976e-01 -1.01994619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26463044 meters Centerline goodness : 0.104758 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91952658e-01 -2.09166670e-03 -1.26592060e-01 9.06362273e-01] [-6.74529253e-04 9.99762027e-01 -2.18044483e-02 -1.57100501e-01] [ 1.26607542e-01 2.17143705e-02 9.91715189e-01 -1.02271392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29463044 meters Centerline goodness : 0.114756 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91919750e-01 -2.00691617e-03 -1.26851020e-01 9.07353375e-01] [-7.63983947e-04 9.99762249e-01 -2.17913092e-02 -1.56550810e-01] [ 1.26864594e-01 2.17121421e-02 9.91682387e-01 -1.02680055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32463044 meters Centerline goodness : 0.146609 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 0.99183344 -0.00169377 -0.12752869 0.90959508] [-0.0010811 0.99976424 -0.02168639 -0.155411 ] [ 0.12753535 0.02164716 0.99159777 -0.10326011] [ 0. 0. 0. 1. ]] SLAMing on 196.35463044 meters Centerline goodness : 0.107032 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91831336e-01 -1.81002711e-03 -1.27543425e-01 9.09564434e-01] [-9.91702990e-04 9.99759676e-01 -2.18999468e-02 -1.54711822e-01] [ 1.27552412e-01 2.18475387e-02 9.91591179e-01 -1.03218477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38463044 meters Centerline goodness : 0.106955 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91827524e-01 -1.97243245e-03 -1.27570654e-01 9.09513624e-01] [-8.69288496e-04 9.99752813e-01 -2.22161528e-02 -1.53431501e-01] [ 1.27582940e-01 2.21454875e-02 9.91580643e-01 -1.03108775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41463044 meters Centerline goodness : 0.103693 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91825674e-01 -1.88542235e-03 -1.27586351e-01 9.09232413e-01] [-9.87809567e-04 9.99747414e-01 -2.24528799e-02 -1.50862863e-01] [ 1.27596457e-01 2.23953738e-02 9.91573291e-01 -1.02848122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44463044 meters Centerline goodness : 0.192140 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 0.99182272 -0.00183545 -0.12761002 0.90945745] [-0.00104673 0.99974595 -0.02251515 -0.14984992] [ 0.12761893 0.02246461 0.99156883 -0.10301368] [ 0. 0. 0. 1. ]] SLAMing on 196.47463044 meters Centerline goodness : 0.107122 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91836844e-01 -2.10760748e-03 -1.27496010e-01 9.09160239e-01] [-8.15746069e-04 9.99738059e-01 -2.28724210e-02 -1.48720475e-01] [ 1.27510819e-01 2.27897143e-02 9.91575322e-01 -1.02982136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50463044 meters Centerline goodness : 0.112294 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91816159e-01 -2.26697095e-03 -1.27654093e-01 9.09367274e-01] [-6.74891891e-04 9.99735292e-01 -2.29976139e-02 -1.48798109e-01] [ 1.27672437e-01 2.28955578e-02 9.91552088e-01 -1.02722938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53463044 meters Centerline goodness : 0.098825 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91768413e-01 -2.29007661e-03 -1.28024099e-01 9.10406694e-01] [-6.55232343e-04 9.99736192e-01 -2.29590462e-02 -1.48998279e-01] [ 1.28042904e-01 2.28539423e-02 9.91505276e-01 -1.02786720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56463044 meters Centerline goodness : 0.116810 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91707973e-01 -2.20612325e-03 -1.28492917e-01 9.11675922e-01] [-7.20582808e-04 9.99741466e-01 -2.27262379e-02 -1.49857549e-01] [ 1.28509835e-01 2.26303811e-02 9.91449993e-01 -1.02851260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59463044 meters Centerline goodness : 0.106564 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91702572e-01 -2.19736854e-03 -1.28534743e-01 9.11685622e-01] [-7.17190337e-04 9.99743774e-01 -2.26245835e-02 -1.50570154e-01] [ 1.28551523e-01 2.25290415e-02 9.91446896e-01 -1.02695196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62463044 meters Centerline goodness : 0.415608 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91717591e-01 -2.26321262e-03 -1.28417668e-01 9.11121382e-01] [-6.44784604e-04 9.99744408e-01 -2.25987471e-02 -1.51341046e-01] [ 1.28435991e-01 2.24943768e-02 9.91462656e-01 -1.02377900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65463044 meters Centerline goodness : 0.156465 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91720041e-01 -2.31559464e-03 -1.28397811e-01 9.10553350e-01] [-5.86561408e-04 9.99745309e-01 -2.25604282e-02 -1.52103966e-01] [ 1.28417350e-01 2.24489419e-02 9.91466101e-01 -1.01737840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68463044 meters Centerline goodness : 0.104216 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91719977e-01 -2.06640919e-03 -1.28402560e-01 9.09989596e-01] [-8.03820836e-04 9.99751056e-01 -2.22975301e-02 -1.52625041e-01] [ 1.28416671e-01 2.22161187e-02 9.91471433e-01 -1.01094062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71463043999998 meters Centerline goodness : 0.105792 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 9.91700351e-01 -1.91541713e-03 -1.28556387e-01 9.10217061e-01] [-9.45795318e-04 9.99753286e-01 -2.21917415e-02 -1.52488497e-01] [ 1.28567177e-01 2.21291459e-02 9.91453873e-01 -1.00900183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74463043999998 meters Centerline goodness : 0.139767 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 0.99170088 -0.00183568 -0.12855344 0.9103246 ] [-0.00101616 0.99975492 -0.02211497 -0.15262958] [ 0.12856253 0.02206206 0.99145597 -0.10102125] [ 0. 0. 0. 1. ]] SLAMing on 196.77463043999998 meters Centerline goodness : 0.103549 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.10 [[ 0.99170684 -0.00178501 -0.12850821 0.91004956] [-0.00105579 0.99975665 -0.02203448 -0.15318847] [ 0.12851627 0.02198742 0.99146363 -0.10086798] [ 0. 0. 0. 1. ]] SLAMing on 196.80463043999998 meters Centerline goodness : 0.150040 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.10 [[ 9.91753529e-01 -1.80571519e-03 -1.28147093e-01 9.08073054e-01] [-9.87159711e-04 9.99763444e-01 -2.17274312e-02 -1.56281317e-01] [ 1.28156013e-01 2.16747583e-02 9.91517141e-01 -9.96623984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83463043999998 meters Centerline goodness : 0.105948 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.10 [[ 0.99168431 -0.00972275 -0.12832655 0.88871063] [ 0.00716692 0.99976696 -0.0203634 -0.15521743] [ 0.12849463 0.01927435 0.99152288 -0.10301232] [ 0. 0. 0. 1. ]] SLAMing on 196.86463043999998 meters Centerline goodness : 0.107006 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.10 [[ 0.99165776 -0.00957113 -0.12854288 0.88938071] [ 0.00704612 0.99977347 -0.02008373 -0.15635189] [ 0.12870599 0.01901046 0.99150057 -0.10315353] [ 0. 0. 0. 1. ]] SLAMing on 196.89463044 meters Centerline goodness : 0.107181 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.10 [[ 0.99163938 -0.00939457 -0.12869766 0.89004202] [ 0.00690797 0.99978101 -0.01975402 -0.15777091] [ 0.12885505 0.01869982 0.99148711 -0.10344668] [ 0. 0. 0. 1. ]] SLAMing on 196.92463044 meters Centerline goodness : 0.105895 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.10 [[ 0.99162514 -0.009351 -0.12881047 0.8901384 ] [ 0.00687457 0.99978316 -0.01965659 -0.15821768] [ 0.12896635 0.01860645 0.9914744 -0.10319088] [ 0. 0. 0. 1. ]] SLAMing on 196.95463044 meters Centerline goodness : 0.105151 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99163652 -0.00139763 -0.12905446 0.87029413] [-0.00123148 0.99979338 -0.02029007 -0.16392963] [ 0.12905615 0.02027931 0.99142991 -0.10640487] [ 0. 0. 0. 1. ]] SLAMing on 196.98463044 meters Centerline goodness : 0.099840 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99158873 -0.00144976 -0.12942057 0.87126378] [-0.00121376 0.99978914 -0.02049905 -0.1626775 ] [ 0.12942299 0.02048371 0.99137788 -0.10645646] [ 0. 0. 0. 1. ]] SLAMing on 197.01463044 meters Centerline goodness : 0.106819 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99157719 -0.0015685 -0.12950755 0.87158676] [-0.00113393 0.99978321 -0.02079059 -0.16122969] [ 0.12951209 0.02076233 0.99136045 -0.10658186] [ 0. 0. 0. 1. ]] SLAMing on 197.04463044 meters Centerline goodness : 0.109600 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99158871 -0.0016634 -0.12941816 0.87137392] [-0.00107305 0.99977739 -0.02107167 -0.1596832 ] [ 0.1294244 0.0210333 0.99136619 -0.10661483] [ 0. 0. 0. 1. ]] SLAMing on 197.07463044 meters Centerline goodness : 0.115998 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99161156 -0.0017079 -0.12924242 0.87071365] [-0.0010523 0.99977288 -0.0212855 -0.15821477] [ 0.12924942 0.02124295 0.99138455 -0.10638245] [ 0. 0. 0. 1. ]] SLAMing on 197.10463044 meters Centerline goodness : 0.469722 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99167212 -0.00157955 -0.12877852 0.86906129] [-0.0011892 0.99976985 -0.02142037 -0.15581114] [ 0.12878271 0.02139513 0.99144201 -0.10581043] [ 0. 0. 0. 1. ]] SLAMing on 197.13463044 meters Centerline goodness : 0.122499 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:-0.11 [[ 0.99168345 -0.00164467 -0.12869045 0.868713 ] [-0.00114068 0.99976675 -0.02156709 -0.15488767] [ 0.1286959 0.02153452 0.99145027 -0.10563591] [ 0. 0. 0. 1. ]] SLAMing on 197.16463044 meters Centerline goodness : 0.122499 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:-0.11 [[ 0.99168345 -0.00164467 -0.12869045 0.868713 ] [-0.00114068 0.99976675 -0.02156709 -0.15488767] [ 0.1286959 0.02153452 0.99145027 -0.10563591] [ 0. 0. 0. 1. ]] SLAMing on 197.19463044 meters Centerline goodness : 0.100593 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99168281 -0.00167131 -0.12869501 0.86846124] [-0.00111553 0.99976651 -0.02157946 -0.15501547] [ 0.12870102 0.02154354 0.9914494 -0.1052992 ] [ 0. 0. 0. 1. ]] SLAMing on 197.22463044 meters Centerline goodness : 0.123458 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.10 [[ 9.91679079e-01 -1.81302558e-03 -1.28721862e-01 8.68084745e-01] [-9.73433000e-04 9.99766631e-01 -2.15809154e-02 -1.55992418e-01] [ 1.28730949e-01 2.15266444e-02 9.91445887e-01 -1.04786788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25463044 meters Centerline goodness : 0.102074 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.10 [[ 9.91666776e-01 -1.77288360e-03 -1.28817167e-01 8.68362205e-01] [-9.89320650e-04 9.99771025e-01 -2.13756763e-02 -1.57392009e-01] [ 1.28825568e-01 2.13249894e-02 9.91437955e-01 -1.04808318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28463044 meters Centerline goodness : 0.104150 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.10 [[ 0.99163975 -0.00172287 -0.12902574 0.86890017] [-0.00100463 0.99977747 -0.02107119 -0.15950396] [ 0.12903333 0.02102465 0.99141735 -0.10479735] [ 0. 0. 0. 1. ]] SLAMing on 197.31463044 meters Centerline goodness : 0.104018 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.10 [[ 9.91610166e-01 -1.89831740e-03 -1.29250436e-01 8.69550949e-01] [-7.81571908e-04 9.99785836e-01 -2.06802049e-02 -1.63834980e-01] [ 1.29262013e-01 2.06077199e-02 9.91396315e-01 -1.04826487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34463044 meters Centerline goodness : 0.460052 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.17, Z:-0.10 [[ 9.91607231e-01 -1.71280099e-03 -1.29275540e-01 8.69665966e-01] [-9.15115236e-04 9.99794207e-01 -2.02658863e-02 -1.65970795e-01] [ 1.29283647e-01 2.02141014e-02 9.91401598e-01 -1.04849082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37463044 meters Centerline goodness : 0.455006 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.17, Z:-0.11 [[ 0.99159216 -0.00153005 -0.12939338 0.87020283] [-0.0010567 0.99980101 -0.01992033 -0.16770745] [ 0.12939811 0.01988957 0.99139323 -0.10511439] [ 0. 0. 0. 1. ]] SLAMing on 197.40463044 meters Centerline goodness : 0.099978 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.17, Z:-0.11 [[ 0.99156045 -0.00126325 -0.12963903 0.87113303] [-0.00128827 0.99980715 -0.019596 -0.16926434] [ 0.12963878 0.01959763 0.9913676 -0.10547667] [ 0. 0. 0. 1. ]] SLAMing on 197.43463044 meters Centerline goodness : 0.103341 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.17, Z:-0.11 [[ 0.9915516 -0.0011593 -0.12970765 0.8712232 ] [-0.00139475 0.99980696 -0.01959821 -0.16889901] [ 0.12970534 0.01961355 0.99135858 -0.10540992] [ 0. 0. 0. 1. ]] SLAMing on 197.46463043999998 meters Centerline goodness : 0.102394 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.17, Z:-0.11 [[ 9.91537346e-01 -9.49952707e-04 -1.29818296e-01 8.71373799e-01] [-1.60753590e-03 9.99806721e-01 -1.95943181e-02 -1.67971997e-01] [ 1.29811818e-01 1.96371858e-02 9.91344175e-01 -1.05324133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49463043999998 meters Centerline goodness : 0.104226 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.17, Z:-0.11 [[ 0.99147482 0.00306682 -0.13026233 0.87288887] [-0.00525005 0.9998514 -0.01642013 -0.16556797] [ 0.13019262 0.01696403 0.99134359 -0.10577479] [ 0. 0. 0. 1. ]] SLAMing on 197.52463043999998 meters Centerline goodness : 0.112632 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99148017 0.00311697 -0.13022039 0.87309833] [-0.00532938 0.99984726 -0.01664474 -0.16380057] [ 0.13014862 0.01719692 0.99134535 -0.1061866 ] [ 0. 0. 0. 1. ]] SLAMing on 197.55463043999998 meters Centerline goodness : 0.090973 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99147839 0.00311809 -0.13023397 0.87332471] [-0.00535995 0.99984337 -0.01686711 -0.16215971] [ 0.13016098 0.01742142 0.99133981 -0.10647593] [ 0. 0. 0. 1. ]] SLAMing on 197.58463043999998 meters Centerline goodness : 0.111942 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99148981 0.00307283 -0.13014804 0.8733236 ] [-0.00534313 0.99983954 -0.01709835 -0.16060795] [ 0.13007462 0.01764824 0.99134713 -0.10676277] [ 0. 0. 0. 1. ]] SLAMing on 197.61463043999998 meters Centerline goodness : 0.099862 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99153544 0.00312039 -0.12979879 0.8723199 ] [-0.00539512 0.99983791 -0.01717711 -0.15927773] [ 0.12972415 0.01773199 0.99139156 -0.10663489] [ 0. 0. 0. 1. ]] SLAMing on 197.64463044 meters Centerline goodness : 0.103819 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99156071 0.00305468 -0.12960723 0.87175884] [-0.00533038 0.9998376 -0.01721514 -0.15925961] [ 0.1295336 0.01776072 0.99141596 -0.10651092] [ 0. 0. 0. 1. ]] SLAMing on 197.67463044 meters Centerline goodness : 0.113806 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99157051 0.00288613 -0.12953608 0.87153487] [-0.00517154 0.99983679 -0.01731014 -0.15951257] [ 0.12946498 0.01783412 0.9914236 -0.10642448] [ 0. 0. 0. 1. ]] SLAMing on 197.70463044 meters Centerline goodness : 0.129965 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.11 [[ 0.99152346 0.00228394 -0.12990772 0.87270873] [-0.00461199 0.99983407 -0.01762277 -0.16024428] [ 0.12984592 0.01807253 0.99136947 -0.10657713] [ 0. 0. 0. 1. ]] SLAMing on 197.73463044 meters Centerline goodness : 0.104997 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.16, Z:-0.11 [[ 0.99145207 -0.00583871 -0.13034068 0.85349246] [ 0.00374911 0.99986058 -0.01627152 -0.15851048] [ 0.13041751 0.01564377 0.99133574 -0.11068634] [ 0. 0. 0. 1. ]] SLAMing on 197.76463044 meters Centerline goodness : 0.103987 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.16, Z:-0.11 [[ 0.9914446 -0.0056999 -0.13040364 0.85365662] [ 0.00364092 0.99986501 -0.0160222 -0.15926739] [ 0.13047736 0.01541034 0.99133152 -0.11061972] [ 0. 0. 0. 1. ]] SLAMing on 197.79463044 meters Centerline goodness : 0.104818 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.16, Z:-0.11 [[ 0.99144966 -0.00583352 -0.13035928 0.85363273] [ 0.00378395 0.9998654 -0.01596465 -0.16038407] [ 0.13043486 0.01533487 0.99133828 -0.11059249] [ 0. 0. 0. 1. ]] SLAMing on 197.82463044 meters Centerline goodness : 0.105856 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.16, Z:-0.11 [[ 0.99142861 -0.00594446 -0.13051426 0.8539651 ] [ 0.0038842 0.99986389 -0.01603465 -0.16074005] [ 0.13059181 0.01539027 0.99131676 -0.1105209 ] [ 0. 0. 0. 1. ]] SLAMing on 197.85463044 meters Centerline goodness : 0.106625 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.16, Z:-0.11 [[ 0.99140919 -0.00598449 -0.13065986 0.85436423] [ 0.0039168 0.9998631 -0.01607621 -0.1607212 ] [ 0.13073818 0.01542633 0.99129691 -0.11056788] [ 0. 0. 0. 1. ]] SLAMing on 197.88463044 meters Centerline goodness : 0.104155 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.16, Z:-0.11 [[ 0.9912985 -0.00317188 -0.13159493 0.85767956] [ 0.00137784 0.9999049 -0.01372189 -0.15842138] [ 0.13162594 0.01342118 0.9912086 -0.11136991] [ 0. 0. 0. 1. ]] SLAMing on 197.91463044 meters Centerline goodness : 0.103970 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.16, Z:-0.11 [[ 0.9913063 -0.0031516 -0.13153667 0.85760774] [ 0.00134811 0.9999039 -0.01379772 -0.15752505] [ 0.13156752 0.01350044 0.99121528 -0.11140715] [ 0. 0. 0. 1. ]] SLAMing on 197.94463044 meters Centerline goodness : 0.107075 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.16, Z:-0.11 [[ 0.99134505 0.00426166 -0.13121294 0.83796734] [-0.00629313 0.99986661 -0.0150715 -0.16209702] [ 0.1311312 0.01576679 0.99123964 -0.11499972] [ 0. 0. 0. 1. ]] SLAMing on 197.97463044 meters Centerline goodness : 0.115720 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.16, Z:-0.11 [[ 0.99141532 -0.00301217 -0.13071571 0.85607937] [ 0.00117098 0.99989906 -0.01416005 -0.1556349 ] [ 0.13074517 0.01388542 0.99131877 -0.11134162] [ 0. 0. 0. 1. ]] SLAMing on 198.00463044 meters Centerline goodness : 0.107735 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91401584e-01 -2.85256483e-03 -1.30823398e-01 8.56487947e-01] [ 9.71913667e-04 9.99895307e-01 -1.44370921e-02 -1.52151783e-01] [ 1.30850884e-01 1.41858069e-02 9.91300564e-01 -1.11577530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03463044 meters Centerline goodness : 0.107791 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91389315e-01 -2.83983395e-03 -1.30916617e-01 8.56894325e-01] [ 9.26727160e-04 9.99891934e-01 -1.46717789e-02 -1.49989137e-01] [ 1.30944134e-01 1.44241209e-02 9.91284812e-01 -1.11774213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06463044 meters Centerline goodness : 0.105939 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99138078 -0.00297693 -0.13097821 0.85701164] [ 0.00101473 0.9998863 -0.01504531 -0.14790363] [ 0.13100811 0.01478273 0.99127108 -0.11175971] [ 0. 0. 0. 1. ]] SLAMing on 198.09463044 meters Centerline goodness : 0.114955 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99136987 -0.00337944 -0.13105097 0.85697034] [ 0.00132623 0.99987506 -0.01575131 -0.14500209] [ 0.13108783 0.01544157 0.99125049 -0.1115715 ] [ 0. 0. 0. 1. ]] SLAMing on 198.12463044 meters Centerline goodness : 0.119514 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99135159 -0.00346087 -0.13118709 0.85730033] [ 0.00138026 0.99987188 -0.01594747 -0.14382149] [ 0.13122547 0.01562848 0.99122935 -0.11153451] [ 0. 0. 0. 1. ]] SLAMing on 198.15463044 meters Centerline goodness : 0.118369 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99131724 -0.00351429 -0.13144498 0.8581845 ] [ 0.00141095 0.99986953 -0.01609137 -0.14283341] [ 0.13148438 0.01576619 0.99119286 -0.11180013] [ 0. 0. 0. 1. ]] SLAMing on 198.18463044 meters Centerline goodness : 0.123753 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99121772 -0.00368531 -0.13218871 0.86071818] [ 0.00155944 0.99986785 -0.01618195 -0.14274697] [ 0.13223088 0.0158337 0.99109247 -0.11251721] [ 0. 0. 0. 1. ]] SLAMing on 198.21463043999998 meters Centerline goodness : 0.177774 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99121085 -0.0037562 -0.1322382 0.86099159] [ 0.00164373 0.99986935 -0.01608028 -0.14392185] [ 0.13228132 0.01572159 0.99108753 -0.11264083] [ 0. 0. 0. 1. ]] SLAMing on 198.24463043999998 meters Centerline goodness : 0.124408 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99121039 -0.00379681 -0.13224049 0.86085125] [ 0.00171168 0.99987247 -0.01587782 -0.14554992] [ 0.13228391 0.0155119 0.99109048 -0.11238489] [ 0. 0. 0. 1. ]] SLAMing on 198.27463043999998 meters Centerline goodness : 0.108789 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99123382 -0.00385511 -0.13206307 0.86003914] [ 0.00181284 0.99987696 -0.01558107 -0.14788826] [ 0.13210689 0.01520508 0.99111885 -0.11183096] [ 0. 0. 0. 1. ]] SLAMing on 198.30463043999998 meters Centerline goodness : 0.107862 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99121116 -0.00387924 -0.13223234 0.86054422] [ 0.00182992 0.99987639 -0.01561593 -0.14779872] [ 0.13227657 0.01523671 0.99109573 -0.11191086] [ 0. 0. 0. 1. ]] SLAMing on 198.33463043999998 meters Centerline goodness : 0.105260 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99119146 -0.00393081 -0.13237841 0.86116589] [ 0.00186026 0.99987405 -0.01576116 -0.14708105] [ 0.13242369 0.01537607 0.99107393 -0.11221379] [ 0. 0. 0. 1. ]] SLAMing on 198.36463043999998 meters Centerline goodness : 0.139133 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99117283 -0.00397685 -0.13251643 0.86163282] [ 0.00187639 0.99987068 -0.01597164 -0.14588315] [ 0.13256281 0.01558201 0.99105212 -0.11236122] [ 0. 0. 0. 1. ]] SLAMing on 198.39463044 meters Centerline goodness : 0.134317 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:-0.11 [[ 0.99132687 0.00594504 -0.13128476 0.88283501] [-0.00809449 0.9998417 -0.01584487 -0.14280917] [ 0.13116978 0.01677013 0.99121806 -0.10946578] [ 0. 0. 0. 1. ]] SLAMing on 198.42463044 meters Centerline goodness : 0.106256 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91499323e-01 7.71743044e-04 -1.30109558e-01 8.59653622e-01] [-2.50131849e-03 9.99910665e-01 -1.31303305e-02 -1.38468439e-01] [ 1.30087801e-01 1.33441592e-02 9.91412678e-01 -1.12398863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45463044 meters Centerline goodness : 0.108084 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91551391e-01 9.54525491e-04 -1.29710941e-01 8.58448437e-01] [-2.71675254e-03 9.99906397e-01 -1.34095366e-02 -1.35615766e-01] [ 1.29686000e-01 1.36486372e-02 9.91461172e-01 -1.12262228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48463044 meters Centerline goodness : 0.217882 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.11 [[ 9.91549754e-01 9.00249849e-04 -1.29723842e-01 8.58422609e-01] [-2.72574067e-03 9.99899741e-01 -1.38952707e-02 -1.32473861e-01] [ 1.29698327e-01 1.41314458e-02 9.91452796e-01 -1.12294839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51463044 meters Centerline goodness : 0.119934 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.11 [[ 0.99156275 0.00100385 -0.12962367 0.85848338] [-0.00289481 0.99989212 -0.01440052 -0.12747228] [ 0.12959523 0.01465425 0.99145869 -0.11277054] [ 0. 0. 0. 1. ]] SLAMing on 198.54463044 meters Centerline goodness : 0.107769 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.11 [[ 9.91614299e-01 8.93064760e-04 -1.29229583e-01 8.57425796e-01] [-2.79945141e-03 9.99889918e-01 -1.45710414e-02 -1.26674018e-01] [ 1.29202344e-01 1.48106249e-02 9.91507640e-01 -1.12699238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57463044 meters Centerline goodness : 0.112372 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.11 [[ 0.99191983 -0.00743751 -0.1266481 0.8757845 ] [ 0.0056969 0.99988436 -0.01410036 -0.12228563] [ 0.12673833 0.01326492 0.99184749 -0.10912628] [ 0. 0. 0. 1. ]] SLAMing on 198.60463044 meters Centerline goodness : 0.116419 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.11 [[ 0.99194475 -0.00760376 -0.12644285 0.87477503] [ 0.00587049 0.99988371 -0.01407497 -0.12311709] [ 0.12653517 0.01321931 0.99187404 -0.10851222] [ 0. 0. 0. 1. ]] SLAMing on 198.63463044 meters Centerline goodness : 0.121913 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:-0.11 [[ 9.91959733e-01 -1.87317958e-03 -1.26540029e-01 8.53205149e-01] [-2.21786767e-04 9.99863186e-01 -1.65396425e-02 -1.28006759e-01] [ 1.26553698e-01 1.64347243e-02 9.91823604e-01 -1.11022718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66463044 meters Centerline goodness : 0.181608 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:-0.11 [[ 9.91922809e-01 -1.88687150e-03 -1.26828946e-01 8.54098866e-01] [-1.98802443e-04 9.99864997e-01 -1.64301093e-02 -1.28860101e-01] [ 1.26842825e-01 1.63226141e-02 9.91788521e-01 -1.11164162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 198.72463044 meters Centerline goodness : 0.117806 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.11 [[ 0.99189241 -0.00999567 -0.12668679 0.87487305] [ 0.00806018 0.99984298 -0.01578119 -0.12572948] [ 0.12682464 0.01463212 0.99181723 -0.10789102] [ 0. 0. 0. 1. ]] SLAMing on 198.75463044 meters Centerline goodness : 0.118008 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.11 [[ 0.991917 -0.00983097 -0.12650697 0.87403923] [ 0.00792564 0.99984759 -0.01555561 -0.12625961] [ 0.12664061 0.01442722 0.99184374 -0.10740032] [ 0. 0. 0. 1. ]] SLAMing on 198.78463044 meters Centerline goodness : 0.148194 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.11 [[ 0.99190331 -0.0095838 -0.12663324 0.87447042] [ 0.00772619 0.99985535 -0.01515226 -0.12774966] [ 0.12676014 0.01405119 0.99183387 -0.10749787] [ 0. 0. 0. 1. ]] SLAMing on 198.81463044 meters Centerline goodness : 0.123236 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:-0.11 [[ 0.99184953 -0.00954933 -0.12705639 0.87589451] [ 0.00770326 0.99985762 -0.01501302 -0.12883538] [ 0.12718166 0.01391191 0.99178187 -0.10788721] [ 0. 0. 0. 1. ]] SLAMing on 198.84463044 meters Centerline goodness : 0.105466 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99174079 -0.00406434 -0.12819395 0.85600903] [ 0.00179697 0.99983999 -0.01779774 -0.13660198] [ 0.12824577 0.01742038 0.99158941 -0.11094519] [ 0. 0. 0. 1. ]] SLAMing on 198.87463044 meters Centerline goodness : 0.107037 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99172146 -0.00387561 -0.12834921 0.85636615] [ 0.00165771 0.99984754 -0.01738248 -0.1387762 ] [ 0.12839701 0.01702581 0.99157669 -0.11090194] [ 0. 0. 0. 1. ]] SLAMing on 198.90463044 meters Centerline goodness : 0.104466 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99169907 -0.00370497 -0.12852717 0.85700813] [ 0.00153841 0.99985512 -0.01695204 -0.14112898] [ 0.12857136 0.0166136 0.99156109 -0.11108751] [ 0. 0. 0. 1. ]] SLAMing on 198.93463044 meters Centerline goodness : 0.108225 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 0.99168111 -0.00352645 -0.12867067 0.85779401] [ 0.00141318 0.99986268 -0.01651144 -0.1436483 ] [ 0.12871123 0.01619225 0.99154991 -0.11157299] [ 0. 0. 0. 1. ]] SLAMing on 198.96463043999998 meters Centerline goodness : 0.141973 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99161868 -0.00319395 -0.12915957 0.85981836] [ 0.00117384 0.99987585 -0.01571352 -0.14866306] [ 0.12919373 0.01543021 0.99149931 -0.11236252] [ 0. 0. 0. 1. ]] SLAMing on 198.99463043999998 meters Centerline goodness : 0.107791 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 0.99157944 -0.00298103 -0.12946552 0.86098721] [ 0.00100334 0.99988186 -0.01533834 -0.15051293] [ 0.12949594 0.01507928 0.99146529 -0.11281986] [ 0. 0. 0. 1. ]] SLAMing on 199.02463043999998 meters Centerline goodness : 0.106273 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91537450e-01 -2.76534825e-03 -1.29791517e-01 8.62131045e-01] [ 8.19677633e-04 9.99886530e-01 -1.50417642e-02 -1.51624816e-01] [ 1.29818386e-01 1.48080853e-02 9.91427207e-01 -1.13194553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05463043999998 meters Centerline goodness : 0.354589 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91517779e-01 -2.44368923e-03 -1.29948155e-01 8.62535310e-01] [ 5.32494375e-04 9.99891217e-01 -1.47400767e-02 -1.52635641e-01] [ 1.29970039e-01 1.45458514e-02 9.91411220e-01 -1.13256939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08463043999998 meters Centerline goodness : 0.354589 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91517779e-01 -2.44368923e-03 -1.29948155e-01 8.62535310e-01] [ 5.32494375e-04 9.99891217e-01 -1.47400767e-02 -1.52635641e-01] [ 1.29970039e-01 1.45458514e-02 9.91411220e-01 -1.13256939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11463043999998 meters Centerline goodness : 0.119297 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.16, Z:-0.11 [[ 0.99164447 0.00519407 -0.12889631 0.88139725] [-0.00734102 0.99984203 -0.01618691 -0.15514372] [ 0.12879187 0.01699789 0.99152596 -0.10939527] [ 0. 0. 0. 1. ]] SLAMing on 199.14463044 meters Centerline goodness : 0.174045 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91663044e-01 -2.79457902e-03 -1.28827784e-01 8.60865895e-01] [ 8.34730038e-04 9.99883144e-01 -1.52644210e-02 -1.52415209e-01] [ 1.28855387e-01 1.50296258e-02 9.91549494e-01 -1.12763757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17463044 meters Centerline goodness : 0.246715 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91671681e-01 -2.73541925e-03 -1.28762551e-01 8.60733975e-01] [ 7.84686981e-04 9.99884194e-01 -1.51981348e-02 -1.52514281e-01] [ 1.28789213e-01 1.49705216e-02 9.91558986e-01 -1.12819635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20463044 meters Centerline goodness : 0.103725 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91603713e-01 -2.52830162e-03 -1.29289145e-01 8.62536522e-01] [ 5.67541099e-04 9.99884308e-01 -1.52002958e-02 -1.51139131e-01] [ 1.29312619e-01 1.49992929e-02 9.91490428e-01 -1.13373963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23463044 meters Centerline goodness : 0.102730 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91581087e-01 -2.61387084e-03 -1.29460866e-01 8.62946714e-01] [ 6.17995180e-04 9.99880380e-01 -1.54545995e-02 -1.49622483e-01] [ 1.29485776e-01 1.52444823e-02 9.91464089e-01 -1.13401523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26463044 meters Centerline goodness : 0.091930 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.11 [[ 9.91547303e-01 -2.73509111e-03 -1.29716866e-01 8.63084877e-01] [ 6.91114084e-04 9.99874939e-01 -1.57996166e-02 -1.47637663e-01] [ 1.29743857e-01 1.55764180e-02 9.91425190e-01 -1.12813337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29463044 meters Centerline goodness : 0.485318 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91675597e-01 -1.30550335e-03 -1.28754831e-01 8.57715733e-01] [-5.96417330e-04 9.99891301e-01 -1.47319827e-02 -1.44999088e-01] [ 1.28760068e-01 1.46861394e-02 9.91567024e-01 -1.10147773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32463044 meters Centerline goodness : 0.103157 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91718577e-01 -1.36790129e-03 -1.28422712e-01 8.56478586e-01] [-5.58567921e-04 9.99887880e-01 -1.49637870e-02 -1.43127956e-01] [ 1.28428782e-01 1.49115984e-02 9.91606622e-01 -1.09678563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35463044 meters Centerline goodness : 0.104459 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91746070e-01 -1.51321250e-03 -1.28208594e-01 8.55770216e-01] [-4.48488236e-04 9.99883297e-01 -1.52706015e-02 -1.41411584e-01] [ 1.28216739e-01 1.52020591e-02 9.91629651e-01 -1.09547952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38463044 meters Centerline goodness : 0.102670 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91705578e-01 -1.99233189e-03 -1.28514890e-01 8.56443022e-01] [-6.70650150e-05 9.99871697e-01 -1.60182608e-02 -1.38281762e-01] [ 1.28530314e-01 1.58940174e-02 9.91578206e-01 -1.09443794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41463044 meters Centerline goodness : 0.104457 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91665669e-01 -2.21509618e-03 -1.28818846e-01 8.56995166e-01] [ 1.10615254e-04 9.99866461e-01 -1.63416076e-02 -1.37085780e-01] [ 1.28837841e-01 1.61911619e-02 9.91533488e-01 -1.09183765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44463044 meters Centerline goodness : 0.104171 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.11 [[ 9.91649996e-01 -2.29793435e-03 -1.28937992e-01 8.56908945e-01] [ 1.79673476e-04 9.99864875e-01 -1.64377512e-02 -1.36596429e-01] [ 1.28958342e-01 1.62773292e-02 9.91516412e-01 -1.08711925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47463044 meters Centerline goodness : 0.458179 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:-0.11 [[ 0.99196233 -0.01048242 -0.12609859 0.8328706 ] [ 0.00851739 0.99983391 -0.01611242 -0.13274458] [ 0.12624654 0.01490888 0.99188686 -0.11142339] [ 0. 0. 0. 1. ]] SLAMing on 199.50463044 meters Centerline goodness : 0.104892 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:-0.11 [[ 0.99197025 -0.01053046 -0.12603227 0.83232157] [ 0.0085792 0.99983494 -0.01601505 -0.13363857] [ 0.12618012 0.0148052 0.99189686 -0.1108585 ] [ 0. 0. 0. 1. ]] SLAMing on 199.53463044 meters Centerline goodness : 0.457886 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:-0.11 [[ 0.99194937 -0.01057399 -0.12619284 0.83272251] [ 0.0086342 0.99983617 -0.01590869 -0.13477022] [ 0.12634039 0.01469104 0.99187816 -0.11077526] [ 0. 0. 0. 1. ]] SLAMing on 199.56463044 meters Centerline goodness : 0.477048 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99187834 -0.01061997 -0.1267461 0.83446742] [ 0.00869639 0.99983861 -0.01572034 -0.13667877] [ 0.12689259 0.01449043 0.99181062 -0.11112562] [ 0. 0. 0. 1. ]] SLAMing on 199.59463044 meters Centerline goodness : 0.105433 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99187632 -0.01053046 -0.12676941 0.83431771] [ 0.00863084 0.99984223 -0.01552483 -0.1377105 ] [ 0.12691289 0.01430458 0.99181072 -0.11086741] [ 0. 0. 0. 1. ]] SLAMing on 199.62463044 meters Centerline goodness : 0.104633 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99189421 -0.01041493 -0.12663891 0.83363071] [ 0.00854216 0.99984612 -0.01532237 -0.13860948] [ 0.12677901 0.0141164 0.99183054 -0.11042452] [ 0. 0. 0. 1. ]] SLAMing on 199.65463044 meters Centerline goodness : 0.101806 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99190739 -0.01030968 -0.12654426 0.83317543] [ 0.00846109 0.99984963 -0.01513712 -0.13950375] [ 0.12668129 0.01394392 0.99184546 -0.11016307] [ 0. 0. 0. 1. ]] SLAMing on 199.68463044 meters Centerline goodness : 0.103529 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99189343 -0.01020975 -0.12666167 0.83350044] [ 0.00838334 0.99985318 -0.01494431 -0.14069569] [ 0.12679565 0.01376132 0.9918334 -0.1101969 ] [ 0. 0. 0. 1. ]] SLAMing on 199.71463043999998 meters Centerline goodness : 0.105093 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99188587 -0.01010849 -0.12672899 0.83382542] [ 0.00829751 0.9998559 -0.01480993 -0.14125439] [ 0.12686043 0.01363823 0.99182681 -0.11038033] [ 0. 0. 0. 1. ]] SLAMing on 199.74463043999998 meters Centerline goodness : 0.099338 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99189534 -0.00986401 -0.1266741 0.83390347] [ 0.00810128 0.99986316 -0.01442317 -0.14277572] [ 0.12679904 0.01328005 0.99183953 -0.11063973] [ 0. 0. 0. 1. ]] SLAMing on 199.77463043999998 meters Centerline goodness : 0.096570 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:-0.11 [[ 0.99191021 -0.00971629 -0.12656907 0.83362484] [ 0.00798733 0.99986783 -0.01416057 -0.14384194] [ 0.12668993 0.01303506 0.99185672 -0.11059928] [ 0. 0. 0. 1. ]] SLAMing on 199.80463043999998 meters Centerline goodness : 0.104818 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:-0.11 [[ 0.99190847 -0.0096008 -0.12659149 0.83368138] [ 0.0079037 0.99987213 -0.01390163 -0.14511835] [ 0.12670877 0.0127886 0.99185752 -0.11055856] [ 0. 0. 0. 1. ]] SLAMing on 199.83463043999998 meters Centerline goodness : 0.100440 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:-0.11 [[ 9.91951735e-01 -2.07422448e-03 -1.26599581e-01 8.15635121e-01] [ 2.05836910e-04 9.99890903e-01 -1.47695426e-02 -1.52688046e-01] [ 1.26616405e-01 1.46246146e-02 9.91843943e-01 -1.14461235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86463043999998 meters Centerline goodness : 0.105518 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.12 [[ 9.91863769e-01 -1.94308328e-03 -1.27288992e-01 8.18137070e-01] [ 1.12808019e-04 9.99896531e-01 -1.43845278e-02 -1.55062548e-01] [ 1.27303771e-01 1.42531328e-02 9.91761361e-01 -1.15314907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89463044 meters Centerline goodness : 0.103703 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.12 [[ 9.91840965e-01 -1.86427456e-03 -1.27467741e-01 8.18763014e-01] [ 5.02762692e-05 9.99898708e-01 -1.42327749e-02 -1.55799714e-01] [ 1.27481363e-01 1.41102405e-02 9.91740593e-01 -1.15523694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92463044 meters Centerline goodness : 0.102349 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.12 [[ 9.91845927e-01 -1.86609674e-03 -1.27429098e-01 8.18537181e-01] [ 6.39917958e-05 9.99899957e-01 -1.41446505e-02 -1.56580275e-01] [ 1.27442745e-01 1.40211596e-02 9.91746819e-01 -1.15362116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95463044 meters Centerline goodness : 0.104722 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.11 [[ 9.91881895e-01 -2.02821596e-03 -1.27146343e-01 8.17436776e-01] [ 2.35626403e-04 9.99900392e-01 -1.41120879e-02 -1.57877582e-01] [ 1.27162301e-01 1.39675654e-02 9.91783573e-01 -1.14874904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98463044 meters Centerline goodness : 0.143146 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.12 [[ 9.91871020e-01 -1.89032559e-03 -1.27233272e-01 8.17823654e-01] [ 1.17842662e-04 9.99902868e-01 -1.39370561e-02 -1.58254219e-01] [ 1.27247259e-01 1.38087686e-02 9.91774900e-01 -1.15077612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01463044 meters Centerline goodness : 0.263830 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.12 [[ 9.91819345e-01 -1.63671006e-03 -1.27638978e-01 8.19737411e-01] [-1.34261304e-04 9.99903867e-01 -1.38650098e-02 -1.56988877e-01] [ 1.27649400e-01 1.37687219e-02 9.91723779e-01 -1.16072238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04463044 meters Centerline goodness : 0.167986 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.12 [[ 9.91795497e-01 -1.82207470e-03 -1.27821646e-01 8.20341353e-01] [ 5.16047291e-06 9.99898985e-01 -1.42133400e-02 -1.55643341e-01] [ 1.27834632e-01 1.40960670e-02 9.91695320e-01 -1.16261583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07463044 meters Centerline goodness : 0.101903 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:-0.12 [[ 9.91773048e-01 -2.00067435e-03 -1.27993043e-01 8.20641610e-01] [ 1.39515448e-04 9.99894157e-01 -1.45484075e-02 -1.54297848e-01] [ 1.28008602e-01 1.44108614e-02 9.91668354e-01 -1.16124458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10463044 meters Centerline goodness : 0.173962 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:-0.12 [[ 9.91787373e-01 -1.86593443e-03 -1.27884026e-01 8.20111220e-01] [-3.14198527e-05 9.99889986e-01 -1.48328999e-02 -1.51118080e-01] [ 1.27897635e-01 1.47151010e-02 9.91678204e-01 -1.15920505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13463044 meters Centerline goodness : 0.102928 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:-0.12 [[ 9.91801960e-01 -1.76177314e-03 -1.27772333e-01 8.19937190e-01] [-1.55248531e-04 9.99887603e-01 -1.49919069e-02 -1.49038103e-01] [ 1.27784384e-01 1.48888391e-02 9.91690211e-01 -1.16077201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16463044 meters Centerline goodness : 0.122020 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:-0.12 [[ 9.91794416e-01 -1.76140980e-03 -1.27830879e-01 8.20206988e-01] [-1.95535840e-04 9.99883010e-01 -1.52947012e-02 -1.46639524e-01] [ 1.27842864e-01 1.51941947e-02 9.91678042e-01 -1.16272134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19463044 meters Centerline goodness : 0.121911 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.12 [[ 9.91782991e-01 -1.91925514e-03 -1.27917220e-01 8.20792563e-01] [-9.78050134e-05 9.99875793e-01 -1.57603339e-02 -1.44133475e-01] [ 1.27931580e-01 1.56433421e-02 9.91659617e-01 -1.16754749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22463044 meters Centerline goodness : 0.166252 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.12 [[ 9.91693419e-01 -2.22306283e-03 -1.28604900e-01 8.22771401e-01] [ 7.62662193e-05 9.99860618e-01 -1.66954780e-02 -1.38486004e-01] [ 1.28624090e-01 1.65469874e-02 9.91555364e-01 -1.17159105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25463044 meters Centerline goodness : 0.097177 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.12 [[ 9.91687575e-01 -2.36391948e-03 -1.28647444e-01 8.22737284e-01] [ 1.68208956e-04 9.99854183e-01 -1.70758468e-02 -1.36159479e-01] [ 1.28669051e-01 1.69122655e-02 9.91543368e-01 -1.17015194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28463044 meters Centerline goodness : 0.461844 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.12 [[ 9.91701996e-01 -2.45904957e-03 -1.28534451e-01 8.22244903e-01] [ 2.32622791e-04 9.99849732e-01 -1.73337775e-02 -1.34465158e-01] [ 1.28557761e-01 1.71600417e-02 9.91553546e-01 -1.16802279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31463044 meters Centerline goodness : 0.248155 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.12 [[ 9.91789699e-01 -2.63463094e-03 -1.27852461e-01 8.19692142e-01] [ 3.72592618e-04 9.99843038e-01 -1.77132601e-02 -1.31657163e-01] [ 1.27879061e-01 1.75201920e-02 9.91635008e-01 -1.15770132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34463044 meters Centerline goodness : 0.452879 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.12 [[ 9.91816098e-01 -2.78101593e-03 -1.27644407e-01 8.18846772e-01] [ 4.94071240e-04 9.99838859e-01 -1.79446953e-02 -1.30617794e-01] [ 1.27673742e-01 1.77347722e-02 9.91657649e-01 -1.15369182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37463044 meters Centerline goodness : 0.449376 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:-0.11 [[ 0.99182715 -0.01031425 -0.12717121 0.83729503] [ 0.00821732 0.99982168 -0.01700272 -0.12398487] [ 0.12732391 0.01581876 0.99173504 -0.11167117] [ 0. 0. 0. 1. ]] SLAMing on 200.40463044 meters Centerline goodness : 0.105656 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.12 [[ 9.91934298e-01 -2.80643680e-03 -1.26722030e-01 8.18779139e-01] [ 5.10775094e-04 9.99835243e-01 -1.81445885e-02 -1.28902771e-01] [ 1.26752074e-01 1.79335132e-02 9.91772303e-01 -1.15503139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43463043999998 meters Centerline goodness : 0.090222 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.11 [[ 9.91963859e-01 -2.87673436e-03 -1.26488841e-01 8.17721029e-01] [ 5.46545742e-04 9.99829581e-01 -1.84529360e-02 -1.26545631e-01] [ 1.26520369e-01 1.82355137e-02 9.91796381e-01 -1.14932713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46463043999998 meters Centerline goodness : 0.223497 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.11 [[ 9.91987868e-01 -2.92306880e-03 -1.26299345e-01 8.16953917e-01] [ 5.78660249e-04 9.99826930e-01 -1.85950208e-02 -1.25547034e-01] [ 1.26331841e-01 1.83729506e-02 9.91817877e-01 -1.14592685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49463043999998 meters Centerline goodness : 0.193597 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.11 [[ 9.92016134e-01 -2.99368976e-03 -1.26075480e-01 8.16155684e-01] [ 6.37622870e-04 9.99824488e-01 -1.87239593e-02 -1.24773700e-01] [ 1.26109406e-01 1.84940811e-02 9.91843933e-01 -1.14274260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52463043999998 meters Centerline goodness : 0.383553 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.11 [[ 9.92027993e-01 -3.04731989e-03 -1.25980852e-01 8.15765788e-01] [ 6.80772975e-04 9.99822586e-01 -1.88237607e-02 -1.24228579e-01] [ 1.26015863e-01 1.85879332e-02 9.91854067e-01 -1.14087070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 200.58463043999998 meters Centerline goodness : 0.463559 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.11 [[ 9.91857461e-01 -2.80846328e-03 -1.27321995e-01 8.19690433e-01] [ 4.11243327e-04 9.99822231e-01 -1.88503900e-02 -1.22341336e-01] [ 1.27352302e-01 1.86445396e-02 9.91682294e-01 -1.14732066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61463043999998 meters Centerline goodness : 0.099851 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.11 [[ 9.91836086e-01 -2.73940527e-03 -1.27489896e-01 8.20009472e-01] [ 3.46618062e-04 9.99823452e-01 -1.87868482e-02 -1.22281568e-01] [ 1.27518853e-01 1.85892837e-02 9.91661929e-01 -1.14623250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64463044 meters Centerline goodness : 0.462046 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.11 [[ 9.91839456e-01 -2.82552431e-03 -1.27461796e-01 8.19142772e-01] [ 4.33116673e-04 9.99823294e-01 -1.87934180e-02 -1.22980259e-01] [ 1.27492374e-01 1.85848477e-02 9.91665416e-01 -1.13682388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67463044 meters Centerline goodness : 0.095855 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.11 [[ 9.91836148e-01 -2.86853592e-03 -1.27486579e-01 8.19008526e-01] [ 4.78765402e-04 9.99823677e-01 -1.87719626e-02 -1.23604738e-01] [ 1.27517948e-01 1.85576749e-02 9.91662637e-01 -1.13455662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70463044 meters Centerline goodness : 0.095520 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:-0.12 [[ 9.91580994e-01 -3.17045135e-03 -1.29449143e-01 7.74123528e-01] [ 7.18094723e-04 9.99819476e-01 -1.89868381e-02 -1.27115979e-01] [ 1.29485971e-01 1.87340311e-02 9.91404266e-01 -1.18561381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73463044 meters Centerline goodness : 0.460508 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:-0.12 [[ 9.91585016e-01 -3.10163588e-03 -1.29420000e-01 7.74081662e-01] [ 6.60737258e-04 9.99821180e-01 -1.88989652e-02 -1.27381696e-01] [ 1.29455475e-01 1.86544181e-02 9.91409750e-01 -1.18608329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76463044 meters Centerline goodness : 0.201732 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:-0.12 [[ 9.91583597e-01 -3.01146390e-03 -1.29433002e-01 7.74233332e-01] [ 5.70728574e-04 9.99821403e-01 -1.88900893e-02 -1.27167972e-01] [ 1.29466773e-01 1.86572316e-02 9.91408222e-01 -1.18780512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79463044 meters Centerline goodness : 0.460746 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:-0.12 [[ 9.91555484e-01 -2.97303273e-03 -1.29649079e-01 7.74894108e-01] [ 5.13199233e-04 9.99819308e-01 -1.90022948e-02 -1.26378697e-01] [ 1.29682147e-01 1.87752938e-02 9.91377844e-01 -1.18947722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82463044 meters Centerline goodness : 0.202556 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.12 [[ 9.91519361e-01 -2.97101246e-03 -1.29925090e-01 7.75599520e-01] [ 4.76496305e-04 9.99815040e-01 -1.92265222e-02 -1.24963097e-01] [ 1.29958182e-01 1.90015601e-02 9.91337385e-01 -1.18998311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85463044 meters Centerline goodness : 0.154756 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.12 [[ 0.99139761 0.00521044 -0.13078085 0.75586074] [-0.00792956 0.99976291 -0.02027922 -0.12789308] [ 0.13064418 0.0211418 0.99120388 -0.12240784] [ 0. 0. 0. 1. ]] SLAMing on 200.88463044 meters Centerline goodness : 0.395915 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.12 [[ 0.99135088 0.00895771 -0.13093201 0.75688239] [-0.0113577 0.99978069 -0.01759477 -0.12300496] [ 0.13074569 0.01892968 0.99123521 -0.12307566] [ 0. 0. 0. 1. ]] SLAMing on 200.91463044 meters Centerline goodness : 0.314792 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.12 [[ 0.99131022 0.00898819 -0.13123743 0.75788112] [-0.01145415 0.99977152 -0.01804732 -0.11923922] [ 0.13104524 0.01939371 0.99118668 -0.12336805] [ 0. 0. 0. 1. ]] SLAMing on 200.94463044 meters Centerline goodness : 0.135594 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.13 [[ 0.99152773 0.00246492 -0.12987182 0.74011479] [-0.00469542 0.99984665 -0.0168712 -0.1112494 ] [ 0.12981032 0.01733806 0.99138725 -0.12830292] [ 0. 0. 0. 1. ]] SLAMing on 200.97463044 meters Centerline goodness : 0.135594 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.13 [[ 0.99152773 0.00246492 -0.12987182 0.74011479] [-0.00469542 0.99984665 -0.0168712 -0.1112494 ] [ 0.12981032 0.01733806 0.99138725 -0.12830292] [ 0. 0. 0. 1. ]] SLAMing on 201.00463044 meters Centerline goodness : 0.435048 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.13 [[ 0.99150714 0.0027632 -0.13002293 0.74014708] [-0.00506089 0.99983677 -0.01734429 -0.10253481] [ 0.12995378 0.01785502 0.99135928 -0.12801168] [ 0. 0. 0. 1. ]] SLAMing on 201.03463044 meters Centerline goodness : 0.464703 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.13 [[ 0.99150082 0.00256469 -0.13007515 0.73987274] [-0.00492449 0.99982902 -0.01782341 -0.09968296] [ 0.1300072 0.01831248 0.99134393 -0.12759775] [ 0. 0. 0. 1. ]] SLAMing on 201.06463044 meters Centerline goodness : 0.462747 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.12 [[ 0.99152664 -0.00454462 -0.12982397 0.75670072] [ 0.00243628 0.99986264 -0.01639415 -0.09114702] [ 0.12988064 0.01593895 0.99140152 -0.12306529] [ 0. 0. 0. 1. ]] SLAMing on 201.09463044 meters Centerline goodness : 0.460893 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.12 [[ 0.99156547 -0.00535725 -0.129496 0.75530237] [ 0.00313895 0.99984493 -0.01732833 -0.08760181] [ 0.12956875 0.01677569 0.99142852 -0.12233762] [ 0. 0. 0. 1. ]] SLAMing on 201.12463044 meters Centerline goodness : 0.334304 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.12 [[ 0.99157151 -0.00568263 -0.12943586 0.75488601] [ 0.00341898 0.99983742 -0.01770414 -0.08624631] [ 0.12951542 0.01711239 0.99142974 -0.12193092] [ 0. 0. 0. 1. ]] SLAMing on 201.15463044 meters Centerline goodness : 0.096988 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.12 [[ 0.99158038 -0.00588616 -0.12935884 0.7545223 ] [ 0.00358729 0.9998316 -0.01799708 -0.08476567] [ 0.12944299 0.0173815 0.99143451 -0.12168965] [ 0. 0. 0. 1. ]] SLAMing on 201.18463043999998 meters Centerline goodness : 0.389817 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.12 [[ 0.99159791 -0.00615011 -0.12921209 0.75413322] [ 0.00378722 0.99982123 -0.01852469 -0.08101614] [ 0.12930292 0.01787968 0.99144393 -0.12155832] [ 0. 0. 0. 1. ]] SLAMing on 201.21463043999998 meters Centerline goodness : 0.459337 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.12 [[ 0.99159145 -0.00634056 -0.12925247 0.75419755] [ 0.00393097 0.99981386 -0.01888913 -0.07911382] [ 0.12934817 0.01822221 0.99143179 -0.12149464] [ 0. 0. 0. 1. ]] SLAMing on 201.24463043999998 meters Centerline goodness : 0.348921 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.12 [[ 0.99152648 -0.0065936 -0.12973726 0.7553453 ] [ 0.00410118 0.99980205 -0.01946909 -0.07568867] [ 0.12983995 0.01877205 0.99135725 -0.1214163 ] [ 0. 0. 0. 1. ]] SLAMing on 201.27463043999998 meters Centerline goodness : 0.314130 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.12 [[ 0.99146545 -0.0066911 -0.13019792 0.75649961] [ 0.00414696 0.99979532 -0.01980186 -0.073548 ] [ 0.13030377 0.01909293 0.99129026 -0.12142371] [ 0. 0. 0. 1. ]] SLAMing on 201.30463043999998 meters Centerline goodness : 0.096110 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:-0.12 [[ 0.99135408 0.00146955 -0.13120566 0.73720702] [-0.00425104 0.99977208 -0.0209219 -0.07601686] [ 0.131145 0.02129877 0.99113438 -0.12483851] [ 0. 0. 0. 1. ]] SLAMing on 201.33463043999998 meters Centerline goodness : 0.111942 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.07, Z:-0.12 [[ 0.99133919 0.00129063 -0.13132002 0.73741008] [-0.00413433 0.99976278 -0.0213844 -0.07349138] [ 0.13126126 0.02174211 0.99110936 -0.12477785] [ 0. 0. 0. 1. ]] SLAMing on 201.36463043999998 meters Centerline goodness : 0.102662 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.07, Z:-0.12 [[ 0.99139991 0.00121164 -0.13086159 0.73558318] [-0.00410492 0.99975301 -0.021842 -0.06984037] [ 0.13080281 0.02219133 0.99116001 -0.12399756] [ 0. 0. 0. 1. ]] SLAMing on 201.39463044 meters Centerline goodness : 0.167085 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.12 [[ 0.99146744 0.00122608 -0.13034881 0.7339284 ] [-0.00411526 0.99975174 -0.02189791 -0.06902198] [ 0.1302896 0.02224749 0.99122635 -0.12357236] [ 0. 0. 0. 1. ]] SLAMing on 201.42463044 meters Centerline goodness : 0.113308 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.12 [[ 0.99169009 -0.00646383 -0.12848727 0.75110705] [ 0.00386398 0.99978293 -0.02047334 -0.06453192] [ 0.12859172 0.01980674 0.99149981 -0.11972806] [ 0. 0. 0. 1. ]] SLAMing on 201.45463044 meters Centerline goodness : 0.112518 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.12 [[ 0.9917807 -0.00655434 -0.1277814 0.74905298] [ 0.0039831 0.99978463 -0.02036731 -0.06564379] [ 0.12788738 0.01969093 0.99159321 -0.11933517] [ 0. 0. 0. 1. ]] SLAMing on 201.48463044 meters Centerline goodness : 0.111813 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.12 [[ 0.99187635 -0.00732989 -0.12699437 0.7470152 ] [ 0.00475425 0.99977705 -0.02057276 -0.06859773] [ 0.12711686 0.01980187 0.99169007 -0.11913329] [ 0. 0. 0. 1. ]] SLAMing on 201.51463044 meters Centerline goodness : 0.109285 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.12 [[ 0.99181438 -0.00735929 -0.12747579 0.74865155] [ 0.00478251 0.99977825 -0.02050821 -0.06944179] [ 0.12759845 0.01973068 0.99162964 -0.11962375] [ 0. 0. 0. 1. ]] SLAMing on 201.54463044 meters Centerline goodness : 0.107689 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.12 [[ 0.99172353 -0.00725686 -0.12818653 0.75110955] [ 0.00466901 0.99977942 -0.02047711 -0.06914221] [ 0.12830686 0.01970912 0.99153865 -0.12046115] [ 0. 0. 0. 1. ]] SLAMing on 201.57463044 meters Centerline goodness : 0.463144 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.12 [[ 0.99155407 -0.00498991 -0.12959791 0.75748238] [ 0.00255775 0.9998176 -0.01892667 -0.06577586] [ 0.12966871 0.01843534 0.99138598 -0.12311527] [ 0. 0. 0. 1. ]] SLAMing on 201.60463044 meters Centerline goodness : 0.459547 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.12 [[ 0.99156463 -0.00494029 -0.12951904 0.7573188 ] [ 0.00246573 0.99981148 -0.01925923 -0.06340981] [ 0.12958977 0.01877741 0.99138988 -0.12323345] [ 0. 0. 0. 1. ]] SLAMing on 201.63463044 meters Centerline goodness : 0.094320 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.12 [[ 0.99163861 -0.0047385 -0.12895899 0.75583754] [ 0.00225349 0.99980909 -0.01940882 -0.06133381] [ 0.12902634 0.01895593 0.99145997 -0.12320127] [ 0. 0. 0. 1. ]] SLAMing on 201.66463044 meters Centerline goodness : 0.460197 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.12 [[ 9.91675233e-01 -9.34690586e-04 -1.28760857e-01 7.55382545e-01] [-1.16170245e-03 9.99868012e-01 -1.62052258e-02 -6.01208978e-02] [ 1.28759009e-01 1.62199029e-02 9.91543258e-01 -1.23272147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 201.72463044 meters Centerline goodness : 0.194151 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.12 [[ 9.91539191e-01 -3.94067242e-04 -1.29807080e-01 7.58994474e-01] [-1.74446698e-03 9.99864635e-01 -1.63605966e-02 -5.54740234e-02] [ 1.29795956e-01 1.64486169e-02 9.91404283e-01 -1.24468604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75463044 meters Centerline goodness : 0.335441 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.12 [[ 9.91517027e-01 -4.29515153e-04 -1.29976152e-01 7.59735867e-01] [-1.71569378e-03 9.99864167e-01 -1.63922102e-02 -5.53862411e-02] [ 1.29965537e-01 1.64761549e-02 9.91381609e-01 -1.24810804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78463044 meters Centerline goodness : 0.117970 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.13 [[ 9.91328585e-01 -1.41561579e-03 -1.31398753e-01 7.14795366e-01] [-8.27492468e-04 9.99854895e-01 -1.70148290e-02 -6.05166086e-02] [ 1.31403773e-01 1.69760178e-02 9.91183567e-01 -1.30236974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81463044 meters Centerline goodness : 0.106534 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.13 [[ 0.99131349 -0.00939662 -0.13118408 0.73474389] [ 0.00736723 0.9998457 -0.01594656 -0.05701132] [ 0.13131368 0.01484158 0.99122976 -0.12688666] [ 0. 0. 0. 1. ]] SLAMing on 201.84463044 meters Centerline goodness : 0.112392 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.13 [[ 0.99128323 -0.00934559 -0.13141623 0.73525474] [ 0.00735231 0.99985058 -0.01564471 -0.058944 ] [ 0.13154281 0.01454212 0.99120382 -0.12669376] [ 0. 0. 0. 1. ]] SLAMing on 201.87463044 meters Centerline goodness : 0.170956 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.13 [[ 0.99130028 -0.00951952 -0.131275 0.73493774] [ 0.007576 0.9998543 -0.01529639 -0.06235019] [ 0.13140149 0.01416877 0.99122797 -0.12658776] [ 0. 0. 0. 1. ]] SLAMing on 201.90463044 meters Centerline goodness : 0.194962 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.13 [[ 0.9912967 -0.00937 -0.13131282 0.735069 ] [ 0.00747232 0.99986052 -0.01493685 -0.06420652] [ 0.13143446 0.01382564 0.99122845 -0.12655904] [ 0. 0. 0. 1. ]] SLAMing on 201.93463043999998 meters Centerline goodness : 0.239068 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.13 [[ 0.99130645 -0.00914596 -0.13125497 0.73480364] [ 0.00730375 0.99986805 -0.01450986 -0.06612924] [ 0.13137036 0.01342507 0.99124245 -0.12635568] [ 0. 0. 0. 1. ]] SLAMing on 201.96463043999998 meters Centerline goodness : 0.458505 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.13 [[ 0.99133047 -0.00899132 -0.13108412 0.73441217] [ 0.00719678 0.99987388 -0.01415729 -0.06799136] [ 0.13119488 0.01309117 0.99127016 -0.12634838] [ 0. 0. 0. 1. ]] SLAMing on 201.99463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 202.02463043999998 meters Centerline goodness : 0.102061 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 0.99160491 -0.00370867 -0.12925152 0.71376579] [ 0.00156738 0.99985991 -0.0166646 -0.07933967] [ 0.12929522 0.01632211 0.9914718 -0.13024341] [ 0. 0. 0. 1. ]] SLAMing on 202.05463043999998 meters Centerline goodness : 0.208570 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 0.99161124 -0.00345356 -0.12921001 0.71355633] [ 0.00136369 0.99986688 -0.01625924 -0.08099526] [ 0.12924896 0.01594664 0.99148394 -0.13012968] [ 0. 0. 0. 1. ]] SLAMing on 202.08463043999998 meters Centerline goodness : 0.104387 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 0.99164523 -0.00304494 -0.12895918 0.71279731] [ 0.00103488 0.99987698 -0.01565089 -0.08344392] [ 0.12899097 0.01538668 0.99152639 -0.12998301] [ 0. 0. 0. 1. ]] SLAMing on 202.11463043999998 meters Centerline goodness : 0.464694 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 0.99166662 -0.00301008 -0.12879541 0.71244219] [ 0.00101368 0.99987837 -0.01556323 -0.08423292] [ 0.1288266 0.01530298 0.99154905 -0.13007561] [ 0. 0. 0. 1. ]] SLAMing on 202.14463044 meters Centerline goodness : 0.460514 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.91664791e-01 -2.98530418e-03 -1.28810055e-01 7.12488637e-01] [ 9.94965913e-04 9.99879166e-01 -1.55133137e-02 -8.47861191e-02] [ 1.28840802e-01 1.52558454e-02 9.91547935e-01 -1.30146037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17463044 meters Centerline goodness : 0.274942 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 9.91677066e-01 -2.54699250e-03 -1.28724938e-01 7.12582962e-01] [ 6.01585699e-04 9.99885058e-01 -1.51495199e-02 -8.52234908e-02] [ 1.28748728e-01 1.49459923e-02 9.91564613e-01 -1.30577271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20463044 meters Centerline goodness : 0.115217 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.91677108e-01 -2.34530723e-03 -1.28728448e-01 7.12738358e-01] [ 4.11771009e-04 9.99886735e-01 -1.50448307e-02 -8.49259035e-02] [ 1.28749152e-01 1.48666076e-02 9.91565752e-01 -1.30818289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23463044 meters Centerline goodness : 0.374520 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.91678772e-01 -2.25146119e-03 -1.28717306e-01 7.12850576e-01] [ 3.17917517e-04 9.99886839e-01 -1.50402026e-02 -8.45795958e-02] [ 1.28736603e-01 1.48741281e-02 9.91567268e-01 -1.31025832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26463044 meters Centerline goodness : 0.451761 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.91635444e-01 -2.28592953e-03 -1.29050073e-01 7.14007303e-01] [ 3.06689806e-04 9.99882061e-01 -1.53547798e-02 -8.31106679e-02] [ 1.29069953e-01 1.51867655e-02 9.91519193e-01 -1.31543041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 202.32463044 meters Centerline goodness : 0.310033 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.91661765e-01 -2.18718415e-03 -1.28849368e-01 7.13404577e-01] [ 2.24855107e-04 9.99883805e-01 -1.52422153e-02 -8.33023050e-02] [ 1.28867734e-01 1.50861497e-02 9.91547031e-01 -1.31486600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 202.38463044 meters Centerline goodness : 0.415622 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.13 [[ 0.99181892 -0.01173145 -0.12711254 0.73231518] [ 0.00991085 0.99983919 -0.01494578 -0.08445954] [ 0.12726743 0.01356372 0.99177569 -0.12790242] [ 0. 0. 0. 1. ]] SLAMing on 202.41463044 meters Centerline goodness : 0.450750 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.13 [[ 0.99178802 -0.01185347 -0.12734212 0.7330812 ] [ 0.01006656 0.99984176 -0.0146668 -0.08701948] [ 0.12749583 0.01326445 0.99175041 -0.12799598] [ 0. 0. 0. 1. ]] SLAMing on 202.44463044 meters Centerline goodness : 0.267197 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.13 [[ 0.99173326 -0.01192172 -0.12776158 0.73439895] [ 0.0101729 0.99984554 -0.01433197 -0.0897095 ] [ 0.1279127 0.01291379 0.99170135 -0.12815763] [ 0. 0. 0. 1. ]] SLAMing on 202.47463044 meters Centerline goodness : 0.093433 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.13 [[ 0.99167242 -0.01589798 -0.12780085 0.73471311] [ 0.01379934 0.99975529 -0.01728993 -0.09407107] [ 0.12804445 0.01538238 0.99164913 -0.12807305] [ 0. 0. 0. 1. ]] SLAMing on 202.50463044 meters Centerline goodness : 0.096292 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.13 [[ 0.99166703 -0.01591545 -0.12784053 0.73457446] [ 0.01385775 0.99975998 -0.01696924 -0.09646013] [ 0.12807992 0.01505625 0.99164956 -0.12767671] [ 0. 0. 0. 1. ]] SLAMing on 202.53463044 meters Centerline goodness : 0.465088 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.13 [[ 0.99165943 -0.01581042 -0.12791252 0.734653 ] [ 0.01380697 0.99976796 -0.01653434 -0.09891631] [ 0.12814426 0.01463035 0.99164762 -0.12748867] [ 0. 0. 0. 1. ]] SLAMing on 202.56463044 meters Centerline goodness : 0.300867 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.13 [[ 0.99161598 -0.01584437 -0.12824471 0.73552573] [ 0.01392102 0.99977699 -0.01588006 -0.10337524] [ 0.12846772 0.01396163 0.99161541 -0.12737492] [ 0. 0. 0. 1. ]] SLAMing on 202.59463044 meters Centerline goodness : 0.378480 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.13 [[ 0.9915814 -0.01583578 -0.12851289 0.73630134] [ 0.01395748 0.9997824 -0.01550313 -0.10605475] [ 0.12873042 0.0135789 0.99158665 -0.12740705] [ 0. 0. 0. 1. ]] SLAMing on 202.62463044 meters Centerline goodness : 0.447038 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.13 [[ 0.99148135 -0.01969382 -0.12875128 0.73696539] [ 0.017481 0.99967981 -0.01829441 -0.11105935] [ 0.12907035 0.01588786 0.99150816 -0.12717759] [ 0. 0. 0. 1. ]] SLAMing on 202.65463044 meters Centerline goodness : 0.446028 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.13 [[ 0.99147154 -0.01960535 -0.12884027 0.73710166] [ 0.0174525 0.99968893 -0.01781738 -0.11399249] [ 0.1291495 0.01541684 0.99150528 -0.12700651] [ 0. 0. 0. 1. ]] SLAMing on 202.68463043999998 meters Centerline goodness : 0.097958 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.13 [[ 0.99145626 -0.01958514 -0.12896085 0.73742986] [ 0.01747868 0.99969502 -0.01744579 -0.11657453] [ 0.12926319 0.01504267 0.99149622 -0.12696521] [ 0. 0. 0. 1. ]] SLAMing on 202.71463043999998 meters Centerline goodness : 0.467114 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:-0.13 [[ 0.99146424 -0.01508956 -0.12950276 0.71720233] [ 0.01250922 0.99970715 -0.02071536 -0.12403213] [ 0.12977742 0.01891856 0.99136265 -0.13019875] [ 0. 0. 0. 1. ]] SLAMing on 202.74463043999998 meters Centerline goodness : 0.477034 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.13 [[ 0.99143664 -0.01506902 -0.12971632 0.7176011 ] [ 0.01251478 0.99971186 -0.02048367 -0.12556045] [ 0.12998761 0.01868489 0.99133955 -0.13001823] [ 0. 0. 0. 1. ]] SLAMing on 202.77463043999998 meters Centerline goodness : 0.393734 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.13 [[ 0.99144487 -0.01496192 -0.1296658 0.7173895 ] [ 0.01244814 0.99971896 -0.02017552 -0.12714199] [ 0.12993122 0.01838882 0.99135247 -0.1299045 ] [ 0. 0. 0. 1. ]] SLAMing on 202.80463043999998 meters Centerline goodness : 0.116823 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.13 [[ 0.99143887 -0.01497016 -0.12971069 0.71715866] [ 0.01251393 0.99972701 -0.01973065 -0.13019409] [ 0.12997065 0.01793854 0.99135556 -0.12945143] [ 0. 0. 0. 1. ]] SLAMing on 202.83463043999998 meters Centerline goodness : 0.466138 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.13 [[ 0.99160997 -0.0080984 -0.12901197 0.7006632 ] [ 0.00543368 0.99976485 -0.02099349 -0.13812811] [ 0.12915165 0.02011635 0.99142079 -0.13428045] [ 0. 0. 0. 1. ]] SLAMing on 202.86463043999998 meters Centerline goodness : 0.102644 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.13 [[ 0.99154754 -0.00808847 -0.12949148 0.70214776] [ 0.00545781 0.99977172 -0.02065733 -0.14065466] [ 0.12962901 0.01977598 0.99136534 -0.1346238 ] [ 0. 0. 0. 1. ]] SLAMing on 202.89463044 meters Centerline goodness : 0.102644 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.13 [[ 0.99154754 -0.00808847 -0.12949148 0.70214776] [ 0.00545781 0.99977172 -0.02065733 -0.14065466] [ 0.12962901 0.01977598 0.99136534 -0.1346238 ] [ 0. 0. 0. 1. ]] SLAMing on 202.92463044 meters Centerline goodness : 0.097752 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.14 [[ 0.99147465 -0.00817784 -0.13004283 0.70389505] [ 0.00556953 0.99977621 -0.02040834 -0.14316891] [ 0.13018062 0.01951008 0.99129832 -0.13502605] [ 0. 0. 0. 1. ]] SLAMing on 202.95463044 meters Centerline goodness : 0.102947 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.14 [[ 9.91523907e-01 -3.54503870e-03 -1.29875997e-01 6.84495731e-01] [ 5.04125829e-04 9.99725133e-01 -2.34393694e-02 -1.51535436e-01] [ 1.29923392e-01 2.31752213e-02 9.91253157e-01 -1.38677857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98463044 meters Centerline goodness : 0.440601 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.14 [[ 9.91538211e-01 -3.50374668e-03 -1.29767867e-01 6.84064697e-01] [ 4.99930831e-04 9.99731346e-01 -2.31729544e-02 -1.53379274e-01] [ 1.29814196e-01 2.29119948e-02 9.91273582e-01 -1.38517400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01463044 meters Centerline goodness : 0.465368 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.14 [[ 9.91565725e-01 -3.45679484e-03 -1.29558724e-01 6.83428349e-01] [ 4.83377791e-04 9.99735928e-01 -2.29747642e-02 -1.54697607e-01] [ 1.29603931e-01 2.27183630e-02 9.91305552e-01 -1.38413343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04463044 meters Centerline goodness : 0.104459 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.14 [[ 9.91579053e-01 -3.42347393e-03 -1.29457567e-01 6.82993502e-01] [ 4.64598752e-04 9.99738128e-01 -2.28792422e-02 -1.55473353e-01] [ 1.29501992e-01 2.26264315e-02 9.91320977e-01 -1.38199888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07463044 meters Centerline goodness : 0.424372 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.14 [[ 9.91576202e-01 -3.24394348e-03 -1.29484025e-01 6.82864396e-01] [ 3.09808747e-04 9.99742866e-01 -2.26739195e-02 -1.55878393e-01] [ 1.29524284e-01 2.24428037e-02 9.91322238e-01 -1.37941958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10463044 meters Centerline goodness : 0.465228 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.14 [[ 9.91565023e-01 -3.18513128e-03 -1.29571061e-01 6.82912900e-01] [ 2.51705474e-04 9.99743433e-01 -2.26495926e-02 -1.55798866e-01] [ 1.29609959e-01 2.24259301e-02 9.91311422e-01 -1.37703219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13463044 meters Centerline goodness : 0.286749 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.14 [[ 9.91325644e-01 -3.98132286e-03 -1.31368251e-01 6.37890126e-01] [ 9.16601954e-04 9.99726196e-01 -2.33814618e-02 -1.56931202e-01] [ 1.31425371e-01 2.30582302e-02 9.91057864e-01 -1.42825921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16463044 meters Centerline goodness : 0.103237 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.14 [[ 9.91323862e-01 -4.00376522e-03 -1.31381012e-01 6.38119773e-01] [ 9.61423492e-04 9.99730105e-01 -2.32118974e-02 -1.58355674e-01] [ 1.31438488e-01 2.28841949e-02 9.91060158e-01 -1.43027703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19463044 meters Centerline goodness : 0.100515 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99133794 -0.01216622 -0.13077107 0.65809305] [ 0.00933842 0.99970959 -0.02221562 -0.15651085] [ 0.13100337 0.02080199 0.99116366 -0.13976265] [ 0. 0. 0. 1. ]] SLAMing on 203.22463044 meters Centerline goodness : 0.102025 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99133348 -0.01215932 -0.13080553 0.65823165] [ 0.00936502 0.99971507 -0.02195625 -0.15819244] [ 0.13103524 0.02054097 0.99116489 -0.1398414 ] [ 0. 0. 0. 1. ]] SLAMing on 203.25463044 meters Centerline goodness : 0.103311 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99133489 -0.01212339 -0.13079818 0.65806794] [ 0.00936596 0.99972117 -0.02167619 -0.15984008] [ 0.13102449 0.02026332 0.99117202 -0.13964379] [ 0. 0. 0. 1. ]] SLAMing on 203.28463044 meters Centerline goodness : 0.104068 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99137236 -0.01229093 -0.13049816 0.65689064] [ 0.00956148 0.99972266 -0.02152168 -0.16149328] [ 0.13072648 0.02008825 0.99121494 -0.13911344] [ 0. 0. 0. 1. ]] SLAMing on 203.31463044 meters Centerline goodness : 0.095536 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99138114 -0.01221038 -0.13043903 0.65671865] [ 0.00950718 0.99972736 -0.02132653 -0.16237302] [ 0.13066388 0.01990261 0.99122694 -0.13908738] [ 0. 0. 0. 1. ]] SLAMing on 203.34463044 meters Centerline goodness : 0.097089 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99138023 -0.01213474 -0.130453 0.65707507] [ 0.00946308 0.999733 -0.02108026 -0.16363799] [ 0.13067398 0.01966406 0.99123037 -0.13948332] [ 0. 0. 0. 1. ]] SLAMing on 203.37463044 meters Centerline goodness : 0.106526 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99137534 -0.01211041 -0.13049244 0.65767472] [ 0.00950471 0.99974318 -0.02057259 -0.16696074] [ 0.13070807 0.01915486 0.99123584 -0.14007445] [ 0. 0. 0. 1. ]] SLAMing on 203.40463044 meters Centerline goodness : 0.105271 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99137536 -0.01201602 -0.13050097 0.6577343 ] [ 0.00945373 0.99975053 -0.02023608 -0.16885356] [ 0.13071157 0.01882783 0.99124164 -0.14015952] [ 0. 0. 0. 1. ]] SLAMing on 203.43463043999998 meters Centerline goodness : 0.103958 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99136173 -0.01188346 -0.13061663 0.65808795] [ 0.00935721 0.99975744 -0.01993769 -0.17030253] [ 0.13082188 0.01854325 0.99123246 -0.14024458] [ 0. 0. 0. 1. ]] SLAMing on 203.46463043999998 meters Centerline goodness : 0.108617 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99133633 -0.01181691 -0.13081532 0.65860059] [ 0.00931209 0.99976172 -0.01974301 -0.17141308] [ 0.13101745 0.0183538 0.99121015 -0.14026611] [ 0. 0. 0. 1. ]] SLAMing on 203.49463043999998 meters Centerline goodness : 0.108240 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.9913102 -0.01185112 -0.13101009 0.65924272] [ 0.00935255 0.99976277 -0.01967048 -0.17222861] [ 0.13121213 0.01827427 0.99118587 -0.14047302] [ 0. 0. 0. 1. ]] SLAMing on 203.52463043999998 meters Centerline goodness : 0.104616 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99129217 -0.01181623 -0.13114959 0.65971283] [ 0.00932853 0.99976504 -0.01956662 -0.17289974] [ 0.13134998 0.01817281 0.99116948 -0.14062505] [ 0. 0. 0. 1. ]] SLAMing on 203.55463043999998 meters Centerline goodness : 0.103428 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99131995 -0.00861954 -0.13118861 0.65989194] [ 0.00649397 0.99984076 -0.01662159 -0.17305713] [ 0.13131099 0.01562538 0.99121807 -0.14079754] [ 0. 0. 0. 1. ]] SLAMing on 203.58463043999998 meters Centerline goodness : 0.100902 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99130361 -0.00854651 -0.13131685 0.66028469] [ 0.00642088 0.99984156 -0.01660195 -0.17264256] [ 0.13143793 0.0156144 0.99120142 -0.14084627] [ 0. 0. 0. 1. ]] SLAMing on 203.61463043999998 meters Centerline goodness : 0.101586 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99130885 -0.00849773 -0.1312804 0.6602482 ] [ 0.00637479 0.99984217 -0.01658284 -0.17246523] [ 0.1314006 0.01560183 0.99120657 -0.14089995] [ 0. 0. 0. 1. ]] SLAMing on 203.64463044 meters Centerline goodness : 0.099827 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99132279 -0.00851785 -0.1311738 0.66007864] [ 0.0063958 0.99984192 -0.01659026 -0.17265868] [ 0.13129437 0.01560734 0.99122056 -0.14104201] [ 0. 0. 0. 1. ]] SLAMing on 203.67463044 meters Centerline goodness : 0.109224 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99129577 -0.00854835 -0.13137589 0.66041385] [ 0.00642614 0.99984207 -0.01656919 -0.17316295] [ 0.13149679 0.01558073 0.99119415 -0.14082932] [ 0. 0. 0. 1. ]] SLAMing on 203.70463044 meters Centerline goodness : 0.105858 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.14 [[ 9.91268628e-01 -5.96070048e-04 -1.31856557e-01 6.41893848e-01] [-1.75692607e-03 9.99841302e-01 -1.77280615e-02 -1.76754409e-01] [ 1.31846199e-01 1.78049334e-02 9.91110268e-01 -1.44807354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73463044 meters Centerline goodness : 0.108189 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.15 [[ 9.91218745e-01 -6.03737139e-04 -1.32230988e-01 6.43151344e-01] [-1.76462532e-03 9.99840137e-01 -1.77928816e-02 -1.76240763e-01] [ 1.32220592e-01 1.78699760e-02 9.91059221e-01 -1.45167924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76463044 meters Centerline goodness : 0.105620 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.15 [[ 9.91176409e-01 -6.28942813e-04 -1.32547842e-01 6.44388403e-01] [-1.76366619e-03 9.99837640e-01 -1.79327326e-02 -1.75236590e-01] [ 1.32537601e-01 1.80082717e-02 9.91014373e-01 -1.45693215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79463044 meters Centerline goodness : 0.108294 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99100202 -0.00785327 -0.13361633 0.66427073] [ 0.00561275 0.9998374 -0.01713679 -0.16899945] [ 0.13372919 0.01623264 0.99088496 -0.14146949] [ 0. 0. 0. 1. ]] SLAMing on 203.82463044 meters Centerline goodness : 0.108630 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99100036 -0.00788131 -0.13362701 0.66392876] [ 0.00562468 0.99983527 -0.01725662 -0.16811121] [ 0.133741 0.0163497 0.99088144 -0.1410785 ] [ 0. 0. 0. 1. ]] SLAMing on 203.85463044 meters Centerline goodness : 0.167325 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99099212 -0.00777106 -0.13369451 0.66415983] [ 0.00552867 0.99983789 -0.01713556 -0.16791792] [ 0.133806 0.01624205 0.99087444 -0.14112419] [ 0. 0. 0. 1. ]] SLAMing on 203.88463044 meters Centerline goodness : 0.107783 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.9909807 -0.00782335 -0.1337761 0.66452089] [ 0.00557901 0.99983748 -0.01714344 -0.16816531] [ 0.13388848 0.01624248 0.99086329 -0.1412843 ] [ 0. 0. 0. 1. ]] SLAMing on 203.91463044 meters Centerline goodness : 0.177713 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99098218 -0.00791867 -0.13375953 0.66442042] [ 0.00567192 0.9998365 -0.01716967 -0.16864161] [ 0.13387362 0.01625616 0.99086507 -0.14119809] [ 0. 0. 0. 1. ]] SLAMing on 203.94463044 meters Centerline goodness : 0.106168 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.14 [[ 0.99100446 -0.00799199 -0.13358999 0.66372281] [ 0.00574224 0.99983528 -0.01721751 -0.16874201] [ 0.13370559 0.01629553 0.99088711 -0.14089185] [ 0. 0. 0. 1. ]] SLAMing on 203.97463044 meters Centerline goodness : 0.106388 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.14 [[ 9.91405725e-01 -3.97069615e-04 -1.30822515e-01 6.81213469e-01] [-1.99683115e-03 9.99832970e-01 -1.81671567e-02 -1.70796201e-01] [ 1.30807877e-01 1.82722536e-02 9.91239337e-01 -1.37103148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00463044 meters Centerline goodness : 0.106021 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.14 [[ 9.91444416e-01 -3.34583614e-04 -1.30529146e-01 6.80204050e-01] [-2.06351130e-03 9.99831573e-01 -1.82364177e-02 -1.69655986e-01] [ 1.30513263e-01 1.83497429e-02 9.91276740e-01 -1.36720969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03463044 meters Centerline goodness : 0.105654 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.14 [[ 9.91463007e-01 -3.58655002e-04 -1.30387798e-01 6.79842549e-01] [-2.05310474e-03 9.99829298e-01 -1.83619265e-02 -1.68724242e-01] [ 1.30372127e-01 1.84728707e-02 9.91293025e-01 -1.36682144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06463044 meters Centerline goodness : 0.096320 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99139546 -0.00777588 -0.1306697 0.66193666] [ 0.00557734 0.99983681 -0.01718273 -0.16264288] [ 0.13078198 0.01630609 0.99127705 -0.14056299] [ 0. 0. 0. 1. ]] SLAMing on 204.09463044 meters Centerline goodness : 0.105182 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.14 [[ 9.91441925e-01 1.06139674e-04 -1.30548450e-01 6.82170040e-01] [-2.48030317e-03 9.99834485e-01 -1.80236108e-02 -1.65460995e-01] [ 1.30524929e-01 1.81931631e-02 9.91278090e-01 -1.37458684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12463044 meters Centerline goodness : 0.106218 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.14 [[ 0.99143276 -0.00508746 -0.130519 0.66084155] [ 0.00314258 0.99988101 -0.01510271 -0.16055412] [ 0.1305803 0.01456315 0.99133077 -0.14033942] [ 0. 0. 0. 1. ]] SLAMing on 204.15463044 meters Centerline goodness : 0.108202 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.14 [[ 0.99149575 0.00302662 -0.13010386 0.68171072] [-0.00516548 0.99985696 -0.01610528 -0.15976256] [ 0.1300365 0.01664037 0.99136956 -0.13692742] [ 0. 0. 0. 1. ]] SLAMing on 204.18463043999998 meters Centerline goodness : 0.104275 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.14 [[ 0.99136348 -0.0044137 -0.13106856 0.66473068] [ 0.00246154 0.99988368 -0.0150524 -0.15298458] [ 0.13111975 0.01459977 0.99125903 -0.14064724] [ 0. 0. 0. 1. ]] SLAMing on 204.21463043999998 meters Centerline goodness : 0.109284 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.14 [[ 0.99128423 -0.00445737 -0.1316651 0.66646178] [ 0.00246985 0.99988059 -0.01525477 -0.15166714] [ 0.13171737 0.01479662 0.99117687 -0.14087838] [ 0. 0. 0. 1. ]] SLAMing on 204.24463043999998 meters Centerline goodness : 0.107556 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.14 [[ 0.99123117 -0.00449142 -0.13206285 0.66770119] [ 0.00247637 0.99987806 -0.01541852 -0.15042316] [ 0.13211599 0.01495628 0.99112142 -0.14111952] [ 0. 0. 0. 1. ]] SLAMing on 204.27463043999998 meters Centerline goodness : 0.094698 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.14 [[ 0.99122884 -0.00449669 -0.13208017 0.66755235] [ 0.002463 0.99987595 -0.01555672 -0.14931438] [ 0.13213374 0.01509496 0.99111695 -0.14086996] [ 0. 0. 0. 1. ]] SLAMing on 204.30463043999998 meters Centerline goodness : 0.096196 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.14 [[ 0.99126564 -0.00456258 -0.13180143 0.66656168] [ 0.00250448 0.9998724 -0.01577667 -0.14797758] [ 0.13185659 0.01530878 0.99115058 -0.14052596] [ 0. 0. 0. 1. ]] SLAMing on 204.33463043999998 meters Centerline goodness : 0.105365 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.14 [[ 0.99133372 -0.00469938 -0.13128358 0.6649916 ] [ 0.00257721 0.99986334 -0.01632998 -0.14465594] [ 0.13134238 0.01585011 0.99121035 -0.14007648] [ 0. 0. 0. 1. ]] SLAMing on 204.36463043999998 meters Centerline goodness : 0.121838 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.14 [[ 0.99129936 -0.00477808 -0.13153994 0.66587052] [ 0.00261015 0.999858 -0.01664863 -0.1426181 ] [ 0.13160081 0.01616044 0.99117106 -0.14026775] [ 0. 0. 0. 1. ]] SLAMing on 204.39463044 meters Centerline goodness : 0.103313 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.14 [[ 0.99123359 -0.00472924 -0.13203638 0.66741069] [ 0.00251924 0.99985401 -0.01689989 -0.14046732] [ 0.13209703 0.01641911 0.9911008 -0.14056161] [ 0. 0. 0. 1. ]] SLAMing on 204.42463044 meters Centerline goodness : 0.108980 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.14 [[ 0.99118484 -0.00469725 -0.132403 0.66845801] [ 0.00244197 0.99984925 -0.01719071 -0.13813969] [ 0.13246379 0.01671585 0.99104688 -0.14063663] [ 0. 0. 0. 1. ]] SLAMing on 204.45463044 meters Centerline goodness : 0.101295 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.14 [[ 0.99126533 0.00374371 -0.13182956 0.68841035] [-0.00619236 0.99981575 -0.01816935 -0.13615131] [ 0.13173725 0.01882699 0.99110587 -0.13686957] [ 0. 0. 0. 1. ]] SLAMing on 204.48463044 meters Centerline goodness : 0.103262 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.14 [[ 0.99128636 0.00375179 -0.13167111 0.68776173] [-0.00623804 0.99980986 -0.01847489 -0.13386587] [ 0.13157676 0.01913528 0.99112128 -0.13656009] [ 0. 0. 0. 1. ]] SLAMing on 204.51463044 meters Centerline goodness : 0.109257 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.13 [[ 9.91296369e-01 -2.86412783e-03 -1.31618026e-01 7.04260560e-01] [ 6.64776197e-04 9.99859471e-01 -1.67510118e-02 -1.27012140e-01] [ 1.31647507e-01 1.65177206e-02 9.91158967e-01 -1.31910635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54463044 meters Centerline goodness : 0.107054 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.13 [[ 9.91317496e-01 -2.94766380e-03 -1.31456964e-01 7.03697385e-01] [ 7.07693190e-04 9.99853824e-01 -1.70830378e-02 -1.25113668e-01] [ 1.31488103e-01 1.68416830e-02 9.91174675e-01 -1.31666069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57463044 meters Centerline goodness : 0.136362 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.13 [[ 9.91350162e-01 -3.12007004e-03 -1.31206408e-01 7.02939109e-01] [ 8.36401942e-04 9.99847271e-01 -1.74566651e-02 -1.23465353e-01] [ 1.31240835e-01 1.71959265e-02 9.91201364e-01 -1.31505469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60463044 meters Centerline goodness : 0.097945 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.13 [[ 9.91348291e-01 -3.35155062e-03 -1.31214839e-01 7.02881891e-01] [ 9.99958253e-04 9.99837784e-01 -1.79834847e-02 -1.20979893e-01] [ 1.31253826e-01 1.76966874e-02 9.91190829e-01 -1.31327708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63463044 meters Centerline goodness : 0.194670 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:-0.13 [[ 0.9913181 -0.00892259 -0.13118233 0.72386085] [ 0.00699704 0.99986102 -0.01513205 -0.11754381] [ 0.13129912 0.01408279 0.99124276 -0.12824139] [ 0. 0. 0. 1. ]] SLAMing on 204.66463044 meters Centerline goodness : 0.196783 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:-0.13 [[ 0.99129625 -0.00893351 -0.13134665 0.72423289] [ 0.00699262 0.99985956 -0.01523063 -0.11667856] [ 0.13146427 0.01417961 0.99121949 -0.12814493] [ 0. 0. 0. 1. ]] SLAMing on 204.69463044 meters Centerline goodness : 0.107582 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.13 [[ 0.9913411 -0.00107774 -0.13130754 0.70601852] [-0.00108628 0.99986479 -0.01640785 -0.12057799] [ 0.13130747 0.01640841 0.99120589 -0.13188275] [ 0. 0. 0. 1. ]] SLAMing on 204.72463044 meters Centerline goodness : 0.106950 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.13 [[ 0.99134247 -0.00869064 -0.13101364 0.72513068] [ 0.0067513 0.99986108 -0.01523947 -0.11644024] [ 0.13112788 0.01422303 0.99126343 -0.12767717] [ 0. 0. 0. 1. ]] SLAMing on 204.75463044 meters Centerline goodness : 0.107607 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:-0.13 [[ 0.99134679 -0.00862153 -0.13098556 0.7249093 ] [ 0.00669208 0.99986264 -0.01516332 -0.1167147 ] [ 0.1310983 0.01415554 0.99126831 -0.12747542] [ 0. 0. 0. 1. ]] SLAMing on 204.78463044 meters Centerline goodness : 0.107607 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:-0.13 [[ 0.99134603 -0.00862531 -0.13099104 0.72490882] [ 0.00669521 0.99986255 -0.01516789 -0.11671029] [ 0.13110386 0.01415961 0.99126751 -0.12746582] [ 0. 0. 0. 1. ]] SLAMing on 204.81463044 meters Centerline goodness : 0.110835 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 9.91387529e-01 -1.33151914e-03 -1.30954166e-01 7.43240202e-01] [-8.08429133e-04 9.99867036e-01 -1.62866805e-02 -1.21432257e-01] [ 1.30958440e-01 1.62522791e-02 9.91254635e-01 -1.23480271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84463044 meters Centerline goodness : 0.158447 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.13 [[ 0.99142503 0.00642853 -0.13051849 0.72383173] [-0.00878325 0.99980874 -0.01747366 -0.12650442] [ 0.1303812 0.0184702 0.99129188 -0.12729183] [ 0. 0. 0. 1. ]] SLAMing on 204.87463044 meters Centerline goodness : 0.172186 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 9.91346630e-01 -5.36331722e-04 -1.31269078e-01 7.41334715e-01] [-1.70280990e-03 9.99854977e-01 -1.69448040e-02 -1.20971058e-01] [ 1.31259129e-01 1.70217006e-02 9.91201949e-01 -1.23944811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90463044 meters Centerline goodness : 0.106717 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 9.91329810e-01 -5.41163018e-04 -1.31396024e-01 7.41685648e-01] [-1.71195816e-03 9.99853445e-01 -1.70339923e-02 -1.20598021e-01] [ 1.31385985e-01 1.71112489e-02 9.91183600e-01 -1.24037602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93463043999998 meters Centerline goodness : 0.104345 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 9.91299508e-01 -3.94132113e-05 -1.31625547e-01 7.42151466e-01] [-2.17533627e-03 9.99858474e-01 -1.66823041e-02 -1.20872415e-01] [ 1.31607576e-01 1.68234897e-02 9.91159128e-01 -1.23972095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96463043999998 meters Centerline goodness : 0.100098 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.13 [[ 0.99109351 0.00142929 -0.13316008 0.69656445] [-0.00357404 0.99986769 -0.01586887 -0.12273919] [ 0.13311978 0.01620345 0.99096749 -0.12903563] [ 0. 0. 0. 1. ]] SLAMing on 204.99463043999998 meters Centerline goodness : 0.102126 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.13 [[ 0.99111056 0.00163298 -0.13303077 0.69603926] [-0.00374466 0.99987091 -0.01562497 -0.12355883] [ 0.13298808 0.01598423 0.99098874 -0.1288138 ] [ 0. 0. 0. 1. ]] SLAMing on 205.02463043999998 meters Centerline goodness : 0.104339 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.13 [[ 0.99091509 0.0025383 -0.13446505 0.65079739] [-0.00464032 0.99987185 -0.01532141 -0.12834489] [ 0.13440893 0.01580618 0.99079988 -0.13425601] [ 0. 0. 0. 1. ]] SLAMing on 205.05463043999998 meters Centerline goodness : 0.100146 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.13 [[ 0.99089784 0.00269315 -0.13458906 0.65147757] [-0.00476475 0.99987505 -0.01507231 -0.12963824] [ 0.13453165 0.0155764 0.99078686 -0.13473675] [ 0. 0. 0. 1. ]] SLAMing on 205.08463043999998 meters Centerline goodness : 0.210914 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.99086632 0.0028096 -0.13481857 0.65256773] [-0.00486635 0.99987672 -0.01492854 -0.13045258] [ 0.13476001 0.01544826 0.99075784 -0.13534233] [ 0. 0. 0. 1. ]] SLAMing on 205.11463043999998 meters Centerline goodness : 0.465127 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.99086271 0.00288057 -0.1348436 0.65304039] [-0.00492422 0.99987798 -0.0148246 -0.13117644] [ 0.13478444 0.01535315 0.99075599 -0.1358677 ] [ 0. 0. 0. 1. ]] SLAMing on 205.14463044 meters Centerline goodness : 0.313258 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.9909196 0.0030673 -0.13442074 0.65188918] [-0.00505691 0.99988263 -0.01446242 -0.13366154] [ 0.1343606 0.01501084 0.9908188 -0.13582268] [ 0. 0. 0. 1. ]] SLAMing on 205.17463044 meters Centerline goodness : 0.336214 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.99093554 0.00318211 -0.13430054 0.65158943] [-0.00514427 0.99988501 -0.01426568 -0.13467178] [ 0.1342397 0.01482725 0.99083796 -0.1358621 ] [ 0. 0. 0. 1. ]] SLAMing on 205.20463044 meters Centerline goodness : 0.447612 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.99092476 0.0033008 -0.13437716 0.65174906] [-0.00524961 0.99988609 -0.0141508 -0.1349867 ] [ 0.13431514 0.0147278 0.99082922 -0.13585429] [ 0. 0. 0. 1. ]] SLAMing on 205.23463044 meters Centerline goodness : 0.455407 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.99091078 0.00342001 -0.13447723 0.65209365] [-0.0053634 0.99988632 -0.01409187 -0.13492091] [ 0.13441375 0.01468505 0.99081648 -0.13597492] [ 0. 0. 0. 1. ]] SLAMing on 205.26463044 meters Centerline goodness : 0.461297 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.99091309 0.00348066 -0.13445868 0.6522171 ] [-0.0054303 0.99988534 -0.01413592 -0.13441049] [ 0.13439406 0.01473762 0.99081837 -0.13622009] [ 0. 0. 0. 1. ]] SLAMing on 205.29463044 meters Centerline goodness : 0.462461 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.14 [[ 0.99090541 0.00352754 -0.13451404 0.65240426] [-0.00548589 0.99988426 -0.01419087 -0.13388997] [ 0.13444841 0.01479974 0.99081007 -0.13633459] [ 0. 0. 0. 1. ]] SLAMing on 205.32463044 meters Centerline goodness : 0.254213 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.13 [[ 0.99073613 -0.00333114 -0.13576014 0.67162679] [ 0.00160497 0.9999165 -0.01282234 -0.12936705] [ 0.13579151 0.01248566 0.99065876 -0.13234848] [ 0. 0. 0. 1. ]] SLAMing on 205.35463044 meters Centerline goodness : 0.454178 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.13 [[ 0.99070361 -0.00320497 -0.13600034 0.67234987] [ 0.00150385 0.99991937 -0.01260911 -0.13012673] [ 0.13602979 0.01228737 0.99062855 -0.13248163] [ 0. 0. 0. 1. ]] SLAMing on 205.38463044 meters Centerline goodness : 0.207330 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.13 [[ 0.99068546 -0.00309732 -0.13613494 0.67272168] [ 0.0014268 0.99992251 -0.0123669 -0.13126481] [ 0.1361627 0.01205747 0.99061311 -0.13248403] [ 0. 0. 0. 1. ]] SLAMing on 205.41463044 meters Centerline goodness : 0.445551 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.13 [[ 0.9906887 -0.00307831 -0.13611184 0.67251432] [ 0.0014427 0.99992559 -0.0121137 -0.13304321] [ 0.136139 0.01180454 0.99061942 -0.13227835] [ 0. 0. 0. 1. ]] SLAMing on 205.44463044 meters Centerline goodness : 0.141847 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.14 [[ 0.99086005 0.00181602 -0.13488166 0.65021079] [-0.00388523 0.99987875 -0.01507924 -0.13894649] [ 0.13483792 0.01546546 0.99074697 -0.1353824 ] [ 0. 0. 0. 1. ]] SLAMing on 205.47463044 meters Centerline goodness : 0.091189 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.13 [[ 0.99102327 -0.00759804 -0.13347337 0.66933051] [ 0.00567744 0.99987489 -0.01476412 -0.14062398] [ 0.13356885 0.0138738 0.99094242 -0.13178801] [ 0. 0. 0. 1. ]] SLAMing on 205.50463044 meters Centerline goodness : 0.111198 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.13 [[ 0.99099512 -0.00745077 -0.13369056 0.66991035] [ 0.00559017 0.99988231 -0.01428725 -0.1431761 ] [ 0.13378128 0.01341124 0.99092013 -0.13180218] [ 0. 0. 0. 1. ]] SLAMing on 205.53463044 meters Centerline goodness : 0.198094 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.13 [[ 0.99096102 -0.00729132 -0.13395181 0.67080909] [ 0.00548949 0.99988949 -0.01381579 -0.14565432] [ 0.13403775 0.01295558 0.99089154 -0.13203625] [ 0. 0. 0. 1. ]] SLAMing on 205.56463044 meters Centerline goodness : 0.089903 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.13 [[ 0.99095168 -0.00717525 -0.13402715 0.67138294] [ 0.00542388 0.99989513 -0.01342786 -0.14798815] [ 0.13410944 0.01257941 0.99088668 -0.13244574] [ 0. 0. 0. 1. ]] SLAMing on 205.59463044 meters Centerline goodness : 0.444913 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.13 [[ 0.99096061 -0.00724566 -0.13395736 0.67126846] [ 0.00554813 0.99989957 -0.01304111 -0.15172995] [ 0.1340384 0.01218002 0.99090128 -0.1324876 ] [ 0. 0. 0. 1. ]] SLAMing on 205.62463044 meters Centerline goodness : 0.463496 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.13 [[ 0.99094645 -0.00714044 -0.13406773 0.67131112] [ 0.00547444 0.99990321 -0.01279104 -0.15317413] [ 0.13414608 0.01194129 0.99088962 -0.13220604] [ 0. 0. 0. 1. ]] SLAMing on 205.65463044 meters Centerline goodness : 0.444038 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.13 [[ 0.99093722 -0.00697349 -0.13414471 0.67122711] [ 0.00534601 0.99990772 -0.01248863 -0.15469193] [ 0.13421942 0.01165831 0.99088306 -0.13188379] [ 0. 0. 0. 1. ]] SLAMing on 205.68463043999998 meters Centerline goodness : 0.096775 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.13 [[ 0.9909485 -0.00689346 -0.13406546 0.67095776] [ 0.00529099 0.99991029 -0.01230552 -0.15591728] [ 0.13413826 0.0114848 0.99089607 -0.13182763] [ 0. 0. 0. 1. ]] SLAMing on 205.71463043999998 meters Centerline goodness : 0.463485 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.14 [[ 9.91118572e-01 6.56719870e-04 -1.32979490e-01 6.50958591e-01] [-2.44196319e-03 9.99909070e-01 -1.32623077e-02 -1.62389491e-01] [ 1.32958689e-01 1.34692505e-02 9.91030053e-01 -1.35850266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74463043999998 meters Centerline goodness : 0.461106 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.14 [[ 9.91146969e-01 7.70668959e-04 -1.32767060e-01 6.50352596e-01] [-2.53030195e-03 9.99911182e-01 -1.30853285e-02 -1.63355865e-01] [ 1.32745184e-01 1.33054245e-02 9.91060887e-01 -1.35776062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77463043999998 meters Centerline goodness : 0.292215 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.14 [[ 0.99117204 0.00123468 -0.13257625 0.64982517] [-0.0029374 0.99991569 -0.01264851 -0.16427398] [ 0.13254945 0.01292628 0.9910921 -0.13575569] [ 0. 0. 0. 1. ]] SLAMing on 205.80463043999998 meters Centerline goodness : 0.251303 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.14 [[ 0.99117831 0.00138411 -0.13252789 0.64956025] [-0.00306197 0.99991771 -0.01245746 -0.16491374] [ 0.13249975 0.01275336 0.99110099 -0.13558937] [ 0. 0. 0. 1. ]] SLAMing on 205.83463043999998 meters Centerline goodness : 0.043584 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.14 [[ 0.99119573 0.00146551 -0.1323967 0.64890587] [-0.00312398 0.99991923 -0.01231963 -0.16568117] [ 0.13236795 0.01262477 0.99112025 -0.13521849] [ 0. 0. 0. 1. ]] SLAMing on 205.86463043999998 meters Centerline goodness : 0.464148 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.13 [[ 0.99121755 0.00157689 -0.13223195 0.64808937] [-0.00320512 0.99992164 -0.0121015 -0.16696973] [ 0.1322025 0.01241904 0.99114493 -0.13477892] [ 0. 0. 0. 1. ]] SLAMing on 205.89463044 meters Centerline goodness : 0.100844 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.13 [[ 0.99124919 0.00190399 -0.13199024 0.64758004] [-0.00344437 0.99992859 -0.01144306 -0.17082394] [ 0.13195902 0.01179755 0.99118496 -0.13484464] [ 0. 0. 0. 1. ]] SLAMing on 205.92463044 meters Centerline goodness : 0.466207 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.14 [[ 0.99123992 0.00204794 -0.13205765 0.64820897] [-0.00354128 0.99993241 -0.0110744 -0.17325142] [ 0.13202605 0.01144504 0.99118017 -0.13536288] [ 0. 0. 0. 1. ]] SLAMing on 205.95463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 205.98463044 meters Centerline goodness : 0.365742 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.14 [[ 0.9912073 0.00214106 -0.13230082 0.64954443] [-0.00357613 0.99993731 -0.01061036 -0.17966772] [ 0.13226981 0.01099019 0.99115282 -0.13610942] [ 0. 0. 0. 1. ]] SLAMing on 206.01463044 meters Centerline goodness : 0.107994 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.14 [[ 0.99118353 0.00237361 -0.13247478 0.64985252] [-0.0037622 0.99994057 -0.0102326 -0.18143291] [ 0.13244262 0.01064078 0.99113356 -0.13597917] [ 0. 0. 0. 1. ]] SLAMing on 206.04463044 meters Centerline goodness : 0.467028 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.14 [[ 0.99117849 0.00298121 -0.13250021 0.6499616 ] [-0.00427223 0.99994612 -0.00946036 -0.18418425] [ 0.13246487 0.00994298 0.99113783 -0.13602266] [ 0. 0. 0. 1. ]] SLAMing on 206.07463044 meters Centerline goodness : 0.390214 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.14 [[ 0.99116434 0.00310396 -0.13260325 0.65051833] [-0.00436681 0.99994783 -0.00923378 -0.18558347] [ 0.13256767 0.00973124 0.99112618 -0.13636583] [ 0. 0. 0. 1. ]] SLAMing on 206.10463044 meters Centerline goodness : 0.294174 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.14 [[ 0.9911669 0.00323433 -0.13258098 0.65071664] [-0.00446113 0.99994993 -0.00895717 -0.18732038] [ 0.13254537 0.00946951 0.9911317 -0.13666577] [ 0. 0. 0. 1. ]] SLAMing on 206.13463044 meters Centerline goodness : 0.102244 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.14 [[ 0.99115653 0.00339693 -0.13265443 0.65103492] [-0.00458597 0.99995199 -0.00865896 -0.18888256] [ 0.13261865 0.00919073 0.99112453 -0.13681435] [ 0. 0. 0. 1. ]] SLAMing on 206.16463044 meters Centerline goodness : 0.105812 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.14 [[ 0.99107906 0.00396232 -0.13321635 0.65288985] [-0.0050557 0.99995625 -0.00787027 -0.19194337] [ 0.13317934 0.00847356 0.99105573 -0.1373831 ] [ 0. 0. 0. 1. ]] SLAMing on 206.19463044 meters Centerline goodness : 0.104119 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.14 [[ 0.99101746 0.00412417 -0.13366893 0.65449577] [-0.00518408 0.99995782 -0.00758231 -0.19344194] [ 0.13363202 0.00820715 0.99099704 -0.13787767] [ 0. 0. 0. 1. ]] SLAMing on 206.22463044 meters Centerline goodness : 0.103387 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.14 [[ 0.99096548 0.004136 -0.13405338 0.65584557] [-0.00517917 0.99995896 -0.00743401 -0.19494149] [ 0.13401713 0.00806113 0.99094623 -0.13830346] [ 0. 0. 0. 1. ]] SLAMing on 206.25463044 meters Centerline goodness : 0.103041 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.14 [[ 0.99093227 0.00420627 -0.13429647 0.65647037] [-0.00522107 0.99996041 -0.00720516 -0.19661331] [ 0.13426085 0.007841 0.990915 -0.13834017] [ 0. 0. 0. 1. ]] SLAMing on 206.28463044 meters Centerline goodness : 0.100993 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.14 [[ 0.99094363 0.00434171 -0.13420829 0.65599509] [-0.00531895 0.99996188 -0.00692388 -0.19808554] [ 0.13417311 0.00757503 0.99092896 -0.13804563] [ 0. 0. 0. 1. ]] SLAMing on 206.31463044 meters Centerline goodness : 0.104152 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.14 [[ 0.99116231 0.00577671 -0.13252888 0.64965181] [-0.00653462 0.99996468 -0.00528466 -0.20210645] [ 0.13249367 0.00610398 0.99116506 -0.13574529] [ 0. 0. 0. 1. ]] SLAMing on 206.34463044 meters Centerline goodness : 0.102583 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.14 [[ 0.99120708 0.00587418 -0.13218929 0.64830574] [-0.00660775 0.99996511 -0.00511137 -0.20297416] [ 0.13215466 0.0059399 0.99121131 -0.13513349] [ 0. 0. 0. 1. ]] SLAMing on 206.37463044 meters Centerline goodness : 0.104922 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.14 [[ 0.99121211 0.0059565 -0.13214794 0.64813286] [-0.00667027 0.99996546 -0.00495931 -0.20378071] [ 0.13211383 0.00579719 0.9912176 -0.13506281] [ 0. 0. 0. 1. ]] SLAMing on 206.40463044 meters Centerline goodness : 0.104895 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.14 [[ 0.99120123 0.00594082 -0.13223025 0.64871726] [-0.00665463 0.99996557 -0.00495695 -0.20422122] [ 0.13219625 0.00579328 0.99120663 -0.13550446] [ 0. 0. 0. 1. ]] SLAMing on 206.43463043999998 meters Centerline goodness : 0.107532 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.14 [[ 0.99117566 0.00586955 -0.13242492 0.64966862] [-0.0065935 0.99996562 -0.00502904 -0.20445241] [ 0.13239085 0.00585781 0.99118028 -0.13604382] [ 0. 0. 0. 1. ]] SLAMing on 206.46463043999998 meters Centerline goodness : 0.108298 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99117702 0.00596636 -0.13241041 0.64998114] [-0.00667076 0.99996586 -0.00487687 -0.20532702] [ 0.13237679 0.00571712 0.99118298 -0.13645311] [ 0. 0. 0. 1. ]] SLAMing on 206.49463043999998 meters Centerline goodness : 0.107394 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99118482 0.00609059 -0.13234635 0.6498577 ] [-0.00677364 0.99996596 -0.00471147 -0.20583877] [ 0.13231315 0.00556641 0.99119234 -0.13651081] [ 0. 0. 0. 1. ]] SLAMing on 206.52463043999998 meters Centerline goodness : 0.098623 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99116001 0.00615872 -0.13252891 0.65046484] [-0.00682686 0.99996617 -0.00458769 -0.20639402] [ 0.13249617 0.00545189 0.99116852 -0.13667433] [ 0. 0. 0. 1. ]] SLAMing on 206.55463043999998 meters Centerline goodness : 0.108238 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99112819 0.0061351 -0.13276777 0.6513849 ] [-0.00680012 0.9999665 -0.00455601 -0.20703117] [ 0.13273537 0.00541843 0.9911367 -0.13705884] [ 0. 0. 0. 1. ]] SLAMing on 206.58463043999998 meters Centerline goodness : 0.081164 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99108861 0.00612754 -0.13306324 0.65229423] [-0.006785 0.99996691 -0.00448804 -0.20816824] [ 0.13303133 0.00535088 0.99109739 -0.13721972] [ 0. 0. 0. 1. ]] SLAMing on 206.61463043999998 meters Centerline goodness : 0.106022 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99110665 0.0062136 -0.13292482 0.65181553] [-0.00685399 0.999967 -0.00436068 -0.20867781] [ 0.13289334 0.00523297 0.99111653 -0.13711289] [ 0. 0. 0. 1. ]] SLAMing on 206.64463044 meters Centerline goodness : 0.120355 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99113227 0.00637843 -0.1327258 0.65127666] [-0.00698903 0.99996703 -0.00413512 -0.20938068] [ 0.13269505 0.00502608 0.99114417 -0.13706908] [ 0. 0. 0. 1. ]] SLAMing on 206.67463044 meters Centerline goodness : 0.129551 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99114193 0.00648409 -0.13264849 0.65113318] [-0.00707098 0.99996718 -0.00395387 -0.21019791] [ 0.1326185 0.0048568 0.99115526 -0.13714129] [ 0. 0. 0. 1. ]] SLAMing on 206.70463044 meters Centerline goodness : 0.129551 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99114193 0.00648409 -0.13264849 0.65113318] [-0.00707098 0.99996718 -0.00395387 -0.21019791] [ 0.1326185 0.0048568 0.99115526 -0.13714129] [ 0. 0. 0. 1. ]] SLAMing on 206.73463044 meters Centerline goodness : 0.118791 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.14 [[ 0.99107653 0.00653641 -0.13313369 0.65260926] [-0.00707705 0.99996852 -0.00358805 -0.2131961 ] [ 0.13310605 0.00449823 0.99109159 -0.1373819 ] [ 0. 0. 0. 1. ]] SLAMing on 206.76463044 meters Centerline goodness : 0.109984 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.14 [[ 0.99104267 0.00657025 -0.13338384 0.65345002] [-0.00707156 0.9999696 -0.00328498 -0.21553927] [ 0.13335821 0.00419879 0.99105901 -0.13758475] [ 0. 0. 0. 1. ]] SLAMing on 206.79463044 meters Centerline goodness : 0.120173 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.13 [[ 9.91121809e-01 -1.07526992e-03 -1.32952636e-01 6.73068701e-01] [ 7.92012488e-04 9.99997303e-01 -2.18338029e-03 -2.14208613e-01] [ 1.32954626e-01 2.05869567e-03 9.91119987e-01 -1.34107454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82463044 meters Centerline goodness : 0.118412 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.14 [[ 0.9912462 0.00389606 -0.13196887 0.6506102 ] [-0.00456225 0.99997833 -0.00474612 -0.22099711] [ 0.13194752 0.00530665 0.9912425 -0.13722767] [ 0. 0. 0. 1. ]] SLAMing on 206.85463044 meters Centerline goodness : 0.108686 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.14 [[ 0.99125097 0.00396559 -0.13193102 0.65043877] [-0.00459023 0.99997965 -0.00443079 -0.22308615] [ 0.13191076 0.00499762 0.991249 -0.13707962] [ 0. 0. 0. 1. ]] SLAMing on 206.88463044 meters Centerline goodness : 0.118450 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.14 [[ 0.99123301 0.00408112 -0.13206237 0.65083412] [-0.0046671 0.99998059 -0.00412795 -0.22489029] [ 0.13204296 0.00470811 0.99123281 -0.13712323] [ 0. 0. 0. 1. ]] SLAMing on 206.91463044 meters Centerline goodness : 0.122022 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99118309 0.00446594 -0.13242412 0.65230153] [-0.00497866 0.99998134 -0.00354092 -0.22705212] [ 0.13240583 0.004169 0.99118682 -0.1377472 ] [ 0. 0. 0. 1. ]] SLAMing on 206.94463044 meters Centerline goodness : 0.116623 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99117107 0.00463605 -0.13250821 0.65280613] [-0.00512153 0.99998136 -0.00332322 -0.22786593] [ 0.13249033 0.00397252 0.99117634 -0.13803813] [ 0. 0. 0. 1. ]] SLAMing on 206.97463044 meters Centerline goodness : 0.070976 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99116411 0.00468982 -0.13255835 0.6527784 ] [-0.0051628 0.99998147 -0.00322457 -0.22855583] [ 0.13254077 0.00388045 0.99116996 -0.13788882] [ 0. 0. 0. 1. ]] SLAMing on 207.00463044 meters Centerline goodness : 0.091430 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99114857 0.0047583 -0.13267206 0.65225225] [-0.00521752 0.99998154 -0.00311381 -0.22955393] [ 0.13265479 0.00377847 0.9911551 -0.1370036 ] [ 0. 0. 0. 1. ]] SLAMing on 207.03463044 meters Centerline goodness : 0.121477 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99112863 0.0048524 -0.13281754 0.65276247] [-0.00530271 0.99998133 -0.00303691 -0.22959399] [ 0.13280032 0.00371426 0.99113585 -0.13715146] [ 0. 0. 0. 1. ]] SLAMing on 207.06463044 meters Centerline goodness : 0.060392 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99113012 0.00493768 -0.13280324 0.65315599] [-0.00538338 0.99998102 -0.00299725 -0.22931798] [ 0.13278592 0.0036856 0.99113789 -0.13767781] [ 0. 0. 0. 1. ]] SLAMing on 207.09463044 meters Centerline goodness : 0.118309 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99115518 0.00493541 -0.13261616 0.65284888] [-0.00538647 0.99998086 -0.0030427 -0.22900091] [ 0.1325986 0.00373012 0.9911628 -0.1378737 ] [ 0. 0. 0. 1. ]] SLAMing on 207.12463044 meters Centerline goodness : 0.120619 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99117143 0.00487221 -0.13249705 0.6524112 ] [-0.00534062 0.99998068 -0.00318009 -0.22844672] [ 0.13247899 0.00385963 0.9911783 -0.13773547] [ 0. 0. 0. 1. ]] SLAMing on 207.15463044 meters Centerline goodness : 0.082414 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.14 [[ 0.99117426 0.00471025 -0.13248171 0.65232673] [-0.0052151 0.9999804 -0.00346398 -0.22735741] [ 0.1324628 0.00412431 0.9911794 -0.1376804 ] [ 0. 0. 0. 1. ]] SLAMing on 207.18463043999998 meters Centerline goodness : 0.120207 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.14 [[ 0.99115645 0.0045814 -0.13261942 0.6528126 ] [-0.005149 0.99997899 -0.0039373 -0.22453515] [ 0.13259859 0.00458534 0.99115921 -0.13792885] [ 0. 0. 0. 1. ]] SLAMing on 207.21463043999998 meters Centerline goodness : 0.121641 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.13 [[ 0.99112225 -0.00182599 -0.13294117 0.66995772] [ 0.00148118 0.99999528 -0.0026926 -0.21682314] [ 0.13294546 0.00247179 0.99112027 -0.13400459] [ 0. 0. 0. 1. ]] SLAMing on 207.24463043999998 meters Centerline goodness : 0.128620 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.13 [[ 0.9911496 -0.00186128 -0.13273664 0.66933718] [ 0.00149104 0.99999472 -0.0028886 -0.21537594] [ 0.13274132 0.00266512 0.99114713 -0.13390573] [ 0. 0. 0. 1. ]] SLAMing on 207.27463043999998 meters Centerline goodness : 0.124335 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.13 [[ 0.99116565 -0.00191736 -0.13261589 0.66896755] [ 0.00152645 0.99999419 -0.00304927 -0.21432201] [ 0.13262097 0.0028199 0.99116282 -0.13385244] [ 0. 0. 0. 1. ]] SLAMing on 207.30463043999998 meters Centerline goodness : 0.144421 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.13 [[ 0.99115932 -0.0020455 -0.13266132 0.66900481] [ 0.00163317 0.99999349 -0.00321688 -0.2137717 ] [ 0.13266703 0.00297178 0.99115621 -0.13375708] [ 0. 0. 0. 1. ]] SLAMing on 207.33463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 207.36463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 207.39463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 207.42463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 207.45463044 meters Centerline goodness : 0.133049 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.13 [[ 0.99117952 -0.00588653 -0.13239524 0.66771579] [ 0.0051066 0.99996756 -0.00622969 -0.21623328] [ 0.13242761 0.00549865 0.99117743 -0.13303645] [ 0. 0. 0. 1. ]] SLAMing on 207.48463044 meters Centerline goodness : 0.123463 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.13 [[ 0.99146252 -0.00513491 -0.13029085 0.71029158] [ 0.00434133 0.99997026 -0.00637416 -0.21367967] [ 0.1303197 0.0057541 0.99145533 -0.12721859] [ 0. 0. 0. 1. ]] SLAMing on 207.51463044 meters Centerline goodness : 0.128154 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.13 [[ 0.99139273 0.002127 -0.1309043 0.69156364] [-0.00317304 0.99996468 -0.0077828 -0.21866949] [ 0.13088312 0.00813118 0.99136446 -0.13092986] [ 0. 0. 0. 1. ]] SLAMing on 207.54463044 meters Centerline goodness : 0.126998 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.13 [[ 0.99137419 0.00203868 -0.13104603 0.69213723] [-0.00311736 0.99996293 -0.00802666 -0.21742331] [ 0.1310248 0.00836594 0.99134379 -0.13122512] [ 0. 0. 0. 1. ]] SLAMing on 207.57463044 meters Centerline goodness : 0.118274 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.13 [[ 0.99135942 0.00208978 -0.13115688 0.69255946] [-0.00319191 0.99996134 -0.00819349 -0.21569702] [ 0.13113469 0.00854134 0.99132777 -0.13144141] [ 0. 0. 0. 1. ]] SLAMing on 207.60463044 meters Centerline goodness : 0.136267 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99135664 0.00229457 -0.13117447 0.69269241] [-0.00340706 0.9999601 -0.00825714 -0.21374031] [ 0.13115029 0.00863269 0.99132491 -0.13155847] [ 0. 0. 0. 1. ]] SLAMing on 207.63463044 meters Centerline goodness : 0.119915 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99138768 0.00239373 -0.13093792 0.69212506] [-0.0035247 0.99995845 -0.00840639 -0.21181808] [ 0.13091236 0.00879551 0.99135493 -0.13161137] [ 0. 0. 0. 1. ]] SLAMing on 207.66463044 meters Centerline goodness : 0.110790 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99143982 0.0021448 -0.13054689 0.69138108] [-0.00334683 0.999954 -0.00898901 -0.20898291] [ 0.1305216 0.00934898 0.99140139 -0.13190099] [ 0. 0. 0. 1. ]] SLAMing on 207.69463044 meters Centerline goodness : 0.116471 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.9914242 0.00200433 -0.13066764 0.69182771] [-0.00322722 0.99995295 -0.00914772 -0.20873951] [ 0.13064316 0.00949096 0.99138403 -0.13205931] [ 0. 0. 0. 1. ]] SLAMing on 207.72463044 meters Centerline goodness : 0.144851 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99139269 0.00190502 -0.13090801 0.69261287] [-0.00314096 0.99995242 -0.00923548 -0.20866216] [ 0.13088419 0.00956716 0.9913515 -0.13227399] [ 0. 0. 0. 1. ]] SLAMing on 207.75463044 meters Centerline goodness : 0.192331 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99135693 0.00194399 -0.13117794 0.69328181] [-0.00316831 0.99995334 -0.00912522 -0.20879452] [ 0.13115408 0.00946196 0.99131684 -0.13220166] [ 0. 0. 0. 1. ]] SLAMing on 207.78463044 meters Centerline goodness : 0.117465 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99135692 0.00191819 -0.13117843 0.69326532] [-0.00314383 0.99995332 -0.00913688 -0.20862888] [ 0.13115478 0.00947031 0.99131667 -0.13214333] [ 0. 0. 0. 1. ]] SLAMing on 207.81463044 meters Centerline goodness : 0.061771 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.9913537 0.00185125 -0.13120369 0.69348561] [-0.00308849 0.99995266 -0.00922707 -0.20817677] [ 0.1311804 0.00955251 0.99131249 -0.13227907] [ 0. 0. 0. 1. ]] SLAMing on 207.84463044 meters Centerline goodness : 0.120108 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99134319 0.00174699 -0.13128456 0.69389241] [-0.0030122 0.99995091 -0.00943916 -0.20703525] [ 0.13126163 0.0097529 0.99129979 -0.13251653] [ 0. 0. 0. 1. ]] SLAMing on 207.87463044 meters Centerline goodness : 0.114411 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.13 [[ 0.99133081 0.00161683 -0.13137965 0.69443307] [-0.00292277 0.99994822 -0.00974799 -0.20529126] [ 0.13135709 0.01004748 0.9912842 -0.13286279] [ 0. 0. 0. 1. ]] SLAMing on 207.90463044 meters Centerline goodness : 0.103850 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.13 [[ 0.9913267 0.00150432 -0.13141199 0.69456436] [-0.00284853 0.99994553 -0.01004154 -0.2036486 ] [ 0.13138972 0.01032878 0.99127698 -0.13289209] [ 0. 0. 0. 1. ]] SLAMing on 207.93463043999998 meters Centerline goodness : 0.111207 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.13 [[ 0.99129874 0.00117299 -0.13162607 0.6951799 ] [-0.00261757 0.99993823 -0.01080241 -0.19950116] [ 0.13160527 0.01105295 0.99124058 -0.13299989] [ 0. 0. 0. 1. ]] SLAMing on 207.96463043999998 meters Centerline goodness : 0.115316 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.13 [[ 0.99128368 0.00107059 -0.13174035 0.69537939] [-0.00254758 0.99993578 -0.01104333 -0.19806388] [ 0.13172007 0.01128269 0.99122274 -0.13293511] [ 0. 0. 0. 1. ]] SLAMing on 207.99463043999998 meters Centerline goodness : 0.114409 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.13 [[ 9.91267410e-01 9.38787082e-04 -1.31863718e-01 6.95499640e-01] [-2.43647767e-03 9.99934343e-01 -1.11969804e-02 -1.97427580e-01] [ 1.31844549e-01 1.14204848e-02 9.91204614e-01 -1.32689106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02463043999998 meters Centerline goodness : 0.116796 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.13 [[ 9.91251697e-01 8.07842048e-04 -1.31982652e-01 6.95649109e-01] [-2.30828853e-03 9.99934435e-01 -1.12159122e-02 -1.97916124e-01] [ 1.31964938e-01 1.14224461e-02 9.91188571e-01 -1.32468362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05463043999998 meters Centerline goodness : 0.117144 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.13 [[ 9.91231055e-01 6.02311522e-04 -1.32138685e-01 6.95757930e-01] [-2.09978036e-03 9.99935146e-01 -1.11935051e-02 -1.99175868e-01] [ 1.32123373e-01 1.13728121e-02 9.91168035e-01 -1.32062342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08463043999998 meters Centerline goodness : 0.106785 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.13 [[ 9.91258819e-01 4.08201433e-04 -1.31930990e-01 6.95078452e-01] [-1.88309916e-03 9.99937121e-01 -1.10547407e-02 -2.01114377e-01] [ 1.31918182e-01 1.12065483e-02 9.91197259e-01 -1.31793785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11463043999998 meters Centerline goodness : 0.101771 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.13 [[ 0.99152009 -0.00832019 -0.1296869 0.7130879 ] [ 0.00704754 0.99992244 -0.01026911 -0.20239005] [ 0.12976228 0.00926805 0.99150182 -0.12823205] [ 0. 0. 0. 1. ]] SLAMing on 208.14463044 meters Centerline goodness : 0.103553 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.13 [[ 0.99152134 -0.0082795 -0.12967991 0.71319169] [ 0.00705794 0.99992632 -0.00987652 -0.20514001] [ 0.12975213 0.00887751 0.99150672 -0.12830194] [ 0. 0. 0. 1. ]] SLAMing on 208.17463044 meters Centerline goodness : 0.121869 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.13 [[ 0.9914658 -0.0084124 -0.13009535 0.71462241] [ 0.00721468 0.99992717 -0.00967504 -0.20778692] [ 0.13016727 0.00865388 0.99145428 -0.12867719] [ 0. 0. 0. 1. ]] SLAMing on 208.20463044 meters Centerline goodness : 0.186204 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.13 [[ 0.99140639 -0.00841867 -0.13054691 0.71610238] [ 0.00725486 0.99992961 -0.00938789 -0.21034963] [ 0.13061676 0.00836011 0.99139769 -0.12905394] [ 0. 0. 0. 1. ]] SLAMing on 208.23463044 meters Centerline goodness : 0.109014 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.13 [[ 0.99134843 -0.00830388 -0.13099368 0.71764459] [ 0.00718105 0.99993334 -0.00904168 -0.21240036] [ 0.13106003 0.00802278 0.99134197 -0.12949695] [ 0. 0. 0. 1. ]] SLAMing on 208.26463044 meters Centerline goodness : 0.106042 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.13 [[ 9.91331518e-01 -3.85114285e-04 -1.31383683e-01 6.98692375e-01] [-8.36174221e-04 9.99956958e-01 -9.24029180e-03 -2.20823222e-01] [ 1.31381587e-01 9.27005215e-03 9.91288528e-01 -1.32803861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29463044 meters Centerline goodness : 0.101137 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.13 [[ 9.91311702e-01 -2.65344517e-04 -1.31533413e-01 6.98768256e-01] [-9.40243666e-04 9.99958121e-01 -9.10345081e-03 -2.21397929e-01] [ 1.31530320e-01 9.14803078e-03 9.91269937e-01 -1.32439539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32463044 meters Centerline goodness : 0.102679 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.13 [[ 9.91298187e-01 -2.73960070e-04 -1.31635212e-01 6.98836627e-01] [-9.35528374e-04 9.99957917e-01 -9.12625202e-03 -2.21525815e-01] [ 1.31632173e-01 9.16998556e-03 9.91256214e-01 -1.32211627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35463044 meters Centerline goodness : 0.102249 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.13 [[ 9.91301138e-01 -1.57682467e-04 -1.31613176e-01 6.98623830e-01] [-1.03449097e-03 9.99959056e-01 -8.98973886e-03 -2.21986415e-01] [ 1.31609205e-01 9.04769101e-03 9.91260388e-01 -1.32036203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38463044 meters Centerline goodness : 0.128844 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.13 [[ 9.91322364e-01 -5.90158343e-06 -1.31453305e-01 6.98017711e-01] [-1.16407634e-03 9.99960395e-01 -8.82348493e-03 -2.22345349e-01] [ 1.31448151e-01 8.89993961e-03 9.91283095e-01 -1.31789718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41463044 meters Centerline goodness : 0.103859 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.13 [[ 9.91359390e-01 1.57242785e-04 -1.31173682e-01 6.97071701e-01] [-1.29892738e-03 9.99962020e-01 -8.61809342e-03 -2.22863705e-01] [ 1.31167345e-01 8.71401293e-03 9.91321942e-01 -1.31473564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44463044 meters Centerline goodness : 0.114626 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.13 [[ 0.99163751 -0.00766802 -0.12882644 0.71678269] [ 0.00672706 0.99994744 -0.00773766 -0.2227358 ] [ 0.128879 0.00680633 0.99163697 -0.12831267] [ 0. 0. 0. 1. ]] SLAMing on 208.47463044 meters Centerline goodness : 0.105933 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.13 [[ 0.99161997 -0.00781989 -0.12895224 0.71690144] [ 0.00689706 0.99994732 -0.00760143 -0.2249878 ] [ 0.12900489 0.00664834 0.99162167 -0.12800922] [ 0. 0. 0. 1. ]] SLAMing on 208.50463044 meters Centerline goodness : 0.117563 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.13 [[ 0.99158161 -0.0078496 -0.12924513 0.71746325] [ 0.00695746 0.99994876 -0.00735272 -0.22729452] [ 0.12929623 0.0063916 0.99158541 -0.12775587] [ 0. 0. 0. 1. ]] SLAMing on 208.53463044 meters Centerline goodness : 0.111503 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.13 [[ 0.99154991 -0.00773857 -0.12949477 0.71805327] [ 0.0068991 0.99995219 -0.00692995 -0.2299741 ] [ 0.12954221 0.00597799 0.99155589 -0.1276493 ] [ 0. 0. 0. 1. ]] SLAMing on 208.56463044 meters Centerline goodness : 0.082724 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.13 [[ 0.99153746 -0.00756241 -0.12960046 0.71816716] [ 0.00679124 0.99995651 -0.00639121 -0.23288793] [ 0.12964316 0.00545698 0.9915457 -0.12739743] [ 0. 0. 0. 1. ]] SLAMing on 208.59463044 meters Centerline goodness : 0.082724 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.13 [[ 0.99153746 -0.00756241 -0.12960046 0.71816716] [ 0.00679124 0.99995651 -0.00639121 -0.23288793] [ 0.12964316 0.00545698 0.9915457 -0.12739743] [ 0. 0. 0. 1. ]] SLAMing on 208.62463044 meters Centerline goodness : 0.101064 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.13 [[ 0.99153209 -0.00740223 -0.12965074 0.71816478] [ 0.00669998 0.99996043 -0.00585181 -0.23604879] [ 0.12968892 0.0049336 0.99154246 -0.12716693] [ 0. 0. 0. 1. ]] SLAMing on 208.65463044 meters Centerline goodness : 0.095758 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.13 [[ 0.99147975 -0.01132203 -0.12976791 0.71853945] [ 0.010272 0.99990889 -0.00875808 -0.24088056] [ 0.12985525 0.00735049 0.99150572 -0.12699698] [ 0. 0. 0. 1. ]] SLAMing on 208.68463043999998 meters Centerline goodness : 0.268191 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.13 [[ 0.99141377 -0.01132916 -0.13027047 0.71996638] [ 0.01031292 0.99991092 -0.00847295 -0.24356107] [ 0.13035486 0.00705673 0.99144229 -0.12712198] [ 0. 0. 0. 1. ]] SLAMing on 208.71463043999998 meters Centerline goodness : 0.268933 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.13 [[ 0.99137586 -0.01121155 -0.13056878 0.72073887] [ 0.01023366 0.99991436 -0.00815802 -0.24550165] [ 0.13064906 0.00675147 0.99140569 -0.12709486] [ 0. 0. 0. 1. ]] SLAMing on 208.74463043999998 meters Centerline goodness : 0.104003 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.13 [[ 0.99137293 -0.0109848 -0.13061031 0.72083383] [ 0.01005237 0.99991908 -0.00779614 -0.24688888] [ 0.13068538 0.00641594 0.99140313 -0.12704037] [ 0. 0. 0. 1. ]] SLAMing on 208.77463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 208.80463043999998 meters Centerline goodness : 0.092257 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.13 [[ 0.9914174 -0.01076106 -0.13029096 0.71964198] [ 0.00989433 0.99992442 -0.00729778 -0.24962394] [ 0.13035964 0.005946 0.99144894 -0.12641918] [ 0. 0. 0. 1. ]] SLAMing on 208.83463043999998 meters Centerline goodness : 0.101800 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.12 [[ 0.9915083 -0.00559328 -0.12992311 0.74041769] [ 0.0042349 0.99993347 -0.01072921 -0.25464409] [ 0.12997448 0.01008789 0.99146602 -0.12329189] [ 0. 0. 0. 1. ]] SLAMing on 208.86463043999998 meters Centerline goodness : 0.086255 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.26, Z:-0.12 [[ 0.99147275 -0.00551221 -0.13019753 0.7412047 ] [ 0.00417537 0.99993575 -0.01053851 -0.25572196] [ 0.13024726 0.00990503 0.99143207 -0.12340093] [ 0. 0. 0. 1. ]] SLAMing on 208.89463044 meters Centerline goodness : 0.133718 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.26, Z:-0.12 [[ 0.99139811 -0.00539781 -0.13076942 0.74297861] [ 0.00408475 0.99993854 -0.01030725 -0.25675961] [ 0.13081702 0.00968443 0.99135923 -0.12370547] [ 0. 0. 0. 1. ]] SLAMing on 208.92463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 208.95463044 meters Centerline goodness : 0.104550 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.13 [[ 0.99094168 0.00137633 -0.13428589 0.72783167] [-0.00300081 0.99992474 -0.0118955 -0.26215137] [ 0.13425941 0.01219071 0.99087123 -0.12776008] [ 0. 0. 0. 1. ]] SLAMing on 208.98463044 meters Centerline goodness : 0.114097 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.13 [[ 0.99089976 0.00127328 -0.13459587 0.72855657] [-0.00291692 0.99992356 -0.01201515 -0.26191656] [ 0.13457028 0.01229842 0.99082773 -0.12768799] [ 0. 0. 0. 1. ]] SLAMing on 209.01463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 209.04463044 meters Centerline goodness : 0.104305 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.13 [[ 0.99105311 0.00108316 -0.13346367 0.72444119] [-0.00272762 0.9999226 -0.01213916 -0.26101596] [ 0.13344019 0.01239459 0.99097936 -0.12615741] [ 0. 0. 0. 1. ]] SLAMing on 209.07463044 meters Centerline goodness : 0.101647 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.13 [[ 0.99107772 0.00103516 -0.13328118 0.72402899] [-0.0026639 0.99992394 -0.01204253 -0.26154923] [ 0.13325857 0.01229013 0.9910051 -0.12633415] [ 0. 0. 0. 1. ]] SLAMing on 209.10463044 meters Centerline goodness : 0.096063 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.13 [[ 9.91032136e-01 9.48231332e-04 -1.33620384e-01 7.25299001e-01] [-2.58187364e-03 9.99924024e-01 -1.20532543e-02 -2.61621988e-01] [ 1.33598802e-01 1.22901533e-02 9.90959289e-01 -1.26774216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13463044 meters Centerline goodness : 0.094159 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.26, Z:-0.12 [[ 0.99083293 -0.00658708 -0.13493225 0.74608689] [ 0.00512357 0.99992426 -0.01119067 -0.25761391] [ 0.13499575 0.01039675 0.99079163 -0.12298117] [ 0. 0. 0. 1. ]] SLAMing on 209.16463044 meters Centerline goodness : 0.097628 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.13 [[ 9.91128602e-01 -5.66378573e-04 -1.32905132e-01 7.31128742e-01] [-1.08466855e-03 9.99923147e-01 -1.23500202e-02 -2.65948852e-01] [ 1.32901913e-01 1.23846163e-02 9.91051816e-01 -1.27808473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19463044 meters Centerline goodness : 0.108344 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.27, Z:-0.12 [[ 0.99125451 -0.01010369 -0.13157662 0.75189656] [ 0.00848919 0.99988171 -0.01282562 -0.26557834] [ 0.13169065 0.01159647 0.99122303 -0.1244985 ] [ 0. 0. 0. 1. ]] SLAMing on 209.22463044 meters Centerline goodness : 0.176435 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.27, Z:-0.12 [[ 0.99126751 -0.01038103 -0.13145705 0.75110554] [ 0.00877823 0.99987998 -0.01276622 -0.26678503] [ 0.1315738 0.01150078 0.99123966 -0.12429565] [ 0. 0. 0. 1. ]] SLAMing on 209.25463044 meters Centerline goodness : 0.165666 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.27, Z:-0.12 [[ 0.99126506 -0.01031855 -0.13148044 0.75098201] [ 0.00875516 0.999884 -0.01246324 -0.26786907] [ 0.13159379 0.01120324 0.99124042 -0.12435407] [ 0. 0. 0. 1. ]] SLAMing on 209.28463044 meters Centerline goodness : 0.094893 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.27, Z:-0.13 [[ 0.99173211 -0.00307836 -0.12828854 0.7357294 ] [ 0.00146463 0.99991864 -0.01267137 -0.2737419 ] [ 0.12831711 0.01237871 0.99165593 -0.12917236] [ 0. 0. 0. 1. ]] SLAMing on 209.31463044 meters Centerline goodness : 0.097900 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.13 [[ 0.99176464 -0.00309219 -0.12803645 0.7348506 ] [ 0.00149171 0.99991958 -0.01259422 -0.27393596] [ 0.1280651 0.01229951 0.99168949 -0.12884555] [ 0. 0. 0. 1. ]] SLAMing on 209.34463044 meters Centerline goodness : 0.102040 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.13 [[ 0.99182631 -0.00321348 -0.12755487 0.73306201] [ 0.00159789 0.99991723 -0.01276609 -0.27324662] [ 0.12758533 0.01245792 0.99174936 -0.1280656 ] [ 0. 0. 0. 1. ]] SLAMing on 209.37463044 meters Centerline goodness : 0.156933 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.27, Z:-0.12 [[ 0.99207462 -0.01042331 -0.12521706 0.75086759] [ 0.00901436 0.99988959 -0.01181347 -0.26676728] [ 0.12532637 0.01059109 0.99205904 -0.12407947] [ 0. 0. 0. 1. ]] SLAMing on 209.40463044 meters Centerline goodness : 0.104001 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.13 [[ 9.92094896e-01 -1.80989410e-03 -1.25476857e-01 7.34980091e-01] [ 2.03481877e-04 9.99917875e-01 -1.28140931e-02 -2.70741985e-01] [ 1.25489745e-01 1.26872641e-02 9.92013789e-01 -1.28326001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43463043999998 meters Centerline goodness : 0.101612 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.27, Z:-0.13 [[ 9.92053631e-01 -1.98787122e-03 -1.25800008e-01 7.36268139e-01] [ 3.33409976e-04 9.99913200e-01 -1.31712083e-02 -2.68848042e-01] [ 1.25815271e-01 1.30246020e-02 9.91968184e-01 -1.28817412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46463043999998 meters Centerline goodness : 0.144381 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.27, Z:-0.13 [[ 9.92003014e-01 -2.18714047e-03 -1.26195231e-01 7.37692667e-01] [ 4.82096220e-04 9.99908212e-01 -1.35401219e-02 -2.67137688e-01] [ 1.26213262e-01 1.33710035e-02 9.91913015e-01 -1.29258152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49463043999998 meters Centerline goodness : 0.100983 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.27, Z:-0.13 [[ 9.91969781e-01 -2.36596389e-03 -1.26452977e-01 7.38479880e-01] [ 6.11010561e-04 9.99902991e-01 -1.39152941e-02 -2.65010252e-01] [ 1.26473633e-01 1.37262872e-02 9.91874997e-01 -1.29363307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52463043999998 meters Centerline goodness : 0.170058 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.26, Z:-0.13 [[ 9.91951514e-01 -2.45033066e-03 -1.26594588e-01 7.38754441e-01] [ 6.53267753e-04 9.99898464e-01 -1.42349840e-02 -2.62544901e-01] [ 1.26616615e-01 1.40377137e-02 9.91852396e-01 -1.29196848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55463043999998 meters Centerline goodness : 0.100697 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.26, Z:-0.13 [[ 9.91943107e-01 -2.45402083e-03 -1.26660376e-01 7.38691455e-01] [ 6.23092371e-04 9.99894777e-01 -1.44930126e-02 -2.59985533e-01] [ 1.26682615e-01 1.42973228e-02 9.91840260e-01 -1.28835293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58463043999998 meters Centerline goodness : 0.133525 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 9.91909449e-01 -2.72389907e-03 -1.26918183e-01 7.39532476e-01] [ 7.99626235e-04 9.99884001e-01 -1.52100057e-02 -2.54418890e-01] [ 1.26944891e-01 1.49854612e-02 9.91796567e-01 -1.28842685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61463043999998 meters Centerline goodness : 0.103342 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 9.91867523e-01 -2.97918199e-03 -1.27239703e-01 7.40582389e-01] [ 9.93575630e-04 9.99876789e-01 -1.56658612e-02 -2.52291070e-01] [ 1.27270697e-01 1.54120367e-02 9.91748274e-01 -1.29044706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64463044 meters Centerline goodness : 0.117903 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.9918241 -0.00319769 -0.12757245 0.74152426] [ 0.00115088 0.99986949 -0.01611476 -0.24986811] [ 0.12760733 0.01583618 0.99169833 -0.12914026] [ 0. 0. 0. 1. ]] SLAMing on 209.67463044 meters Centerline goodness : 0.108790 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99179182 -0.0032952 -0.12782066 0.74202835] [ 0.00121585 0.99986572 -0.01634237 -0.24815408] [ 0.12785735 0.01605282 0.99166265 -0.12892392] [ 0. 0. 0. 1. ]] SLAMing on 209.70463044 meters Centerline goodness : 0.121739 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99180124 -0.00331242 -0.12774715 0.74156267] [ 0.00122172 0.99986409 -0.0164408 -0.24715707] [ 0.12778425 0.01614994 0.99167049 -0.12856711] [ 0. 0. 0. 1. ]] SLAMing on 209.73463044 meters Centerline goodness : 0.165893 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99183684 -0.00339831 -0.1274682 0.74043822] [ 0.00129994 0.99986233 -0.01654154 -0.24652972] [ 0.12750686 0.0162408 0.99170471 -0.12804306] [ 0. 0. 0. 1. ]] SLAMing on 209.76463044 meters Centerline goodness : 0.090747 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99188801 -0.00358485 -0.12706424 0.7389985 ] [ 0.00148052 0.99986025 -0.01665173 -0.24665301] [ 0.12710618 0.01632853 0.99175471 -0.12754294] [ 0. 0. 0. 1. ]] SLAMing on 209.79463044 meters Centerline goodness : 0.261677 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99200565 -0.00434906 -0.12611848 0.73614763] [ 0.00220873 0.99985125 -0.01710572 -0.24714132] [ 0.12617411 0.01669041 0.99186769 -0.12687883] [ 0. 0. 0. 1. ]] SLAMing on 209.82463044 meters Centerline goodness : 0.094681 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99199463 -0.00430768 -0.12620654 0.73635569] [ 0.00218379 0.99985375 -0.01696225 -0.24768316] [ 0.12626115 0.01655086 0.99185896 -0.12688572] [ 0. 0. 0. 1. ]] SLAMing on 209.85463044 meters Centerline goodness : 0.392615 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99196962 -0.00425014 -0.12640498 0.73702564] [ 0.00213994 0.99985616 -0.01682509 -0.24809066] [ 0.12645831 0.01641948 0.99183602 -0.12708365] [ 0. 0. 0. 1. ]] SLAMing on 209.88463044 meters Centerline goodness : 0.109953 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99195118 -0.00420928 -0.12655097 0.73748199] [ 0.00211026 0.99985805 -0.01671587 -0.24862066] [ 0.12660336 0.01631428 0.99181925 -0.12718202] [ 0. 0. 0. 1. ]] SLAMing on 209.91463044 meters Centerline goodness : 0.138140 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.13 [[ 0.99196683 -0.00419516 -0.1264287 0.73711669] [ 0.0021024 0.99985864 -0.01668173 -0.24881904] [ 0.12648081 0.01628192 0.99183542 -0.12710858] [ 0. 0. 0. 1. ]] SLAMing on 209.94463044 meters Centerline goodness : 0.089625 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.25, Z:-0.12 [[ 0.99230084 0.00340921 -0.12380397 0.75553173] [-0.00567321 0.99982299 -0.01793904 -0.25037338] [ 0.1237209 0.01850329 0.99214453 -0.1236487 ] [ 0. 0. 0. 1. ]] SLAMing on 209.97463044 meters Centerline goodness : 0.098045 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.25, Z:-0.13 [[ 0.99208611 0.00432586 -0.12548484 0.71021379] [-0.00652917 0.99983157 -0.01715245 -0.24627025] [ 0.12538951 0.01783602 0.99194725 -0.12824243] [ 0. 0. 0. 1. ]] SLAMing on 210.00463044 meters Centerline goodness : 0.101613 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.13 [[ 0.99205551 0.00427114 -0.12572837 0.71086375] [-0.00652487 0.99982524 -0.01751904 -0.24358153] [ 0.12563157 0.01820022 0.99191001 -0.12815275] [ 0. 0. 0. 1. ]] SLAMing on 210.03463044 meters Centerline goodness : 0.448977 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.13 [[ 0.99199492 0.00423259 -0.1262068 0.71239041] [-0.00653961 0.99981891 -0.01787095 -0.24080088] [ 0.1261083 0.01855323 0.99184297 -0.1284193 ] [ 0. 0. 0. 1. ]] SLAMing on 210.06463044 meters Centerline goodness : 0.096751 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.13 [[ 0.99190068 0.00652686 -0.12684807 0.71561941] [-0.00868406 0.9998268 -0.01646061 -0.23456973] [ 0.12671866 0.01742884 0.99178557 -0.12967108] [ 0. 0. 0. 1. ]] SLAMing on 210.09463044 meters Centerline goodness : 0.092161 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.13 [[ 9.91973121e-01 -1.47462820e-04 -1.26448822e-01 7.32439532e-01] [-1.75519419e-03 9.99886922e-01 -1.49353040e-02 -2.27622570e-01] [ 1.26436726e-01 1.50373624e-02 9.91860692e-01 -1.25049671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12463044 meters Centerline goodness : 0.091917 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.13 [[ 0.99202304 -0.0058973 -0.12591864 0.71110174] [ 0.00436009 0.99991262 -0.01248003 -0.22061256] [ 0.12598123 0.01183146 0.99196207 -0.12795078] [ 0. 0. 0. 1. ]] SLAMing on 210.15463044 meters Centerline goodness : 0.090306 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.13 [[ 0.99199775 -0.00609569 -0.12610833 0.71195494] [ 0.00450992 0.99990718 -0.0128564 -0.21841163] [ 0.12617499 0.01218478 0.99193316 -0.12835559] [ 0. 0. 0. 1. ]] SLAMing on 210.18463043999998 meters Centerline goodness : 0.095532 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.13 [[ 0.99187494 -0.00663305 -0.12704375 0.71540612] [ 0.00494466 0.99989528 -0.01360053 -0.21493739] [ 0.12712066 0.01286183 0.99180387 -0.12963273] [ 0. 0. 0. 1. ]] SLAMing on 210.21463043999998 meters Centerline goodness : 0.422638 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.13 [[ 0.99184098 -0.00675027 -0.12730238 0.71639792] [ 0.00503839 0.99989257 -0.0137646 -0.21407538] [ 0.12738162 0.0130109 0.99176844 -0.13005856] [ 0. 0. 0. 1. ]] SLAMing on 210.24463043999998 meters Centerline goodness : 0.098292 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.13 [[ 0.99182081 -0.00686955 -0.12745306 0.71674635] [ 0.00513228 0.99988947 -0.01395406 -0.21294031] [ 0.12753483 0.01318581 0.99174644 -0.13002865] [ 0. 0. 0. 1. ]] SLAMing on 210.27463043999998 meters Centerline goodness : 0.091809 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.13 [[ 0.99181446 -0.00702659 -0.12749392 0.71667537] [ 0.00526768 0.99988632 -0.01412794 -0.21225757] [ 0.12757869 0.0133407 0.99173873 -0.12978722] [ 0. 0. 0. 1. ]] SLAMing on 210.30463043999998 meters Centerline goodness : 0.091465 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.13 [[ 0.99182112 -0.0071866 -0.12743322 0.71642152] [ 0.00540244 0.99988257 -0.01434085 -0.21147832] [ 0.12752132 0.01353511 0.99174347 -0.12965516] [ 0. 0. 0. 1. ]] SLAMing on 210.33463043999998 meters Centerline goodness : 0.440000 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.13 [[ 9.91783059e-01 -1.39722434e-03 -1.27923460e-01 6.95140183e-01] [-8.17135738e-04 9.99850772e-01 -1.72559217e-02 -2.11466784e-01] [ 1.27928481e-01 1.72186617e-02 9.91633915e-01 -1.32695720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36463043999998 meters Centerline goodness : 0.093012 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.13 [[ 9.91751661e-01 -1.41270884e-03 -1.28166483e-01 6.95799653e-01] [-8.16035623e-04 9.99849400e-01 -1.73352714e-02 -2.10687581e-01] [ 1.28171671e-01 1.72968726e-02 9.91601150e-01 -1.32699620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39463044 meters Centerline goodness : 0.108598 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.13 [[ 9.91725297e-01 -1.43777436e-03 -1.28370041e-01 6.96302686e-01] [-8.13594902e-04 9.99846813e-01 -1.74839607e-02 -2.09353972e-01] [ 1.28375514e-01 1.74437274e-02 9.91572208e-01 -1.32674777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 210.45463044 meters Centerline goodness : 0.111656 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.13 [[ 9.91833746e-01 3.35119930e-04 -1.27537082e-01 6.92902922e-01] [-2.46832672e-03 9.99859686e-01 -1.65684898e-02 -2.02978910e-01] [ 1.27513634e-01 1.67479905e-02 9.91695406e-01 -1.31231402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48463044 meters Centerline goodness : 0.151214 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.13 [[ 9.91835916e-01 2.02477617e-04 -1.27520485e-01 6.92718048e-01] [-2.38532873e-03 9.99853236e-01 -1.69651708e-02 -2.00587701e-01] [ 1.27498335e-01 1.71308440e-02 9.91690833e-01 -1.30976893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51463044 meters Centerline goodness : 0.151214 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.13 [[ 9.91835916e-01 2.02477617e-04 -1.27520485e-01 6.92718048e-01] [-2.38532873e-03 9.99853236e-01 -1.69651708e-02 -2.00587701e-01] [ 1.27498335e-01 1.71308440e-02 9.91690833e-01 -1.30976893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54463044 meters Centerline goodness : 0.125881 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.13 [[ 9.91834221e-01 1.32280429e-04 -1.27533762e-01 6.92811286e-01] [-2.36563033e-03 9.99846496e-01 -1.73605245e-02 -1.97602230e-01] [ 1.27511888e-01 1.75204600e-02 9.91682284e-01 -1.30926349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57463044 meters Centerline goodness : 0.092558 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.13 [[ 0.9918931 0.00273678 -0.12704559 0.69097959] [-0.00472437 0.99987108 -0.01534602 -0.19399759] [ 0.12698721 0.01582182 0.99177816 -0.13037929] [ 0. 0. 0. 1. ]] SLAMing on 210.60463044 meters Centerline goodness : 0.112288 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.13 [[ 0.99187757 0.00660419 -0.12702465 0.69076916] [-0.00825469 0.99988815 -0.01247151 -0.18885953] [ 0.12692808 0.01341876 0.99182115 -0.13000321] [ 0. 0. 0. 1. ]] SLAMing on 210.63463044 meters Centerline goodness : 0.158869 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.13 [[ 0.99187973 0.00645759 -0.12701535 0.69061007] [-0.00816477 0.99988314 -0.01292469 -0.18586007] [ 0.12691704 0.01385679 0.99181654 -0.12973765] [ 0. 0. 0. 1. ]] SLAMing on 210.66463044 meters Centerline goodness : 0.150573 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.13 [[ 0.9918885 0.00624427 -0.1269575 0.69047985] [-0.00801075 0.99987802 -0.01340806 -0.18312977] [ 0.12685829 0.01431633 0.99181753 -0.12968583] [ 0. 0. 0. 1. ]] SLAMing on 210.69463044 meters Centerline goodness : 0.156085 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.13 [[ 0.99189669 0.00602347 -0.12690415 0.69043867] [-0.00783816 0.99987398 -0.01380515 -0.1810326 ] [ 0.12680501 0.01468798 0.99181891 -0.12972119] [ 0. 0. 0. 1. ]] SLAMing on 210.72463044 meters Centerline goodness : 0.108363 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.13 [[ 0.99191052 0.00584893 -0.12680423 0.69003403] [-0.00769832 0.99987096 -0.01409941 -0.17953854] [ 0.1267054 0.01496153 0.99182755 -0.12951355] [ 0. 0. 0. 1. ]] SLAMing on 210.75463044 meters Centerline goodness : 0.107803 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.13 [[ 9.91952195e-01 -1.74183218e-03 -1.26600982e-01 6.71318954e-01] [ 9.20158108e-05 9.99915020e-01 -1.30363038e-02 -1.73417160e-01] [ 1.26612931e-01 1.29197409e-02 9.91868059e-01 -1.33156483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78463044 meters Centerline goodness : 0.109661 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.13 [[ 9.91878895e-01 -2.05045499e-03 -1.27169386e-01 6.72563568e-01] [ 3.74635838e-04 9.99912801e-01 -1.32003689e-02 -1.73310339e-01] [ 1.27185364e-01 1.30455251e-02 9.91793173e-01 -1.33003078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81463044 meters Centerline goodness : 0.111378 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 0.99177162 -0.01013983 -0.12761757 0.69319198] [ 0.00862788 0.99988596 -0.01239478 -0.17041853] [ 0.12772869 0.01119173 0.991746 -0.12939225] [ 0. 0. 0. 1. ]] SLAMing on 210.84463044 meters Centerline goodness : 0.113517 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 0.99180413 -0.01038036 -0.12734529 0.69242768] [ 0.00885626 0.99988229 -0.01252862 -0.17050832] [ 0.12746035 0.01129813 0.99177932 -0.12927193] [ 0. 0. 0. 1. ]] SLAMing on 210.87463044 meters Centerline goodness : 0.109082 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.13 [[ 9.91960351e-01 -2.25122101e-03 -1.26529028e-01 6.71049137e-01] [ 5.76200633e-04 9.99911740e-01 -1.32732715e-02 -1.73635899e-01] [ 1.26547742e-01 1.30936529e-02 9.91874097e-01 -1.32622820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90463044 meters Centerline goodness : 0.114965 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 0.99204661 -0.00989139 -0.12548179 0.68982168] [ 0.00843493 0.99989082 -0.01213292 -0.16985787] [ 0.1255881 0.01097799 0.99202173 -0.12894731] [ 0. 0. 0. 1. ]] SLAMing on 210.93463043999998 meters Centerline goodness : 0.109181 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 0.99206431 -0.00991237 -0.12534012 0.68935007] [ 0.00843852 0.99988894 -0.01228424 -0.16862662] [ 0.12544797 0.01112907 0.99203778 -0.12873486] [ 0. 0. 0. 1. ]] SLAMing on 210.96463043999998 meters Centerline goodness : 0.096738 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 0.99205492 -0.00996751 -0.12541003 0.68943893] [ 0.00845943 0.99988544 -0.01255201 -0.16671751] [ 0.12552078 0.01139139 0.99202559 -0.12856658] [ 0. 0. 0. 1. ]] SLAMing on 210.99463043999998 meters Centerline goodness : 0.098199 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.13 [[ 9.92206334e-01 -1.16929177e-03 -1.24600253e-01 7.09841263e-01] [-4.69430063e-04 9.99913797e-01 -1.31216624e-02 -1.65430365e-01] [ 1.24604855e-01 1.30778877e-02 9.92120254e-01 -1.25475957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02463043999998 meters Centerline goodness : 0.099384 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 9.92186416e-01 -1.27130859e-03 -1.24757768e-01 7.10366235e-01] [-4.27462331e-04 9.99907576e-01 -1.35888405e-02 -1.62315932e-01] [ 1.24763513e-01 1.35359922e-02 9.92094170e-01 -1.25537006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05463043999998 meters Centerline goodness : 0.105203 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.13 [[ 9.92155548e-01 -1.37842133e-03 -1.25001873e-01 7.11185017e-01] [-3.77225708e-04 9.99901641e-01 -1.40202086e-02 -1.59320242e-01] [ 1.25008904e-01 1.39573817e-02 9.92057441e-01 -1.25683687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08463043999998 meters Centerline goodness : 0.105477 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.13 [[ 0.99212136 -0.00856336 -0.1249875 0.69332784] [ 0.00698752 0.99989055 -0.013041 -0.15092693] [ 0.12508549 0.0120649 0.99207261 -0.12957001] [ 0. 0. 0. 1. ]] SLAMing on 211.11463043999998 meters Centerline goodness : 0.096852 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.12 [[ 0.99232241 -0.00797471 -0.12342055 0.73583168] [ 0.00647498 0.99990031 -0.01254771 -0.1495396 ] [ 0.12350831 0.01165222 0.99227512 -0.12384903] [ 0. 0. 0. 1. ]] SLAMing on 211.14463044 meters Centerline goodness : 0.103342 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.12 [[ 0.99230783 -0.00833443 -0.12351396 0.73577316] [ 0.00673536 0.99988809 -0.01335839 -0.14411104] [ 0.12361148 0.01242372 0.99225292 -0.12343242] [ 0. 0. 0. 1. ]] SLAMing on 211.17463044 meters Centerline goodness : 0.100806 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.12 [[ 0.99227548 -0.0084955 -0.12376266 0.7365458 ] [ 0.00684876 0.99988235 -0.01372503 -0.1417926 ] [ 0.1238647 0.01277139 0.99221693 -0.12353737] [ 0. 0. 0. 1. ]] SLAMing on 211.20463044 meters Centerline goodness : 0.106347 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.12 [[ 0.9922398 -0.00870955 -0.12403358 0.73747541] [ 0.00700894 0.99987545 -0.01414068 -0.13943944] [ 0.12414129 0.0131616 0.99217726 -0.1237936 ] [ 0. 0. 0. 1. ]] SLAMing on 211.23463044 meters Centerline goodness : 0.106042 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.12 [[ 0.99221218 -0.00892301 -0.12423912 0.73813847] [ 0.00716679 0.99986809 -0.01457556 -0.13694457] [ 0.12435279 0.01357166 0.99214525 -0.12392005] [ 0. 0. 0. 1. ]] SLAMing on 211.26463044 meters Centerline goodness : 0.262905 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.9921752 -0.00925984 -0.12450953 0.73877139] [ 0.0074172 0.99985613 -0.01525456 -0.13240588] [ 0.12463287 0.01421168 0.99210114 -0.12376223] [ 0. 0. 0. 1. ]] SLAMing on 211.29463044 meters Centerline goodness : 0.091683 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.99216801 -0.00938641 -0.12455738 0.73885133] [ 0.00751092 0.99985137 -0.01551828 -0.13073359] [ 0.12468453 0.0144612 0.99209105 -0.12368272] [ 0. 0. 0. 1. ]] SLAMing on 211.32463044 meters Centerline goodness : 0.082184 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.99216744 -0.00947013 -0.12455553 0.73863437] [ 0.0075766 0.99984856 -0.01566721 -0.12983458] [ 0.12468504 0.01460078 0.99208894 -0.1233945 ] [ 0. 0. 0. 1. ]] SLAMing on 211.35463044 meters Centerline goodness : 0.047666 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.99218141 -0.00995295 -0.12440655 0.73813427] [ 0.00801193 0.9998384 -0.0160928 -0.12896949] [ 0.12454662 0.01497024 0.99210082 -0.12313508] [ 0. 0. 0. 1. ]] SLAMing on 211.38463044 meters Centerline goodness : 0.070603 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.99218591 -0.00997023 -0.12436926 0.73794394] [ 0.00802786 0.99983801 -0.01610918 -0.12863645] [ 0.12450972 0.01498488 0.99210523 -0.12298823] [ 0. 0. 0. 1. ]] SLAMing on 211.41463044 meters Centerline goodness : 0.099600 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.99217254 -0.00996516 -0.12447626 0.73814385] [ 0.00801822 0.99983772 -0.01613226 -0.1279198 ] [ 0.12461682 0.01500791 0.99209143 -0.12286965] [ 0. 0. 0. 1. ]] SLAMing on 211.44463044 meters Centerline goodness : 0.072622 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.99215524 -0.00996769 -0.12461392 0.73844481] [ 0.00801243 0.99983696 -0.01618193 -0.1270358 ] [ 0.12475489 0.01505653 0.99207334 -0.12282412] [ 0. 0. 0. 1. ]] SLAMing on 211.47463044 meters Centerline goodness : 0.125763 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.12 [[ 0.9920878 -0.01012202 -0.12513726 0.739662 ] [ 0.0081328 0.99983248 -0.01639701 -0.12563195] [ 0.12528227 0.01524956 0.99200393 -0.12258006] [ 0. 0. 0. 1. ]] SLAMing on 211.50463044 meters Centerline goodness : 0.137995 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 0.99206885 -0.01023076 -0.12527858 0.74005152] [ 0.00821433 0.99982844 -0.01660154 -0.12446227] [ 0.12542693 0.01544079 0.99198269 -0.12259717] [ 0. 0. 0. 1. ]] SLAMing on 211.53463044 meters Centerline goodness : 0.098032 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 0.99205528 -0.01034314 -0.12537682 0.74038617] [ 0.00829534 0.99982371 -0.01684425 -0.1229479 ] [ 0.12552894 0.01567038 0.99196619 -0.12263407] [ 0. 0. 0. 1. ]] SLAMing on 211.56463044 meters Centerline goodness : 0.089542 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 0.99205305 -0.01046231 -0.12538456 0.74043985] [ 0.0083783 0.99981805 -0.01713685 -0.12111685] [ 0.12554103 0.01595015 0.9919602 -0.12261995] [ 0. 0. 0. 1. ]] SLAMing on 211.59463044 meters Centerline goodness : 0.109861 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 0.99210876 -0.01072538 -0.1249207 0.73884575] [ 0.00857842 0.99980633 -0.01771183 -0.1178793 ] [ 0.12508647 0.01650044 0.99200862 -0.12198603] [ 0. 0. 0. 1. ]] SLAMing on 211.62463044 meters Centerline goodness : 0.107532 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 0.99211547 -0.01081904 -0.1248593 0.73856462] [ 0.00864827 0.99980212 -0.01791471 -0.11661615] [ 0.12502841 0.01669364 0.99201271 -0.12177451] [ 0. 0. 0. 1. ]] SLAMing on 211.65463044 meters Centerline goodness : 0.129264 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.12 [[ 0.99211931 -0.01088501 -0.12482303 0.73873986] [ 0.0086907 0.99979822 -0.01811049 -0.11523296] [ 0.12499498 0.01688297 0.99201372 -0.12208241] [ 0. 0. 0. 1. ]] SLAMing on 211.68463043999998 meters Centerline goodness : 0.109694 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99211086 -0.01096071 -0.12488356 0.73930074] [ 0.00874136 0.99979423 -0.01830548 -0.11393818] [ 0.1250585 0.01706942 0.99200252 -0.12251611] [ 0. 0. 0. 1. ]] SLAMing on 211.71463043999998 meters Centerline goodness : 0.148126 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99209821 -0.01111821 -0.1249701 0.73980637] [ 0.00886471 0.99978819 -0.01857399 -0.11271563] [ 0.12515014 0.0173194 0.99198663 -0.12279319] [ 0. 0. 0. 1. ]] SLAMing on 211.74463043999998 meters Centerline goodness : 0.141728 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99205502 -0.01133901 -0.12529269 0.74099678] [ 0.00903457 0.9997797 -0.01894544 -0.11094538] [ 0.12547991 0.01766295 0.99193892 -0.12319093] [ 0. 0. 0. 1. ]] SLAMing on 211.77463043999998 meters Centerline goodness : 0.278291 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99202333 -0.01137484 -0.12554012 0.74157803] [ 0.00905464 0.99977778 -0.01903688 -0.11030772] [ 0.12572876 0.01774831 0.99190588 -0.12315373] [ 0. 0. 0. 1. ]] SLAMing on 211.80463043999998 meters Centerline goodness : 0.244359 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99200437 -0.01135925 -0.12569124 0.74206869] [ 0.00903435 0.99977768 -0.01905156 -0.11003138] [ 0.12587971 0.01776369 0.99188646 -0.12328326] [ 0. 0. 0. 1. ]] SLAMing on 211.83463043999998 meters Centerline goodness : 0.140118 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.9919854 -0.01130436 -0.12584587 0.74259017] [ 0.00898156 0.99977896 -0.01900963 -0.10987379] [ 0.12603295 0.01772698 0.99186766 -0.12343879] [ 0. 0. 0. 1. ]] SLAMing on 211.86463043999998 meters Centerline goodness : 0.123518 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99198871 -0.01122814 -0.12582655 0.74266504] [ 0.00892099 0.99978187 -0.0188845 -0.11052294] [ 0.12601115 0.01761071 0.9918725 -0.12357543] [ 0. 0. 0. 1. ]] SLAMing on 211.89463044 meters Centerline goodness : 0.116954 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.992 -0.01120732 -0.12573941 0.74248821] [ 0.0089074 0.99978286 -0.01883855 -0.11091229] [ 0.12592324 0.01756783 0.99188442 -0.12362463] [ 0. 0. 0. 1. ]] SLAMing on 211.92463044 meters Centerline goodness : 0.121838 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99199167 -0.0111864 -0.12580697 0.74253988] [ 0.00889059 0.99978382 -0.01879538 -0.11117905] [ 0.12599003 0.01752636 0.99187668 -0.12348353] [ 0. 0. 0. 1. ]] SLAMing on 211.95463044 meters Centerline goodness : 0.142120 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99197803 -0.01112115 -0.12592023 0.74276327] [ 0.00883025 0.99978546 -0.01873687 -0.11121709] [ 0.12610159 0.01747466 0.99186341 -0.12341117] [ 0. 0. 0. 1. ]] SLAMing on 211.98463044 meters Centerline goodness : 0.135086 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99194634 -0.01098812 -0.1261813 0.74337845] [ 0.00870545 0.99978859 -0.01862762 -0.11112684] [ 0.12635931 0.01737914 0.99183229 -0.12341047] [ 0. 0. 0. 1. ]] SLAMing on 212.01463044 meters Centerline goodness : 0.143904 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 0.99192913 -0.00682742 -0.12660962 0.74466648] [ 0.00498579 0.9998772 -0.014857 -0.11207459] [ 0.1266955 0.01410584 0.99184136 -0.12373314] [ 0. 0. 0. 1. ]] SLAMing on 212.04463044 meters Centerline goodness : 0.173981 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.12 [[ 0.99193124 -0.0036113 -0.1267256 0.74533665] [ 0.00210854 0.99992589 -0.01199052 -0.11246304] [ 0.12675951 0.01162656 0.99186534 -0.12410893] [ 0. 0. 0. 1. ]] SLAMing on 212.07463044 meters Centerline goodness : 0.105199 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.12 [[ 0.99190993 -0.00365358 -0.12689105 0.74576395] [ 0.00212952 0.99992399 -0.01214432 -0.11174681] [ 0.12692577 0.01177586 0.99184231 -0.124104 ] [ 0. 0. 0. 1. ]] SLAMing on 212.10463044 meters Centerline goodness : 0.252358 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.12 [[ 0.99191289 -0.0036173 -0.12686895 0.7456033 ] [ 0.00209058 0.99992382 -0.01216491 -0.11149037] [ 0.12690329 0.0118013 0.99184489 -0.12400546] [ 0. 0. 0. 1. ]] SLAMing on 212.13463044 meters Centerline goodness : 0.166978 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.12 [[ 9.92067549e-01 -1.87294847e-03 -1.25691967e-01 7.40668388e-01] [ 5.58974447e-04 9.99944839e-01 -1.04883770e-02 -1.13660962e-01] [ 1.25704678e-01 1.03349199e-02 9.92013873e-01 -1.22188108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16463044 meters Centerline goodness : 0.124712 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99224141 -0.00936759 -0.12397274 0.75889924] [ 0.00833636 0.99992623 -0.00883431 -0.11174184] [ 0.12404635 0.00773229 0.9922463 -0.1188397 ] [ 0. 0. 0. 1. ]] SLAMing on 212.19463044 meters Centerline goodness : 0.112483 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99226807 -0.00937357 -0.12375871 0.75825878] [ 0.00834527 0.99992624 -0.00882466 -0.11200318] [ 0.1238323 0.00772363 0.9922731 -0.1187652 ] [ 0. 0. 0. 1. ]] SLAMing on 212.22463044 meters Centerline goodness : 0.120521 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99228818 -0.00945194 -0.1235914 0.75772247] [ 0.00841656 0.999925 -0.00889687 -0.11216446] [ 0.12366622 0.00778804 0.99229331 -0.11863083] [ 0. 0. 0. 1. ]] SLAMing on 212.25463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.28463044 meters Centerline goodness : 0.093258 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99223309 -0.00928664 -0.12404536 0.75860787] [ 0.00824914 0.99992659 -0.00887488 -0.11137926] [ 0.12411867 0.00778269 0.99223686 -0.11839713] [ 0. 0. 0. 1. ]] SLAMing on 212.31463044 meters Centerline goodness : 0.045485 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99229519 -0.00592974 -0.12375419 0.75801466] [ 0.00524452 0.99996907 -0.005862 -0.11094625] [ 0.12378512 0.0051678 0.99229559 -0.11857085] [ 0. 0. 0. 1. ]] SLAMing on 212.34463044 meters Centerline goodness : 0.149342 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99231557 -0.00603084 -0.12358578 0.75721915] [ 0.00529858 0.99996641 -0.00625296 -0.1084971 ] [ 0.12361934 0.00555008 0.99231419 -0.11807786] [ 0. 0. 0. 1. ]] SLAMing on 212.37463044 meters Centerline goodness : 0.129329 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99234566 -0.00604761 -0.12334307 0.75659204] [ 0.00529888 0.9999655 -0.00639744 -0.10729486] [ 0.1233775 0.00569489 0.99234347 -0.11806094] [ 0. 0. 0. 1. ]] SLAMing on 212.40463044 meters Centerline goodness : 0.131161 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99235765 -0.00598838 -0.12324946 0.75640066] [ 0.00524071 0.99996585 -0.00638965 -0.10667271] [ 0.12328352 0.00569491 0.99235515 -0.11811078] [ 0. 0. 0. 1. ]] SLAMing on 212.43463043999998 meters Centerline goodness : 0.131161 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99235765 -0.00598838 -0.12324946 0.75640066] [ 0.00524071 0.99996585 -0.00638965 -0.10667271] [ 0.12328352 0.00569491 0.99235515 -0.11811078] [ 0. 0. 0. 1. ]] SLAMing on 212.46463043999998 meters Centerline goodness : 0.111957 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.12 [[ 0.99232278 -0.01380676 -0.12290188 0.77572228] [ 0.01325956 0.9998982 -0.00526919 -0.10246608] [ 0.12296212 0.00359911 0.99240484 -0.11504655] [ 0. 0. 0. 1. ]] SLAMing on 212.49463043999998 meters Centerline goodness : 0.147905 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99236719 -0.00624382 -0.12315995 0.7585247 ] [ 0.00546012 0.99996265 -0.00669978 -0.10737524] [ 0.12319718 0.00597618 0.99236422 -0.118927 ] [ 0. 0. 0. 1. ]] SLAMing on 212.52463043999998 meters Centerline goodness : 0.110663 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99227165 -0.00695587 -0.12388944 0.76086842] [ 0.00611627 0.99995569 -0.00715608 -0.10804287] [ 0.12393372 0.00634303 0.99227022 -0.1194479 ] [ 0. 0. 0. 1. ]] SLAMing on 212.55463043999998 meters Centerline goodness : 0.125102 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99225382 -0.00699371 -0.12403005 0.76134792] [ 0.00614772 0.99995517 -0.00720226 -0.1075672 ] [ 0.12407486 0.00638397 0.99225232 -0.11962402] [ 0. 0. 0. 1. ]] SLAMing on 212.58463043999998 meters Centerline goodness : 0.112427 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.12 [[ 0.99224154 -0.0069826 -0.12412886 0.76168457] [ 0.00612654 0.99995476 -0.00727686 -0.10645752] [ 0.12417405 0.00645992 0.99223942 -0.1197089 ] [ 0. 0. 0. 1. ]] SLAMing on 212.61463043999998 meters Centerline goodness : 0.137339 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.12 [[ 0.99218034 0.00186143 -0.12479869 0.74003774] [-0.00292133 0.9999612 -0.00831041 -0.10305636] [ 0.12477837 0.00861 0.99214728 -0.12225867] [ 0. 0. 0. 1. ]] SLAMing on 212.64463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.67463044 meters Centerline goodness : 0.178864 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.12 [[ 0.99218464 0.00292412 -0.12474406 0.73949281] [-0.00398442 0.99995802 -0.00825112 -0.09456562] [ 0.1247147 0.00868367 0.99215464 -0.12155488] [ 0. 0. 0. 1. ]] SLAMing on 212.70463044 meters Centerline goodness : 0.111837 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.12 [[ 0.99232461 0.00482185 -0.12356626 0.7353743 ] [-0.00572634 0.99995934 -0.00696577 -0.09026499] [ 0.12352765 0.00761989 0.99231187 -0.1204106 ] [ 0. 0. 0. 1. ]] SLAMing on 212.73463044 meters Centerline goodness : 0.095872 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.12 [[ 9.92467440e-01 4.39179548e-05 -1.22508691e-01 7.55610871e-01] [-4.86387566e-04 9.99993467e-01 -3.58183693e-03 -8.21522389e-02] [ 1.22507734e-01 3.61444323e-03 9.92460977e-01 -1.17409653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76463044 meters Centerline goodness : 0.125073 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.12 [[ 9.92441894e-01 -2.09209960e-04 -1.22715292e-01 7.56405263e-01] [-2.88026748e-04 9.99991821e-01 -4.03420023e-03 -7.99327873e-02] [ 1.22715133e-01 4.03905460e-03 9.92433717e-01 -1.17717320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79463044 meters Centerline goodness : 0.120120 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.12 [[ 9.92395501e-01 -4.27368689e-04 -1.23089347e-01 7.57747120e-01] [-1.07500268e-04 9.99990582e-01 -4.33869753e-03 -7.85567747e-02] [ 1.23090042e-01 4.31893605e-03 9.92386109e-01 -1.18175347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82463044 meters Centerline goodness : 0.141496 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.12 [[ 9.92368448e-01 -6.01530818e-04 -1.23306531e-01 7.58504046e-01] [ 4.18217162e-05 9.99989686e-01 -4.54170639e-03 -7.77547840e-02] [ 1.23307992e-01 4.50188923e-03 9.92358238e-01 -1.18424803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85463044 meters Centerline goodness : 0.120687 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.12 [[ 9.92364231e-01 -1.19177797e-03 -1.23336174e-01 7.58246487e-01] [ 5.94833015e-04 9.99987932e-01 -4.87669238e-03 -7.74508838e-02] [ 1.23340497e-01 4.76609065e-03 9.92352964e-01 -1.18083414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88463044 meters Centerline goodness : 0.099465 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.07, Z:-0.12 [[ 0.99227993 -0.00895939 -0.12369429 0.73852428] [ 0.00851595 0.99995528 -0.00411322 -0.07255403] [ 0.12372561 0.00302809 0.99231185 -0.12139885] [ 0. 0. 0. 1. ]] SLAMing on 212.91463044 meters Centerline goodness : 0.120658 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.12 [[ 0.99239975 -0.01035275 -0.12261952 0.78157477] [ 0.00994937 0.99994289 -0.00390158 -0.07536397] [ 0.12265291 0.00265194 0.99244608 -0.11611539] [ 0. 0. 0. 1. ]] SLAMing on 212.94463044 meters Centerline goodness : 0.089306 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.12 [[ 0.9923882 -0.01027955 -0.12271917 0.78195768] [ 0.00988426 0.99994382 -0.0038295 -0.07515039] [ 0.12275164 0.00258737 0.99243405 -0.11624108] [ 0. 0. 0. 1. ]] SLAMing on 212.97463044 meters Centerline goodness : 0.118899 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.12 [[ 0.99241187 -0.01014636 -0.12253871 0.78139911] [ 0.00974754 0.99994507 -0.00385371 -0.07382818] [ 0.12257108 0.00263001 0.99245625 -0.11603039] [ 0. 0. 0. 1. ]] SLAMing on 213.00463044 meters Centerline goodness : 0.119897 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.12 [[ 0.99243257 -0.01013071 -0.1223722 0.78090759] [ 0.00969002 0.99994425 -0.00419589 -0.07179262] [ 0.12240789 0.00297835 0.99247541 -0.11607156] [ 0. 0. 0. 1. ]] SLAMing on 213.03463044 meters Centerline goodness : 0.140433 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.11 [[ 0.99257839 -0.00242264 -0.12158234 0.80043718] [ 0.00180818 0.99998503 -0.005164 -0.07413363] [ 0.12159303 0.00490583 0.99256792 -0.11272672] [ 0. 0. 0. 1. ]] SLAMing on 213.06463044 meters Centerline goodness : 0.120860 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.11 [[ 0.9925948 -0.00229171 -0.12145089 0.79992324] [ 0.00165071 0.99998418 -0.00537816 -0.07206744] [ 0.1214613 0.00513785 0.99258287 -0.11242492] [ 0. 0. 0. 1. ]] SLAMing on 213.09463044 meters Centerline goodness : 0.116941 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.11 [[ 0.99270865 0.00100157 -0.12053436 0.79684013] [-0.00139924 0.99999385 -0.00321462 -0.06640474] [ 0.1205304 0.00335984 0.99270395 -0.11150274] [ 0. 0. 0. 1. ]] SLAMing on 213.12463044 meters Centerline goodness : 0.112833 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.11 [[ 0.99269964 0.00116493 -0.12060712 0.79693756] [-0.00160351 0.99999245 -0.00353946 -0.06316779] [ 0.12060208 0.00370701 0.99269401 -0.11132269] [ 0. 0. 0. 1. ]] SLAMing on 213.15463044 meters Centerline goodness : 0.116127 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.11 [[ 0.99266634 0.00136899 -0.1208787 0.79766421] [-0.00184558 0.99999096 -0.00383081 -0.05984959] [ 0.12087236 0.00402581 0.99265989 -0.11129275] [ 0. 0. 0. 1. ]] SLAMing on 213.18463043999998 meters Centerline goodness : 0.125703 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.11 [[ 0.99259693 0.00155931 -0.12144507 0.79904319] [-0.00207843 0.99998924 -0.00414793 -0.05633566] [ 0.1214373 0.00436964 0.99258949 -0.11123511] [ 0. 0. 0. 1. ]] SLAMing on 213.21463043999998 meters Centerline goodness : 0.096904 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.11 [[ 0.9925394 0.00178063 -0.12191132 0.80027181] [-0.00233417 0.9999876 -0.0043979 -0.05295834] [ 0.12190197 0.00464965 0.99253125 -0.11123659] [ 0. 0. 0. 1. ]] SLAMing on 213.24463043999998 meters Centerline goodness : 0.108534 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.11 [[ 0.99249054 0.00198978 -0.12230523 0.80131463] [-0.00257857 0.99998584 -0.00465605 -0.04935524] [ 0.12229423 0.00493645 0.99248161 -0.11124497] [ 0. 0. 0. 1. ]] SLAMing on 213.27463043999998 meters Centerline goodness : 0.109978 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.04, Z:-0.12 [[ 0.99264812 -0.00391021 -0.12097278 0.78434601] [ 0.0035144 0.99998775 -0.00348505 -0.03636764] [ 0.12098493 0.00303428 0.99264971 -0.11519743] [ 0. 0. 0. 1. ]] SLAMing on 213.30463043999998 meters Centerline goodness : 0.108550 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.11 [[ 0.99263198 0.00340318 -0.12112045 0.80411551] [-0.00402331 0.99998002 -0.00487577 -0.03622853] [ 0.12110143 0.00532715 0.99262584 -0.11149415] [ 0. 0. 0. 1. ]] SLAMing on 213.33463043999998 meters Centerline goodness : 0.094536 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.03, Z:-0.11 [[ 0.99261098 0.00324549 -0.12129676 0.80459109] [-0.0039511 0.99997664 -0.00557714 -0.03302576] [ 0.12127582 0.00601519 0.99260062 -0.11191997] [ 0. 0. 0. 1. ]] SLAMing on 213.36463043999998 meters Centerline goodness : 0.107925 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 0.99285988 -0.00311825 -0.11924571 0.78967045] [ 0.00262682 0.9999874 -0.0042781 -0.02215592] [ 0.11925754 0.00393432 0.99285556 -0.11620592] [ 0. 0. 0. 1. ]] SLAMing on 213.39463044 meters Centerline goodness : 0.109377 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 0.99284708 -0.003099 -0.11935271 0.78981037] [ 0.00259484 0.99998704 -0.00437932 -0.02078746] [ 0.11936474 0.0040383 0.99284226 -0.11602897] [ 0. 0. 0. 1. ]] SLAMing on 213.42463044 meters Centerline goodness : 0.213709 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 0.9928303 -0.00305661 -0.1194933 0.79016643] [ 0.00254369 0.99998689 -0.00444476 -0.01960864] [ 0.11950532 0.00410894 0.99282506 -0.11596909] [ 0. 0. 0. 1. ]] SLAMing on 213.45463044 meters Centerline goodness : 0.159879 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 0.99276749 -0.00309299 -0.12001307 0.79174167] [ 0.00253498 0.99998526 -0.00480202 -0.01669895] [ 0.12002615 0.00446305 0.9927607 -0.11624669] [ 0. 0. 0. 1. ]] SLAMing on 213.48463044 meters Centerline goodness : 0.109058 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.12 [[ 0.99274237 -0.00314576 -0.12021935 0.79236645] [ 0.0025546 0.99998388 -0.00507115 -0.01475863] [ 0.12023337 0.00472724 0.9927344 -0.11637555] [ 0. 0. 0. 1. ]] SLAMing on 213.51463044 meters Centerline goodness : 0.150967 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.12 [[ 0.99273143 -0.00303461 -0.12031248 0.7926601 ] [ 0.00243124 0.99998372 -0.0051615 -0.01298748] [ 0.12032619 0.00483148 0.99272265 -0.11644989] [ 0. 0. 0. 1. ]] SLAMing on 213.54463044 meters Centerline goodness : 0.126070 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.12 [[ 0.99271918 -0.00290854 -0.12041668 0.79293358] [ 0.00229547 0.99998369 -0.00522967 -0.01140987] [ 0.12042992 0.00491519 0.99270966 -0.1164064 ] [ 0. 0. 0. 1. ]] SLAMing on 213.57463044 meters Centerline goodness : 0.125914 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.12 [[ 0.99271296 -0.0028143 -0.12047018 0.79254556] [ 0.00217017 0.99998264 -0.00547766 -0.00906841] [ 0.1204835 0.00517631 0.99270183 -0.11576635] [ 0. 0. 0. 1. ]] SLAMing on 213.60463044 meters Centerline goodness : 0.127088 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.12 [[ 0.99270576 -0.00284293 -0.1205288 0.79259289] [ 0.00218337 0.99998191 -0.00560394 -0.00851492] [ 0.12054255 0.0052999 0.99269401 -0.11560035] [ 0. 0. 0. 1. ]] SLAMing on 213.63463044 meters Centerline goodness : 0.113414 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.12 [[ 0.99269259 -0.00285998 -0.12063685 0.79268927] [ 0.0021828 0.99998111 -0.00574516 -0.00773696] [ 0.120651 0.00543985 0.99268008 -0.1153974 ] [ 0. 0. 0. 1. ]] SLAMing on 213.66463044 meters Centerline goodness : 0.123374 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.12 [[ 0.99267452 -0.00285313 -0.12078557 0.79293184] [ 0.00216405 0.99998063 -0.00583577 -0.00706778] [ 0.12079988 0.00553164 0.99266147 -0.11523667] [ 0. 0. 0. 1. ]] SLAMing on 213.69463044 meters Centerline goodness : 0.110970 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.11 [[ 0.99265225 0.00451213 -0.12091793 0.81308362] [-0.00536521 0.99996296 -0.0067304 -0.01011548] [ 0.12088309 0.0073297 0.99263969 -0.11188739] [ 0. 0. 0. 1. ]] SLAMing on 213.72463044 meters Centerline goodness : 0.113727 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.11 [[ 0.9926509 0.00452721 -0.12092848 0.81315918] [-0.00539617 0.99996192 -0.00685918 -0.00917811] [ 0.12089282 0.00746132 0.99263752 -0.11191268] [ 0. 0. 0. 1. ]] SLAMing on 213.75463044 meters Centerline goodness : 0.115398 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.11 [[ 0.99275681 0.00504517 -0.12003525 0.8108074 ] [-0.00591474 0.99995878 -0.00688913 -0.00690531] [ 0.11999554 0.00754921 0.99274573 -0.11162565] [ 0. 0. 0. 1. ]] SLAMing on 213.78463044 meters Centerline goodness : 0.199042 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.11 [[ 0.992778 0.00514458 -0.11985567 0.80997167] [-0.00603499 0.99995682 -0.00706727 -0.00538344] [ 0.11981414 0.00773956 0.99276617 -0.11112452] [ 0. 0. 0. 1. ]] SLAMing on 213.81463044 meters Centerline goodness : 0.120537 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.11 [[ 0.99279153 0.00532446 -0.11973565 0.80941565] [-0.00622417 0.99995513 -0.00714143 -0.00422222] [ 0.11969225 0.00783521 0.99278012 -0.11080593] [ 0. 0. 0. 1. ]] SLAMing on 213.84463044 meters Centerline goodness : 0.146876 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.11 [[ 0.9927988 0.00546508 -0.11966905 0.80914554] [-0.0063618 0.99995447 -0.00711261 -0.00365345] [ 0.11962473 0.0078227 0.99278836 -0.11068834] [ 0. 0. 0. 1. ]] SLAMing on 213.87463044 meters Centerline goodness : 0.116886 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.11 [[ 0.99280144 0.00551909 -0.11964464 0.80915426] [-0.00641399 0.99995425 -0.00709587 -0.00392432] [ 0.1196 0.00781219 0.99279142 -0.11082348] [ 0. 0. 0. 1. ]] SLAMing on 213.90463044 meters Centerline goodness : 0.110859 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.11 [[ 0.99278658 0.00553609 -0.1197671 0.8095017 ] [-0.00642012 0.99995491 -0.0069966 -0.00503713] [ 0.11972296 0.00771505 0.99277736 -0.11086704] [ 0. 0. 0. 1. ]] SLAMing on 213.93463043999998 meters Centerline goodness : 0.211394 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.11 [[ 0.99275997 0.00575017 -0.1199774 0.81008952] [-0.0065677 0.99995783 -0.00641976 -0.00848923] [ 0.11993542 0.00716125 0.99275587 -0.11087557] [ 0. 0. 0. 1. ]] SLAMing on 213.96463043999998 meters Centerline goodness : 0.115947 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.11 [[ 0.9927633 0.00586852 -0.11994412 0.81039678] [-0.00664242 0.99995962 -0.00605343 -0.01088229] [ 0.11990375 0.00680634 0.99276219 -0.11127396] [ 0. 0. 0. 1. ]] SLAMing on 213.99463043999998 meters Centerline goodness : 0.144788 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.11 [[ 0.99283191 -0.00238629 -0.11949523 0.82991741] [ 0.001811 0.99998624 -0.00492273 -0.00963948] [ 0.11950533 0.00467104 0.99282257 -0.10852182] [ 0. 0. 0. 1. ]] SLAMing on 214.02463043999998 meters Centerline goodness : 0.184296 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.11 [[ 0.99283642 -0.00231571 -0.11945908 0.83003268] [ 0.00176574 0.99998735 -0.00470945 -0.01113741] [ 0.11946847 0.00446478 0.99282796 -0.10872452] [ 0. 0. 0. 1. ]] SLAMing on 214.05463043999998 meters Centerline goodness : 0.138664 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.11 [[ 0.99279366 -0.00203871 -0.11981897 0.83156309] [ 0.00153048 0.99998944 -0.00433345 -0.0128365 ] [ 0.11982654 0.00411884 0.9927863 -0.10942448] [ 0. 0. 0. 1. ]] SLAMing on 214.08463043999998 meters Centerline goodness : 0.138648 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.11 [[ 0.99276597 -0.00192636 -0.12005007 0.83248892] [ 0.0014336 0.99999019 -0.0041909 -0.01335806] [ 0.12005697 0.00398848 0.99275899 -0.10987268] [ 0. 0. 0. 1. ]] SLAMing on 214.11463043999998 meters Centerline goodness : 0.140394 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.11 [[ 0.99271961 -0.00188803 -0.12043346 0.8337176 ] [ 0.00139847 0.99999041 -0.00414935 -0.01380641] [ 0.12044014 0.00395072 0.99271273 -0.11020881] [ 0. 0. 0. 1. ]] SLAMing on 214.14463044 meters Centerline goodness : 0.093087 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.11 [[ 0.99267038 -0.00182803 -0.12083947 0.83518157] [ 0.00134674 0.99999083 -0.00406444 -0.01452467] [ 0.1208458 0.00387191 0.99266374 -0.11077079] [ 0. 0. 0. 1. ]] SLAMing on 214.17463044 meters Centerline goodness : 0.096287 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.11 [[ 0.99260588 -0.00171598 -0.12136977 0.83657493] [ 0.00124563 0.99999142 -0.00395114 -0.01539539] [ 0.1213755 0.00377074 0.9925995 -0.11088259] [ 0. 0. 0. 1. ]] SLAMing on 214.20463044 meters Centerline goodness : 0.111241 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.11 [[ 0.99261611 -0.0016542 -0.12128693 0.83634205] [ 0.001196 0.99999187 -0.00385051 -0.01594645] [ 0.12129232 0.00367702 0.99261002 -0.11085146] [ 0. 0. 0. 1. ]] SLAMing on 214.23463044 meters Centerline goodness : 0.159229 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.11 [[ 0.99261315 -0.00149215 -0.12131322 0.83641919] [ 0.00105919 0.99999284 -0.00363338 -0.01669145] [ 0.12131778 0.00347804 0.99260763 -0.11082476] [ 0. 0. 0. 1. ]] SLAMing on 214.26463044 meters Centerline goodness : 0.115284 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 9.92380011e-01 -7.23801478e-04 -1.23212779e-01 7.92162684e-01] [ 2.50736626e-04 9.99992539e-01 -3.85487662e-03 -1.87706917e-02] [ 1.23214650e-01 3.79460854e-03 9.92372788e-01 -1.15715441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29463044 meters Centerline goodness : 0.113856 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 9.92385213e-01 -6.56134188e-04 -1.23171258e-01 7.92546553e-01] [ 1.94829776e-04 9.99992923e-01 -3.75723494e-03 -1.96852809e-02] [ 1.23172852e-01 3.70462697e-03 9.92378317e-01 -1.16249068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32463044 meters Centerline goodness : 0.113856 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 9.92385213e-01 -6.56134188e-04 -1.23171258e-01 7.92546553e-01] [ 1.94829776e-04 9.99992923e-01 -3.75723494e-03 -1.96852809e-02] [ 1.23172852e-01 3.70462697e-03 9.92378317e-01 -1.16249068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35463044 meters Centerline goodness : 0.157575 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 9.92395864e-01 -5.86640882e-04 -1.23085763e-01 7.92122947e-01] [ 1.33554187e-04 9.99993186e-01 -3.68928338e-03 -1.99789508e-02] [ 1.23087089e-01 3.64479095e-03 9.92389180e-01 -1.16020820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38463044 meters Centerline goodness : 0.095500 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 9.92406509e-01 -4.95614274e-04 -1.23000304e-01 7.91686080e-01] [ 5.43708181e-05 9.99993552e-01 -3.59066693e-03 -2.03244077e-02] [ 1.23001291e-01 3.55671360e-03 9.92400137e-01 -1.15762377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41463044 meters Centerline goodness : 0.122436 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.02, Z:-0.12 [[ 9.92392788e-01 -3.97687840e-04 -1.23111317e-01 7.91689216e-01] [-3.14681003e-05 9.99993931e-01 -3.48395381e-03 -2.06731336e-02] [ 1.23111955e-01 3.46132471e-03 9.92386752e-01 -1.15410564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44463044 meters Centerline goodness : 0.112420 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.12 [[ 9.92179367e-01 3.04244902e-06 -1.24820282e-01 7.46364650e-01] [-5.10225679e-04 9.99991744e-01 -4.03133978e-03 -2.41239889e-02] [ 1.24819239e-01 4.06349867e-03 9.92171178e-01 -1.19617447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47463044 meters Centerline goodness : 0.125239 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.12 [[ 9.92176934e-01 1.44920902e-04 -1.24839542e-01 7.46298476e-01] [-6.26123982e-04 9.99992526e-01 -3.81534524e-03 -2.51128937e-02] [ 1.24838056e-01 3.86366257e-03 9.92169608e-01 -1.19409589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50463044 meters Centerline goodness : 0.129745 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.12 [[ 9.92202909e-01 2.81757545e-04 -1.24632694e-01 7.45662662e-01] [-7.34999604e-04 9.99993283e-01 -3.59065570e-03 -2.61647689e-02] [ 1.24630845e-01 3.65426401e-03 9.92196452e-01 -1.19216484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53463044 meters Centerline goodness : 0.111794 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92240109e-01 2.95464858e-04 -1.24336155e-01 7.44695669e-01] [-7.34923027e-04 9.99993645e-01 -3.48858402e-03 -2.71517677e-02] [ 1.24334334e-01 3.55289049e-03 9.92234020e-01 -1.18901586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56463044 meters Centerline goodness : 0.143263 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92316046e-01 2.32002252e-04 -1.23728777e-01 7.42610133e-01] [-6.50944991e-04 9.99994192e-01 -3.34556168e-03 -2.95528212e-02] [ 1.23727282e-01 3.40039517e-03 9.92310434e-01 -1.18195395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59463044 meters Centerline goodness : 0.150259 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92329979e-01 3.54553338e-04 -1.23616691e-01 7.42098466e-01] [-7.48345632e-04 9.99994793e-01 -3.13917411e-03 -3.04602739e-02] [ 1.23614934e-01 3.20760459e-03 9.92325077e-01 -1.17875300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62463044 meters Centerline goodness : 0.107829 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92344288e-01 5.52569450e-04 -1.23501050e-01 7.41909941e-01] [-9.15393138e-04 9.99995431e-01 -2.88109476e-03 -3.11452866e-02] [ 1.23498893e-01 2.97208994e-03 9.92340259e-01 -1.17961296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65463044 meters Centerline goodness : 0.105604 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92351027e-01 6.89099059e-04 -1.23446204e-01 7.41645788e-01] [-1.03478248e-03 9.99995721e-01 -2.73618255e-03 -3.14509359e-02] [ 1.23443790e-01 2.84299354e-03 9.92347494e-01 -1.17803132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68463043999998 meters Centerline goodness : 0.185449 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92427865e-01 7.56900299e-04 -1.22826540e-01 7.39701290e-01] [-1.09621645e-03 9.99995768e-01 -2.69500920e-03 -3.16264603e-02] [ 1.22823980e-01 2.80924670e-03 9.92424495e-01 -1.17301743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71463043999998 meters Centerline goodness : 0.381204 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92441855e-01 7.70543357e-04 -1.22713365e-01 7.39371934e-01] [-1.10793582e-03 9.99995792e-01 -2.68122194e-03 -3.18921516e-02] [ 1.22710782e-01 2.79691541e-03 9.92438533e-01 -1.17265659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74463043999998 meters Centerline goodness : 0.111980 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92421226e-01 7.90147375e-04 -1.22879963e-01 7.39999549e-01] [-1.12133625e-03 9.99995923e-01 -2.62608922e-03 -3.23758882e-02] [ 1.22877387e-01 2.74397644e-03 9.92418066e-01 -1.17506343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77463043999998 meters Centerline goodness : 0.147272 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.12 [[ 9.92378993e-01 9.07541768e-04 -1.23219766e-01 7.41469768e-01] [-1.21789359e-03 9.99996273e-01 -2.44338745e-03 -3.31555868e-02] [ 1.23217089e-01 2.57483494e-03 9.92376400e-01 -1.18212427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80463043999998 meters Centerline goodness : 0.130474 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.12 [[ 9.92227397e-01 9.43642973e-04 -1.24434327e-01 7.45390518e-01] [-1.22019072e-03 9.99996952e-01 -2.14624509e-03 -3.56410650e-02] [ 1.24431923e-01 2.28139680e-03 9.92225525e-01 -1.19212376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83463043999998 meters Centerline goodness : 0.114037 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.12 [[ 0.99218509 0.00104833 -0.1247704 0.74655075] [-0.00128874 0.99999747 -0.00184615 -0.03765521] [ 0.12476815 0.00199252 0.99218392 -0.11949421] [ 0. 0. 0. 1. ]] SLAMing on 214.86463043999998 meters Centerline goodness : 0.109427 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.12 [[ 9.91838593e-01 9.73242266e-04 -1.27496111e-01 7.03963674e-01] [-1.30075406e-03 9.99996065e-01 -2.48556317e-03 -4.17460477e-02] [ 1.27493190e-01 2.63111856e-03 9.91835956e-01 -1.24879523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89463044 meters Centerline goodness : 0.113834 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.13 [[ 0.99181029 0.00104924 -0.12771552 0.70495551] [-0.00133573 0.99999678 -0.0021576 -0.04421346] [ 0.12771285 0.00231052 0.99180849 -0.12529862] [ 0. 0. 0. 1. ]] SLAMing on 214.92463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.95463044 meters Centerline goodness : 0.046435 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.05, Z:-0.13 [[ 0.991851 -0.00260677 -0.12737658 0.70465029] [ 0.00203541 0.99998728 -0.00461555 -0.05223822] [ 0.127387 0.00431867 0.99184369 -0.12578871] [ 0. 0. 0. 1. ]] SLAMing on 214.98463044 meters Centerline goodness : 0.116635 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.06, Z:-0.13 [[ 0.99185062 -0.00226143 -0.12738616 0.70481474] [ 0.00177449 0.99999068 -0.00393594 -0.05561361] [ 0.12739387 0.00367782 0.99184539 -0.12586634] [ 0. 0. 0. 1. ]] SLAMing on 215.01463044 meters Centerline goodness : 0.115836 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.13 [[ 0.99180501 -0.0019031 -0.12774661 0.70601264] [ 0.00149113 0.99999338 -0.00332051 -0.05847592] [ 0.12775208 0.00310281 0.99180128 -0.1261588 ] [ 0. 0. 0. 1. ]] SLAMing on 215.04463044 meters Centerline goodness : 0.176981 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.13 [[ 0.99172331 -0.00141472 -0.12838564 0.70876575] [ 0.0011013 0.99999624 -0.00251215 -0.06378645] [ 0.12838872 0.00234996 0.99172114 -0.12726329] [ 0. 0. 0. 1. ]] SLAMing on 215.07463044 meters Centerline goodness : 0.109144 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.07, Z:-0.13 [[ 9.91708979e-01 -1.22281435e-03 -1.28498274e-01 7.09188163e-01] [ 9.53958332e-04 9.99997226e-01 -2.15381812e-03 -6.60151267e-02] [ 1.28500551e-01 2.01337877e-03 9.91707394e-01 -1.27451164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10463044 meters Centerline goodness : 0.046918 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.12 [[ 0.99184124 0.00670388 -0.12730285 0.72819707] [-0.00709104 0.99997151 -0.0025883 -0.07338895] [ 0.12728188 0.00346989 0.99186052 -0.12370598] [ 0. 0. 0. 1. ]] SLAMing on 215.13463044 meters Centerline goodness : 0.440124 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.07, Z:-0.13 [[ 9.92045831e-01 -3.77790466e-04 -1.25876634e-01 7.08420241e-01] [ 1.92500882e-04 9.99998880e-01 -1.48415429e-03 -7.24240618e-02] [ 1.25877053e-01 1.44811771e-03 9.92044793e-01 -1.27751897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16463044 meters Centerline goodness : 0.090383 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.07, Z:-0.13 [[ 9.92064555e-01 -3.37357258e-04 -1.25729090e-01 7.08168334e-01] [ 1.72447206e-04 9.99999111e-01 -1.32251174e-03 -7.40218175e-02] [ 1.25729424e-01 1.29033539e-03 9.92063731e-01 -1.27892103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19463044 meters Centerline goodness : 0.198248 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92062454e-01 -2.37488159e-04 -1.25745902e-01 7.08444283e-01] [ 1.00403918e-04 9.99999394e-01 -1.09650538e-03 -7.57742584e-02] [ 1.25746086e-01 1.07517644e-03 9.92061876e-01 -1.28137981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22463044 meters Centerline goodness : 0.293691 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92070263e-01 1.17646411e-04 -1.25684446e-01 7.08662193e-01] [-1.93954022e-04 9.99999804e-01 -5.94899626e-04 -7.81059579e-02] [ 1.25684352e-01 6.14559232e-04 9.92070091e-01 -1.28604721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25463044 meters Centerline goodness : 0.093071 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92085226e-01 3.40218365e-04 -1.25565877e-01 7.08237561e-01] [-3.76627052e-04 9.99999894e-01 -2.66217267e-04 -7.93155044e-02] [ 1.25565773e-01 3.11401723e-04 9.92085248e-01 -1.28431702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28463044 meters Centerline goodness : 0.092975 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92114951e-01 4.64414417e-04 -1.25330397e-01 7.07602882e-01] [-4.69771717e-04 9.99999890e-01 -1.31905599e-05 -8.06812904e-02] [ 1.25330377e-01 7.19632274e-05 9.92115060e-01 -1.28310187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31463044 meters Centerline goodness : 0.094372 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92137555e-01 4.89135831e-04 -1.25151239e-01 7.06989823e-01] [-4.72470142e-04 9.99999875e-01 1.62846157e-04 -8.20846194e-02] [ 1.25151303e-01 -1.02435564e-04 9.92137662e-01 -1.28082882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34463044 meters Centerline goodness : 0.092545 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 9.92150046e-01 5.73319956e-04 -1.25051820e-01 7.06794635e-01] [-5.10013684e-04 9.99999725e-01 5.38254442e-04 -8.51752056e-02] [ 1.25052095e-01 -4.70251029e-04 9.92150066e-01 -1.28051238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37463044 meters Centerline goodness : 0.431931 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 9.92150189e-01 6.63132001e-04 -1.25050240e-01 7.06836877e-01] [-5.66528230e-04 9.99999513e-01 8.08079922e-04 -8.69614517e-02] [ 1.25050715e-01 -7.30892157e-04 9.92150082e-01 -1.28020027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40463044 meters Centerline goodness : 0.100407 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 9.92161774e-01 7.38511045e-04 -1.24957867e-01 7.06671101e-01] [-6.06554563e-04 9.99999218e-01 1.09405050e-03 -8.89088702e-02] [ 1.24958577e-01 -1.00968132e-03 9.92161446e-01 -1.28023131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43463043999998 meters Centerline goodness : 0.087646 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 9.92235491e-01 7.89696203e-04 -1.24370842e-01 7.05093395e-01] [-5.91729193e-04 9.99998499e-01 1.62868006e-03 -9.28675419e-02] [ 1.24371942e-01 -1.54244030e-03 9.92234469e-01 -1.27669154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46463043999998 meters Centerline goodness : 0.094126 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.09, Z:-0.13 [[ 9.92257771e-01 8.47616665e-04 -1.24192579e-01 7.04712533e-01] [-6.21844663e-04 9.99998083e-01 1.85667166e-03 -9.44650203e-02] [ 1.24193914e-01 -1.76506839e-03 9.92256396e-01 -1.27668653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49463043999998 meters Centerline goodness : 0.094808 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.10, Z:-0.13 [[ 9.92248306e-01 8.83778945e-04 -1.24267927e-01 7.04890646e-01] [-6.39623415e-04 9.99997786e-01 2.00463421e-03 -9.56034896e-02] [ 1.24269424e-01 -1.90961022e-03 9.92246675e-01 -1.27605039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52463043999998 meters Centerline goodness : 0.134723 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.13 [[ 9.92235488e-01 8.97640992e-04 -1.24370134e-01 7.05529790e-01] [-6.54945851e-04 9.99997801e-01 1.99226690e-03 -9.56056396e-02] [ 1.24371649e-01 -1.89534222e-03 9.92233894e-01 -1.28073080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55463043999998 meters Centerline goodness : 0.161976 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 0.99213524 0.00145443 -0.1251621 0.70811827] [-0.00119742 0.99999702 0.00212861 -0.09351903] [ 0.12516482 -0.001962 0.99213402 -0.12887858] [ 0. 0. 0. 1. ]] SLAMing on 215.58463043999998 meters Centerline goodness : 0.108185 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 0.99212365 0.00156227 -0.12525265 0.70857797] [-0.00132493 0.99999717 0.00197812 -0.09172166] [ 0.12525538 -0.00179659 0.99212291 -0.12920617] [ 0. 0. 0. 1. ]] SLAMing on 215.61463043999998 meters Centerline goodness : 0.093289 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 0.99209929 0.00163589 -0.12544451 0.70915542] [-0.00142837 0.99999746 0.00174423 -0.08961343] [ 0.12544705 -0.00155127 0.9920991 -0.12940142] [ 0. 0. 0. 1. ]] SLAMing on 215.64463044 meters Centerline goodness : 0.459223 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.09, Z:-0.13 [[ 0.99209521 0.00161083 -0.12547708 0.70924356] [-0.00144822 0.99999799 0.00138716 -0.08722474] [ 0.12547906 -0.00119448 0.99209555 -0.12952809] [ 0. 0. 0. 1. ]] SLAMing on 215.67463044 meters Centerline goodness : 0.443672 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92080373e-01 1.87203216e-03 -1.25590720e-01 7.09387157e-01] [-1.77892817e-03 9.99998053e-01 8.53476982e-04 -8.09807662e-02] [ 1.25592073e-01 -6.23300893e-04 9.92081772e-01 -1.29562377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70463044 meters Centerline goodness : 0.138435 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92063745e-01 1.75790147e-03 -1.25723649e-01 7.09869050e-01] [-1.72340314e-03 9.99998442e-01 3.83165462e-04 -7.79255865e-02] [ 1.25724126e-01 -1.63452032e-04 9.92065228e-01 -1.29890737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73463044 meters Centerline goodness : 0.091571 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.13 [[ 9.92041202e-01 1.69924291e-03 -1.25902212e-01 7.10408939e-01] [-1.70867190e-03 9.99998540e-01 3.31010870e-05 -7.53356276e-02] [ 1.25902084e-01 1.82287930e-04 9.92042656e-01 -1.30132829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76463044 meters Centerline goodness : 0.089653 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.07, Z:-0.13 [[ 9.92034353e-01 1.61949286e-03 -1.25957216e-01 7.10697849e-01] [-1.68492143e-03 9.99998495e-01 -4.12914154e-04 -7.10565903e-02] [ 1.25956358e-01 6.21853038e-04 9.92035589e-01 -1.30328038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79463044 meters Centerline goodness : 0.094586 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92125354e-01 -6.09234806e-03 -1.25100622e-01 6.90901710e-01] [ 6.18937394e-03 9.99980771e-01 3.86919779e-04 -6.71377931e-02] [ 1.25095860e-01 -1.15816746e-03 9.92143984e-01 -1.34530248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82463044 meters Centerline goodness : 0.278336 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92104089e-01 -6.23662668e-03 -1.25262049e-01 6.91183211e-01] [ 6.32198876e-03 9.99979976e-01 2.83957499e-04 -6.70444208e-02] [ 1.25257770e-01 -1.07362066e-03 9.92123651e-01 -1.34295728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85463044 meters Centerline goodness : 0.105216 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92100515e-01 -6.44066593e-03 -1.25280029e-01 6.91067788e-01] [ 6.51945949e-03 9.99978724e-01 2.18951305e-04 -6.75553022e-02] [ 1.25275953e-01 -1.03397978e-03 9.92121397e-01 -1.33974512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88463044 meters Centerline goodness : 0.093188 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92233439e-01 -8.44087555e-03 -1.24102999e-01 6.86531813e-01] [ 8.34926129e-03 9.99964353e-01 -1.25829680e-03 -6.85698497e-02] [ 1.24109196e-01 2.12355796e-04 9.92268543e-01 -1.32386163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91463044 meters Centerline goodness : 0.093113 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92278965e-01 -8.48704467e-03 -1.23735307e-01 6.85515502e-01] [ 8.41818931e-03 9.99963984e-01 -1.07929438e-03 -6.99000859e-02] [ 1.23740011e-01 2.93338729e-05 9.92314672e-01 -1.32144471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94463044 meters Centerline goodness : 0.118204 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92287687e-01 -8.44796320e-03 -1.23668018e-01 6.85278048e-01] [ 8.40197628e-03 9.99964304e-01 -8.93392137e-04 -7.08520035e-02] [ 1.23671151e-01 -1.52553738e-04 9.92323245e-01 -1.31944501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97463044 meters Centerline goodness : 0.098584 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92264242e-01 -8.34162567e-03 -1.23863193e-01 6.85821215e-01] [ 8.32046381e-03 9.99965148e-01 -6.88148171e-04 -7.14958119e-02] [ 1.23864616e-01 -3.47774391e-04 9.92299066e-01 -1.31912337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00463044 meters Centerline goodness : 0.105280 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 9.92221428e-01 -8.32001772e-03 -1.24207144e-01 6.86801899e-01] [ 8.29554889e-03 9.99965336e-01 -7.14193585e-04 -7.11440476e-02] [ 1.24208780e-01 -3.21728252e-04 9.92256053e-01 -1.32015401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03463044 meters Centerline goodness : 0.093925 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.07, Z:-0.13 [[ 9.92152442e-01 -1.11562633e-03 -1.25029143e-01 7.06917474e-01] [ 8.81846211e-04 9.99997758e-01 -1.92513483e-03 -7.34398493e-02] [ 1.25031010e-01 1.79977075e-03 9.92151202e-01 -1.28160615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06463044 meters Centerline goodness : 0.099218 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.07, Z:-0.13 [[ 9.92147713e-01 -1.17123326e-03 -1.25066157e-01 7.07214677e-01] [ 9.17404381e-04 9.99997401e-01 -2.08713181e-03 -7.27314950e-02] [ 1.25068277e-01 1.95600681e-03 9.92146209e-01 -1.28437186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09463044 meters Centerline goodness : 0.097471 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.08, Z:-0.13 [[ 0.99211212 0.00700525 -0.12515778 0.68847794] [-0.00748239 0.99996642 -0.00334262 -0.07627709] [ 0.12513016 0.00425274 0.99213122 -0.13252268] [ 0. 0. 0. 1. ]] SLAMing on 216.12463044 meters Centerline goodness : 0.196156 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 0.99208881 0.00696044 -0.12534489 0.68923825] [-0.00747471 0.99996546 -0.00363298 -0.07445269] [ 0.12531528 0.00454115 0.99210658 -0.13292229] [ 0. 0. 0. 1. ]] SLAMing on 216.15463044 meters Centerline goodness : 0.452108 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 0.99206738 0.00695222 -0.12551482 0.6899144 ] [-0.00750149 0.99996424 -0.00390402 -0.07242404] [ 0.12548319 0.0048146 0.99208406 -0.13329864] [ 0. 0. 0. 1. ]] SLAMing on 216.18463043999998 meters Centerline goodness : 0.232609 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 0.99210063 0.00742067 -0.12522487 0.68912727] [-0.00798162 0.99996023 -0.00397844 -0.06800869] [ 0.12519037 0.00494651 0.99212041 -0.13332952] [ 0. 0. 0. 1. ]] SLAMing on 216.21463043999998 meters Centerline goodness : 0.232609 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 0.99210063 0.00742067 -0.12522487 0.68912727] [-0.00798162 0.99996023 -0.00397844 -0.06800869] [ 0.12519037 0.00494651 0.99212041 -0.13332952] [ 0. 0. 0. 1. ]] SLAMing on 216.24463043999998 meters Centerline goodness : 0.202366 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.13 [[ 0.99213046 0.00733566 -0.12499334 0.68820371] [-0.00793003 0.99995949 -0.00425833 -0.06612327] [ 0.12495704 0.00521603 0.99214844 -0.13297354] [ 0. 0. 0. 1. ]] SLAMing on 216.27463043999998 meters Centerline goodness : 0.255608 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99214109 0.00722992 -0.12491514 0.68781726] [-0.00785239 0.99995908 -0.00449152 -0.06482916] [ 0.12487756 0.0054371 0.99215726 -0.132785 ] [ 0. 0. 0. 1. ]] SLAMing on 216.30463043999998 meters Centerline goodness : 0.463834 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.14 [[ 9.91950346e-01 -1.07533141e-03 -1.26622885e-01 6.68454015e-01] [ 5.48578784e-04 9.99991051e-01 -4.19480945e-03 -6.05747773e-02] [ 1.26626262e-01 4.09158006e-03 9.91942059e-01 -1.36320043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33463043999998 meters Centerline goodness : 0.093166 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.14 [[ 9.91902284e-01 -1.26041617e-03 -1.26997130e-01 6.69693699e-01] [ 7.00136916e-04 9.99989826e-01 -4.45628926e-03 -5.96187771e-02] [ 1.27001454e-01 4.33128811e-03 9.91893074e-01 -1.36634649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36463043999998 meters Centerline goodness : 0.115310 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.14 [[ 9.91880567e-01 -1.35393470e-03 -1.27165668e-01 6.70115781e-01] [ 7.70530718e-04 9.99988953e-01 -4.63682774e-03 -5.86338026e-02] [ 1.27170541e-01 4.50119427e-03 9.91870653e-01 -1.36630287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39463044 meters Centerline goodness : 0.180200 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.14 [[ 9.91894188e-01 -1.48332866e-03 -1.27057937e-01 6.69645214e-01] [ 8.82801092e-04 9.99988174e-01 -4.78258862e-03 -5.80449313e-02] [ 1.27063529e-01 4.63165497e-03 9.91883767e-01 -1.36346982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42463044 meters Centerline goodness : 0.107482 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.13 [[ 0.99217664 -0.00932546 -0.1244932 0.68599877] [ 0.00896479 0.99995384 -0.00345706 -0.05329256] [ 0.12451969 0.00231396 0.99221444 -0.13210477] [ 0. 0. 0. 1. ]] SLAMing on 216.45463044 meters Centerline goodness : 0.104654 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.06, Z:-0.13 [[ 0.99243029 -0.00257992 -0.12278217 0.70295926] [ 0.00198839 0.99998582 -0.00494007 -0.05599436] [ 0.12279318 0.00465853 0.99242135 -0.12818962] [ 0. 0. 0. 1. ]] SLAMing on 216.48463044 meters Centerline goodness : 0.146369 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.06, Z:-0.13 [[ 0.99245995 -0.00261575 -0.12254142 0.70241933] [ 0.00203787 0.99998621 -0.00484091 -0.0567486 ] [ 0.12255239 0.00455468 0.99245159 -0.12815099] [ 0. 0. 0. 1. ]] SLAMing on 216.51463044 meters Centerline goodness : 0.204635 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.06, Z:-0.13 [[ 0.99246657 -0.00263864 -0.12248736 0.70249851] [ 0.00206987 0.99998648 -0.00477057 -0.05740793] [ 0.12249829 0.00448109 0.99245861 -0.12834363] [ 0. 0. 0. 1. ]] SLAMing on 216.54463044 meters Centerline goodness : 0.045080 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.06, Z:-0.13 [[ 0.99239293 -0.00269188 -0.12308138 0.70464566] [ 0.00212061 0.99998636 -0.00477214 -0.05796096] [ 0.12309254 0.00447483 0.99238511 -0.12910318] [ 0. 0. 0. 1. ]] SLAMing on 216.57463044 meters Centerline goodness : 0.343974 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.13 [[ 0.99232746 -0.00261183 -0.1236098 0.70630242] [ 0.00204208 0.9999867 -0.00473575 -0.05793127] [ 0.12362052 0.004447 0.9923196 -0.12950056] [ 0. 0. 0. 1. ]] SLAMing on 216.60463044 meters Centerline goodness : 0.477815 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.13 [[ 0.99229175 -0.0025662 -0.12389711 0.70726178] [ 0.0019922 0.9999867 -0.00475651 -0.05761224] [ 0.12390767 0.00447302 0.99228367 -0.12982362] [ 0. 0. 0. 1. ]] SLAMing on 216.63463044 meters Centerline goodness : 0.422326 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.13 [[ 0.99229734 -0.00244291 -0.12385487 0.70697424] [ 0.0018581 0.99998658 -0.00483704 -0.05646384] [ 0.12386502 0.00456964 0.99228855 -0.12962631] [ 0. 0. 0. 1. ]] SLAMing on 216.66463044 meters Centerline goodness : 0.272545 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.13 [[ 0.99231587 -0.0024745 -0.12370564 0.70659208] [ 0.00186948 0.99998572 -0.00500662 -0.05530978] [ 0.12371626 0.00473689 0.99230633 -0.12968765] [ 0. 0. 0. 1. ]] SLAMing on 216.69463044 meters Centerline goodness : 0.108739 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99231784 -0.00245899 -0.12369013 0.70660643] [ 0.00183209 0.9999849 -0.00518178 -0.05380362] [ 0.123701 0.00491536 0.99230736 -0.1298431 ] [ 0. 0. 0. 1. ]] SLAMing on 216.72463044 meters Centerline goodness : 0.107036 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99228387 -0.002417 -0.12396325 0.70781596] [ 0.00173858 0.99998292 -0.00558071 -0.05034625] [ 0.12397462 0.00532213 0.99227112 -0.13054261] [ 0. 0. 0. 1. ]] SLAMing on 216.75463044 meters Centerline goodness : 0.045207 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99227997 -0.00249919 -0.12399281 0.70770998] [ 0.00179607 0.99998167 -0.00578212 -0.04917651] [ 0.12400498 0.00551478 0.99226627 -0.13039022] [ 0. 0. 0. 1. ]] SLAMing on 216.78463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 216.81463044 meters Centerline goodness : 0.143201 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99226594 -0.00260948 -0.12410277 0.70789318] [ 0.00188527 0.99998051 -0.00595268 -0.04827818] [ 0.12411589 0.00567268 0.99225151 -0.13028021] [ 0. 0. 0. 1. ]] SLAMing on 216.84463044 meters Centerline goodness : 0.110368 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99221753 -0.00293492 -0.12448197 0.70866151] [ 0.00218442 0.99997861 -0.00616499 -0.04855792] [ 0.1244974 0.00584508 0.99220272 -0.13001025] [ 0. 0. 0. 1. ]] SLAMing on 216.87463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 216.90463044 meters Centerline goodness : 0.235565 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99221707 -0.00296587 -0.12448493 0.7082677 ] [ 0.00223628 0.9999795 -0.00600015 -0.04966802] [ 0.12450017 0.00567507 0.99220336 -0.12940467] [ 0. 0. 0. 1. ]] SLAMing on 216.93463043999998 meters Centerline goodness : 0.087300 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99229896 -0.00314975 -0.12382586 0.70629015] [ 0.00243989 0.99997971 -0.00588399 -0.0513347 ] [ 0.12384188 0.00553655 0.99228652 -0.12886655] [ 0. 0. 0. 1. ]] SLAMing on 216.96463043999998 meters Centerline goodness : 0.105791 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99230742 -0.00324822 -0.12375552 0.70600202] [ 0.00254742 0.99997982 -0.00582059 -0.05264203] [ 0.12377193 0.00546056 0.99229567 -0.12868546] [ 0. 0. 0. 1. ]] SLAMing on 216.99463043999998 meters Centerline goodness : 0.389832 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.13 [[ 0.99229432 -0.00319235 -0.12386196 0.70617019] [ 0.00251287 0.99998093 -0.00564162 -0.05389962] [ 0.1238776 0.0052869 0.99228342 -0.12851822] [ 0. 0. 0. 1. ]] SLAMing on 217.02463043999998 meters Centerline goodness : 0.108886 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99229871 0.00468351 -0.12377938 0.68744531] [-0.00554934 0.99996248 -0.00665114 -0.06079674] [ 0.12374358 0.00728681 0.99228747 -0.13210002] [ 0. 0. 0. 1. ]] SLAMing on 217.05463043999998 meters Centerline goodness : 0.457006 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99230441 0.00491396 -0.12372471 0.68751505] [-0.00575583 0.99996265 -0.00644783 -0.06132766] [ 0.12368841 0.00711035 0.99229563 -0.13234712] [ 0. 0. 0. 1. ]] SLAMing on 217.08463043999998 meters Centerline goodness : 0.227170 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99227779 0.0047848 -0.12394314 0.68829593] [-0.0056476 0.9999622 -0.00661078 -0.06145472] [ 0.12390682 0.00725971 0.9922673 -0.1326742 ] [ 0. 0. 0. 1. ]] SLAMing on 217.11463043999998 meters Centerline goodness : 0.407719 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99222955 0.00474742 -0.1243301 0.68960663] [-0.00562584 0.99996163 -0.0067151 -0.06126052] [ 0.12429345 0.00736238 0.99221819 -0.13313098] [ 0. 0. 0. 1. ]] SLAMing on 217.14463044 meters Centerline goodness : 0.111510 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.9921979 0.00486705 -0.12457785 0.69057417] [-0.0057397 0.99996144 -0.00664689 -0.06107881] [ 0.12454069 0.00731007 0.99218757 -0.1335842 ] [ 0. 0. 0. 1. ]] SLAMing on 217.17463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.20463044 meters Centerline goodness : 0.251427 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99226525 0.00555978 -0.12401111 0.68905465] [-0.00636549 0.99996112 -0.00610182 -0.06085289] [ 0.12397236 0.00684402 0.99226207 -0.13346803] [ 0. 0. 0. 1. ]] SLAMing on 217.23463044 meters Centerline goodness : 0.408966 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99230936 0.0054639 -0.12366197 0.68781807] [-0.00627921 0.99996104 -0.00620421 -0.06083254] [ 0.12362325 0.00693299 0.99230501 -0.13307935] [ 0. 0. 0. 1. ]] SLAMing on 217.26463044 meters Centerline goodness : 0.413092 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99231104 0.00546679 -0.12364837 0.68796593] [-0.00629577 0.99996024 -0.00631466 -0.05994998] [ 0.12360893 0.00704457 0.992306 -0.13331527] [ 0. 0. 0. 1. ]] SLAMing on 217.29463044 meters Centerline goodness : 0.456744 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99228605 0.00554562 -0.12384522 0.68877097] [-0.00637514 0.99995982 -0.00630281 -0.05940889] [ 0.12380529 0.00704372 0.99228153 -0.1337008 ] [ 0. 0. 0. 1. ]] SLAMing on 217.32463044 meters Centerline goodness : 0.288612 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.13 [[ 0.99227324 0.00557533 -0.12394648 0.68931901] [-0.00640884 0.99995945 -0.00632703 -0.05894929] [ 0.12390618 0.0070725 0.99226873 -0.13406014] [ 0. 0. 0. 1. ]] SLAMing on 217.35463044 meters Centerline goodness : 0.461093 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.14 [[ 0.99199361 0.00536954 -0.12617386 0.64628755] [-0.00631223 0.99995507 -0.0070727 -0.06176466] [ 0.12613021 0.00781252 0.99198293 -0.13965599] [ 0. 0. 0. 1. ]] SLAMing on 217.38463044 meters Centerline goodness : 0.452809 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.14 [[ 0.99195278 0.00517675 -0.12650248 0.64747121] [-0.00615338 0.9999542 -0.00733064 -0.061227 ] [ 0.12645873 0.00805007 0.9919392 -0.14008736] [ 0. 0. 0. 1. ]] SLAMing on 217.41463044 meters Centerline goodness : 0.112082 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.14 [[ 0.99191969 0.00514599 -0.12676296 0.64844191] [-0.00613544 0.99995368 -0.00741631 -0.06070352] [ 0.12671892 0.00813413 0.99190531 -0.14047274] [ 0. 0. 0. 1. ]] SLAMing on 217.44463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.47463044 meters Centerline goodness : 0.097548 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.15 [[ 9.92086392e-01 2.54157252e-04 -1.25556868e-01 6.35527394e-01] [-1.00072275e-03 9.99982194e-01 -5.88299713e-03 -5.19801944e-02] [ 1.25553137e-01 5.96208901e-03 9.92068981e-01 -1.46598510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50463044 meters Centerline goodness : 0.451092 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.15 [[ 9.92102471e-01 2.21325192e-04 -1.25429812e-01 6.35002418e-01] [-1.00044542e-03 9.99980596e-01 -6.14864570e-03 -4.99038866e-02] [ 1.25426017e-01 6.22557228e-03 9.92083442e-01 -1.46421631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53463044 meters Centerline goodness : 0.092688 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.15 [[ 9.92151536e-01 2.13838126e-04 -1.25041131e-01 6.33747465e-01] [-1.01745536e-03 9.99979238e-01 -6.36299594e-03 -4.79176614e-02] [ 1.25037174e-01 6.44027997e-03 9.92131155e-01 -1.46143801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56463044 meters Centerline goodness : 0.101255 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.15 [[ 9.92167531e-01 -6.19057672e-05 -1.24914316e-01 6.33359913e-01] [-8.23687666e-04 9.99974894e-01 -7.03794728e-03 -4.38602374e-02] [ 1.24911616e-01 7.08571316e-03 9.92142571e-01 -1.46170678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.62463044 meters Centerline goodness : 0.136554 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.15 [[ 9.92061289e-01 -8.58211120e-04 -1.25752386e-01 6.35566885e-01] [-1.39518403e-04 9.99968587e-01 -7.92505812e-03 -4.14513413e-02] [ 1.25755237e-01 7.87968814e-03 9.92030005e-01 -1.46280938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65463044 meters Centerline goodness : 0.099860 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.15 [[ 9.92097868e-01 -1.40528798e-03 -1.25458539e-01 6.34117475e-01] [ 3.90589300e-04 9.99967020e-01 -8.11215264e-03 -4.17915211e-02] [ 1.25465801e-01 7.99904657e-03 9.92065697e-01 -1.45281282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68463043999998 meters Centerline goodness : 0.096277 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.14 [[ 9.92092204e-01 -1.53905142e-03 -1.25501754e-01 6.34058024e-01] [ 5.35205990e-04 9.99967600e-01 -8.03198225e-03 -4.27231584e-02] [ 1.25510050e-01 7.90129768e-03 9.92060884e-01 -1.44951073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71463043999998 meters Centerline goodness : 0.107888 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.14 [[ 9.92091108e-01 -1.89633103e-03 -1.25505526e-01 6.34080584e-01] [ 8.86175854e-04 9.99966769e-01 -8.10403220e-03 -4.39194201e-02] [ 1.25516723e-01 7.92871831e-03 9.92059821e-01 -1.44810724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74463043999998 meters Centerline goodness : 0.104763 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.05, Z:-0.15 [[ 0.99191577 -0.00465483 -0.12681262 0.58911203] [ 0.00337611 0.99994129 -0.0102966 -0.04961966] [ 0.1268531 0.00978523 0.99187325 -0.14910941] [ 0. 0. 0. 1. ]] SLAMing on 217.77463043999998 meters Centerline goodness : 0.101263 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.15 [[ 0.99192026 -0.012394 -0.12625604 0.60794887] [ 0.01135547 0.99989554 -0.008942 -0.04590881] [ 0.12635368 0.00743605 0.99195738 -0.1455221 ] [ 0. 0. 0. 1. ]] SLAMing on 217.80463043999998 meters Centerline goodness : 0.109708 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.15 [[ 0.99193501 -0.01225757 -0.12615341 0.60779603] [ 0.01124471 0.9998986 -0.00873777 -0.04649423] [ 0.12624772 0.00724874 0.99197226 -0.14561309] [ 0. 0. 0. 1. ]] SLAMing on 217.83463043999998 meters Centerline goodness : 0.102574 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.15 [[ 0.99193833 -0.01211759 -0.12614081 0.60788272] [ 0.01112442 0.99990135 -0.00857501 -0.04674163] [ 0.12623228 0.00710264 0.99197528 -0.14574491] [ 0. 0. 0. 1. ]] SLAMing on 217.86463043999998 meters Centerline goodness : 0.107898 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.14 [[ 0.99184814 -0.00449305 -0.12734628 0.62925189] [ 0.00331236 0.99994956 -0.00948172 -0.04926171] [ 0.12738246 0.00898261 0.991813 -0.1419513 ] [ 0. 0. 0. 1. ]] SLAMing on 217.89463044 meters Centerline goodness : 0.110736 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.14 [[ 0.9918115 -0.00448845 -0.1276315 0.6301845 ] [ 0.0032978 0.99994907 -0.00953862 -0.04904542] [ 0.12766781 0.00903961 0.99177579 -0.14225651] [ 0. 0. 0. 1. ]] SLAMing on 217.92463044 meters Centerline goodness : 0.110307 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.14 [[ 0.99177749 -0.00432882 -0.12790104 0.63110569] [ 0.00314723 0.9999505 -0.00943894 -0.04918421] [ 0.12793557 0.00895879 0.99174202 -0.14256499] [ 0. 0. 0. 1. ]] SLAMing on 217.95463044 meters Centerline goodness : 0.442627 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.14 [[ 0.99179323 -0.00400301 -0.12778953 0.63097798] [ 0.00287186 0.99995506 -0.00903472 -0.05070182] [ 0.12781995 0.00859358 0.99176016 -0.14277481] [ 0. 0. 0. 1. ]] SLAMing on 217.98463044 meters Centerline goodness : 0.107753 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.06, Z:-0.15 [[ 0.99188921 0.00344659 -0.12705868 0.61235311] [-0.00479603 0.99993528 -0.0103162 -0.05824308] [ 0.1270149 0.01084191 0.99184155 -0.14682652] [ 0. 0. 0. 1. ]] SLAMing on 218.01463044 meters Centerline goodness : 0.165906 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:-0.14 [[ 0.99206684 -0.00420707 -0.12564113 0.63084731] [ 0.00311649 0.99995576 -0.00887547 -0.05543289] [ 0.12567291 0.0084135 0.99203605 -0.14394701] [ 0. 0. 0. 1. ]] SLAMing on 218.04463044 meters Centerline goodness : 0.045867 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.06, Z:-0.15 [[ 0.99227922 0.00311544 -0.12398487 0.61233687] [-0.00435043 0.99994357 -0.00969132 -0.06360756] [ 0.12394768 0.01015589 0.99223678 -0.14788339] [ 0. 0. 0. 1. ]] SLAMing on 218.07463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.10463044 meters Centerline goodness : 0.371927 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.15 [[ 0.99228231 0.00320487 -0.12395785 0.61254699] [-0.00437913 0.99994807 -0.00920168 -0.06783673] [ 0.12392193 0.00967349 0.99224482 -0.14811749] [ 0. 0. 0. 1. ]] SLAMing on 218.13463044 meters Centerline goodness : 0.371927 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.15 [[ 0.99228231 0.00320487 -0.12395785 0.61254699] [-0.00437913 0.99994807 -0.00920168 -0.06783673] [ 0.12392193 0.00967349 0.99224482 -0.14811749] [ 0. 0. 0. 1. ]] SLAMing on 218.16463044 meters Centerline goodness : 0.267039 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.15 [[ 0.99224216 0.00325594 -0.12427749 0.61385803] [-0.00441621 0.99994919 -0.0090618 -0.06892943] [ 0.12424167 0.00954033 0.99220612 -0.1486978 ] [ 0. 0. 0. 1. ]] SLAMing on 218.19463044 meters Centerline goodness : 0.259857 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.99218608 0.00342174 -0.12472001 0.61545456] [-0.00456472 0.99995016 -0.00887973 -0.06985886] [ 0.12468341 0.00937965 0.99215224 -0.14934157] [ 0. 0. 0. 1. ]] SLAMing on 218.22463044 meters Centerline goodness : 0.125312 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.99218415 0.0035844 -0.12473074 0.61554382] [-0.00470984 0.99995081 -0.00872928 -0.07005406] [ 0.12469332 0.00924851 0.99215223 -0.14942398] [ 0. 0. 0. 1. ]] SLAMing on 218.25463044 meters Centerline goodness : 0.100811 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.99219069 0.00366767 -0.12467631 0.61537738] [-0.00478336 0.99995114 -0.00865052 -0.07021262] [ 0.12463849 0.00917934 0.99215976 -0.14941352] [ 0. 0. 0. 1. ]] SLAMing on 218.28463044 meters Centerline goodness : 0.345595 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.992217 0.00367067 -0.12446664 0.61501685] [-0.00478299 0.99995124 -0.00863899 -0.07079119] [ 0.12442886 0.00916708 0.99218618 -0.14964195] [ 0. 0. 0. 1. ]] SLAMing on 218.31463044 meters Centerline goodness : 0.247388 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.15 [[ 0.99221773 0.00361235 -0.12446254 0.61495136] [-0.00472629 0.99995137 -0.00865592 -0.07132677] [ 0.12442522 0.0091768 0.99218655 -0.14959516] [ 0. 0. 0. 1. ]] SLAMing on 218.34463044 meters Centerline goodness : 0.090882 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.15 [[ 0.99222577 0.0036558 -0.12439721 0.61474949] [-0.00475527 0.9999522 -0.00854262 -0.07205942] [ 0.12436003 0.00906775 0.99219573 -0.14956066] [ 0. 0. 0. 1. ]] SLAMing on 218.37463044 meters Centerline goodness : 0.453793 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.15 [[ 0.99223267 0.00373739 -0.12433966 0.61464004] [-0.00481946 0.99995308 -0.0084029 -0.07266969] [ 0.12430242 0.00893688 0.99220413 -0.14960958] [ 0. 0. 0. 1. ]] SLAMing on 218.40463044 meters Centerline goodness : 0.090239 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.99220881 0.00380917 -0.12452776 0.61531134] [-0.00487358 0.99995414 -0.00824401 -0.07363382] [ 0.12449064 0.00878667 0.99218188 -0.14985778] [ 0. 0. 0. 1. ]] SLAMing on 218.43463043999998 meters Centerline goodness : 0.103989 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.99217682 0.00374841 -0.12478428 0.61618968] [-0.00481871 0.99995414 -0.00827645 -0.07399234] [ 0.12474753 0.008813 0.99214938 -0.15008813] [ 0. 0. 0. 1. ]] SLAMing on 218.46463043999998 meters Centerline goodness : 0.457006 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.9921611 0.00370662 -0.12491039 0.61658733] [-0.00478382 0.9999539 -0.00832488 -0.07405283] [ 0.12487378 0.00885717 0.9921331 -0.15020923] [ 0. 0. 0. 1. ]] SLAMing on 218.49463043999998 meters Centerline goodness : 0.299602 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.99215199 0.00380965 -0.12497965 0.61701345] [-0.00487421 0.99995439 -0.00821322 -0.07419611] [ 0.12494266 0.00875794 0.99212531 -0.15054364] [ 0. 0. 0. 1. ]] SLAMing on 218.52463043999998 meters Centerline goodness : 0.086951 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.99212943 0.00385674 -0.1251572 0.61783576] [-0.00491303 0.99995486 -0.00813209 -0.07439137] [ 0.12512018 0.00868299 0.9921036 -0.15095745] [ 0. 0. 0. 1. ]] SLAMing on 218.55463043999998 meters Centerline goodness : 0.459864 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.15 [[ 0.9921123 0.00386691 -0.12529261 0.61850107] [-0.00491918 0.99995517 -0.00809022 -0.07451208] [ 0.12525571 0.00864274 0.99208685 -0.15130621] [ 0. 0. 0. 1. ]] SLAMing on 218.58463043999998 meters Centerline goodness : 0.299823 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.15 [[ 0.99214416 0.00386812 -0.12504002 0.61745545] [-0.00490165 0.99995631 -0.00795895 -0.07509727] [ 0.12500377 0.00850933 0.99211978 -0.15077434] [ 0. 0. 0. 1. ]] SLAMing on 218.61463043999998 meters Centerline goodness : 0.095790 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.15 [[ 0.9921622 0.00380838 -0.12489862 0.61686788] [-0.00484196 0.99995649 -0.00797286 -0.07526583] [ 0.12486282 0.00851512 0.99213747 -0.15045835] [ 0. 0. 0. 1. ]] SLAMing on 218.64463044 meters Centerline goodness : 0.311224 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.15 [[ 0.99216975 0.00373606 -0.12484082 0.61700605] [-0.00477254 0.99995658 -0.00800438 -0.07548964] [ 0.12480549 0.00853751 0.9921445 -0.15077199] [ 0. 0. 0. 1. ]] SLAMing on 218.67463044 meters Centerline goodness : 0.121028 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.15 [[ 0.99210822 0.00356944 -0.12533369 0.61918235] [-0.00462661 0.99995613 -0.00814474 -0.07564112] [ 0.12529912 0.00866034 0.99208121 -0.15185967] [ 0. 0. 0. 1. ]] SLAMing on 218.70463044 meters Centerline goodness : 0.115427 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.15 [[ 0.99207904 0.00353656 -0.12556543 0.62005487] [-0.00459602 0.99995624 -0.00814883 -0.07595997] [ 0.12553111 0.00866138 0.99205187 -0.15222707] [ 0. 0. 0. 1. ]] SLAMing on 218.73463044 meters Centerline goodness : 0.457037 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.08, Z:-0.15 [[ 0.9920679 0.00354595 -0.1256531 0.62038824] [-0.00460017 0.99995661 -0.00810075 -0.07629365] [ 0.12561892 0.00861452 0.99204117 -0.15234056] [ 0. 0. 0. 1. ]] SLAMing on 218.76463044 meters Centerline goodness : 0.317932 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99217214 -0.00424179 -0.12480565 0.63867851] [ 0.00342246 0.99997117 -0.00677847 -0.07202506] [ 0.1248308 0.00629827 0.99215805 -0.1489387 ] [ 0. 0. 0. 1. ]] SLAMing on 218.79463044 meters Centerline goodness : 0.099086 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99217312 -0.00425706 -0.12479733 0.63864978] [ 0.00344207 0.99997133 -0.00674546 -0.07228995] [ 0.12482247 0.0062631 0.99215932 -0.14889845] [ 0. 0. 0. 1. ]] SLAMing on 218.82463044 meters Centerline goodness : 0.089977 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99217214 -0.00418922 -0.1248074 0.63880461] [ 0.00338108 0.99997193 -0.00668622 -0.07225666] [ 0.12483191 0.00621189 0.99215846 -0.149061 ] [ 0. 0. 0. 1. ]] SLAMing on 218.85463044 meters Centerline goodness : 0.099300 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99217037 -0.00412176 -0.12482378 0.63904527] [ 0.00332092 0.99997255 -0.00662318 -0.0722058 ] [ 0.12484766 0.0061568 0.99215682 -0.14929179] [ 0. 0. 0. 1. ]] SLAMing on 218.88463044 meters Centerline goodness : 0.105657 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99213094 -0.00409435 -0.12513764 0.64022303] [ 0.00329349 0.99997276 -0.00660603 -0.07207815] [ 0.12516128 0.00614191 0.9921174 -0.14971816] [ 0. 0. 0. 1. ]] SLAMing on 218.91463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.94463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.97463044 meters Centerline goodness : 0.383132 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99221261 -0.00431149 -0.12448109 0.63812018] [ 0.0034722 0.99996976 -0.00695849 -0.07057242] [ 0.12450733 0.00647207 0.99219758 -0.14914103] [ 0. 0. 0. 1. ]] SLAMing on 219.00463044 meters Centerline goodness : 0.171344 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99222197 -0.00428788 -0.12440731 0.63789213] [ 0.0034429 0.99996953 -0.00700626 -0.06991279] [ 0.12443356 0.00652345 0.9922065 -0.14913438] [ 0. 0. 0. 1. ]] SLAMing on 219.03463044 meters Centerline goodness : 0.090363 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99220982 -0.00425017 -0.12450542 0.63831495] [ 0.00340082 0.99996948 -0.00703357 -0.06930155] [ 0.12453152 0.00655536 0.992194 -0.14936569] [ 0. 0. 0. 1. ]] SLAMing on 219.06463044 meters Centerline goodness : 0.458759 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99219957 -0.00422684 -0.1245879 0.63855758] [ 0.00337049 0.99996923 -0.00708342 -0.0686598 ] [ 0.12461401 0.00660824 0.99218329 -0.14940221] [ 0. 0. 0. 1. ]] SLAMing on 219.09463044 meters Centerline goodness : 0.098918 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99224749 -0.00432868 -0.12420221 0.63706992] [ 0.0034423 0.99996706 -0.00735028 -0.06727319] [ 0.12422993 0.00686575 0.9922297 -0.14881055] [ 0. 0. 0. 1. ]] SLAMing on 219.12463044 meters Centerline goodness : 0.088031 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99227252 -0.00436328 -0.12400087 0.63630834] [ 0.00346347 0.99996609 -0.00747117 -0.06658914] [ 0.12402927 0.00698396 0.99225398 -0.14851758] [ 0. 0. 0. 1. ]] SLAMing on 219.15463044 meters Centerline goodness : 0.087171 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99228255 -0.00440615 -0.12391906 0.63606284] [ 0.00349051 0.99996499 -0.00760515 -0.06579952] [ 0.12394823 0.00711392 0.99226319 -0.14852195] [ 0. 0. 0. 1. ]] SLAMing on 219.18463043999998 meters Centerline goodness : 0.139538 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99227688 -0.00437675 -0.12396546 0.6364127 ] [ 0.00345514 0.99996478 -0.00764842 -0.06538447] [ 0.12399457 0.00716103 0.99225706 -0.14882152] [ 0. 0. 0. 1. ]] SLAMing on 219.21463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.24463043999998 meters Centerline goodness : 0.099373 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99228331 -0.00426929 -0.12391778 0.63653951] [ 0.00336294 0.99996605 -0.00752239 -0.06576969] [ 0.12394569 0.00704762 0.99226398 -0.14913053] [ 0. 0. 0. 1. ]] SLAMing on 219.27463043999998 meters Centerline goodness : 0.112754 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99229306 -0.0040531 -0.12384693 0.63634357] [ 0.00318071 0.99996872 -0.00724105 -0.06663213] [ 0.1238724 0.00679132 0.99227491 -0.14908373] [ 0. 0. 0. 1. ]] SLAMing on 219.30463043999998 meters Centerline goodness : 0.087958 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99227479 -0.00396473 -0.12399604 0.6368078 ] [ 0.00311942 0.99997056 -0.00701066 -0.06802656] [ 0.12402019 0.00656971 0.99225795 -0.14914601] [ 0. 0. 0. 1. ]] SLAMing on 219.33463043999998 meters Centerline goodness : 0.097577 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99225409 -0.00388346 -0.1241642 0.63741227] [ 0.00306778 0.99997245 -0.00675985 -0.0698189 ] [ 0.12418703 0.00632658 0.99223866 -0.14931088] [ 0. 0. 0. 1. ]] SLAMing on 219.36463043999998 meters Centerline goodness : 0.456759 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99216041 -0.00376667 -0.1249141 0.6398483 ] [ 0.00299935 0.99997547 -0.0063303 -0.07334341] [ 0.12493488 0.00590601 0.99214737 -0.14989461] [ 0. 0. 0. 1. ]] SLAMing on 219.39463044 meters Centerline goodness : 0.383432 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.15 [[ 0.99211357 -0.0035948 -0.12529059 0.64134113] [ 0.00285678 0.9999775 -0.00606965 -0.07445102] [ 0.12530959 0.00566385 0.99210152 -0.15049462] [ 0. 0. 0. 1. ]] SLAMing on 219.42463044 meters Centerline goodness : 0.280457 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.15 [[ 0.99209595 -0.00347486 -0.12543344 0.64197062] [ 0.00275485 0.99997872 -0.00591312 -0.07503029] [ 0.12545132 0.00552083 0.99208442 -0.15080788] [ 0. 0. 0. 1. ]] SLAMing on 219.45463044 meters Centerline goodness : 0.206293 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.15 [[ 0.99209289 -0.00334654 -0.12546113 0.64223723] [ 0.00264453 0.99997991 -0.00576152 -0.07549982] [ 0.12547789 0.00538418 0.99208181 -0.15102851] [ 0. 0. 0. 1. ]] SLAMing on 219.48463044 meters Centerline goodness : 0.100841 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.15 [[ 0.99209703 -0.00313138 -0.12543399 0.64243151] [ 0.00244817 0.99998132 -0.00560059 -0.07595588] [ 0.12544918 0.00524925 0.99208616 -0.1513464 ] [ 0. 0. 0. 1. ]] SLAMing on 219.51463044 meters Centerline goodness : 0.458686 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.15 [[ 0.99208053 -0.00310534 -0.12556503 0.64290111] [ 0.00242491 0.99998154 -0.00557143 -0.07631701] [ 0.12558001 0.00522283 0.99206975 -0.15155258] [ 0. 0. 0. 1. ]] SLAMing on 219.54463044 meters Centerline goodness : 0.293481 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.15 [[ 0.99204912 -0.00307203 -0.12581381 0.6437041 ] [ 0.00240299 0.99998216 -0.00546912 -0.07709946] [ 0.12582836 0.00512331 0.9920388 -0.15173746] [ 0. 0. 0. 1. ]] SLAMing on 219.57463044 meters Centerline goodness : 0.280466 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.15 [[ 0.99200229 -0.00300684 -0.12618402 0.64518551] [ 0.00237956 0.99998405 -0.0051216 -0.0796908 ] [ 0.12619741 0.00478038 0.99199363 -0.15232144] [ 0. 0. 0. 1. ]] SLAMing on 219.60463044 meters Centerline goodness : 0.217297 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.15 [[ 0.99203071 -0.00297801 -0.12596111 0.64468065] [ 0.00238444 0.99998533 -0.00486286 -0.08153874] [ 0.12597374 0.00452376 0.99202326 -0.15224662] [ 0. 0. 0. 1. ]] SLAMing on 219.63463044 meters Centerline goodness : 0.454337 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.15 [[ 0.99205702 -0.00293313 -0.12575481 0.64375374] [ 0.00237992 0.99998682 -0.00454914 -0.08366957] [ 0.1257665 0.00421372 0.99205092 -0.15165605] [ 0. 0. 0. 1. ]] SLAMing on 219.66463044 meters Centerline goodness : 0.439548 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.15 [[ 0.99223063 -0.00489745 -0.12431566 0.63830282] [ 0.00421976 0.99997477 -0.00571412 -0.0887211 ] [ 0.1243405 0.00514514 0.99222627 -0.14978602] [ 0. 0. 0. 1. ]] SLAMing on 219.69463044 meters Centerline goodness : 0.095584 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.15 [[ 0.99227163 -0.00493575 -0.12398653 0.63731388] [ 0.00429781 0.99997612 -0.00541218 -0.0912316 ] [ 0.12401028 0.00483749 0.99226914 -0.14943756] [ 0. 0. 0. 1. ]] SLAMing on 219.72463044 meters Centerline goodness : 0.347829 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.15 [[ 0.99230162 -0.00492704 -0.12374659 0.63662331] [ 0.00433873 0.99997797 -0.00502315 -0.09420035] [ 0.12376861 0.00444758 0.99230114 -0.14917351] [ 0. 0. 0. 1. ]] SLAMing on 219.75463044 meters Centerline goodness : 0.093012 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.15 [[ 0.99231989 -0.00488814 -0.12360153 0.63619519] [ 0.00435594 0.99998004 -0.00457564 -0.09731225] [ 0.12362143 0.0040021 0.99232138 -0.14894842] [ 0. 0. 0. 1. ]] SLAMing on 219.78463044 meters Centerline goodness : 0.459020 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.15 [[ 0.99216199 -0.00623071 -0.12480289 0.64022141] [ 0.00564344 0.99997128 -0.00505853 -0.10466067] [ 0.12483082 0.00431457 0.99216866 -0.14972163] [ 0. 0. 0. 1. ]] SLAMing on 219.81463044 meters Centerline goodness : 0.231600 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.15 [[ 0.99211382 -0.00607585 -0.12519287 0.64163315] [ 0.00554479 0.99997409 -0.0045899 -0.1078169 ] [ 0.12521752 0.00385954 0.99212181 -0.15009907] [ 0. 0. 0. 1. ]] SLAMing on 219.84463044 meters Centerline goodness : 0.090467 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.15 [[ 0.99210531 -0.00592592 -0.12526749 0.64257982] [ 0.00547131 0.99997714 -0.00397289 -0.11475389] [ 0.12528817 0.00325615 0.99211505 -0.15074699] [ 0. 0. 0. 1. ]] SLAMing on 219.87463044 meters Centerline goodness : 0.290035 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.15 [[ 0.99211911 -0.00575601 -0.12516604 0.64247842] [ 0.00534796 0.99997923 -0.00359584 -0.11706992] [ 0.12518414 0.00289812 0.99212929 -0.15085313] [ 0. 0. 0. 1. ]] SLAMing on 219.90463044 meters Centerline goodness : 0.414469 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.15 [[ 0.99214536 -0.00556278 -0.12496654 0.64192764] [ 0.00519078 0.99998108 -0.00330221 -0.11857901] [ 0.12498254 0.0026276 0.99215546 -0.15076582] [ 0. 0. 0. 1. ]] SLAMing on 219.93463043999998 meters Centerline goodness : 0.460459 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.15 [[ 0.99213721 -0.00538629 -0.12503899 0.64193083] [ 0.00503935 0.99998253 -0.00309078 -0.11951449] [ 0.12505345 0.00243636 0.99214701 -0.15058509] [ 0. 0. 0. 1. ]] SLAMing on 219.96463043999998 meters Centerline goodness : 0.101541 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.15 [[ 0.99211614 -0.00516676 -0.1252153 0.64260586] [ 0.00483698 0.99998399 -0.00293759 -0.11960323] [ 0.12522847 0.00230877 0.99212524 -0.15089324] [ 0. 0. 0. 1. ]] SLAMing on 219.99463043999998 meters Centerline goodness : 0.182466 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.15 [[ 0.9919988 -0.00440687 -0.12617039 0.64574247] [ 0.0041078 0.9999881 -0.00263047 -0.11838455] [ 0.12618048 0.00209114 0.9920051 -0.15190257] [ 0. 0. 0. 1. ]] SLAMing on 220.02463043999998 meters Centerline goodness : 0.182466 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.15 [[ 0.9919988 -0.00440687 -0.12617039 0.64574247] [ 0.0041078 0.9999881 -0.00263047 -0.11838455] [ 0.12618048 0.00209114 0.9920051 -0.15190257] [ 0. 0. 0. 1. ]] SLAMing on 220.05463043999998 meters Centerline goodness : 0.357972 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.15 [[ 0.99200016 -0.00429164 -0.12616364 0.64594982] [ 0.00398988 0.99998854 -0.00264444 -0.11762979] [ 0.12617355 0.0021199 0.99200592 -0.15224656] [ 0. 0. 0. 1. ]] SLAMing on 220.08463043999998 meters Centerline goodness : 0.459410 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.15 [[ 0.99203255 -0.00412974 -0.1259141 0.645239 ] [ 0.00384333 0.99998945 -0.00251753 -0.11752469] [ 0.12592317 0.00201354 0.99203795 -0.15216372] [ 0. 0. 0. 1. ]] SLAMing on 220.11463043999998 meters Centerline goodness : 0.234500 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.15 [[ 0.99209523 -0.00417749 -0.12541773 0.64342888] [ 0.00391746 0.99998964 -0.00231987 -0.11934311] [ 0.12542612 0.00181022 0.99210131 -0.15142057] [ 0. 0. 0. 1. ]] SLAMing on 220.14463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.17463044 meters Centerline goodness : 0.456895 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.15 [[ 0.99203875 -0.00593501 -0.12579305 0.64449818] [ 0.00555666 0.99997892 -0.00335834 -0.12418842] [ 0.12581033 0.00263261 0.99205082 -0.15129729] [ 0. 0. 0. 1. ]] SLAMing on 220.20463044 meters Centerline goodness : 0.451030 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.15 [[ 0.99201228 -0.00593841 -0.12600147 0.64520462] [ 0.00560391 0.99997977 -0.00300905 -0.12672068] [ 0.12601679 0.00227891 0.99202549 -0.15139024] [ 0. 0. 0. 1. ]] SLAMing on 220.23463044 meters Centerline goodness : 0.087229 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.15 [[ 0.99189989 -0.00721895 -0.12681675 0.64779137] [ 0.00684346 0.99997082 -0.00339635 -0.13360878] [ 0.12683757 0.00250097 0.99192035 -0.15157875] [ 0. 0. 0. 1. ]] SLAMing on 220.26463044 meters Centerline goodness : 0.326904 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.15 [[ 0.9918787 -0.00715651 -0.1269859 0.64832125] [ 0.00682675 0.9999721 -0.00303185 -0.13622859] [ 0.12700406 0.00214033 0.99189989 -0.15153914] [ 0. 0. 0. 1. ]] SLAMing on 220.29463044 meters Centerline goodness : 0.096112 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 9.92021910e-01 -4.50717825e-04 -1.26064776e-01 6.31733146e-01] [-9.95004549e-05 9.99990498e-01 -4.35823701e-03 -1.44685599e-01] [ 1.26065543e-01 4.33601010e-03 9.92012438e-01 -1.56023315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32463044 meters Centerline goodness : 0.092302 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 9.92030963e-01 -3.18307070e-04 -1.25993914e-01 6.31350696e-01] [-1.87619820e-04 9.99991968e-01 -4.00359961e-03 -1.47065205e-01] [ 1.25994176e-01 3.99533374e-03 9.92022936e-01 -1.55704983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35463044 meters Centerline goodness : 0.453672 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 9.92038686e-01 -2.14333358e-04 -1.25933310e-01 6.31214375e-01] [-2.74192436e-04 9.99992505e-01 -3.86189527e-03 -1.47665003e-01] [ 1.25933194e-01 3.86567947e-03 9.92031193e-01 -1.55726530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38463044 meters Centerline goodness : 0.258816 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 9.92033305e-01 -1.35245162e-04 -1.25975804e-01 6.31615032e-01] [-3.47768302e-04 9.99992673e-01 -3.81217578e-03 -1.47774196e-01] [ 1.25975397e-01 3.82561573e-03 9.92025990e-01 -1.56087199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41463044 meters Centerline goodness : 0.094436 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 9.92036567e-01 -8.12003412e-05 -1.25950160e-01 6.31742378e-01] [-4.00982206e-04 9.99992688e-01 -3.80300239e-03 -1.48245180e-01] [ 1.25949548e-01 3.82322121e-03 9.92029281e-01 -1.56350314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44463044 meters Centerline goodness : 0.096219 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.16 [[ 0.99206049 0.00764362 -0.12552909 0.61171145] [-0.00830403 0.99995429 -0.00473857 -0.154658 ] [ 0.12548713 0.00574334 0.99207862 -0.15958996] [ 0. 0. 0. 1. ]] SLAMing on 220.47463044 meters Centerline goodness : 0.101607 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 9.92109659e-01 9.13250324e-04 -1.25369818e-01 6.29137063e-01] [-1.30008161e-03 9.99994644e-01 -3.00373806e-03 -1.49739317e-01] [ 1.25366403e-01 3.14302853e-03 9.92105532e-01 -1.55431528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50463044 meters Centerline goodness : 0.178564 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 0.99211232 0.00104875 -0.1253477 0.62897139] [-0.00142603 0.99999472 -0.00292024 -0.14942797] [ 0.12534398 0.00307596 0.99210858 -0.15532183] [ 0. 0. 0. 1. ]] SLAMing on 220.53463044 meters Centerline goodness : 0.390786 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 0.99214246 0.00101234 -0.12510919 0.62854635] [-0.00141926 0.99999399 -0.00316347 -0.14814838] [ 0.12510524 0.00331617 0.99213794 -0.15555246] [ 0. 0. 0. 1. ]] SLAMing on 220.56463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.59463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.62463044 meters Centerline goodness : 0.414277 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.15 [[ 0.99229925 0.00327384 -0.12382037 0.62349592] [-0.00349773 0.99999262 -0.00159082 -0.14441149] [ 0.12381425 0.00201166 0.99230337 -0.15407997] [ 0. 0. 0. 1. ]] SLAMing on 220.65463044 meters Centerline goodness : 0.439005 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.15 [[ 0.9922697 0.00323031 -0.12405805 0.62441798] [-0.00348046 0.99999232 -0.0017997 -0.14291643] [ 0.12405128 0.00221756 0.99227333 -0.15445382] [ 0. 0. 0. 1. ]] SLAMing on 220.68463043999998 meters Centerline goodness : 0.190997 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.15 [[ 0.99221624 0.00307311 -0.12448891 0.62586248] [-0.00336162 0.99999213 -0.00210753 -0.14162089] [ 0.12448145 0.00250961 0.99221876 -0.15488512] [ 0. 0. 0. 1. ]] SLAMing on 220.71463043999998 meters Centerline goodness : 0.460616 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99216553 0.00291376 -0.12489627 0.6271836 ] [-0.00324333 0.99999177 -0.00243555 -0.14013735] [ 0.12488815 0.00282154 0.99216682 -0.15530024] [ 0. 0. 0. 1. ]] SLAMing on 220.74463043999998 meters Centerline goodness : 0.363150 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.9921174 0.00299535 -0.12527609 0.62797425] [-0.0033386 0.99999123 -0.00253005 -0.13821547] [ 0.12526741 0.00292836 0.99211869 -0.15513385] [ 0. 0. 0. 1. ]] SLAMing on 220.77463043999998 meters Centerline goodness : 0.183249 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.15 [[ 0.99215452 0.00296005 -0.12498257 0.6266745 ] [-0.00330433 0.9999913 -0.00254738 -0.13808744] [ 0.12497394 0.00294038 0.99215567 -0.15444322] [ 0. 0. 0. 1. ]] SLAMing on 220.80463043999998 meters Centerline goodness : 0.132428 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.9923815 -0.005531 -0.12307872 0.60314636] [ 0.00527399 0.99998318 -0.00241385 -0.13572787] [ 0.12309 0.00174634 0.99239398 -0.15752654] [ 0. 0. 0. 1. ]] SLAMing on 220.83463043999998 meters Centerline goodness : 0.194713 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99250883 -0.00645771 -0.12200211 0.60019812] [ 0.00614756 0.99997684 -0.00291842 -0.13697146] [ 0.12201814 0.00214655 0.99252555 -0.15705086] [ 0. 0. 0. 1. ]] SLAMing on 220.86463043999998 meters Centerline goodness : 0.192776 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99249151 -0.00640431 -0.1221458 0.60070388] [ 0.0061096 0.99997745 -0.00278717 -0.13748814] [ 0.1221609 0.00201998 0.99250825 -0.1571709 ] [ 0. 0. 0. 1. ]] SLAMing on 220.89463044 meters Centerline goodness : 0.459120 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99245239 -0.00635212 -0.12246591 0.6016654 ] [ 0.006071 0.99997801 -0.00266856 -0.1379312 ] [ 0.12248017 0.00190493 0.99246913 -0.15731421] [ 0. 0. 0. 1. ]] SLAMing on 220.92463044 meters Centerline goodness : 0.231605 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99241382 -0.00631354 -0.12278005 0.60280081] [ 0.00604278 0.99997842 -0.00257756 -0.13838492] [ 0.12279368 0.00181608 0.99243056 -0.15768334] [ 0. 0. 0. 1. ]] SLAMing on 220.95463044 meters Centerline goodness : 0.460343 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99238756 -0.0063103 -0.12299234 0.60336996] [ 0.00604473 0.99997852 -0.00253228 -0.13879209] [ 0.12300567 0.00176955 0.99240439 -0.15767339] [ 0. 0. 0. 1. ]] SLAMing on 220.98463044 meters Centerline goodness : 0.464296 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99238494 -0.00625516 -0.12301624 0.60327284] [ 0.00600195 0.99997904 -0.00242883 -0.13936807] [ 0.12302885 0.001672 0.99240169 -0.15748275] [ 0. 0. 0. 1. ]] SLAMing on 221.01463044 meters Centerline goodness : 0.458947 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99237402 -0.00618526 -0.12310787 0.60352548] [ 0.00593888 0.99997956 -0.00236818 -0.13940269] [ 0.12312001 0.001619 0.99239047 -0.15752459] [ 0. 0. 0. 1. ]] SLAMing on 221.04463044 meters Centerline goodness : 0.465247 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99235379 -0.00614676 -0.12327279 0.60431624] [ 0.00590241 0.99997983 -0.00234727 -0.13938044] [ 0.12328473 0.00160172 0.99237005 -0.15795472] [ 0. 0. 0. 1. ]] SLAMing on 221.07463044 meters Centerline goodness : 0.121259 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.16 [[ 0.99231574 -0.0061094 -0.12358057 0.60558894] [ 0.00586144 0.99998001 -0.00236994 -0.13920788] [ 0.12359258 0.00162737 0.99233171 -0.15856189] [ 0. 0. 0. 1. ]] SLAMing on 221.10463044 meters Centerline goodness : 0.389051 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.16 [[ 0.99227611 -0.00606919 -0.12390034 0.60649772] [ 0.00578964 0.99997982 -0.00261622 -0.13757678] [ 0.12391372 0.00187867 0.99229122 -0.15882665] [ 0. 0. 0. 1. ]] SLAMing on 221.13463044 meters Centerline goodness : 0.092382 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.16 [[ 0.99232651 -0.00593863 -0.12350234 0.60529944] [ 0.00565029 0.99998043 -0.00268477 -0.13615673] [ 0.12351587 0.00196635 0.99234065 -0.15869184] [ 0. 0. 0. 1. ]] SLAMing on 221.16463044 meters Centerline goodness : 0.151968 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99239507 -0.00580663 -0.1229565 0.60372439] [ 0.00550613 0.99998097 -0.00278362 -0.13437313] [ 0.12297032 0.00208544 0.99240816 -0.15854499] [ 0. 0. 0. 1. ]] SLAMing on 221.19463044 meters Centerline goodness : 0.096750 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99245317 -0.00568585 -0.12249233 0.60247924] [ 0.0053532 0.99998104 -0.00304457 -0.13145943] [ 0.12250732 0.00236587 0.99246479 -0.15860127] [ 0. 0. 0. 1. ]] SLAMing on 221.22463044 meters Centerline goodness : 0.122163 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99243287 -0.00575417 -0.1226535 0.60305354] [ 0.0053989 0.99998021 -0.00322869 -0.13036698] [ 0.12266965 0.00254207 0.9924443 -0.15884132] [ 0. 0. 0. 1. ]] SLAMing on 221.25463044 meters Centerline goodness : 0.122208 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99240407 -0.00575134 -0.12288649 0.60390111] [ 0.00538859 0.99998009 -0.00328403 -0.12983251] [ 0.12290293 0.0025969 0.9924153 -0.15916359] [ 0. 0. 0. 1. ]] SLAMing on 221.28463044 meters Centerline goodness : 0.456962 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99239364 -0.0057607 -0.12297024 0.6040966 ] [ 0.00539613 0.99998 -0.00329755 -0.12977213] [ 0.12298678 0.00260891 0.99240488 -0.15913069] [ 0. 0. 0. 1. ]] SLAMing on 221.31463044 meters Centerline goodness : 0.465462 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99240123 -0.00585472 -0.12290452 0.60380012] [ 0.00548664 0.99997939 -0.00333313 -0.13021824] [ 0.12292151 0.00263347 0.9924129 -0.15896661] [ 0. 0. 0. 1. ]] SLAMing on 221.34463044 meters Centerline goodness : 0.403554 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.15 [[ 9.92415297e-01 5.19370338e-04 -1.22929285e-01 6.22513561e-01] [-1.19580411e-03 9.99984548e-01 -5.42890965e-03 -1.33548631e-01] [ 1.22924566e-01 5.53473232e-03 9.92400583e-01 -1.54615152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37463044 meters Centerline goodness : 0.098412 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.15 [[ 9.92422906e-01 5.38444587e-04 -1.22867756e-01 6.22255975e-01] [-1.21175078e-03 9.99984657e-01 -5.40526604e-03 -1.33435960e-01] [ 1.22862960e-01 5.51319493e-03 9.92408332e-01 -1.54500693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40463044 meters Centerline goodness : 0.090509 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.14, Z:-0.16 [[ 9.92221664e-01 9.15537449e-04 -1.24480244e-01 5.76744504e-01] [-1.55381752e-03 9.99986139e-01 -5.03057047e-03 -1.36258253e-01] [ 1.24473913e-01 5.18486059e-03 9.92209334e-01 -1.59325088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43463043999998 meters Centerline goodness : 0.085746 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.14, Z:-0.16 [[ 9.92247349e-01 9.61771310e-04 -1.24274994e-01 5.76133708e-01] [-1.60422752e-03 9.99985862e-01 -5.06966665e-03 -1.35436572e-01] [ 1.24268361e-01 5.22972866e-03 9.92234863e-01 -1.59232622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46463043999998 meters Centerline goodness : 0.460096 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.16 [[ 9.92217822e-01 5.66165333e-04 -1.24512945e-01 5.77162196e-01] [-1.28821225e-03 9.99982819e-01 -5.71853430e-03 -1.33261561e-01] [ 1.24507568e-01 5.83443075e-03 9.92201504e-01 -1.59756804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49463043999998 meters Centerline goodness : 0.094069 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.16 [[ 9.92192388e-01 4.84057929e-04 -1.24715798e-01 5.77714461e-01] [-1.23178668e-03 9.99981727e-01 -5.91841845e-03 -1.32266838e-01] [ 1.24710654e-01 6.02583299e-03 9.92174855e-01 -1.59899591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52463043999998 meters Centerline goodness : 0.089201 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.16 [[ 9.92188231e-01 5.28992556e-04 -1.24748688e-01 5.77684802e-01] [-1.27995536e-03 9.99981540e-01 -5.93973263e-03 -1.31498330e-01] [ 1.24743243e-01 6.05300556e-03 9.92170592e-01 -1.59766708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55463043999998 meters Centerline goodness : 0.465422 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.16 [[ 9.92201558e-01 6.13758168e-04 -1.24642253e-01 5.77250091e-01] [-1.35516229e-03 9.99981891e-01 -5.86355803e-03 -1.31354320e-01] [ 1.24636397e-01 5.98674189e-03 9.92184422e-01 -1.59598707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58463043999998 meters Centerline goodness : 0.091927 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99229306 -0.00789527 -0.12366144 0.59711957] [ 0.00728588 0.99995899 -0.00537934 -0.12823482] [ 0.12369884 0.0044369 0.99230989 -0.1564295 ] [ 0. 0. 0. 1. ]] SLAMing on 221.61463043999998 meters Centerline goodness : 0.182593 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99228321 -0.00803044 -0.12373176 0.59726129] [ 0.00743509 0.99995846 -0.00527263 -0.13000136] [ 0.12376896 0.00431198 0.99230169 -0.15629379] [ 0. 0. 0. 1. ]] SLAMing on 221.64463044 meters Centerline goodness : 0.097477 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.16 [[ 0.99225072 -0.00794862 -0.12399729 0.59807877] [ 0.00739457 0.99996052 -0.00492787 -0.13205077] [ 0.12403156 0.00397277 0.99227032 -0.1563544 ] [ 0. 0. 0. 1. ]] SLAMing on 221.67463044 meters Centerline goodness : 0.466807 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99221537 -0.00782564 -0.12428764 0.59934931] [ 0.00735838 0.99996403 -0.00421806 -0.13657833] [ 0.12431618 0.00327067 0.99223727 -0.15670228] [ 0. 0. 0. 1. ]] SLAMing on 221.70463044 meters Centerline goodness : 0.152235 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99220366 -0.00774711 -0.124386 0.59981995] [ 0.00732102 0.99996566 -0.00388227 -0.13899793] [ 0.1244118 0.00294137 0.99222631 -0.15685865] [ 0. 0. 0. 1. ]] SLAMing on 221.73463044 meters Centerline goodness : 0.093178 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99218958 -0.00771641 -0.1245002 0.60024877] [ 0.00731855 0.99996655 -0.00365271 -0.14098807] [ 0.12452422 0.00271302 0.99221286 -0.15693323] [ 0. 0. 0. 1. ]] SLAMing on 221.76463044 meters Centerline goodness : 0.404153 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99217311 -0.0076751 -0.12463391 0.60070035] [ 0.00729129 0.99996717 -0.00353537 -0.14200749] [ 0.12465696 0.00259896 0.9921965 -0.15701724] [ 0. 0. 0. 1. ]] SLAMing on 221.79463044 meters Centerline goodness : 0.374854 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99219382 -0.00715121 -0.12450014 0.6003133 ] [ 0.00681815 0.99997195 -0.00310099 -0.14253166] [ 0.12451882 0.00222793 0.99221474 -0.15694474] [ 0. 0. 0. 1. ]] SLAMing on 221.82463044 meters Centerline goodness : 0.407885 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99222469 -0.00705643 -0.12425927 0.59963765] [ 0.00673013 0.99997271 -0.00304553 -0.14250953] [ 0.12427737 0.00218557 0.99224511 -0.15690286] [ 0. 0. 0. 1. ]] SLAMing on 221.85463044 meters Centerline goodness : 0.456711 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.16 [[ 0.99223641 -0.00698738 -0.12416958 0.59936664] [ 0.00666974 0.99997334 -0.00297364 -0.14289969] [ 0.12418705 0.00212238 0.99225656 -0.15687461] [ 0. 0. 0. 1. ]] SLAMing on 221.88463044 meters Centerline goodness : 0.382359 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.15 [[ 9.92226329e-01 4.64388043e-04 -1.24445555e-01 6.18811711e-01] [-1.00437035e-03 9.99990352e-01 -4.27640137e-03 -1.46010680e-01] [ 1.24442369e-01 4.36814746e-03 9.92217222e-01 -1.53000365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91463044 meters Centerline goodness : 0.095393 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.15 [[ 9.92199902e-01 5.27906868e-04 -1.24655833e-01 6.19794156e-01] [-1.05725350e-03 9.99990703e-01 -4.18034879e-03 -1.46509678e-01] [ 1.24652467e-01 4.27953447e-03 9.92191236e-01 -1.53501652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94463044 meters Centerline goodness : 0.095393 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.15 [[ 9.92199902e-01 5.27906868e-04 -1.24655833e-01 6.19794156e-01] [-1.05725350e-03 9.99990703e-01 -4.18034879e-03 -1.46509678e-01] [ 1.24652467e-01 4.27953447e-03 9.92191236e-01 -1.53501652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97463044 meters Centerline goodness : 0.454981 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.15 [[ 9.92169541e-01 5.79848714e-04 -1.24897017e-01 6.20860487e-01] [-1.09663823e-03 9.99991120e-01 -4.06901214e-03 -1.47243085e-01] [ 1.24893549e-01 4.17411676e-03 9.92161367e-01 -1.54043275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00463044 meters Centerline goodness : 0.457170 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.15 [[ 9.92163223e-01 5.43237787e-04 -1.24947366e-01 6.20565194e-01] [-1.03389913e-03 9.99992007e-01 -3.86213224e-03 -1.49469024e-01] [ 1.24944269e-01 3.96104854e-03 9.92155855e-01 -1.53491304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.06463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.09463044 meters Centerline goodness : 0.095090 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.15 [[ 0.99222812 -0.00179183 -0.12441924 0.61681792] [ 0.0011392 0.99998522 -0.00531633 -0.15468565] [ 0.12442692 0.00513327 0.9922155 -0.15115881] [ 0. 0. 0. 1. ]] SLAMing on 222.12463044 meters Centerline goodness : 0.095628 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.15 [[ 0.99220428 -0.0017777 -0.12460944 0.61727282] [ 0.00114738 0.99998618 -0.00512991 -0.15615266] [ 0.12461684 0.00494695 0.99219261 -0.15105962] [ 0. 0. 0. 1. ]] SLAMing on 222.15463044 meters Centerline goodness : 0.426966 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.15 [[ 0.99218856 -0.00179949 -0.12473421 0.61750104] [ 0.00118632 0.99998685 -0.00498996 -0.15757963] [ 0.12474155 0.00480301 0.99217764 -0.15092393] [ 0. 0. 0. 1. ]] SLAMing on 222.18463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.21463043999998 meters Centerline goodness : 0.190326 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.15 [[ 0.99240298 -0.00952583 -0.12266046 0.6360568 ] [ 0.00917205 0.99995199 -0.00344864 -0.15907209] [ 0.12268742 0.00229739 0.9924427 -0.14670518] [ 0. 0. 0. 1. ]] SLAMing on 222.24463043999998 meters Centerline goodness : 0.090368 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.15 [[ 0.99243041 -0.00929894 -0.12245576 0.63513135] [ 0.00900571 0.9999551 -0.00294787 -0.16148978] [ 0.12247768 0.00182276 0.99246959 -0.14612707] [ 0. 0. 0. 1. ]] SLAMing on 222.27463043999998 meters Centerline goodness : 0.195384 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.15 [[ 0.99244529 -0.0091103 -0.12234927 0.6346957 ] [ 0.00886956 0.99995751 -0.00251215 -0.16368764] [ 0.12236696 0.00140799 0.99248393 -0.14585254] [ 0. 0. 0. 1. ]] SLAMing on 222.30463043999998 meters Centerline goodness : 0.288011 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.15 [[ 0.99242735 -0.00898854 -0.12250375 0.63503797] [ 0.0087842 0.99995898 -0.00220807 -0.16551956] [ 0.12251858 0.00111526 0.99246559 -0.145687 ] [ 0. 0. 0. 1. ]] SLAMing on 222.33463043999998 meters Centerline goodness : 0.458384 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.15 [[ 9.92411555e-01 -8.91003935e-03 -1.22637341e-01 6.35466590e-01] [ 8.73324989e-03 9.99959906e-01 -1.97903845e-03 -1.67030167e-01] [ 1.22650057e-01 8.92998081e-04 9.92449579e-01 -1.45725782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36463043999998 meters Centerline goodness : 0.205489 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.15 [[ 9.92370766e-01 -8.76792274e-03 -1.22977174e-01 6.36698612e-01] [ 8.63382296e-03 9.99961410e-01 -1.62331650e-03 -1.69635383e-01] [ 1.22986662e-01 5.49168687e-04 9.92408172e-01 -1.46105621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39463044 meters Centerline goodness : 0.108722 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.15 [[ 9.92361882e-01 -8.62135343e-03 -1.23059202e-01 6.37140555e-01] [ 8.52109222e-03 9.99962796e-01 -1.34102580e-03 -1.71146839e-01] [ 1.23066185e-01 2.82184082e-04 9.92398425e-01 -1.46350353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42463044 meters Centerline goodness : 0.138679 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.15 [[ 9.92364495e-01 -8.43841598e-03 -1.23050814e-01 6.37030973e-01] [ 8.37997268e-03 9.99964395e-01 -9.92501936e-04 -1.72885349e-01] [ 1.23054808e-01 -4.62387785e-05 9.92399875e-01 -1.46220226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45463044 meters Centerline goodness : 0.462161 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.14 [[ 9.92388107e-01 -1.02181355e-03 -1.23145445e-01 6.55414704e-01] [ 7.75909617e-04 9.99997608e-01 -2.04479854e-03 -1.77996534e-01] [ 1.23147240e-01 1.93368402e-03 9.92386527e-01 -1.41888952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48463044 meters Centerline goodness : 0.124481 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.14 [[ 9.92337535e-01 -1.06736148e-03 -1.23551922e-01 6.56604979e-01] [ 8.72355321e-04 9.99998287e-01 -1.63242077e-03 -1.82635387e-01] [ 1.23553453e-01 1.51213123e-03 9.92336766e-01 -1.41950643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51463044 meters Centerline goodness : 0.123788 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.14 [[ 9.92295790e-01 -1.07083688e-03 -1.23886714e-01 6.57991920e-01] [ 9.05463535e-04 9.99998622e-01 -1.39117222e-03 -1.85034373e-01] [ 1.23888033e-01 1.26827944e-03 9.92295393e-01 -1.42527403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54463044 meters Centerline goodness : 0.106313 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.14 [[ 9.92264246e-01 -9.98762943e-04 -1.24139713e-01 6.58978847e-01] [ 8.78304803e-04 9.99999089e-01 -1.02506745e-03 -1.87696648e-01] [ 1.24140624e-01 9.08105278e-04 9.92264219e-01 -1.42877448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57463044 meters Centerline goodness : 0.107763 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.14 [[ 9.92241796e-01 -8.58461573e-04 -1.24320078e-01 6.59630974e-01] [ 7.94431044e-04 9.99999525e-01 -5.64619009e-04 -1.90570194e-01] [ 1.24320504e-01 4.61474849e-04 9.92242006e-01 -1.43047812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60463044 meters Centerline goodness : 0.106067 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.14 [[ 9.92198963e-01 -1.62949171e-03 -1.24653768e-01 6.60528667e-01] [ 1.58055367e-03 9.99998630e-01 -4.91487489e-04 -1.98850219e-01] [ 1.24654398e-01 2.90631407e-04 9.92200180e-01 -1.42940148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63463044 meters Centerline goodness : 0.104957 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.14 [[ 9.92155763e-01 -1.58782828e-03 -1.24997682e-01 6.61460832e-01] [ 1.59391489e-03 9.99998728e-01 -5.13163130e-05 -2.02709823e-01] [ 1.24997605e-01 -1.48321891e-04 9.92157032e-01 -1.42921541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66463044 meters Centerline goodness : 0.103429 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.14 [[ 9.92087390e-01 -1.50748114e-03 -1.25540188e-01 6.62922749e-01] [ 1.57340171e-03 9.99998671e-01 4.25942141e-04 -2.06616268e-01] [ 1.25539379e-01 -6.20096973e-04 9.92088443e-01 -1.42956072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69463044 meters Centerline goodness : 0.146998 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.14 [[ 0.99198976 -0.00156951 -0.12630859 0.6657294 ] [ 0.00171836 0.99999795 0.0010695 -0.21514006] [ 0.12630666 -0.00127798 0.99199042 -0.14372205] [ 0. 0. 0. 1. ]] SLAMing on 222.72463044 meters Centerline goodness : 0.105205 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.14 [[ 0.99200144 -0.0012907 -0.12621992 0.66566366] [ 0.00150831 0.99999754 0.00162857 -0.21808857] [ 0.12621751 -0.00180592 0.99200095 -0.14382022] [ 0. 0. 0. 1. ]] SLAMing on 222.75463044 meters Centerline goodness : 0.104246 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.14 [[ 0.99204101 -0.00111752 -0.12591025 0.66481706] [ 0.00138886 0.9999969 0.00206724 -0.22085131] [ 0.12590755 -0.00222566 0.99203948 -0.14369187] [ 0. 0. 0. 1. ]] SLAMing on 222.78463044 meters Centerline goodness : 0.114179 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 9.92212532e-01 6.35270785e-03 -1.24394269e-01 6.82302714e-01] [-6.30495589e-03 9.99979821e-01 7.77555194e-04 -2.28636171e-01] [ 1.24396699e-01 1.28003737e-05 9.92232564e-01 -1.39221219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81463044 meters Centerline goodness : 0.112213 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 9.92198325e-01 6.48778267e-03 -1.24500572e-01 6.82589168e-01] [-6.40526591e-03 9.99978921e-01 1.06306187e-03 -2.30240019e-01] [ 1.24504844e-01 -2.57308942e-04 9.92218967e-01 -1.39219776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84463044 meters Centerline goodness : 0.116620 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 9.92174939e-01 6.53053623e-03 -1.24684575e-01 6.83307184e-01] [-6.43285747e-03 9.99978606e-01 1.18600520e-03 -2.31267032e-01] [ 1.24689653e-01 -3.74646533e-04 9.92195722e-01 -1.39531930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87463044 meters Centerline goodness : 0.119309 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 9.92148705e-01 6.57312162e-03 -1.24890915e-01 6.83893315e-01] [-6.46593473e-03 9.99978297e-01 1.26358422e-03 -2.31965212e-01] [ 1.24896510e-01 -4.46126942e-04 9.92169674e-01 -1.39579912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90463044 meters Centerline goodness : 0.121773 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 9.92146217e-01 6.64269231e-03 -1.24906996e-01 6.83626776e-01] [-6.51903667e-03 9.99977773e-01 1.39869738e-03 -2.32856699e-01] [ 1.24913511e-01 -5.73439025e-04 9.92167469e-01 -1.39249347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93463043999998 meters Centerline goodness : 0.120222 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 0.99229244 0.0072901 -0.12370353 0.6798884 ] [-0.00709348 0.99997278 0.00202979 -0.2340128 ] [ 0.12371496 -0.00113666 0.99231714 -0.13840145] [ 0. 0. 0. 1. ]] SLAMing on 222.96463043999998 meters Centerline goodness : 0.415583 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 0.99231468 0.00737243 -0.12352013 0.67921781] [-0.00717241 0.99997215 0.00206397 -0.23385741] [ 0.12353191 -0.00116217 0.99233992 -0.13817043] [ 0. 0. 0. 1. ]] SLAMing on 222.99463043999998 meters Centerline goodness : 0.101679 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 0.99230101 0.00732582 -0.12363264 0.67950979] [-0.0071414 0.99997263 0.00193473 -0.23340224] [ 0.12364343 -0.00103692 0.99232617 -0.13819036] [ 0. 0. 0. 1. ]] SLAMing on 223.02463043999998 meters Centerline goodness : 0.123132 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 9.92265386e-01 7.24798923e-03 -1.23922839e-01 6.80643447e-01] [-7.07671920e-03 9.99973299e-01 1.82219993e-03 -2.33624665e-01] [ 1.23932738e-01 -9.31138778e-04 9.92290184e-01 -1.38733751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05463043999998 meters Centerline goodness : 0.119168 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 0.99226982 0.00732927 -0.12388254 0.68074305] [-0.00714751 0.99997263 0.00191164 -0.23375489] [ 0.12389316 -0.00101141 0.99229505 -0.13894367] [ 0. 0. 0. 1. ]] SLAMing on 223.08463043999998 meters Centerline goodness : 0.120737 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 0.99230673 0.00739606 -0.12358256 0.68005147] [-0.00720598 0.99997207 0.00198496 -0.2338354 ] [ 0.12359379 -0.00107915 0.99233231 -0.13903075] [ 0. 0. 0. 1. ]] SLAMing on 223.11463043999998 meters Centerline goodness : 0.114389 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.14 [[ 9.92322633e-01 7.31310029e-03 -1.23459750e-01 6.79843786e-01] [-7.13711222e-03 9.99972786e-01 1.86767983e-03 -2.33553332e-01] [ 1.23470049e-01 -9.72194876e-04 9.92347823e-01 -1.39100757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14463044 meters Centerline goodness : 0.085537 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.14 [[ 9.92472382e-01 -7.32194118e-04 -1.22466464e-01 6.60890873e-01] [ 1.06650136e-03 9.99995882e-01 2.66425622e-03 -2.29470580e-01] [ 1.22464009e-01 -2.77481136e-03 9.92469076e-01 -1.43424641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17463044 meters Centerline goodness : 0.156655 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.14 [[ 9.92354608e-01 1.20757534e-03 -1.23413423e-01 6.64981980e-01] [-7.04316556e-04 9.99991259e-01 4.12137511e-03 -2.27749020e-01] [ 1.23417321e-01 -4.00294346e-03 9.92346785e-01 -1.44924789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20463044 meters Centerline goodness : 0.082463 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.15 [[ 9.92341357e-01 1.32597693e-03 -1.23518713e-01 6.65618381e-01] [-8.39658183e-04 9.99991691e-01 3.98917990e-03 -2.25694253e-01] [ 1.23522976e-01 -3.85491470e-03 9.92334225e-01 -1.45423495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23463044 meters Centerline goodness : 0.111303 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.15 [[ 0.99220603 0.00304494 -0.12457093 0.67016611] [-0.00239874 0.99998288 0.00533706 -0.22431409] [ 0.12458505 -0.00499665 0.99219635 -0.14698647] [ 0. 0. 0. 1. ]] SLAMing on 223.26463044 meters Centerline goodness : 0.114261 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.15 [[ 0.99216929 0.00294299 -0.12486569 0.67124157] [-0.00233237 0.9999846 0.00503609 -0.22257423] [ 0.12487858 -0.00470542 0.99216087 -0.1474184 ] [ 0. 0. 0. 1. ]] SLAMing on 223.29463044 meters Centerline goodness : 0.140777 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.15 [[ 0.99210657 0.00258992 -0.12537085 0.6730537 ] [-0.00206607 0.99998859 0.00430824 -0.21919848] [ 0.12538058 -0.00401521 0.99210059 -0.14816242] [ 0. 0. 0. 1. ]] SLAMing on 223.32463044 meters Centerline goodness : 0.117350 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.15 [[ 0.99210664 0.0024374 -0.12537335 0.67327098] [-0.00195262 0.99999014 0.00398939 -0.21750748] [ 0.12538184 -0.0037131 0.99210161 -0.1484623 ] [ 0. 0. 0. 1. ]] SLAMing on 223.35463044 meters Centerline goodness : 0.132217 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.15 [[ 0.9921266 0.00233948 -0.12521718 0.67281517] [-0.00188373 0.99999116 0.00375796 -0.21606419] [ 0.12522487 -0.0034925 0.99212224 -0.14841848] [ 0. 0. 0. 1. ]] SLAMing on 223.38463044 meters Centerline goodness : 0.112780 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 0.992149 0.0022219 -0.12504171 0.67217233] [-0.00179389 0.99999214 0.0035354 -0.21477341] [ 0.12504859 -0.00328333 0.99214519 -0.14822168] [ 0. 0. 0. 1. ]] SLAMing on 223.41463044 meters Centerline goodness : 0.112136 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 0.99214897 0.00192182 -0.12504688 0.67186292] [-0.00154682 0.99999401 0.00309586 -0.21248144] [ 0.12505208 -0.00287813 0.992146 -0.14787192] [ 0. 0. 0. 1. ]] SLAMing on 223.44463044 meters Centerline goodness : 0.103683 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 0.99210501 0.00174939 -0.12539771 0.67281009] [-0.00139796 0.99999485 0.00289047 -0.21159236] [ 0.12540212 -0.00269235 0.99210234 -0.14789112] [ 0. 0. 0. 1. ]] SLAMing on 223.47463044 meters Centerline goodness : 0.111629 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 0.99205609 0.00154216 -0.12578684 0.67362367] [-0.00122121 0.9999958 0.00262861 -0.21076117] [ 0.12579037 -0.00245411 0.99205381 -0.14772469] [ 0. 0. 0. 1. ]] SLAMing on 223.50463044 meters Centerline goodness : 0.101404 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 9.91993942e-01 1.20046063e-03 -1.26279764e-01 6.74450978e-01] [-9.16273415e-04 9.99996916e-01 2.30851914e-03 -2.09917986e-01] [ 1.26282146e-01 -2.17433021e-03 9.91991982e-01 -1.47175425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53463044 meters Centerline goodness : 0.105382 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 9.91994640e-01 1.11497407e-03 -1.26275058e-01 6.74109300e-01] [-8.37204243e-04 9.99997112e-01 2.25277050e-03 -2.09851793e-01] [ 1.26277205e-01 -2.12901825e-03 9.91992709e-01 -1.46777929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56463044 meters Centerline goodness : 0.116845 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 9.92011636e-01 1.01052358e-03 -1.26142348e-01 6.73309903e-01] [-7.38924955e-04 9.99997307e-01 2.19988533e-03 -2.09877139e-01] [ 1.26144231e-01 -2.08910212e-03 9.92009712e-01 -1.46226048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59463044 meters Centerline goodness : 0.100420 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.15 [[ 9.92034656e-01 9.08646227e-04 -1.25961958e-01 6.72302895e-01] [-6.39866069e-04 9.99997432e-01 2.17426420e-03 -2.10115949e-01] [ 1.25963610e-01 -2.07634666e-03 9.92032690e-01 -1.45551127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62463044 meters Centerline goodness : 0.104230 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.14 [[ 9.92055888e-01 8.17203432e-04 -1.25795260e-01 6.71192779e-01] [-5.54170030e-04 9.99997587e-01 2.12594511e-03 -2.10243962e-01] [ 1.25796694e-01 -2.03934440e-03 9.92053947e-01 -1.44720829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65463044 meters Centerline goodness : 0.103193 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.14 [[ 9.92145627e-01 5.26337691e-04 -1.25087084e-01 6.68129598e-01] [-2.67465747e-04 9.99997788e-01 2.08631896e-03 -2.11155774e-01] [ 1.25087906e-01 -2.03647572e-03 9.92143573e-01 -1.43184779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68463043999998 meters Centerline goodness : 0.482204 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.14 [[ 9.92174754e-01 5.44793167e-04 -1.24855760e-01 6.66984658e-01] [-2.67551429e-04 9.99997462e-01 2.23725370e-03 -2.11992168e-01] [ 1.24856662e-01 -2.18634130e-03 9.92172381e-01 -1.42444184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71463043999998 meters Centerline goodness : 0.100799 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.14 [[ 0.99226511 -0.00698229 -0.12394032 0.68586772] [ 0.00747655 0.99996584 0.00352319 -0.2088251 ] [ 0.12391149 -0.00442258 0.99228342 -0.13862243] [ 0. 0. 0. 1. ]] SLAMing on 223.74463043999998 meters Centerline goodness : 0.103513 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.14 [[ 0.99229754 -0.00698477 -0.12368029 0.68518442] [ 0.00751452 0.99996448 0.00381731 -0.21096762] [ 0.12364923 -0.0047173 0.99231478 -0.13846001] [ 0. 0. 0. 1. ]] SLAMing on 223.77463043999998 meters Centerline goodness : 0.444363 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.14 [[ 9.92312532e-01 -1.09665169e-02 -1.23270332e-01 6.84465855e-01] [ 1.11581220e-02 9.99937373e-01 8.64069884e-04 -2.15630384e-01] [ 1.23253136e-01 -2.23289277e-03 9.92372752e-01 -1.38498138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80463043999998 meters Centerline goodness : 0.413535 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.14 [[ 0.99228924 -0.01107631 -0.12344792 0.68477042] [ 0.01131468 0.99993523 0.00123002 -0.21920457] [ 0.1234263 -0.0026173 0.99235029 -0.13824405] [ 0. 0. 0. 1. ]] SLAMing on 223.83463043999998 meters Centerline goodness : 0.413535 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.14 [[ 0.99228924 -0.01107631 -0.12344792 0.68477042] [ 0.01131468 0.99993523 0.00123002 -0.21920457] [ 0.1234263 -0.0026173 0.99235029 -0.13824405] [ 0. 0. 0. 1. ]] SLAMing on 223.86463043999998 meters Centerline goodness : 0.104464 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.14 [[ 0.99226203 -0.01097567 -0.12367534 0.68551313] [ 0.01128271 0.99993476 0.00178249 -0.22294421] [ 0.12364771 -0.00316409 0.99232113 -0.13831777] [ 0. 0. 0. 1. ]] SLAMing on 223.89463044 meters Centerline goodness : 0.105987 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.14 [[ 0.99222542 -0.01079844 -0.1239843 0.68657754] [ 0.01117982 0.99993467 0.00238069 -0.22667783] [ 0.12395049 -0.00374831 0.99228132 -0.13851511] [ 0. 0. 0. 1. ]] SLAMing on 223.92463044 meters Centerline goodness : 0.105078 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.14 [[ 0.99211845 -0.01304085 -0.12462306 0.69091554] [ 0.01328352 0.99991115 0.00111641 -0.23410247] [ 0.12459743 -0.00276304 0.99220353 -0.14072655] [ 0. 0. 0. 1. ]] SLAMing on 223.95463044 meters Centerline goodness : 0.097187 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.24, Z:-0.14 [[ 9.92148111e-01 -6.17017142e-03 -1.24916194e-01 6.73326050e-01] [ 6.21163960e-03 9.99980706e-01 -5.75255673e-05 -2.43676257e-01] [ 1.24914139e-01 -7.18860494e-04 9.92167295e-01 -1.44918468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98463044 meters Centerline goodness : 0.152143 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.25, Z:-0.15 [[ 9.92128328e-01 -5.90937096e-03 -1.25085814e-01 6.74059662e-01] [ 6.02062931e-03 9.99981745e-01 5.11439335e-04 -2.46881260e-01] [ 1.25080508e-01 -1.26050877e-03 9.92145795e-01 -1.45228355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01463044 meters Centerline goodness : 0.101431 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.25, Z:-0.15 [[ 0.99212487 -0.0056439 -0.12512546 0.67433189] [ 0.00582553 0.99998244 0.00108574 -0.24984328] [ 0.12511714 -0.00180611 0.99214033 -0.14535357] [ 0. 0. 0. 1. ]] SLAMing on 224.04463044 meters Centerline goodness : 0.097037 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.26, Z:-0.14 [[ 9.91930390e-01 5.31864782e-04 -1.26782561e-01 6.92794929e-01] [-5.66575490e-04 9.99999811e-01 -2.37720116e-04 -2.60497534e-01] [ 1.26782410e-01 3.07633698e-04 9.91930505e-01 -1.40714707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07463044 meters Centerline goodness : 0.108441 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.26, Z:-0.14 [[ 9.91917666e-01 6.23483065e-04 -1.26881659e-01 6.93235967e-01] [-6.09440177e-04 9.99999803e-01 1.49497288e-04 -2.63401099e-01] [ 1.26881727e-01 -7.09622204e-05 9.91917851e-01 -1.40925606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10463044 meters Centerline goodness : 0.158847 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.27, Z:-0.15 [[ 9.91619169e-01 -5.01430143e-06 -1.29195292e-01 6.50186895e-01] [ 6.74683913e-05 9.99999883e-01 4.79031767e-04 -2.68380056e-01] [ 1.29195275e-01 -4.83733682e-04 9.91619053e-01 -1.46597248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13463044 meters Centerline goodness : 0.105903 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.27, Z:-0.15 [[ 9.91530419e-01 3.26522101e-04 -1.29874255e-01 6.52075320e-01] [-1.75895693e-04 9.99999299e-01 1.17125555e-03 -2.71906979e-01] [ 1.29874547e-01 -1.13849118e-03 9.91529781e-01 -1.46791997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16463044 meters Centerline goodness : 0.095846 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.27, Z:-0.15 [[ 9.91501980e-01 3.73299748e-04 -1.30091062e-01 6.52473529e-01] [-1.99862175e-04 9.99999074e-01 1.34625437e-03 -2.73222376e-01] [ 1.30091444e-01 -1.30881359e-03 9.91501136e-01 -1.46607088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19463044 meters Centerline goodness : 0.188350 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.27, Z:-0.15 [[ 9.91482819e-01 3.76151688e-04 -1.30237005e-01 6.52614140e-01] [-1.88419332e-04 9.99998926e-01 1.45378614e-03 -2.74320946e-01] [ 1.30237412e-01 -1.41686481e-03 9.91481825e-01 -1.46352886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22463044 meters Centerline goodness : 0.100304 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.15 [[ 9.91489370e-01 3.95323374e-04 -1.30187071e-01 6.52264579e-01] [-1.92363448e-04 9.99998747e-01 1.57155825e-03 -2.75241206e-01] [ 1.30187529e-01 -1.53314006e-03 9.91488203e-01 -1.46061780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25463044 meters Centerline goodness : 0.105092 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.15 [[ 9.91522790e-01 5.47406749e-04 -1.29931742e-01 6.51080934e-01] [-3.09050710e-04 9.99998232e-01 1.85462732e-03 -2.76440115e-01] [ 1.29932528e-01 -1.79874976e-03 9.91521206e-01 -1.45374793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28463044 meters Centerline goodness : 0.104331 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.15 [[ 9.91535921e-01 5.34685625e-04 -1.29831549e-01 6.50507192e-01] [-2.95814639e-04 9.99998228e-01 1.85913084e-03 -2.76589060e-01] [ 1.29832313e-01 -1.80498894e-03 9.91534322e-01 -1.45007651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31463044 meters Centerline goodness : 0.104030 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.14 [[ 9.91547313e-01 5.28949738e-04 -1.29744540e-01 6.49911736e-01] [-2.93994597e-04 9.99998282e-01 1.83005216e-03 -2.76368162e-01] [ 1.29745286e-01 -1.77643910e-03 9.91545766e-01 -1.44574871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34463044 meters Centerline goodness : 0.103528 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.14 [[ 9.91588457e-01 5.33810633e-04 -1.29429698e-01 6.48422599e-01] [-3.10548046e-04 9.99998429e-01 1.74514767e-03 -2.75231335e-01] [ 1.29430426e-01 -1.69027415e-03 9.91587065e-01 -1.43832417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37463044 meters Centerline goodness : 0.107433 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.28, Z:-0.15 [[ 9.91663212e-01 7.63692372e-03 -1.28630292e-01 6.29450983e-01] [-7.61901560e-03 9.99970776e-01 6.31290244e-04 -2.79599872e-01] [ 1.28631354e-01 3.54008894e-04 9.91692417e-01 -1.47963004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40463044 meters Centerline goodness : 0.096445 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.28, Z:-0.15 [[ 9.91662533e-01 7.48725801e-03 -1.28644326e-01 6.29549072e-01] [-7.48858045e-03 9.99971848e-01 4.73418297e-04 -2.79136450e-01] [ 1.28644249e-01 4.93892195e-04 9.91690684e-01 -1.48046091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43463043999998 meters Centerline goodness : 0.095845 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.28, Z:-0.15 [[ 9.91666686e-01 7.32225594e-03 -1.28621805e-01 6.29412343e-01] [-7.34391929e-03 9.99972986e-01 3.05842655e-04 -2.78741141e-01] [ 1.28620570e-01 6.41294185e-04 9.91693671e-01 -1.47988669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46463043999998 meters Centerline goodness : 0.104542 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.28, Z:-0.15 [[ 9.91675277e-01 7.23626382e-03 -1.28560419e-01 6.29024670e-01] [-7.26451254e-03 9.99973582e-01 2.49183785e-04 -2.78637760e-01] [ 1.28558825e-01 6.86819373e-04 9.91701647e-01 -1.47778880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49463043999998 meters Centerline goodness : 0.097278 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.28, Z:-0.15 [[ 9.91695218e-01 7.15484574e-03 -1.28411067e-01 6.28191835e-01] [-7.18375117e-03 9.99974168e-01 2.38057615e-04 -2.78783365e-01] [ 1.28409453e-01 6.86392556e-04 9.91721000e-01 -1.47353229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52463043999998 meters Centerline goodness : 0.097896 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.14 [[ 9.91963842e-01 -1.80792868e-03 -1.26508766e-01 6.46308684e-01] [ 1.88531488e-03 9.99998102e-01 4.91973373e-04 -2.76231614e-01] [ 1.26507636e-01 -7.26528655e-04 9.91965367e-01 -1.43532500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55463043999998 meters Centerline goodness : 0.103050 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.14 [[ 9.91969788e-01 -2.21068944e-03 -1.26455730e-01 6.46431140e-01] [ 2.27829281e-03 9.99997329e-01 3.89971334e-04 -2.77508600e-01] [ 1.26454530e-01 -6.74942963e-04 9.91972175e-01 -1.43782001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58463043999998 meters Centerline goodness : 0.109607 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.14 [[ 9.91943544e-01 -2.55006542e-03 -1.26655055e-01 6.47276378e-01] [ 2.62872912e-03 9.99996442e-01 4.53945814e-04 -2.79263927e-01] [ 1.26653447e-01 -7.83230451e-04 9.91946718e-01 -1.44391498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61463043999998 meters Centerline goodness : 0.115577 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.15 [[ 9.91912269e-01 -2.69139385e-03 -1.26896840e-01 6.48249342e-01] [ 2.81977402e-03 9.99995678e-01 8.32063419e-04 -2.81646373e-01] [ 1.26894052e-01 -1.18315433e-03 9.91915571e-01 -1.45165991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64463044 meters Centerline goodness : 0.215381 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.15 [[ 0.99186272 -0.00313251 -0.12727348 0.64968739] [ 0.00330168 0.99999392 0.00111822 -0.28495068] [ 0.12726921 -0.00152933 0.99186703 -0.14563623] [ 0. 0. 0. 1. ]] SLAMing on 224.67463044 meters Centerline goodness : 0.320762 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.15 [[ 0.99184626 -0.00330579 -0.12739729 0.65024985] [ 0.00348762 0.99999319 0.00120421 -0.28661688] [ 0.12739245 -0.00163871 0.99185104 -0.14591868] [ 0. 0. 0. 1. ]] SLAMing on 224.70463044 meters Centerline goodness : 0.100712 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.15 [[ 0.9918206 -0.00346139 -0.12759276 0.65096997] [ 0.00365179 0.99999254 0.00125837 -0.287884 ] [ 0.12758746 -0.00171402 0.99182584 -0.14619224] [ 0. 0. 0. 1. ]] SLAMing on 224.73463044 meters Centerline goodness : 0.115315 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.15 [[ 0.99180977 -0.00343429 -0.1276777 0.65154534] [ 0.00364825 0.99999231 0.00144189 -0.28906026] [ 0.12767176 -0.00189588 0.99181466 -0.14664615] [ 0. 0. 0. 1. ]] SLAMing on 224.76463044 meters Centerline goodness : 0.226480 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.15 [[ 0.99180186 -0.00318101 -0.12774567 0.65216516] [ 0.0034531 0.99999222 0.00190856 -0.29060896] [ 0.1277386 -0.00233403 0.99180512 -0.14710329] [ 0. 0. 0. 1. ]] SLAMing on 224.79463044 meters Centerline goodness : 0.091097 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.15 [[ 0.99178696 -0.00315068 -0.127862 0.65251964] [ 0.00342792 0.99999223 0.00194829 -0.29066511] [ 0.12785487 -0.00237059 0.99179005 -0.14715797] [ 0. 0. 0. 1. ]] SLAMing on 224.82463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 224.85463044 meters Centerline goodness : 0.105311 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.15 [[ 0.99173942 -0.00328231 -0.12822697 0.65450905] [ 0.0035235 0.99999242 0.00165417 -0.2895753 ] [ 0.12822057 -0.00209231 0.99174347 -0.14832262] [ 0. 0. 0. 1. ]] SLAMing on 224.88463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 224.91463044 meters Centerline goodness : 0.093152 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.29, Z:-0.15 [[ 0.99169863 -0.00323288 -0.1285433 0.65578055] [ 0.00347036 0.99999266 0.00162348 -0.28908666] [ 0.12853711 -0.0020561 0.99170257 -0.14887078] [ 0. 0. 0. 1. ]] SLAMing on 224.94463044 meters Centerline goodness : 0.109007 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.15 [[ 9.91638659e-01 4.47448578e-03 -1.28968014e-01 6.76345805e-01] [-4.46898118e-03 9.99989959e-01 3.32069566e-04 -2.92246814e-01] [ 1.28968205e-01 2.47062610e-04 9.91648698e-01 -1.45410550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97463044 meters Centerline goodness : 0.095567 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.15 [[ 9.91630758e-01 4.47427465e-03 -1.29028761e-01 6.76210157e-01] [-4.47927734e-03 9.99989936e-01 2.51420223e-04 -2.91536763e-01] [ 1.29028587e-01 3.28639580e-04 9.91640820e-01 -1.45057250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00463044 meters Centerline goodness : 0.167132 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.14 [[ 9.91664460e-01 4.49851349e-03 -1.28768640e-01 6.75229483e-01] [-4.51071983e-03 9.99989807e-01 1.96842099e-04 -2.90664395e-01] [ 1.28768213e-01 3.85637943e-04 9.91674644e-01 -1.44659721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 225.06463044 meters Centerline goodness : 0.105297 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.29, Z:-0.14 [[ 9.91822464e-01 4.74817892e-03 -1.27536879e-01 6.71450924e-01] [-4.75386284e-03 9.99988667e-01 2.59824151e-04 -2.89260001e-01] [ 1.27536667e-01 3.48593398e-04 9.91833795e-01 -1.43806222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 225.12463044 meters Centerline goodness : 0.091440 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.14 [[ 0.99192615 -0.0024939 -0.12679232 0.69097444] [ 0.00270622 0.99999521 0.00150231 -0.28533879] [ 0.12678796 -0.00183331 0.99192815 -0.14025016] [ 0. 0. 0. 1. ]] SLAMing on 225.15463044 meters Centerline goodness : 0.129390 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.14 [[ 0.99193885 -0.00250514 -0.12669272 0.69068685] [ 0.0027178 0.99999517 0.00150575 -0.28531831] [ 0.12668834 -0.00183794 0.99194087 -0.14022525] [ 0. 0. 0. 1. ]] SLAMing on 225.18463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 225.21463043999998 meters Centerline goodness : 0.122563 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.14 [[ 0.99203275 -0.00287849 -0.12594737 0.68898414] [ 0.00306269 0.9999945 0.0012689 -0.28561727] [ 0.12594303 -0.00164452 0.99203611 -0.14044166] [ 0. 0. 0. 1. ]] SLAMing on 225.24463043999998 meters Centerline goodness : 0.456234 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.29, Z:-0.14 [[ 9.92179601e-01 4.47336774e-03 -1.24738236e-01 7.07326830e-01] [-4.52969872e-03 9.99989727e-01 -1.67974850e-04 -2.89295263e-01] [ 1.24736203e-01 7.31687848e-04 9.92189671e-01 -1.37208962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27463043999998 meters Centerline goodness : 0.210622 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:-0.14 [[ 0.99217636 -0.0032564 -0.12480169 0.68851427] [ 0.00342998 0.99999343 0.00117596 -0.28421021] [ 0.12479704 -0.00159483 0.99218101 -0.14122482] [ 0. 0. 0. 1. ]] SLAMing on 225.30463043999998 meters Centerline goodness : 0.140438 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:-0.14 [[ 9.92170845e-01 -3.44198587e-03 -1.24840569e-01 6.89380409e-01] [ 3.57793986e-03 9.99993225e-01 8.64823490e-04 -2.82466121e-01] [ 1.24836747e-01 -1.30472470e-03 9.92176438e-01 -1.42052066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33463043999998 meters Centerline goodness : 0.239203 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:-0.14 [[ 9.92186618e-01 -3.52354732e-03 -1.24712865e-01 6.89152990e-01] [ 3.63341997e-03 9.99993186e-01 6.53560191e-04 -2.80974174e-01] [ 1.24709713e-01 -1.10158789e-03 9.92192660e-01 -1.42155098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36463043999998 meters Centerline goodness : 0.250235 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:-0.14 [[ 9.92195452e-01 -3.57566007e-03 -1.24641085e-01 6.88837174e-01] [ 3.65471511e-03 9.99993239e-01 4.05611139e-04 -2.78888731e-01] [ 1.24638792e-01 -8.57973185e-04 9.92201812e-01 -1.42004566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39463044 meters Centerline goodness : 0.234280 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:-0.14 [[ 9.92201446e-01 -3.64237868e-03 -1.24591426e-01 6.88868833e-01] [ 3.68907240e-03 9.99993185e-01 1.44063724e-04 -2.76703145e-01] [ 1.24590052e-01 -6.02567026e-04 9.92208121e-01 -1.42154101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42463044 meters Centerline goodness : 0.294228 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.14 [[ 9.92163928e-01 -4.03970299e-03 -1.24877626e-01 6.90574769e-01] [ 4.00199219e-03 9.99991839e-01 -5.52843062e-04 -2.73458653e-01] [ 1.24878840e-01 4.87516610e-05 9.92171998e-01 -1.43302391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45463044 meters Centerline goodness : 0.233799 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.14 [[ 9.92130405e-01 -4.24494484e-03 -1.25136888e-01 6.91804847e-01] [ 4.17791915e-03 9.99990954e-01 -7.98052608e-04 -2.72774737e-01] [ 1.25139143e-01 2.68960457e-04 9.92139165e-01 -1.43975736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48463044 meters Centerline goodness : 0.091582 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.14 [[ 9.92101241e-01 -4.34826194e-03 -1.25364347e-01 6.92914886e-01] [ 4.26328039e-03 9.99990465e-01 -9.46159877e-04 -2.71973353e-01] [ 1.25367265e-01 4.04223029e-04 9.92110319e-01 -1.44627466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51463044 meters Centerline goodness : 0.281794 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.15 [[ 9.92055863e-01 -4.35612165e-03 -1.25722668e-01 6.94274734e-01] [ 4.26138330e-03 9.99990398e-01 -1.02248496e-03 -2.70909063e-01] [ 1.25725915e-01 4.78609719e-04 9.92064900e-01 -1.45156935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54463044 meters Centerline goodness : 0.090946 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.27, Z:-0.15 [[ 9.91941170e-01 -4.40731131e-03 -1.26622635e-01 6.97463564e-01] [ 4.27179038e-03 9.99989976e-01 -1.34180100e-03 -2.67637434e-01] [ 1.26627279e-01 7.90082299e-04 9.91950053e-01 -1.46157902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57463044 meters Centerline goodness : 0.401572 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.27, Z:-0.15 [[ 0.99191625 -0.00455325 -0.1268125 0.69811228] [ 0.00437765 0.99998903 -0.00166337 -0.26575273] [ 0.12681869 0.00109478 0.99192531 -0.1463325 ] [ 0. 0. 0. 1. ]] SLAMing on 225.60463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 225.63463044 meters Centerline goodness : 0.248680 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.14 [[ 0.99213148 0.00284447 -0.12516802 0.71728989] [-0.00328925 0.99998899 -0.0033469 -0.2651023 ] [ 0.12515712 0.00373227 0.99212991 -0.14316127] [ 0. 0. 0. 1. ]] SLAMing on 225.66463044 meters Centerline goodness : 0.107087 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.26, Z:-0.15 [[ 0.99250319 -0.00336081 -0.12217254 0.69873372] [ 0.00308992 0.99999233 -0.00240661 -0.25523073] [ 0.12217969 0.00201106 0.99250596 -0.14776138] [ 0. 0. 0. 1. ]] SLAMing on 225.69463044 meters Centerline goodness : 0.095935 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.99251939 -0.00351285 -0.12203655 0.69825904] [ 0.00320269 0.99999112 -0.0027376 -0.25332825] [ 0.12204509 0.00232627 0.99252183 -0.14758149] [ 0. 0. 0. 1. ]] SLAMing on 225.72463044 meters Centerline goodness : 0.110430 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.99253702 -0.00372144 -0.12188689 0.6974204 ] [ 0.00335023 0.99998911 -0.00325034 -0.24989699] [ 0.12189766 0.00281773 0.99253867 -0.14700412] [ 0. 0. 0. 1. ]] SLAMing on 225.75463044 meters Centerline goodness : 0.110430 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.99253702 -0.00372144 -0.12188689 0.6974204 ] [ 0.00335023 0.99998911 -0.00325034 -0.24989699] [ 0.12189766 0.00281773 0.99253867 -0.14700412] [ 0. 0. 0. 1. ]] SLAMing on 225.78463044 meters Centerline goodness : 0.110035 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.9925106 -0.00379442 -0.1220996 0.6979868 ] [ 0.00340178 0.99998835 -0.00342399 -0.24850785] [ 0.12211117 0.00298299 0.99251195 -0.14702378] [ 0. 0. 0. 1. ]] SLAMing on 225.81463044 meters Centerline goodness : 0.094966 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.99248861 -0.00387358 -0.1222757 0.69867034] [ 0.00346183 0.9999876 -0.00357968 -0.24735241] [ 0.12228805 0.0031295 0.99248972 -0.14726895] [ 0. 0. 0. 1. ]] SLAMing on 225.84463044 meters Centerline goodness : 0.109224 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.99247756 -0.00398932 -0.12236168 0.69896618] [ 0.00356089 0.99998674 -0.0037198 -0.24677056] [ 0.1223749 0.0032561 0.99247861 -0.14737545] [ 0. 0. 0. 1. ]] SLAMing on 225.87463044 meters Centerline goodness : 0.108343 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.9924837 -0.0040929 -0.12230846 0.69885731] [ 0.00365876 0.99998619 -0.00377397 -0.24663189] [ 0.12232222 0.00329811 0.99248496 -0.14735996] [ 0. 0. 0. 1. ]] SLAMing on 225.90463044 meters Centerline goodness : 0.111875 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.99254548 -0.00407134 -0.12180675 0.69741311] [ 0.00364318 0.99998638 -0.00373751 -0.24642964] [ 0.12182031 0.00326588 0.9925468 -0.14712931] [ 0. 0. 0. 1. ]] SLAMing on 225.93463043999998 meters Centerline goodness : 0.109333 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.25, Z:-0.15 [[ 0.99257694 -0.00402128 -0.1215518 0.69654695] [ 0.0035925 0.99998653 -0.00374647 -0.24589823] [ 0.12156523 0.00328198 0.99257802 -0.14684457] [ 0. 0. 0. 1. ]] SLAMing on 225.96463043999998 meters Centerline goodness : 0.112304 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.25, Z:-0.15 [[ 0.99261238 0.00371964 -0.12127173 0.67608098] [-0.00433736 0.99997893 -0.00483012 -0.2483896 ] [ 0.12125121 0.00532043 0.99260759 -0.1505897 ] [ 0. 0. 0. 1. ]] SLAMing on 225.99463043999998 meters Centerline goodness : 0.112013 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.25, Z:-0.15 [[ 0.99260062 0.00365676 -0.12136983 0.67638167] [-0.00429451 0.99997831 -0.00499349 -0.24746405] [ 0.12134893 0.00547777 0.9925948 -0.15063899] [ 0. 0. 0. 1. ]] SLAMing on 226.02463043999998 meters Centerline goodness : 0.113632 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99252494 0.00376482 -0.12198392 0.6784181 ] [-0.00443625 0.99997647 -0.00523313 -0.24484061] [ 0.12196134 0.00573517 0.99251828 -0.15112504] [ 0. 0. 0. 1. ]] SLAMing on 226.05463043999998 meters Centerline goodness : 0.110406 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99247614 0.00380597 -0.12237902 0.67966181] [-0.00449957 0.99997534 -0.00539179 -0.24325126] [ 0.12235548 0.00590187 0.99246879 -0.15135359] [ 0. 0. 0. 1. ]] SLAMing on 226.08463043999998 meters Centerline goodness : 0.106753 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.9924453 0.0037953 -0.12262923 0.68055111] [-0.0045174 0.99997405 -0.00561099 -0.24151141] [ 0.12260475 0.00612257 0.99243669 -0.15161887] [ 0. 0. 0. 1. ]] SLAMing on 226.11463043999998 meters Centerline goodness : 0.104384 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99244459 0.00379311 -0.12263499 0.6806401 ] [-0.00454356 0.99997262 -0.00584028 -0.23980615] [ 0.12260948 0.00635335 0.99243466 -0.15167949] [ 0. 0. 0. 1. ]] SLAMing on 226.14463044 meters Centerline goodness : 0.105404 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99247634 0.00376584 -0.12237869 0.67965503] [-0.00455343 0.99997068 -0.00615664 -0.23754036] [ 0.12235191 0.00666756 0.99246438 -0.15122668] [ 0. 0. 0. 1. ]] SLAMing on 226.17463044 meters Centerline goodness : 0.100491 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99245923 0.00372386 -0.12251864 0.68000137] [-0.00452007 0.99997043 -0.00622145 -0.23731605] [ 0.12249185 0.00672833 0.99244671 -0.15124904] [ 0. 0. 0. 1. ]] SLAMing on 226.20463044 meters Centerline goodness : 0.110553 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99242854 0.00372035 -0.12276704 0.68093833] [-0.00451277 0.99997074 -0.0061772 -0.23755586] [ 0.12274047 0.00668445 0.99241629 -0.15164969] [ 0. 0. 0. 1. ]] SLAMing on 226.23463044 meters Centerline goodness : 0.109482 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99240104 0.00378222 -0.12298729 0.68187848] [-0.00456367 0.99997115 -0.00607283 -0.23796995] [ 0.12296077 0.00658795 0.99238967 -0.15212841] [ 0. 0. 0. 1. ]] SLAMing on 226.26463044 meters Centerline goodness : 0.109685 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.9923807 0.003807 -0.12315056 0.68236729] [-0.00459207 0.9999709 -0.00609168 -0.23748979] [ 0.12312379 0.00661078 0.9923693 -0.15216562] [ 0. 0. 0. 1. ]] SLAMing on 226.29463044 meters Centerline goodness : 0.105845 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.15 [[ 0.99243682 0.00378555 -0.12269813 0.68090527] [-0.00460287 0.99996906 -0.00637847 -0.2354834 ] [ 0.12267019 0.00689499 0.99242354 -0.15172804] [ 0. 0. 0. 1. ]] SLAMing on 226.32463044 meters Centerline goodness : 0.098539 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.15 [[ 0.99244611 0.00370129 -0.12262554 0.68040299] [-0.00454396 0.99996794 -0.00659299 -0.2342457 ] [ 0.1225972 0.0071004 0.99243111 -0.15135648] [ 0. 0. 0. 1. ]] SLAMing on 226.35463044 meters Centerline goodness : 0.171581 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.15 [[ 0.99245008 0.00366 -0.12259464 0.68008297] [-0.00452544 0.99996676 -0.00678163 -0.2329178 ] [ 0.12256575 0.00728522 0.99243366 -0.15107344] [ 0. 0. 0. 1. ]] SLAMing on 226.38463044 meters Centerline goodness : 0.105984 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.15 [[ 9.92496358e-01 -9.99659940e-04 -1.22270108e-01 7.01721947e-01] [ 5.74784756e-04 9.99993674e-01 -3.51011255e-03 -2.29597941e-01] [ 1.22272843e-01 3.41349493e-03 9.92490655e-01 -1.48224362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41463044 meters Centerline goodness : 0.090301 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.92170411e-01 -4.59625606e-04 -1.24890608e-01 6.57144401e-01] [ 8.94629109e-05 9.99995587e-01 -2.96948770e-03 -2.29454708e-01] [ 1.24891422e-01 2.93506475e-03 9.92166074e-01 -1.52896618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44463044 meters Centerline goodness : 0.099573 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.92159665e-01 -3.64593084e-04 -1.24976265e-01 6.57304401e-01] [ 1.26601844e-05 9.99996033e-01 -2.81678057e-03 -2.29897125e-01] [ 1.24976796e-01 2.79311384e-03 9.92155733e-01 -1.52869163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47463044 meters Centerline goodness : 0.444981 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.92124627e-01 -3.67982081e-04 -1.25254101e-01 6.58277304e-01] [ 5.40625217e-05 9.99996849e-01 -2.50965167e-03 -2.32366641e-01] [ 1.25254629e-01 2.48311568e-03 9.92121521e-01 -1.53123080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50463044 meters Centerline goodness : 0.092306 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.16 [[ 9.92010243e-01 -8.23267376e-03 -1.25888448e-01 6.38820556e-01] [ 8.13199177e-03 9.99966072e-01 -1.31366551e-03 -2.29764774e-01] [ 1.25894992e-01 2.79445822e-04 9.92043534e-01 -1.56659558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53463044 meters Centerline goodness : 0.147367 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.16 [[ 9.91987569e-01 -8.15401964e-03 -1.26072105e-01 6.39263092e-01] [ 8.08206155e-03 9.99966754e-01 -1.08226929e-03 -2.31136908e-01] [ 1.26076739e-01 5.46751681e-05 9.92020490e-01 -1.56672956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56463044 meters Centerline goodness : 0.101635 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.16 [[ 9.91954475e-01 -7.95547924e-03 -1.26344885e-01 6.40098338e-01] [ 7.92717397e-03 9.99968315e-01 -7.26831796e-04 -2.32700243e-01] [ 1.26346664e-01 -2.80573829e-04 9.91986110e-01 -1.56784489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59463044 meters Centerline goodness : 0.198487 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.16 [[ 9.91913341e-01 -7.60227117e-03 -1.26689104e-01 6.41151833e-01] [ 7.63612658e-03 9.99970821e-01 -2.18436401e-04 -2.34633474e-01] [ 1.26687068e-01 -7.50744053e-04 9.91942450e-01 -1.56916375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62463044 meters Centerline goodness : 0.121406 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91970249e-01 3.65205737e-04 -1.26470909e-01 6.21586569e-01] [-5.29872668e-04 9.99999055e-01 -1.26837493e-03 -2.39988137e-01] [ 1.26470326e-01 1.32520368e-03 9.91969506e-01 -1.60574340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65463044 meters Centerline goodness : 0.114588 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91974695e-01 4.58519700e-04 -1.26435734e-01 6.21378961e-01] [-6.06796653e-04 9.99999173e-01 -1.13423317e-03 -2.40229491e-01] [ 1.26435110e-01 1.20185138e-03 9.91974152e-01 -1.60358278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68463043999998 meters Centerline goodness : 0.247710 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.92021704e-01 6.46167664e-04 -1.26065542e-01 6.20381651e-01] [-7.72242840e-04 9.99999249e-01 -9.51207421e-04 -2.40519556e-01] [ 1.26064833e-01 1.04097162e-03 9.92021459e-01 -1.60281222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71463043999998 meters Centerline goodness : 0.255210 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.92087497e-01 1.20740451e-03 -1.25542587e-01 6.18715015e-01] [-1.27788329e-03 9.99999068e-01 -4.80861942e-04 -2.41389731e-01] [ 1.25541889e-01 6.37485894e-04 9.92088115e-01 -1.59743755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74463043999998 meters Centerline goodness : 0.249562 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.24, Z:-0.17 [[ 9.91766969e-01 9.91060957e-04 -1.28051928e-01 5.76486937e-01] [-1.08637014e-03 9.99999182e-01 -6.74459779e-04 -2.41540245e-01] [ 1.28051155e-01 8.08018722e-04 9.91767235e-01 -1.65211985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77463043999998 meters Centerline goodness : 0.087895 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91869599e-01 1.75863680e-03 -1.27246241e-01 6.20011147e-01] [-1.87729279e-03 9.99997908e-01 -8.12570359e-04 -2.41435405e-01] [ 1.27244546e-01 1.04484229e-03 9.91870825e-01 -1.59833496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80463043999998 meters Centerline goodness : 0.452566 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91825926e-01 1.84017134e-03 -1.27585053e-01 6.21240938e-01] [-1.96102297e-03 9.99997740e-01 -8.21618521e-04 -2.41036079e-01] [ 1.27583253e-01 1.06509977e-03 9.91827293e-01 -1.60237810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83463043999998 meters Centerline goodness : 0.451610 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91826984e-01 2.63594154e-03 -1.27562868e-01 6.21388228e-01] [-2.69366575e-03 9.99996333e-01 -2.80007034e-04 -2.40988356e-01] [ 1.27561662e-01 6.21330261e-04 9.91830447e-01 -1.60254055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86463043999998 meters Centerline goodness : 0.088722 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91821315e-01 2.72591646e-03 -1.27605047e-01 6.21346053e-01] [-2.78894220e-03 9.99996061e-01 -3.15243012e-04 -2.40539533e-01] [ 1.27603685e-01 6.68547838e-04 9.91825011e-01 -1.60033189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89463044 meters Centerline goodness : 0.089991 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91806859e-01 2.69294807e-03 -1.27718059e-01 6.21235178e-01] [-2.77972750e-03 9.99996011e-01 -5.01224922e-04 -2.39769266e-01] [ 1.27716200e-01 8.52139715e-04 9.91810388e-01 -1.59523914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92463044 meters Centerline goodness : 0.092708 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91749060e-01 3.32309976e-03 -1.28151309e-01 6.22427935e-01] [-3.40674850e-03 9.99994103e-01 -4.33545814e-04 -2.37455050e-01] [ 1.28149113e-01 8.66547935e-04 9.91754533e-01 -1.59626433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95463044 meters Centerline goodness : 0.211802 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 9.91674351e-01 3.71935736e-03 -1.28717322e-01 6.24232609e-01] [-3.80349183e-03 9.99992684e-01 -4.07832772e-04 -2.35382843e-01] [ 1.28714863e-01 8.94012580e-04 9.91681242e-01 -1.60061683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98463044 meters Centerline goodness : 0.456313 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91619931e-01 4.01785808e-03 -1.29126947e-01 6.25543967e-01] [-4.11099826e-03 9.99991446e-01 -4.54778051e-04 -2.33338682e-01] [ 1.29124015e-01 9.81807633e-04 9.91627967e-01 -1.60358285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01463044 meters Centerline goodness : 0.253177 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91595063e-01 3.99359182e-03 -1.29318534e-01 6.26148117e-01] [-4.12571515e-03 9.99991205e-01 -7.53813660e-04 -2.31261726e-01] [ 1.29314386e-01 1.28100934e-03 9.91602818e-01 -1.60485511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04463044 meters Centerline goodness : 0.142777 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 0.99154768 0.00392797 -0.12968333 0.62685064] [-0.00409256 0.99999112 -0.00100266 -0.2297454 ] [ 0.12967824 0.00152493 0.99155496 -0.16017886] [ 0. 0. 0. 1. ]] SLAMing on 227.07463044 meters Centerline goodness : 0.459065 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91532953e-01 3.96119320e-03 -1.29794885e-01 6.26945723e-01] [-4.11948521e-03 9.99991063e-01 -9.51097047e-04 -2.29880933e-01] [ 1.29789958e-01 1.47773217e-03 9.91540409e-01 -1.59919191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10463044 meters Centerline goodness : 0.461151 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91525622e-01 4.01819465e-03 -1.29849123e-01 6.26817845e-01] [-4.16038118e-03 9.99991006e-01 -8.23771691e-04 -2.30360942e-01] [ 1.29844645e-01 1.35701258e-03 9.91533422e-01 -1.59542157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13463044 meters Centerline goodness : 0.460984 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91512941e-01 4.01301873e-03 -1.29946079e-01 6.26907598e-01] [-4.14732204e-03 9.99991109e-01 -7.62935121e-04 -2.30796850e-01] [ 1.29941862e-01 1.29538829e-03 9.91520769e-01 -1.59274775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16463044 meters Centerline goodness : 0.166545 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91465967e-01 3.83856585e-03 -1.30309254e-01 6.27833180e-01] [-3.97124272e-03 9.99991827e-01 -7.58330800e-04 -2.31732653e-01] [ 1.30305278e-01 1.26934886e-03 9.91473108e-01 -1.59074520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19463044 meters Centerline goodness : 0.461799 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91429297e-01 3.83953003e-03 -1.30587930e-01 6.28336696e-01] [-3.96590816e-03 9.99991885e-01 -7.07712208e-04 -2.32111224e-01] [ 1.30584153e-01 1.21954635e-03 9.91436479e-01 -1.58776988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22463044 meters Centerline goodness : 0.459196 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91406381e-01 3.96232650e-03 -1.30758127e-01 6.28767580e-01] [-4.05700596e-03 9.99991666e-01 -4.57700957e-04 -2.33141738e-01] [ 1.30755223e-01 9.84254148e-04 9.91414193e-01 -1.58598845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25463044 meters Centerline goodness : 0.097923 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91395558e-01 3.96980270e-03 -1.30839932e-01 6.28840234e-01] [-4.05709747e-03 9.99991690e-01 -4.00632306e-04 -2.33635430e-01] [ 1.30837254e-01 9.28015446e-04 9.91403425e-01 -1.58352176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28463044 meters Centerline goodness : 0.094278 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91395100e-01 3.91913610e-03 -1.30844932e-01 6.28742063e-01] [-4.01075505e-03 9.99991862e-01 -4.36690178e-04 -2.33950408e-01] [ 1.30842156e-01 9.57719475e-04 9.91402750e-01 -1.58156670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31463044 meters Centerline goodness : 0.326546 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91387118e-01 3.85374618e-03 -1.30907336e-01 6.28758098e-01] [-3.95988991e-03 9.99992008e-01 -5.50530385e-04 -2.33681251e-01] [ 1.30904168e-01 1.06416737e-03 9.91394456e-01 -1.57927786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34463044 meters Centerline goodness : 0.089992 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91322992e-01 4.06785749e-03 -1.31385606e-01 6.30011769e-01] [-4.17783985e-03 9.99991115e-01 -5.61456919e-04 -2.32471451e-01] [ 1.31382155e-01 1.10549317e-03 9.91331179e-01 -1.57969673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37463044 meters Centerline goodness : 0.089239 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91274418e-01 4.07766877e-03 -1.31751280e-01 6.30979006e-01] [-4.20249415e-03 9.99990945e-01 -6.69390847e-04 -2.31782466e-01] [ 1.31747358e-01 1.21723401e-03 9.91282579e-01 -1.57929699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40463044 meters Centerline goodness : 0.097743 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91232193e-01 4.02717285e-03 -1.32070140e-01 6.31825050e-01] [-4.16793353e-03 9.99991003e-01 -7.89378059e-04 -2.31378084e-01] [ 1.32065773e-01 1.33291651e-03 9.91240059e-01 -1.57957760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43463043999998 meters Centerline goodness : 0.403414 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91199819e-01 4.00386733e-03 -1.32313599e-01 6.32569015e-01] [-4.15963734e-03 9.99990943e-01 -9.00895358e-04 -2.30915679e-01] [ 1.32308793e-01 1.44334390e-03 9.91207496e-01 -1.58064822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.49463043999998 meters Centerline goodness : 0.092110 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91267328e-01 4.42426430e-03 -1.31793439e-01 6.30630997e-01] [-4.55094077e-03 9.99989427e-01 -6.59982614e-04 -2.30679633e-01] [ 1.31789125e-01 1.25400334e-03 9.91276981e-01 -1.57096865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.55463043999998 meters Centerline goodness : 0.086506 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91213955e-01 4.43397196e-03 -1.32193930e-01 6.31405926e-01] [-4.55594995e-03 9.99989429e-01 -6.20271117e-04 -2.31440059e-01] [ 1.32189782e-01 1.21709032e-03 9.91223678e-01 -1.56554551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58463043999998 meters Centerline goodness : 0.088114 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91205434e-01 4.44139477e-03 -1.32257559e-01 6.31571996e-01] [-4.55358655e-03 9.99989483e-01 -5.45841540e-04 -2.32047973e-01] [ 1.32253744e-01 1.14328734e-03 9.91215234e-01 -1.56493134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61463043999998 meters Centerline goodness : 0.362767 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91222913e-01 4.47119715e-03 -1.32125491e-01 6.31139145e-01] [-4.57002872e-03 9.99989458e-01 -4.44782946e-04 -2.32690316e-01] [ 1.32122110e-01 1.04469634e-03 9.91232897e-01 -1.56325248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64463044 meters Centerline goodness : 0.362767 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91222913e-01 4.47119715e-03 -1.32125491e-01 6.31139145e-01] [-4.57002872e-03 9.99989458e-01 -4.44782946e-04 -2.32690316e-01] [ 1.32122110e-01 1.04469634e-03 9.91232897e-01 -1.56325248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67463044 meters Centerline goodness : 0.082374 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.16 [[ 9.91231434e-01 4.54901665e-03 -1.32058887e-01 6.30671771e-01] [-4.62549550e-03 9.99989265e-01 -2.72368842e-04 -2.33641859e-01] [ 1.32056231e-01 8.80818347e-04 9.91241835e-01 -1.55930343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.73463044 meters Centerline goodness : 0.076507 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.15 [[ 9.91276123e-01 4.78893582e-03 -1.31714520e-01 6.29221545e-01] [-4.78735688e-03 9.99988487e-01 3.28651047e-04 -2.37301102e-01] [ 1.31714577e-01 3.04780477e-04 9.91287636e-01 -1.54928993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.79463044 meters Centerline goodness : 0.089737 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.16 [[ 9.91209226e-01 4.86235223e-03 -1.32214329e-01 6.30748555e-01] [-4.87850354e-03 9.99988080e-01 2.01767519e-04 -2.36717623e-01] [ 1.32213734e-01 4.45014244e-04 9.91221131e-01 -1.55043760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.85463044 meters Centerline goodness : 0.302358 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.23, Z:-0.16 [[ 0.99091885 0.00805051 -0.13422008 0.58842965] [-0.00777041 0.9999664 0.00261055 -0.23458526] [ 0.13423658 -0.0015439 0.99094811 -0.16101936] [ 0. 0. 0. 1. ]] SLAMing on 227.88463044 meters Centerline goodness : 0.203812 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.23, Z:-0.16 [[ 0.99091229 0.00816377 -0.13426166 0.58869148] [-0.00791793 0.99996586 0.00236492 -0.23206826] [ 0.13427638 -0.00128036 0.99094309 -0.16123569] [ 0. 0. 0. 1. ]] SLAMing on 227.91463044 meters Centerline goodness : 0.454033 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.23, Z:-0.16 [[ 9.90936638e-01 8.10015117e-03 -1.34085672e-01 5.87853238e-01] [-7.93565161e-03 9.99966961e-01 1.76122941e-03 -2.28293929e-01] [ 1.34095508e-01 -6.81209578e-04 9.90968178e-01 -1.60782997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94463044 meters Centerline goodness : 0.167820 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.23, Z:-0.16 [[ 9.90933978e-01 7.87100877e-03 -1.34118970e-01 5.87755415e-01] [-7.74671603e-03 9.99968945e-01 1.44856610e-03 -2.27388338e-01] [ 1.34126206e-01 -3.96451795e-04 9.90964179e-01 -1.60568717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97463044 meters Centerline goodness : 0.093225 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90904760e-01 3.77985821e-04 -1.34564535e-01 6.07493237e-01] [-1.03928439e-04 9.99997906e-01 2.04364282e-03 -2.22076810e-01] [ 1.34565026e-01 -2.01107031e-03 9.90902725e-01 -1.56872539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00463044 meters Centerline goodness : 0.088452 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90857624e-01 2.80293097e-04 -1.34911418e-01 6.08505685e-01] [-9.36758149e-06 9.99997982e-01 2.00880398e-03 -2.22320131e-01] [ 1.34911709e-01 -1.98917494e-03 9.90855627e-01 -1.56967514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03463044 meters Centerline goodness : 0.086873 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90819673e-01 2.00074251e-04 -1.35189995e-01 6.09349245e-01] [ 9.53839449e-05 9.99997621e-01 2.17902267e-03 -2.23300528e-01] [ 1.35190110e-01 -2.17191349e-03 9.90817298e-01 -1.56917927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06463044 meters Centerline goodness : 0.101557 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90803675e-01 2.48116407e-04 -1.35307121e-01 6.09714568e-01] [ 6.79358751e-05 9.99997280e-01 2.33119177e-03 -2.23852235e-01] [ 1.35307331e-01 -2.31894558e-03 9.90800963e-01 -1.56873112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09463044 meters Centerline goodness : 0.095949 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90773669e-01 1.86843549e-04 -1.35526757e-01 6.10274668e-01] [ 1.23809471e-04 9.99997385e-01 2.28375733e-03 -2.23825268e-01] [ 1.35526829e-01 -2.27946612e-03 9.90771055e-01 -1.56832479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12463044 meters Centerline goodness : 0.087662 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90698700e-01 -1.49261217e-04 -1.36073742e-01 6.12099273e-01] [ 4.09409422e-04 9.99998142e-01 1.88383474e-03 -2.23086186e-01] [ 1.36073208e-01 -1.92202250e-03 9.90696920e-01 -1.57220612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15463044 meters Centerline goodness : 0.371346 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90660466e-01 -2.20479105e-04 -1.36351723e-01 6.12915864e-01] [ 4.58703232e-04 9.99998423e-01 1.71571283e-03 -2.22362632e-01] [ 1.36351129e-01 -1.76223385e-03 9.90659005e-01 -1.57285914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18463043999998 meters Centerline goodness : 0.087250 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90634562e-01 -1.54707944e-04 -1.36539886e-01 6.13567257e-01] [ 3.91389300e-04 9.99998467e-01 1.70657870e-03 -2.21828349e-01] [ 1.36539413e-01 -1.74403609e-03 9.90633104e-01 -1.57482982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21463043999998 meters Centerline goodness : 0.087977 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90618257e-01 -6.66983933e-05 -1.36658205e-01 6.13894347e-01] [ 3.10329749e-04 9.99998400e-01 1.76147513e-03 -2.21654134e-01] [ 1.36657869e-01 -1.78735853e-03 9.90616693e-01 -1.57492491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24463043999998 meters Centerline goodness : 0.375606 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90613851e-01 -9.19020442e-05 -1.36690122e-01 6.13416086e-01] [ 3.44619988e-04 9.99998275e-01 1.82517540e-03 -2.22771219e-01] [ 1.36689718e-01 -1.85515018e-03 9.90612174e-01 -1.56699987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27463043999998 meters Centerline goodness : 0.286551 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.22, Z:-0.16 [[ 9.90612254e-01 -6.96359736e-05 -1.36701706e-01 6.13167079e-01] [ 3.40636653e-04 9.99998023e-01 1.95903192e-03 -2.24002270e-01] [ 1.36701300e-01 -1.98720664e-03 9.90610320e-01 -1.56297664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30463043999998 meters Centerline goodness : 0.092671 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90613604e-01 1.95401162e-05 -1.36691941e-01 6.13041876e-01] [ 2.78585156e-04 9.99997624e-01 2.16187079e-03 -2.25179974e-01] [ 1.36691659e-01 -2.17965896e-03 9.90611245e-01 -1.56110464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33463043999998 meters Centerline goodness : 0.099181 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90684675e-01 3.55018706e-04 -1.36175433e-01 6.11812906e-01] [ 1.33445981e-05 9.99996344e-01 2.70414193e-03 -2.27540388e-01] [ 1.36175895e-01 -2.68076918e-03 9.90681048e-01 -1.55984855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36463043999998 meters Centerline goodness : 0.087175 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90720119e-01 4.74010962e-04 -1.35916965e-01 6.11162509e-01] [-8.23683821e-05 9.99995829e-01 2.88709340e-03 -2.28435666e-01] [ 1.35917766e-01 -2.84910626e-03 9.90716026e-01 -1.55918395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39463044 meters Centerline goodness : 0.088326 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90733019e-01 5.44175847e-04 -1.35822638e-01 6.10763565e-01] [-1.44095489e-04 9.99995622e-01 2.95542268e-03 -2.28759952e-01] [ 1.35823652e-01 -2.90846341e-03 9.90728760e-01 -1.55723064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42463044 meters Centerline goodness : 0.087189 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90712106e-01 6.56445791e-04 -1.35974601e-01 6.11336512e-01] [-2.57051421e-04 9.99995602e-01 2.95480881e-03 -2.28387900e-01] [ 1.35975943e-01 -2.89241240e-03 9.90707917e-01 -1.55917308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45463044 meters Centerline goodness : 0.083904 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90624916e-01 1.34274787e-03 -1.36603341e-01 6.13346778e-01] [-9.03482806e-04 9.99994221e-01 3.27757384e-03 -2.27469369e-01] [ 1.36606952e-01 -3.12342754e-03 9.90620404e-01 -1.56481254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48463044 meters Centerline goodness : 0.480256 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90628314e-01 1.39938124e-03 -1.36578128e-01 6.13601185e-01] [-9.64581562e-04 9.99994255e-01 3.24965206e-03 -2.26982381e-01] [ 1.36581891e-01 -3.08745660e-03 9.90623972e-01 -1.56824071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51463044 meters Centerline goodness : 0.105373 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.16 [[ 9.90642809e-01 1.42186590e-03 -1.36472717e-01 6.13178359e-01] [-9.78970731e-04 9.99994035e-01 3.31236247e-03 -2.27521816e-01] [ 1.36476613e-01 -3.14776527e-03 9.90638292e-01 -1.56613648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.57463044 meters Centerline goodness : 0.087668 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.15 [[ 0.99077052 -0.0015742 -0.13554076 0.60935813] [ 0.00176112 0.99999766 0.00125916 -0.23255525] [ 0.13553846 -0.00148624 0.99077097 -0.15477939] [ 0. 0. 0. 1. ]] SLAMing on 228.60463044 meters Centerline goodness : 0.048108 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.23, Z:-0.15 [[ 0.99072584 -0.00149161 -0.1358679 0.61030398] [ 0.00172972 0.99999717 0.00163452 -0.23490219] [ 0.13586507 -0.00185437 0.99072561 -0.15480939] [ 0. 0. 0. 1. ]] SLAMing on 228.63463044 meters Centerline goodness : 0.101953 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.24, Z:-0.16 [[ 0.99067239 -0.00145559 -0.13625746 0.61164579] [ 0.00173229 0.99999667 0.00191215 -0.23684488] [ 0.13625422 -0.00213035 0.99067161 -0.15513226] [ 0. 0. 0. 1. ]] SLAMing on 228.66463044 meters Centerline goodness : 0.438425 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.24, Z:-0.16 [[ 0.9905839 -0.00176106 -0.13689568 0.61408209] [ 0.00204157 0.99999609 0.00190866 -0.23931913] [ 0.13689179 -0.00217017 0.99058363 -0.15583347] [ 0. 0. 0. 1. ]] SLAMing on 228.69463044 meters Centerline goodness : 0.086070 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.24, Z:-0.16 [[ 0.99057288 -0.00180518 -0.13697486 0.61434337] [ 0.00209367 0.99999588 0.00196209 -0.24034466] [ 0.13697076 -0.00223037 0.99057258 -0.15587087] [ 0. 0. 0. 1. ]] SLAMing on 228.72463044 meters Centerline goodness : 0.101879 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.24, Z:-0.16 [[ 0.99056182 -0.00181375 -0.13705467 0.61438242] [ 0.00211262 0.9999957 0.00203525 -0.24126952] [ 0.13705039 -0.00230559 0.99056139 -0.15567047] [ 0. 0. 0. 1. ]] SLAMing on 228.75463044 meters Centerline goodness : 0.103723 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.24, Z:-0.16 [[ 0.99052193 -0.00179508 -0.13734292 0.61491817] [ 0.0020991 0.99999566 0.00206873 -0.24159214] [ 0.13733861 -0.00233742 0.9905214 -0.15544426] [ 0. 0. 0. 1. ]] SLAMing on 228.78463044 meters Centerline goodness : 0.104181 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 0.99044345 -0.00151307 -0.13791113 0.61675395] [ 0.00184656 0.99999567 0.00229024 -0.2418646 ] [ 0.13790706 -0.00252302 0.99044196 -0.15581296] [ 0. 0. 0. 1. ]] SLAMing on 228.81463044 meters Centerline goodness : 0.101925 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 0.99043828 -0.00144095 -0.13794902 0.61711373] [ 0.00178206 0.99999565 0.00234928 -0.24202499] [ 0.13794503 -0.00257265 0.99043654 -0.15608791] [ 0. 0. 0. 1. ]] SLAMing on 228.84463044 meters Centerline goodness : 0.163987 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 0.99048605 -0.00144032 -0.13760562 0.61583685] [ 0.00178588 0.99999555 0.00238782 -0.24280511] [ 0.13760157 -0.00261085 0.99048422 -0.15556142] [ 0. 0. 0. 1. ]] SLAMing on 228.87463044 meters Centerline goodness : 0.083842 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 0.99050475 -0.00144391 -0.13747089 0.61511942] [ 0.00179265 0.99999548 0.00241302 -0.2431571 ] [ 0.13746679 -0.00263655 0.99050287 -0.15515084] [ 0. 0. 0. 1. ]] SLAMing on 228.90463044 meters Centerline goodness : 0.100050 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.24, Z:-0.16 [[ 0.9905105 -0.0014248 -0.13742971 0.61494025] [ 0.00177917 0.9999954 0.00245577 -0.24352658] [ 0.13742558 -0.00267697 0.99050848 -0.15505939] [ 0. 0. 0. 1. ]] SLAMing on 228.93463043999998 meters Centerline goodness : 0.100077 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 0.99050395 -0.00141043 -0.13747702 0.61509283] [ 0.00176805 0.99999536 0.00247925 -0.24381052] [ 0.13747288 -0.00269877 0.99050185 -0.15506541] [ 0. 0. 0. 1. ]] SLAMing on 228.96463043999998 meters Centerline goodness : 0.100847 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.24, Z:-0.16 [[ 0.99050357 -0.00142985 -0.13747959 0.61516921] [ 0.00178538 0.99999537 0.00246279 -0.24383767] [ 0.13747544 -0.00268486 0.99050154 -0.15513807] [ 0. 0. 0. 1. ]] SLAMing on 228.99463043999998 meters Centerline goodness : 0.081878 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 9.90603139e-01 6.31194919e-03 -1.36622034e-01 6.33887821e-01] [-6.19765867e-03 9.99979998e-01 1.26189605e-03 -2.47234637e-01] [ 1.36627267e-01 -4.03301456e-04 9.90622444e-01 -1.50737563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02463043999998 meters Centerline goodness : 0.286802 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 9.90617360e-01 6.38239172e-03 -1.36515607e-01 6.33263271e-01] [-6.24672692e-03 9.99979478e-01 1.42214225e-03 -2.48102101e-01] [ 1.36521882e-01 -5.56023084e-04 9.90636899e-01 -1.50302346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05463043999998 meters Centerline goodness : 0.086399 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 9.90632514e-01 6.44836207e-03 -1.36402496e-01 6.32870210e-01] [-6.29151395e-03 9.99978958e-01 1.58096898e-03 -2.48950402e-01] [ 1.36409821e-01 -7.07981067e-04 9.90652239e-01 -1.50145291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08463043999998 meters Centerline goodness : 0.098518 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 9.90621537e-01 6.56159669e-03 -1.36476797e-01 6.32813529e-01] [-6.36654073e-03 9.99977993e-01 1.86566463e-03 -2.50710541e-01] [ 1.36486035e-01 -9.79282475e-04 9.90641511e-01 -1.49785369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11463043999998 meters Centerline goodness : 0.107586 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 0.99060287 0.00656356 -0.13661211 0.63313129] [-0.00636026 0.99997792 0.00192463 -0.25126544] [ 0.13662172 -0.00103766 0.99062275 -0.14972376] [ 0. 0. 0. 1. ]] SLAMing on 229.14463044 meters Centerline goodness : 0.087956 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 0.99055463 0.0065202 -0.13696358 0.63392421] [-0.0063127 0.99997817 0.00194935 -0.25180829] [ 0.1369733 -0.00106632 0.99057417 -0.14950331] [ 0. 0. 0. 1. ]] SLAMing on 229.17463044 meters Centerline goodness : 0.068904 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 0.99054166 0.00650158 -0.13705823 0.63423482] [-0.0063005 0.99997834 0.00190087 -0.25155697] [ 0.13706762 -0.00101935 0.99056117 -0.14957857] [ 0. 0. 0. 1. ]] SLAMing on 229.20463044 meters Centerline goodness : 0.046786 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 9.90544257e-01 6.54689524e-03 -1.37037272e-01 6.34420129e-01] [-6.35317097e-03 9.99978105e-01 1.85099187e-03 -2.50826291e-01] [ 1.37046390e-01 -9.62868151e-04 9.90564162e-01 -1.49828632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23463044 meters Centerline goodness : 0.046911 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.15 [[ 9.90582394e-01 6.83203886e-03 -1.36747373e-01 6.34104328e-01] [-6.67114550e-03 9.99976411e-01 1.63482791e-03 -2.47461750e-01] [ 1.36755316e-01 -7.07170125e-04 9.90604605e-01 -1.50283879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26463044 meters Centerline goodness : 0.115353 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.15 [[ 9.90564798e-01 6.68792240e-03 -1.36881896e-01 6.34721083e-01] [-6.58579181e-03 9.99977595e-01 1.19898265e-03 -2.44999947e-01] [ 1.36886847e-01 -2.86194338e-04 9.90586649e-01 -1.50649730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29463044 meters Centerline goodness : 0.086090 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.15 [[ 9.90527298e-01 6.51690258e-03 -1.37161227e-01 6.35405036e-01] [-6.47286968e-03 9.99978757e-01 7.67053737e-04 -2.42661688e-01] [ 1.37163312e-01 1.28039081e-04 9.90548439e-01 -1.50682208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32463044 meters Centerline goodness : 0.098507 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.15 [[ 9.90476884e-01 6.45177271e-03 -1.37527874e-01 6.36124656e-01] [-6.47208027e-03 9.99979011e-01 2.99513007e-04 -2.38679265e-01] [ 1.37526919e-01 5.93430727e-04 9.90497852e-01 -1.50465839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35463044 meters Centerline goodness : 0.092725 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.15 [[ 9.90471672e-01 6.39025656e-03 -1.37568278e-01 6.36168164e-01] [-6.43232700e-03 9.99979303e-01 1.38742884e-04 -2.37671664e-01] [ 1.37566317e-01 7.47463254e-04 9.90492276e-01 -1.50412131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38463044 meters Centerline goodness : 0.085561 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.15 [[ 9.90478878e-01 6.23580623e-03 -1.37523480e-01 6.36165285e-01] [-6.30543706e-03 9.99980118e-01 -7.06786683e-05 -2.36968235e-01] [ 1.37520305e-01 9.37151378e-04 9.90498504e-01 -1.50526659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41463044 meters Centerline goodness : 0.089362 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.15 [[ 9.90480003e-01 6.07008346e-03 -1.37522791e-01 6.36058507e-01] [-6.16913321e-03 9.99980927e-01 -2.94026827e-04 -2.36161158e-01] [ 1.37518383e-01 1.13962411e-03 9.90498559e-01 -1.50385518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44463044 meters Centerline goodness : 0.099979 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.15 [[ 9.90467624e-01 5.79553579e-03 -1.37623751e-01 6.36078133e-01] [-5.95071303e-03 9.99982038e-01 -7.16132964e-04 -2.34369590e-01] [ 1.37617128e-01 1.52826596e-03 9.90484321e-01 -1.50124159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47463044 meters Centerline goodness : 0.047017 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.15 [[ 9.90473976e-01 5.75294415e-03 -1.37579822e-01 6.35998441e-01] [-5.91412932e-03 9.99982220e-01 -7.62824924e-04 -2.34143915e-01] [ 1.37572988e-01 1.56922310e-03 9.90490389e-01 -1.50132357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50463044 meters Centerline goodness : 0.324902 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.15 [[ 9.90470218e-01 5.69047506e-03 -1.37609465e-01 6.36156676e-01] [-5.85766604e-03 9.99982516e-01 -8.10032882e-04 -2.34135122e-01] [ 1.37602450e-01 1.60838374e-03 9.90486234e-01 -1.50190853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53463044 meters Centerline goodness : 0.097098 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.90462724e-01 -1.88980803e-03 -1.37767995e-01 6.55762090e-01] [ 1.92412988e-03 9.99998142e-01 1.15951525e-04 -2.30140786e-01] [ 1.37767520e-01 -3.79929179e-04 9.90464520e-01 -1.46366146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56463044 meters Centerline goodness : 0.097098 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.90462724e-01 -1.88980803e-03 -1.37767995e-01 6.55762090e-01] [ 1.92412988e-03 9.99998142e-01 1.15951525e-04 -2.30140786e-01] [ 1.37767520e-01 -3.79929179e-04 9.90464520e-01 -1.46366146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59463044 meters Centerline goodness : 0.124816 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.90459935e-01 -1.93063792e-03 -1.37787483e-01 6.55750440e-01] [ 1.97266865e-03 9.99998040e-01 1.68484993e-04 -2.30875543e-01] [ 1.37786888e-01 -4.38686683e-04 9.90461802e-01 -1.46233672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62463044 meters Centerline goodness : 0.179195 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.90448559e-01 -1.93285137e-03 -1.37869201e-01 6.55679336e-01] [ 1.98677447e-03 9.99997994e-01 2.53504176e-04 -2.31643968e-01] [ 1.37868435e-01 -5.24997856e-04 9.90450412e-01 -1.45879129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65463044 meters Centerline goodness : 0.100056 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.15 [[ 9.90448413e-01 -1.95758702e-03 -1.37869902e-01 6.55392144e-01] [ 2.01208374e-03 9.99997943e-01 2.55909032e-04 -2.31862819e-01] [ 1.37869117e-01 -5.30870483e-04 9.90450314e-01 -1.45524436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68463043999998 meters Centerline goodness : 0.088146 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.15 [[ 9.90518259e-01 -1.86422923e-03 -1.37368493e-01 6.53960084e-01] [ 1.89378132e-03 9.99998203e-01 8.44378292e-05 -2.29793674e-01] [ 1.37368089e-01 -3.43783099e-04 9.90520010e-01 -1.45337712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71463043999998 meters Centerline goodness : 0.083904 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.15 [[ 9.90558748e-01 -1.80107529e-03 -1.37077068e-01 6.53321925e-01] [ 1.80356151e-03 9.99998368e-01 -1.06062356e-04 -2.27673595e-01] [ 1.37077035e-01 -1.42165929e-04 9.90560380e-01 -1.45456626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74463043999998 meters Centerline goodness : 0.252370 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.14 [[ 0.99057395 0.00634203 -0.13683208 0.67296621] [-0.00659643 0.99997726 -0.00140586 -0.22620295] [ 0.13682006 0.00229521 0.99059326 -0.14191525] [ 0. 0. 0. 1. ]] SLAMing on 229.77463043999998 meters Centerline goodness : 0.097789 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.14 [[ 9.90487786e-01 9.44323602e-03 -1.37276257e-01 6.75496816e-01] [-9.45266564e-03 9.99955152e-01 5.83222852e-04 -2.19655413e-01] [ 1.37275608e-01 7.19951448e-04 9.90532629e-01 -1.43172532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80463043999998 meters Centerline goodness : 0.122968 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.14 [[ 9.90486322e-01 9.24389570e-03 -1.37300390e-01 6.75519393e-01] [-9.32467224e-03 9.99956523e-01 5.48687063e-05 -2.16666731e-01] [ 1.37294928e-01 1.22593443e-03 9.90529454e-01 -1.43165755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83463043999998 meters Centerline goodness : 0.468380 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.14 [[ 9.90491383e-01 9.00862416e-03 -1.37279514e-01 6.75313788e-01] [-9.15955688e-03 9.99957941e-01 -4.67782072e-04 -2.13845343e-01] [ 1.37269526e-01 1.72075363e-03 9.90532239e-01 -1.43040926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86463043999998 meters Centerline goodness : 0.088979 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.14 [[ 9.90502234e-01 8.76349481e-03 -1.37217073e-01 6.75026273e-01] [-8.97493820e-03 9.99959299e-01 -9.22321162e-04 -2.11623902e-01] [ 1.37203406e-01 2.14507593e-03 9.90540572e-01 -1.42904674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89463044 meters Centerline goodness : 0.478550 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.14 [[ 0.99053367 0.00838126 -0.1370139 0.67445038] [-0.00868387 0.999961 -0.00161099 -0.20756288] [ 0.13699505 0.00278555 0.99056781 -0.14278731] [ 0. 0. 0. 1. ]] SLAMing on 229.92463044 meters Centerline goodness : 0.417057 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.14 [[ 0.99055895 0.00822225 -0.13684062 0.67390942] [-0.00857206 0.99996132 -0.00196723 -0.20538698] [ 0.13681916 0.00312167 0.99059112 -0.14267477] [ 0. 0. 0. 1. ]] SLAMing on 229.95463044 meters Centerline goodness : 0.242099 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.14 [[ 0.99057695 0.00805295 -0.13672033 0.67361514] [-0.00845142 0.99996156 -0.00233422 -0.20322119] [ 0.13669628 0.00346771 0.99060694 -0.14268258] [ 0. 0. 0. 1. ]] SLAMing on 229.98463044 meters Centerline goodness : 0.103157 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.14 [[ 0.99054875 0.00760181 -0.13695032 0.67419064] [-0.00811481 0.99996199 -0.00318797 -0.19895196] [ 0.13692088 0.00426917 0.99057279 -0.14267918] [ 0. 0. 0. 1. ]] SLAMing on 230.01463044 meters Centerline goodness : 0.407721 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90466227e-01 -4.61712848e-04 -1.37755002e-01 6.55379382e-01] [ 1.25240069e-04 9.99996988e-01 -2.45120245e-03 -1.93819385e-01] [ 1.37755719e-01 2.41058079e-03 9.90463301e-01 -1.46604742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 230.07463044 meters Centerline goodness : 0.083998 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90275117e-01 -6.43522802e-04 -1.39121454e-01 6.59473631e-01] [ 2.29818055e-04 9.99995504e-01 -2.98973879e-03 -1.90562039e-01] [ 1.39122752e-01 2.92869131e-03 9.90270813e-01 -1.47481640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10463044 meters Centerline goodness : 0.105302 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90248809e-01 -8.15000101e-04 -1.39307689e-01 6.59977491e-01] [ 3.83165585e-04 9.99995039e-01 -3.12665293e-03 -1.90867167e-01] [ 1.39309546e-01 3.04278642e-03 9.90244208e-01 -1.47509855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13463044 meters Centerline goodness : 0.099535 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90252191e-01 -9.56810084e-04 -1.39282744e-01 6.59746591e-01] [ 5.16206834e-04 9.99994748e-01 -3.19946389e-03 -1.91332582e-01] [ 1.39285074e-01 3.09637742e-03 9.90247485e-01 -1.47287853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16463044 meters Centerline goodness : 0.462929 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90361839e-01 -1.02462247e-03 -1.38500463e-01 6.57118630e-01] [ 6.22010917e-04 9.99995455e-01 -2.95018466e-03 -1.93323142e-01] [ 1.38502856e-01 2.83560150e-03 9.90357975e-01 -1.46366218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19463044 meters Centerline goodness : 0.103125 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90401563e-01 -9.27123690e-04 -1.38216799e-01 6.56365827e-01] [ 5.55766857e-04 9.99996132e-01 -2.72533977e-03 -1.94463376e-01] [ 1.38218791e-01 2.62236445e-03 9.90398248e-01 -1.46231283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22463044 meters Centerline goodness : 0.089202 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.15 [[ 9.90412090e-01 -9.50249920e-04 -1.38141190e-01 6.56420007e-01] [ 5.96393501e-04 9.99996435e-01 -2.60292529e-03 -1.95812620e-01] [ 1.38143171e-01 2.49558217e-03 9.90409126e-01 -1.46423028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25463044 meters Centerline goodness : 0.499522 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.15 [[ 9.90403347e-01 -9.51193827e-04 -1.38203856e-01 6.56663383e-01] [ 5.93102248e-04 9.99996360e-01 -2.63219799e-03 -1.95709681e-01] [ 1.38205857e-01 2.52496868e-03 9.90400306e-01 -1.46543214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28463044 meters Centerline goodness : 0.506048 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.15 [[ 9.90379732e-01 -8.17247253e-04 -1.38373836e-01 6.57158079e-01] [ 4.60087812e-04 9.99996480e-01 -2.61308600e-03 -1.95041736e-01] [ 1.38375484e-01 2.52428330e-03 9.90376622e-01 -1.46640017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31463044 meters Centerline goodness : 0.513266 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90379903e-01 -6.66078573e-04 -1.38373420e-01 6.57127182e-01] [ 3.04813880e-04 9.99996490e-01 -2.63197002e-03 -1.93969872e-01] [ 1.38374688e-01 2.56447207e-03 9.90376630e-01 -1.46630318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34463044 meters Centerline goodness : 0.511777 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90403001e-01 -6.33823225e-04 -1.38208154e-01 6.56864944e-01] [ 2.53111050e-04 9.99996125e-01 -2.77218685e-03 -1.92725849e-01] [ 1.38209375e-01 2.71060016e-03 9.90399324e-01 -1.46864857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 230.40463043999998 meters Centerline goodness : 0.102339 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90401314e-01 -4.64714754e-04 -1.38220912e-01 6.57073984e-01] [ 2.90955864e-05 9.99995027e-01 -3.15361929e-03 -1.89466406e-01] [ 1.38221691e-01 3.11932707e-03 9.90396402e-01 -1.47261581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43463043999998 meters Centerline goodness : 0.103310 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90362315e-01 -4.14512542e-04 -1.38500231e-01 6.58041271e-01] [-4.95909638e-05 9.99994396e-01 -3.34745464e-03 -1.87513122e-01] [ 1.38500842e-01 3.32206129e-03 9.90356744e-01 -1.47579562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46463043999998 meters Centerline goodness : 0.206413 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90354400e-01 -5.85175071e-04 -1.38556200e-01 6.58500745e-01] [ 9.36139890e-05 9.99993679e-01 -3.55422816e-03 -1.87014729e-01] [ 1.38557404e-01 3.50697470e-03 9.90348195e-01 -1.47920039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49463043999998 meters Centerline goodness : 0.506681 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90357146e-01 -6.41092337e-04 -1.38536320e-01 6.58458467e-01] [ 1.49262908e-04 9.99993650e-01 -3.56054410e-03 -1.87283734e-01] [ 1.38537723e-01 3.50553196e-03 9.90350953e-01 -1.47938319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52463043999998 meters Centerline goodness : 0.163838 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90412007e-01 -9.34757317e-04 -1.38141893e-01 6.57251981e-01] [ 4.57053034e-04 9.99993806e-01 -3.48975033e-03 -1.88857731e-01] [ 1.38144299e-01 3.39315245e-03 9.90406300e-01 -1.47533484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55463043999998 meters Centerline goodness : 0.100653 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 9.90415697e-01 -1.00503547e-03 -1.38114942e-01 6.57144797e-01] [ 5.58119983e-04 9.99994483e-01 -3.27451274e-03 -1.90897974e-01] [ 1.38117471e-01 3.16604410e-03 9.90410794e-01 -1.47375489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58463043999998 meters Centerline goodness : 0.102240 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.15 [[ 0.99040533 -0.00507921 -0.13809955 0.65702954] [ 0.00422725 0.99997019 -0.0064618 -0.19425736] [ 0.13812826 0.00581602 0.99039727 -0.14717066] [ 0. 0. 0. 1. ]] SLAMing on 230.61463043999998 meters Centerline goodness : 0.103906 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.15 [[ 0.99039061 -0.00499338 -0.13820821 0.65741686] [ 0.00418985 0.99997259 -0.00610422 -0.19666902] [ 0.1382349 0.00546649 0.99038439 -0.14722603] [ 0. 0. 0. 1. ]] SLAMing on 230.64463044 meters Centerline goodness : 0.107083 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.15 [[ 0.99036788 -0.00481462 -0.1383773 0.65812596] [ 0.00406152 0.99997537 -0.00572421 -0.19862428] [ 0.13840145 0.00510705 0.99036304 -0.14748873] [ 0. 0. 0. 1. ]] SLAMing on 230.67463044 meters Centerline goodness : 0.483614 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.15 [[ 0.99032298 -0.00460789 -0.13870528 0.65922655] [ 0.00390339 0.99997807 -0.00535069 -0.20046059] [ 0.13872689 0.00475749 0.99031925 -0.14773417] [ 0. 0. 0. 1. ]] SLAMing on 230.70463044 meters Centerline goodness : 0.175837 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.15 [[ 0.99028682 -0.0043892 -0.1389703 0.65989935] [ 0.00372241 0.99998028 -0.0050576 -0.20208299] [ 0.13898976 0.00449117 0.99028363 -0.14769639] [ 0. 0. 0. 1. ]] SLAMing on 230.73463044 meters Centerline goodness : 0.101343 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99032749 0.00344522 -0.13870686 0.67889805] [-0.00437632 0.99996989 -0.00640835 -0.20443806] [ 0.13868061 0.00695339 0.99031275 -0.14325532] [ 0. 0. 0. 1. ]] SLAMing on 230.76463044 meters Centerline goodness : 0.111963 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99033425 0.00347906 -0.13865777 0.67860299] [-0.0044229 0.9999691 -0.00649944 -0.20374332] [ 0.13863088 0.00704989 0.99031903 -0.14311696] [ 0. 0. 0. 1. ]] SLAMing on 230.79463044 meters Centerline goodness : 0.101557 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99031521 0.0035456 -0.13879201 0.67898358] [-0.00450477 0.99996809 -0.00659733 -0.20281157] [ 0.13876419 0.00715866 0.99029958 -0.14318077] [ 0. 0. 0. 1. ]] SLAMing on 230.82463044 meters Centerline goodness : 0.114631 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99034049 0.00380826 -0.13860453 0.67893011] [-0.00477013 0.99996679 -0.00660817 -0.20153791] [ 0.13857476 0.0072055 0.99032576 -0.14374672] [ 0. 0. 0. 1. ]] SLAMing on 230.85463044 meters Centerline goodness : 0.432109 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99034168 0.0038163 -0.13859582 0.67902108] [-0.00478994 0.99996613 -0.00669221 -0.20090856] [ 0.13856558 0.00729144 0.99032642 -0.14388946] [ 0. 0. 0. 1. ]] SLAMing on 230.88463044 meters Centerline goodness : 0.099506 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.9903354 0.00373191 -0.13864295 0.67913365] [-0.00473163 0.99996513 -0.00688183 -0.2000042 ] [ 0.13861243 0.00747132 0.99031852 -0.14387915] [ 0. 0. 0. 1. ]] SLAMing on 230.91463044 meters Centerline goodness : 0.104122 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99033635 0.00368689 -0.13863734 0.67877517] [-0.0047034 0.9999644 -0.00700529 -0.19931902] [ 0.13860658 0.00758966 0.99031844 -0.14349159] [ 0. 0. 0. 1. ]] SLAMing on 230.94463044 meters Centerline goodness : 0.216821 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99034995 0.00369663 -0.13853994 0.67855032] [-0.00471376 0.99996429 -0.00701442 -0.19902451] [ 0.13850906 0.00759977 0.99033201 -0.1434996 ] [ 0. 0. 0. 1. ]] SLAMing on 230.97463044 meters Centerline goodness : 0.177600 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99035082 0.00358743 -0.1385366 0.67885872] [-0.00462964 0.99996335 -0.00720146 -0.19818782] [ 0.13850569 0.00777335 0.99033113 -0.1438812 ] [ 0. 0. 0. 1. ]] SLAMing on 231.00463044 meters Centerline goodness : 0.100517 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99034451 0.00340969 -0.13858616 0.67912158] [-0.00448494 0.99996221 -0.00744715 -0.19741415] [ 0.13855553 0.0079968 0.99032238 -0.14401925] [ 0. 0. 0. 1. ]] SLAMing on 231.03463044 meters Centerline goodness : 0.112503 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99035125 0.00323312 -0.13854222 0.67887646] [-0.00434657 0.99996064 -0.00773508 -0.19625925] [ 0.13851176 0.00826263 0.99032632 -0.14385324] [ 0. 0. 0. 1. ]] SLAMing on 231.06463044 meters Centerline goodness : 0.114082 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99036722 0.00332592 -0.13842582 0.67826959] [-0.00442596 0.99996102 -0.00763973 -0.19618348] [ 0.13839502 0.00817881 0.99034334 -0.143506 ] [ 0. 0. 0. 1. ]] SLAMing on 231.09463044 meters Centerline goodness : 0.541605 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99040906 0.00335977 -0.13812531 0.67734317] [-0.00444768 0.99996147 -0.00756833 -0.19630641] [ 0.13809456 0.00811008 0.99038584 -0.14330182] [ 0. 0. 0. 1. ]] SLAMing on 231.12463044 meters Centerline goodness : 0.118762 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99046523 0.00305349 -0.1377291 0.67644072] [-0.00415578 0.99996159 -0.00771649 -0.1969146 ] [ 0.13770025 0.00821529 0.99043988 -0.14329394] [ 0. 0. 0. 1. ]] SLAMing on 231.15463043999998 meters Centerline goodness : 0.105779 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99042243 0.00288444 -0.1380402 0.67754936] [-0.00400122 0.99996147 -0.00781342 -0.19725019] [ 0.13801234 0.00829092 0.99039581 -0.14359984] [ 0. 0. 0. 1. ]] SLAMing on 231.18463043999998 meters Centerline goodness : 0.103957 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99037356 0.00284354 -0.13839121 0.67873037] [-0.00395795 0.99996192 -0.00777811 -0.19767029] [ 0.13836383 0.00825098 0.9903471 -0.14392212] [ 0. 0. 0. 1. ]] SLAMing on 231.21463043999998 meters Centerline goodness : 0.143234 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99035478 0.00295427 -0.13852321 0.67934236] [-0.00402832 0.99996396 -0.00747384 -0.19886235] [ 0.13849614 0.00795977 0.99033099 -0.14411956] [ 0. 0. 0. 1. ]] SLAMing on 231.24463043999998 meters Centerline goodness : 0.103039 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99038302 0.00288934 -0.13832252 0.6787049 ] [-0.00395717 0.99996445 -0.00744551 -0.19939236] [ 0.13829609 0.00792127 0.99035925 -0.14391136] [ 0. 0. 0. 1. ]] SLAMing on 231.27463043999998 meters Centerline goodness : 0.102481 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.14 [[ 0.99041866 0.00276907 -0.13806959 0.67778336] [-0.00383875 0.99996464 -0.00748168 -0.19989603] [ 0.138044 0.00794001 0.99039427 -0.14354159] [ 0. 0. 0. 1. ]] SLAMing on 231.30463043999998 meters Centerline goodness : 0.102351 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.15 [[ 9.90987259e-01 -1.07453681e-03 -1.33951846e-01 6.42016741e-01] [-1.78807582e-05 9.99966757e-01 -8.15383085e-03 -2.01267771e-01] [ 1.33956155e-01 8.08273765e-03 9.90954297e-01 -1.51800656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33463043999998 meters Centerline goodness : 0.105902 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.15 [[ 9.90936427e-01 -9.66511785e-04 -1.34328195e-01 6.43617167e-01] [-1.17053761e-04 9.99967524e-01 -8.05842165e-03 -2.01228657e-01] [ 1.34331621e-01 8.00110718e-03 9.90904132e-01 -1.52485050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36463043999998 meters Centerline goodness : 0.104123 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.15 [[ 9.90895991e-01 -9.26126280e-04 -1.34626433e-01 6.44942376e-01] [-1.65827084e-04 9.99967184e-01 -8.09954817e-03 -2.00613167e-01] [ 1.34629517e-01 8.04813452e-03 9.90863321e-01 -1.53155436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39463044 meters Centerline goodness : 0.108807 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.15 [[ 9.90816458e-01 -1.02815949e-03 -1.35209798e-01 6.46419939e-01] [-1.34655329e-04 9.99963091e-01 -8.59065154e-03 -1.98032352e-01] [ 1.35213640e-01 8.52996565e-03 9.90779749e-01 -1.53238621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42463044 meters Centerline goodness : 0.101678 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.15 [[ 9.90790986e-01 -1.11126349e-03 -1.35395670e-01 6.46762927e-01] [-1.10385224e-04 9.99959358e-01 -9.01496341e-03 -1.95517733e-01] [ 1.35400185e-01 8.94689017e-03 9.90750596e-01 -1.53158410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45463044 meters Centerline goodness : 0.101678 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.15 [[ 9.90790986e-01 -1.11126349e-03 -1.35395670e-01 6.46762927e-01] [-1.10385224e-04 9.99959358e-01 -9.01496341e-03 -1.95517733e-01] [ 1.35400185e-01 8.94689017e-03 9.90750596e-01 -1.53158410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48463044 meters Centerline goodness : 0.157999 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.15 [[ 9.90679792e-01 9.02687897e-04 -1.36208425e-01 6.50254896e-01] [-1.96113298e-03 9.99968916e-01 -7.63678887e-03 -1.91872116e-01] [ 1.36197297e-01 7.83273524e-03 9.90650768e-01 -1.54330872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51463044 meters Centerline goodness : 0.106016 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.15 [[ 0.9907024 0.00473138 -0.13596458 0.64999689] [-0.00545014 0.99997307 -0.00491465 -0.18650624] [ 0.13593767 0.00560998 0.99070151 -0.15474757] [ 0. 0. 0. 1. ]] SLAMing on 231.54463044 meters Centerline goodness : 0.136538 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.15 [[ 0.99072144 0.00449813 -0.13583371 0.64972013] [-0.00529175 0.99997097 -0.00548204 -0.18352075] [ 0.13580511 0.00614997 0.99071648 -0.15487095] [ 0. 0. 0. 1. ]] SLAMing on 231.57463044 meters Centerline goodness : 0.106825 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.15 [[ 0.99072789 0.00428883 -0.13579346 0.64958414] [-0.00514656 0.99996896 -0.00596599 -0.18099362] [ 0.13576365 0.00660954 0.99071921 -0.15490198] [ 0. 0. 0. 1. ]] SLAMing on 231.60463044 meters Centerline goodness : 0.146665 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.15 [[ 0.99075547 0.0041349 -0.13559685 0.64900469] [-0.00504826 0.99996682 -0.00639269 -0.17837645] [ 0.13556592 0.00701812 0.99074347 -0.15486576] [ 0. 0. 0. 1. ]] SLAMing on 231.63463044 meters Centerline goodness : 0.117283 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.15 [[ 0.9907606 0.00398096 -0.13556398 0.64896355] [-0.00497907 0.99996293 -0.00702436 -0.17243118] [ 0.13553099 0.00763445 0.99074369 -0.15495832] [ 0. 0. 0. 1. ]] SLAMing on 231.66463044 meters Centerline goodness : 0.085656 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.16 [[ 0.99075201 0.00374417 -0.13563344 0.64924874] [-0.00480545 0.99996034 -0.0074981 -0.1700007 ] [ 0.13559998 0.00808054 0.99073072 -0.15512523] [ 0. 0. 0. 1. ]] SLAMing on 231.69463044 meters Centerline goodness : 0.104113 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.16 [[ 0.99075018 0.00350298 -0.13565331 0.64930299] [-0.00462261 0.9999578 -0.00793955 -0.16787259] [ 0.13561977 0.00849318 0.99072456 -0.15515642] [ 0. 0. 0. 1. ]] SLAMing on 231.72463044 meters Centerline goodness : 0.102212 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.15 [[ 0.99077041 0.00327981 -0.13551102 0.64879207] [-0.00444792 0.99995551 -0.00831813 -0.16613732] [ 0.13547771 0.0088441 0.99074092 -0.15499587] [ 0. 0. 0. 1. ]] SLAMing on 231.75463044 meters Centerline goodness : 0.178020 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.15 [[ 0.99078138 0.00304206 -0.13543637 0.64845248] [-0.00426498 0.99995271 -0.00874024 -0.16345214] [ 0.13540338 0.0092373 0.99074749 -0.15480833] [ 0. 0. 0. 1. ]] SLAMing on 231.78463044 meters Centerline goodness : 0.087983 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99076653 0.00300987 -0.13554566 0.6490338 ] [-0.00425062 0.99995167 -0.00886525 -0.16218806] [ 0.13551243 0.00935954 0.99073144 -0.1551279 ] [ 0. 0. 0. 1. ]] SLAMing on 231.81463044 meters Centerline goodness : 0.191220 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99074026 0.00296458 -0.1357385 0.64992609] [-0.00421942 0.99995098 -0.00895775 -0.16147936] [ 0.13570529 0.00944754 0.9907042 -0.15555625] [ 0. 0. 0. 1. ]] SLAMing on 231.84463044 meters Centerline goodness : 0.214318 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99069234 0.00241246 -0.13609876 0.65113137] [-0.00373067 0.99994856 -0.00943146 -0.16098522] [ 0.136069 0.00985142 0.99065038 -0.15581378] [ 0. 0. 0. 1. ]] SLAMing on 231.87463044 meters Centerline goodness : 0.169695 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99070714 0.00229408 -0.13599301 0.65072366] [-0.00360968 0.99994904 -0.00942823 -0.16161454] [ 0.13596445 0.00983151 0.99066493 -0.15558886] [ 0. 0. 0. 1. ]] SLAMing on 231.90463043999998 meters Centerline goodness : 0.192564 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99072906 0.00226562 -0.1358337 0.65022836] [-0.00356506 0.99995018 -0.00932393 -0.16240622] [ 0.13580581 0.00972174 0.99068778 -0.15540229] [ 0. 0. 0. 1. ]] SLAMing on 231.93463043999998 meters Centerline goodness : 0.431564 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99075288 0.00231479 -0.13565906 0.64971041] [-0.00358895 0.99995171 -0.00914853 -0.16330632] [ 0.13563133 0.00955081 0.99071334 -0.15528678] [ 0. 0. 0. 1. ]] SLAMing on 231.96463043999998 meters Centerline goodness : 0.464266 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99071585 0.00233054 -0.13592895 0.65083033] [-0.00359717 0.99995237 -0.00907348 -0.16373843] [ 0.13590133 0.0094782 0.99067704 -0.15570601] [ 0. 0. 0. 1. ]] SLAMing on 231.99463043999998 meters Centerline goodness : 0.475922 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99070078 0.00228146 -0.13603958 0.65163361] [-0.00356405 0.99995146 -0.00918529 -0.16321291] [ 0.13601202 0.00958473 0.99066082 -0.15629446] [ 0. 0. 0. 1. ]] SLAMing on 232.02463043999998 meters Centerline goodness : 0.470286 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99069177 0.00224804 -0.13610572 0.65222034] [-0.00355621 0.99994979 -0.00936904 -0.16206336] [ 0.13607783 0.00976586 0.99065002 -0.15679005] [ 0. 0. 0. 1. ]] SLAMing on 232.05463043999998 meters Centerline goodness : 0.464923 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99068198 0.0021272 -0.13617892 0.65286534] [-0.00349782 0.9999456 -0.00982635 -0.15962208] [ 0.13615061 0.01021112 0.99063553 -0.15741288] [ 0. 0. 0. 1. ]] SLAMing on 232.08463043999998 meters Centerline goodness : 0.118485 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99065241 0.00195031 -0.13639649 0.65365617] [-0.00336529 0.99994288 -0.01014419 -0.15844374] [ 0.13636892 0.01050838 0.99060239 -0.15772696] [ 0. 0. 0. 1. ]] SLAMing on 232.11463043999998 meters Centerline goodness : 0.160483 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.16 [[ 0.99060098 0.00189016 -0.13677032 0.65466418] [-0.00332597 0.99994173 -0.01027022 -0.15778848] [ 0.13674293 0.01062858 0.99054955 -0.15778648] [ 0. 0. 0. 1. ]] SLAMing on 232.14463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 232.17463044 meters Centerline goodness : 0.440009 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.16 [[ 0.99057943 0.00177798 -0.13692783 0.6554669 ] [-0.00324719 0.99993953 -0.01050713 -0.15592011] [ 0.13690087 0.01085278 0.9905253 -0.15819475] [ 0. 0. 0. 1. ]] SLAMing on 232.20463044 meters Centerline goodness : 0.098004 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.16 [[ 0.99055266 0.00153905 -0.13712423 0.65598855] [-0.00304926 0.99993699 -0.01080407 -0.15519157] [ 0.13709896 0.01112013 0.99049494 -0.15819477] [ 0. 0. 0. 1. ]] SLAMing on 232.23463044 meters Centerline goodness : 0.191245 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.16 [[ 0.99052244 0.00124164 -0.1373454 0.65655818] [-0.00279744 0.99993409 -0.01113521 -0.15441103] [ 0.13732252 0.01141389 0.99046062 -0.1581715 ] [ 0. 0. 0. 1. ]] SLAMing on 232.26463044 meters Centerline goodness : 0.117463 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.16 [[ 0.99051322 0.00105932 -0.13741341 0.65662244] [-0.00264413 0.99993208 -0.01135117 -0.15378946] [ 0.13739205 0.01160682 0.99044874 -0.15802121] [ 0. 0. 0. 1. ]] SLAMing on 232.29463044 meters Centerline goodness : 0.091753 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.16 [[ 0.99056461 -0.00656 -0.13688946 0.63623917] [ 0.00519423 0.99993313 -0.01033197 -0.14838293] [ 0.13694808 0.00952345 0.99053245 -0.16202875] [ 0. 0. 0. 1. ]] SLAMing on 232.32463044 meters Centerline goodness : 0.121210 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.16 [[ 9.90795064e-01 6.41358832e-04 -1.35368867e-01 6.54788025e-01] [-2.25270983e-03 9.99928422e-01 -1.17505664e-02 -1.49298996e-01] [ 1.35351641e-01 1.19473499e-02 9.90725590e-01 -1.58317013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 232.38463044 meters Centerline goodness : 0.275324 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99099358 -0.00779579 -0.13368229 0.63286979] [ 0.00626681 0.9999101 -0.01185437 -0.14355216] [ 0.13376269 0.01090985 0.99095334 -0.16155136] [ 0. 0. 0. 1. ]] SLAMing on 232.41463044 meters Centerline goodness : 0.264217 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99096616 -0.00785596 -0.13388184 0.63343613] [ 0.00631534 0.99990891 -0.01192805 -0.14324654] [ 0.13396335 0.01097478 0.99092551 -0.16155642] [ 0. 0. 0. 1. ]] SLAMing on 232.44463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 232.47463044 meters Centerline goodness : 0.114411 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 9.91353302e-01 -8.70143160e-04 -1.31216896e-01 6.50771192e-01] [-9.01545099e-04 9.99909246e-01 -1.34419725e-02 -1.44912134e-01] [ 1.31216684e-01 1.34440417e-02 9.91262548e-01 -1.57704104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50463044 meters Centerline goodness : 0.090186 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 9.91396434e-01 -8.70190007e-04 -1.30890619e-01 6.49523997e-01] [-9.03770837e-04 9.99908557e-01 -1.34929885e-02 -1.44538752e-01] [ 1.30890391e-01 1.34951958e-02 9.91304991e-01 -1.57160789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53463044 meters Centerline goodness : 0.093120 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 9.91419401e-01 -8.83471876e-04 -1.30716449e-01 6.48845912e-01] [-9.05848984e-04 9.99906718e-01 -1.36284740e-02 -1.43597625e-01] [ 1.30716296e-01 1.36299429e-02 9.91326119e-01 -1.56865524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56463044 meters Centerline goodness : 0.147294 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 9.91439125e-01 -8.26280053e-04 -1.30567141e-01 6.48455264e-01] [-9.71010015e-04 9.99905666e-01 -1.37009926e-02 -1.42610698e-01] [ 1.30566144e-01 1.37104821e-02 9.91344796e-01 -1.56870326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59463044 meters Centerline goodness : 0.090216 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 9.91392626e-01 -2.64970074e-04 -1.30922083e-01 6.49408485e-01] [-1.51346269e-03 9.99907938e-01 -1.34842143e-02 -1.40804541e-01] [ 1.30913603e-01 1.35662963e-02 9.91300955e-01 -1.57000294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62463044 meters Centerline goodness : 0.125643 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 9.91379230e-01 -1.88839214e-04 -1.31023610e-01 6.49914784e-01] [-1.58418189e-03 9.99908589e-01 -1.34277096e-02 -1.40787334e-01] [ 1.31014169e-01 1.35195176e-02 9.91288308e-01 -1.57314260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65463043999998 meters Centerline goodness : 0.406605 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.15 [[ 0.99136193 -0.00782671 -0.13092085 0.66941494] [ 0.00625791 0.99990366 -0.0123899 -0.13731297] [ 0.13100521 0.01146358 0.9913154 -0.15382309] [ 0. 0. 0. 1. ]] SLAMing on 232.68463043999998 meters Centerline goodness : 0.092572 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.15 [[ 0.99136785 -0.01157517 -0.13059784 0.66816286] [ 0.00966553 0.99983704 -0.01524669 -0.14136231] [ 0.13075304 0.01385278 0.99131818 -0.15324676] [ 0. 0. 0. 1. ]] SLAMing on 232.71463043999998 meters Centerline goodness : 0.335287 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.15 [[ 0.9913727 -0.01141782 -0.13057492 0.66801464] [ 0.00958555 0.9998467 -0.01465227 -0.14505935] [ 0.1307222 0.01327423 0.99133017 -0.15303963] [ 0. 0. 0. 1. ]] SLAMing on 232.74463043999998 meters Centerline goodness : 0.098051 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.15 [[ 0.99133883 -0.01132173 -0.13084014 0.66894807] [ 0.00955247 0.99985437 -0.01414201 -0.14857685] [ 0.13098119 0.01276967 0.99130261 -0.15322022] [ 0. 0. 0. 1. ]] SLAMing on 232.77463043999998 meters Centerline goodness : 0.119201 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.16 [[ 0.99126367 -0.01423075 -0.13112521 0.67207268] [ 0.01223732 0.99979717 -0.01599574 -0.15511881] [ 0.13132625 0.01425138 0.99123676 -0.15522422] [ 0. 0. 0. 1. ]] SLAMing on 232.80463043999998 meters Centerline goodness : 0.434753 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.16 [[ 0.99125157 -0.01405533 -0.13123553 0.67246968] [ 0.01212431 0.99980633 -0.01550165 -0.15796475] [ 0.13142799 0.0137749 0.99123001 -0.15529195] [ 0. 0. 0. 1. ]] SLAMing on 232.83463043999998 meters Centerline goodness : 0.094367 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.16 [[ 0.99124214 -0.01384345 -0.13132929 0.67280497] [ 0.0119642 0.99981459 -0.01508776 -0.15997943] [ 0.13151381 0.01338437 0.99122398 -0.15535822] [ 0. 0. 0. 1. ]] SLAMing on 232.86463043999998 meters Centerline goodness : 0.465860 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.99115793 -0.00650067 -0.13252814 0.65669923] [ 0.00434385 0.99985349 -0.016557 -0.16831287] [ 0.13261635 0.01583492 0.99104095 -0.1602176 ] [ 0. 0. 0. 1. ]] SLAMing on 232.89463044 meters Centerline goodness : 0.109170 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.99109227 -0.00648456 -0.13301902 0.65840557] [ 0.00432698 0.99985446 -0.01650282 -0.16917082] [ 0.13310667 0.01578025 0.99097608 -0.16076552] [ 0. 0. 0. 1. ]] SLAMing on 232.92463044 meters Centerline goodness : 0.110986 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.99105515 -0.00636029 -0.13330133 0.65956357] [ 0.00422786 0.99985863 -0.01627406 -0.17052381] [ 0.13338599 0.01556491 0.99094193 -0.16130727] [ 0. 0. 0. 1. ]] SLAMing on 232.95463044 meters Centerline goodness : 0.102187 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.99099952 -0.00605389 -0.13372844 0.66085227] [ 0.00401107 0.9998712 -0.01553997 -0.1747897 ] [ 0.1338053 0.01486371 0.99089617 -0.16153332] [ 0. 0. 0. 1. ]] SLAMing on 232.98463044 meters Centerline goodness : 0.107194 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.16 [[ 0.99100024 -0.00591268 -0.13372947 0.66085032] [ 0.00393197 0.9998787 -0.0150706 -0.17790379] [ 0.13380236 0.01440915 0.99090328 -0.16143845] [ 0. 0. 0. 1. ]] SLAMing on 233.01463044 meters Centerline goodness : 0.105925 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.16 [[ 0.99099369 -0.00583066 -0.13378156 0.66097152] [ 0.00390727 0.99988527 -0.01463515 -0.18098525] [ 0.13385154 0.01398062 0.99090277 -0.16132487] [ 0. 0. 0. 1. ]] SLAMing on 233.04463044 meters Centerline goodness : 0.109319 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99106618 -0.00582724 -0.13324367 0.65949167] [ 0.00397474 0.99989177 -0.01416493 -0.18595318] [ 0.13331179 0.01350877 0.99098208 -0.16110407] [ 0. 0. 0. 1. ]] SLAMing on 233.07463044 meters Centerline goodness : 0.107889 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99110207 -0.00565984 -0.13298369 0.65904129] [ 0.0038542 0.99989691 -0.01383138 -0.18766285] [ 0.13304826 0.01319576 0.99102171 -0.16129137] [ 0. 0. 0. 1. ]] SLAMing on 233.10463044 meters Centerline goodness : 0.174322 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99111706 -0.00551645 -0.13287795 0.65881291] [ 0.00374527 0.99990083 -0.01357564 -0.18889759] [ 0.13293967 0.01295739 0.99103943 -0.1613092 ] [ 0. 0. 0. 1. ]] SLAMing on 233.13463044 meters Centerline goodness : 0.099843 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99112033 -0.00535052 -0.13286028 0.65877499] [ 0.00360746 0.99990429 -0.01335679 -0.18973688] [ 0.13291903 0.0127589 0.99104477 -0.16131481] [ 0. 0. 0. 1. ]] SLAMing on 233.16463044 meters Centerline goodness : 0.437391 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99105528 -0.0049517 -0.1333601 0.66022211] [ 0.00324392 0.99990997 -0.01302002 -0.19018099] [ 0.13341257 0.01247095 0.99098212 -0.16155108] [ 0. 0. 0. 1. ]] SLAMing on 233.19463044 meters Centerline goodness : 0.103319 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99102982 -0.00483485 -0.13355341 0.66081821] [ 0.00313432 0.99991136 -0.01294027 -0.19014494] [ 0.13360413 0.01240559 0.99095713 -0.16169378] [ 0. 0. 0. 1. ]] SLAMing on 233.22463044 meters Centerline goodness : 0.104196 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.9910279 -0.00470532 -0.13357233 0.66082901] [ 0.00302118 0.99991341 -0.01280839 -0.19047518] [ 0.13362103 0.01228993 0.99095629 -0.16165861] [ 0. 0. 0. 1. ]] SLAMing on 233.25463044 meters Centerline goodness : 0.104423 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.991047 -0.00455062 -0.13343588 0.66038628] [ 0.00288697 0.99991571 -0.01265861 -0.19080354] [ 0.13348223 0.01216005 0.9909766 -0.1615005 ] [ 0. 0. 0. 1. ]] SLAMing on 233.28463044 meters Centerline goodness : 0.456725 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99112086 -0.00428193 -0.13289509 0.65889962] [ 0.00265765 0.99991962 -0.01239725 -0.19113122] [ 0.13293749 0.01193398 0.99105257 -0.16137258] [ 0. 0. 0. 1. ]] SLAMing on 233.31463044 meters Centerline goodness : 0.103502 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99115066 -0.00417773 -0.13267596 0.65830533] [ 0.00256785 0.99992102 -0.01230271 -0.1912702 ] [ 0.13271688 0.01185315 0.99108311 -0.16136163] [ 0. 0. 0. 1. ]] SLAMing on 233.34463044 meters Centerline goodness : 0.101215 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.16 [[ 0.99118118 -0.00416185 -0.13244826 0.65749964] [ 0.00256385 0.99992188 -0.01223337 -0.19186608] [ 0.13248883 0.01178591 0.99111442 -0.16117358] [ 0. 0. 0. 1. ]] SLAMing on 233.37463044 meters Centerline goodness : 0.103168 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.16 [[ 0.99120352 -0.00404826 -0.13228455 0.65694999] [ 0.0025183 0.99992802 -0.0117309 -0.19527139] [ 0.13232252 0.01129457 0.99114236 -0.1610069 ] [ 0. 0. 0. 1. ]] SLAMing on 233.40463043999998 meters Centerline goodness : 0.103168 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.16 [[ 0.99120352 -0.00404826 -0.13228455 0.65694999] [ 0.0025183 0.99992802 -0.0117309 -0.19527139] [ 0.13232252 0.01129457 0.99114236 -0.1610069 ] [ 0. 0. 0. 1. ]] SLAMing on 233.43463043999998 meters Centerline goodness : 0.105012 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.16 [[ 0.99117419 -0.00387968 -0.13250913 0.65781805] [ 0.00240285 0.99993323 -0.01130322 -0.19767451] [ 0.13254413 0.01088507 0.99111733 -0.16134753] [ 0. 0. 0. 1. ]] SLAMing on 233.46463043999998 meters Centerline goodness : 0.105108 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.16 [[ 0.99113394 -0.00374379 -0.13281379 0.65912379] [ 0.00231689 0.99993795 -0.01089656 -0.20012761] [ 0.13284634 0.01049224 0.99108111 -0.16191054] [ 0. 0. 0. 1. ]] SLAMing on 233.49463043999998 meters Centerline goodness : 0.105929 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.16 [[ 0.99110769 -0.00361486 -0.13301308 0.65991685] [ 0.00223649 0.99994226 -0.01051061 -0.20256824] [ 0.13304339 0.01011967 0.99105855 -0.1621718 ] [ 0. 0. 0. 1. ]] SLAMing on 233.52463043999998 meters Centerline goodness : 0.098752 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.16 [[ 0.99111999 -0.00352751 -0.13292378 0.65967641] [ 0.00219173 0.99994564 -0.01019424 -0.20512114] [ 0.13295252 0.00981238 0.99107383 -0.16209183] [ 0. 0. 0. 1. ]] SLAMing on 233.55463043999998 meters Centerline goodness : 0.104243 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.16 [[ 0.991145 -0.00340312 -0.13274039 0.65923544] [ 0.00207935 0.99994673 -0.01010998 -0.20507059] [ 0.13276772 0.00974444 0.99109928 -0.16212938] [ 0. 0. 0. 1. ]] SLAMing on 233.58463043999998 meters Centerline goodness : 0.100601 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.16 [[ 0.99117833 -0.00328576 -0.13249424 0.65892188] [ 0.00196469 0.99994706 -0.0101003 -0.20447022] [ 0.13252041 0.00975089 0.99113231 -0.16251389] [ 0. 0. 0. 1. ]] SLAMing on 233.61463043999998 meters Centerline goodness : 0.114437 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.16 [[ 0.99119649 -0.00307694 -0.13236332 0.6594226 ] [ 0.00176417 0.9999481 -0.01003407 -0.20412683] [ 0.13238732 0.00971222 0.99115048 -0.16352331] [ 0. 0. 0. 1. ]] SLAMing on 233.64463044 meters Centerline goodness : 0.116441 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.16 [[ 0.99114505 0.00421949 -0.13271655 0.67962025] [-0.00581577 0.99991531 -0.01164242 -0.20705142] [ 0.13265619 0.01231118 0.99108565 -0.15961693] [ 0. 0. 0. 1. ]] SLAMing on 233.67463044 meters Centerline goodness : 0.105270 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.16 [[ 0.99093334 -0.00393952 -0.13429668 0.66030625] [ 0.00253326 0.99994018 -0.01064055 -0.20593008] [ 0.13433057 0.01020386 0.99088404 -0.16301166] [ 0. 0. 0. 1. ]] SLAMing on 233.70463044 meters Centerline goodness : 0.118024 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.16 [[ 0.99088446 -0.00381317 -0.13466049 0.66135965] [ 0.00244505 0.99994372 -0.01032373 -0.20770832] [ 0.13469228 0.00990037 0.99083802 -0.16312899] [ 0. 0. 0. 1. ]] SLAMing on 233.73463044 meters Centerline goodness : 0.110460 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.16 [[ 0.99086792 -0.00371669 -0.13478486 0.66225055] [ 0.00244269 0.99995078 -0.00961622 -0.21364441] [ 0.13481397 0.00919916 0.99082822 -0.16361428] [ 0. 0. 0. 1. ]] SLAMing on 233.76463044 meters Centerline goodness : 0.235783 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.16 [[ 0.99087415 -0.00374697 -0.13473818 0.66237587] [ 0.00251975 0.99995379 -0.00927757 -0.21668273] [ 0.13476672 0.0088534 0.9908378 -0.16378873] [ 0. 0. 0. 1. ]] SLAMing on 233.79463044 meters Centerline goodness : 0.121476 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.16 [[ 0.99087173 -0.0037806 -0.13475503 0.6626864 ] [ 0.00259574 0.99995642 -0.00896734 -0.21968666] [ 0.13478306 0.00853569 0.99083837 -0.1640374 ] [ 0. 0. 0. 1. ]] SLAMing on 233.82463044 meters Centerline goodness : 0.174520 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.16 [[ 0.9908859 -0.00362642 -0.13465505 0.66240568] [ 0.00252218 0.99996179 -0.00837017 -0.22393466] [ 0.13468026 0.00795426 0.99085718 -0.16393067] [ 0. 0. 0. 1. ]] SLAMing on 233.85463044 meters Centerline goodness : 0.098756 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.16 [[ 0.99091062 -0.00340474 -0.13447882 0.66191627] [ 0.00233532 0.99996439 -0.00810928 -0.22468265] [ 0.13450164 0.00772152 0.99088329 -0.16384964] [ 0. 0. 0. 1. ]] SLAMing on 233.88463044 meters Centerline goodness : 0.062201 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.16 [[ 0.99094999 -0.00325666 -0.13419207 0.66109194] [ 0.00220085 0.99996545 -0.00801553 -0.22451385] [ 0.13421354 0.00764765 0.99092292 -0.16372859] [ 0. 0. 0. 1. ]] SLAMing on 233.91463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 233.94463044 meters Centerline goodness : 0.117923 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.16 [[ 9.90913645e-01 -5.45787001e-05 -1.34499611e-01 6.63185909e-01] [-7.17142597e-04 9.99983559e-01 -5.68926691e-03 -2.21330998e-01] [ 1.34497710e-01 5.73402761e-03 9.90897314e-01 -1.64992460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97463044 meters Centerline goodness : 0.115239 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.17 [[ 9.90843067e-01 5.34696675e-05 -1.35018569e-01 6.65211461e-01] [-8.54591031e-04 9.99982374e-01 -5.87546498e-03 -2.19299666e-01] [ 1.35015875e-01 5.93704940e-03 9.90825648e-01 -1.65866616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00463044 meters Centerline goodness : 0.113305 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.17 [[ 9.90856344e-01 1.97129227e-04 -1.34920967e-01 6.65546619e-01] [-1.05377863e-03 9.99979739e-01 -6.27788272e-03 -2.15048524e-01] [ 1.34916995e-01 6.36265675e-03 9.90836475e-01 -1.66657611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03463044 meters Centerline goodness : 0.112051 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.17 [[ 9.90893648e-01 7.57901607e-05 -1.34646845e-01 6.64773005e-01] [-9.79500269e-04 9.99977439e-01 -6.64547426e-03 -2.12778013e-01] [ 1.34643304e-01 6.71684485e-03 9.90871366e-01 -1.66609191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06463044 meters Centerline goodness : 0.152310 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.17 [[ 9.90902098e-01 -1.23043835e-04 -1.34584607e-01 6.64547811e-01] [-8.41553890e-04 9.99974367e-01 -7.11030939e-03 -2.10154434e-01] [ 1.34582032e-01 7.15888070e-03 9.90876595e-01 -1.66636761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09463044 meters Centerline goodness : 0.110815 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.21, Z:-0.17 [[ 9.90882830e-01 -5.27930044e-04 -1.34725420e-01 6.64752574e-01] [-5.44679876e-04 9.99968453e-01 -7.92446836e-03 -2.05080699e-01] [ 1.34725353e-01 7.92560186e-03 9.90851283e-01 -1.66517879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12463044 meters Centerline goodness : 0.115768 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.17 [[ 9.90873413e-01 -6.65721307e-04 -1.34794049e-01 6.64798547e-01] [-4.48407067e-04 9.99965992e-01 -8.23488361e-03 -2.02998006e-01] [ 1.34794947e-01 8.22016984e-03 9.90839417e-01 -1.66382872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15463043999998 meters Centerline goodness : 0.114315 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.17 [[ 9.90873472e-01 -7.58559197e-04 -1.34793127e-01 6.64649019e-01] [-3.89042509e-04 9.99963907e-01 -8.48725556e-03 -2.01020713e-01] [ 1.34794700e-01 8.46223664e-03 9.90837413e-01 -1.66215544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18463043999998 meters Centerline goodness : 0.100966 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 9.90854238e-01 -1.18441131e-03 -1.34931373e-01 6.65602266e-01] [-4.35078796e-05 9.99958620e-01 -9.09701164e-03 -1.97707642e-01] [ 1.34936564e-01 9.01968312e-03 9.90813186e-01 -1.66814531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21463043999998 meters Centerline goodness : 0.102927 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 9.90832547e-01 -1.46475841e-03 -1.35087816e-01 6.66138298e-01] [ 1.94836827e-04 9.99955673e-01 -9.41345300e-03 -1.96684640e-01] [ 1.35095617e-01 9.30083553e-03 9.90788912e-01 -1.66950114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24463043999998 meters Centerline goodness : 0.121328 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 9.90803940e-01 -1.76098373e-03 -1.35293944e-01 6.66751202e-01] [ 4.54296320e-04 9.99952963e-01 -9.68840348e-03 -1.96149160e-01] [ 1.35304641e-01 9.53784480e-03 9.90758136e-01 -1.66996028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27463043999998 meters Centerline goodness : 0.103828 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 9.90777024e-01 -2.07140797e-03 -1.35486522e-01 6.67204159e-01] [ 7.31407009e-04 9.99950336e-01 -9.93931958e-03 -1.95803573e-01] [ 1.35500381e-01 9.74855369e-03 9.90729334e-01 -1.66915054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30463043999998 meters Centerline goodness : 0.107251 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 0.99077107 -0.00297178 -0.1355133 0.66690823] [ 0.00156043 0.99994345 -0.01051983 -0.19567012] [ 0.1355369 0.01021129 0.99071968 -0.16640948] [ 0. 0. 0. 1. ]] SLAMing on 234.33463043999998 meters Centerline goodness : 0.109134 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 0.9907664 -0.00305305 -0.13554566 0.66697102] [ 0.0016523 0.99994408 -0.01044545 -0.19652565] [ 0.13556997 0.01012504 0.99071604 -0.16633425] [ 0. 0. 0. 1. ]] SLAMing on 234.36463043999998 meters Centerline goodness : 0.108298 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 0.99074993 -0.00312078 -0.1356644 0.66722619] [ 0.00173236 0.99994493 -0.01035112 -0.19757654] [ 0.13568923 0.01002035 0.99070077 -0.16622398] [ 0. 0. 0. 1. ]] SLAMing on 234.39463044 meters Centerline goodness : 0.111001 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 0.9907292 -0.00326377 -0.13581234 0.66747514] [ 0.00192241 0.99994809 -0.01000657 -0.20081493] [ 0.13583794 0.00965271 0.99068405 -0.16597597] [ 0. 0. 0. 1. ]] SLAMing on 234.42463044 meters Centerline goodness : 0.123657 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.17 [[ 0.99072319 -0.0031115 -0.1358598 0.66737047] [ 0.0018308 0.99995272 -0.00955054 -0.20345257] [ 0.13588309 0.00921321 0.99068204 -0.16568053] [ 0. 0. 0. 1. ]] SLAMing on 234.45463044 meters Centerline goodness : 0.120911 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.17 [[ 0.99071031 -0.00288045 -0.13595873 0.66747098] [ 0.00167029 0.99995798 -0.00901419 -0.20643378] [ 0.13597898 0.00870336 0.99067349 -0.16543972] [ 0. 0. 0. 1. ]] SLAMing on 234.48463044 meters Centerline goodness : 0.094829 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.17 [[ 0.99071938 -0.00268489 -0.13589668 0.66718468] [ 0.00154257 0.9999626 -0.00851034 -0.20963451] [ 0.13591444 0.00822173 0.99068646 -0.16526689] [ 0. 0. 0. 1. ]] SLAMing on 234.51463044 meters Centerline goodness : 0.110423 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.17 [[ 0.99106555 0.00177152 -0.13336395 0.64461195] [-0.00321841 0.99993827 -0.01063437 -0.22316529] [ 0.13333688 0.01096858 0.99101007 -0.16884269] [ 0. 0. 0. 1. ]] SLAMing on 234.54463044 meters Centerline goodness : 0.134927 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.17 [[ 0.99107795 0.00195641 -0.13326919 0.64420427] [-0.00332445 0.99994404 -0.0100435 -0.22764038] [ 0.13324208 0.01039694 0.99102899 -0.16865391] [ 0. 0. 0. 1. ]] SLAMing on 234.57463044 meters Centerline goodness : 0.106693 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.17 [[ 0.99106513 0.00225357 -0.13335978 0.64437398] [-0.00352575 0.9999505 -0.00930409 -0.23242047] [ 0.13333221 0.00969115 0.99102402 -0.16858464] [ 0. 0. 0. 1. ]] SLAMing on 234.60463044 meters Centerline goodness : 0.103095 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.24, Z:-0.17 [[ 0.99103201 0.00268657 -0.13359768 0.64504695] [-0.00384312 0.99995734 -0.0083998 -0.23752786] [ 0.13356941 0.0088379 0.99100005 -0.16863957] [ 0. 0. 0. 1. ]] SLAMing on 234.63463044 meters Centerline goodness : 0.106855 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.25, Z:-0.17 [[ 0.99099079 0.00279339 -0.13390087 0.64594144] [-0.00379079 0.99996693 -0.00719444 -0.25037249] [ 0.13387635 0.00763721 0.99096862 -0.16870408] [ 0. 0. 0. 1. ]] SLAMing on 234.66463044 meters Centerline goodness : 0.107599 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.26, Z:-0.17 [[ 0.99097984 0.00314008 -0.13397424 0.64623901] [-0.0040369 0.99997122 -0.0064229 -0.25545328] [ 0.13395022 0.00690581 0.990964 -0.1688028 ] [ 0. 0. 0. 1. ]] SLAMing on 234.69463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 234.72463044 meters Centerline goodness : 0.105513 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.27, Z:-0.17 [[ 0.99091321 0.00252626 -0.1344791 0.64845566] [-0.00343902 0.9999726 -0.00655553 -0.26914006] [ 0.13445885 0.00695844 0.99089475 -0.16956803] [ 0. 0. 0. 1. ]] SLAMing on 234.75463044 meters Centerline goodness : 0.110703 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.27, Z:-0.17 [[ 0.99087634 0.00287464 -0.13474353 0.64923399] [-0.00370542 0.99997564 -0.00591523 -0.272921 ] [ 0.13472325 0.00636054 0.99086285 -0.16967377] [ 0. 0. 0. 1. ]] SLAMing on 234.78463044 meters Centerline goodness : 0.150135 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.17 [[ 0.99084151 0.00320403 -0.13499196 0.6498377 ] [-0.00394829 0.99997844 -0.00524601 -0.27706981] [ 0.13497225 0.00573095 0.99083281 -0.16963171] [ 0. 0. 0. 1. ]] SLAMing on 234.81463044 meters Centerline goodness : 0.112445 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.17 [[ 0.99067728 0.00150124 -0.13622142 0.65395028] [-0.00233791 0.99997937 -0.00598221 -0.2869551 ] [ 0.13620963 0.00624492 0.99066035 -0.17043671] [ 0. 0. 0. 1. ]] SLAMing on 234.84463044 meters Centerline goodness : 0.138870 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.17 [[ 0.99062569 0.00180078 -0.13659244 0.65496378] [-0.00254611 0.99998281 -0.00528215 -0.2916941 ] [ 0.13658058 0.00558041 0.99061325 -0.17043618] [ 0. 0. 0. 1. ]] SLAMing on 234.87463044 meters Centerline goodness : 0.139786 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.30, Z:-0.17 [[ 0.99058849 0.00212167 -0.13685736 0.65598069] [-0.00278108 0.99998543 -0.00462725 -0.29546583] [ 0.13684555 0.00496432 0.99057996 -0.1707933 ] [ 0. 0. 0. 1. ]] SLAMing on 234.90463043999998 meters Centerline goodness : 0.082072 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.30, Z:-0.17 [[ 0.99056969 0.00238381 -0.1369891 0.65662492] [-0.00296807 0.99998735 -0.00406094 -0.29880979] [ 0.13697769 0.00442924 0.99056423 -0.17108439] [ 0. 0. 0. 1. ]] SLAMing on 234.93463043999998 meters Centerline goodness : 0.087537 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.30, Z:-0.17 [[ 0.99058013 0.00286112 -0.1369044 0.65634649] [-0.0033307 0.99998933 -0.00320099 -0.30401096] [ 0.13689378 0.00362683 0.99057909 -0.17093021] [ 0. 0. 0. 1. ]] SLAMing on 234.96463043999998 meters Centerline goodness : 0.140773 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.31, Z:-0.17 [[ 0.99071025 0.01105496 -0.13553965 0.67525767] [-0.01174234 0.99992193 -0.004273 -0.30810765] [ 0.13548183 0.00582486 0.99076271 -0.16714239] [ 0. 0. 0. 1. ]] SLAMing on 234.99463043999998 meters Centerline goodness : 0.109621 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.31, Z:-0.17 [[ 0.99071893 0.01129663 -0.13545623 0.67487097] [-0.01193781 0.99992105 -0.0039221 -0.30953698] [ 0.13540123 0.00550275 0.99077557 -0.1669157 ] [ 0. 0. 0. 1. ]] SLAMing on 235.02463043999998 meters Centerline goodness : 0.083310 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.31, Z:-0.17 [[ 0.99067845 0.01171579 -0.13571642 0.67569463] [-0.01229078 0.99991869 -0.00339953 -0.31150673] [ 0.13566555 0.0050359 0.99074189 -0.16708353] [ 0. 0. 0. 1. ]] SLAMing on 235.05463043999998 meters Centerline goodness : 0.083612 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.31, Z:-0.17 [[ 0.99065845 0.01177737 -0.13585705 0.67607692] [-0.01233215 0.9999187 -0.00324263 -0.31257436] [ 0.13580782 0.00488775 0.99072314 -0.16706113] [ 0. 0. 0. 1. ]] SLAMing on 235.08463043999998 meters Centerline goodness : 0.117414 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:-0.16 [[ 0.99072953 0.00446222 -0.13577589 0.69470759] [-0.00482602 0.99998559 -0.00235037 -0.30952635] [ 0.13576344 0.00298384 0.99073679 -0.16295491] [ 0. 0. 0. 1. ]] SLAMing on 235.11463043999998 meters Centerline goodness : 0.083373 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:-0.16 [[ 0.9907529 0.00439892 -0.13560727 0.69365784] [-0.00474077 0.99998635 -0.00219811 -0.31115392] [ 0.13559575 0.00282067 0.99076023 -0.16220244] [ 0. 0. 0. 1. ]] SLAMing on 235.14463044 meters Centerline goodness : 0.119465 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.31, Z:-0.16 [[ 0.9911481 -0.00417186 -0.13269526 0.70981429] [ 0.00399621 0.99999075 -0.00158997 -0.31145749] [ 0.13270067 0.00104562 0.99115561 -0.15800759] [ 0. 0. 0. 1. ]] SLAMing on 235.17463044 meters Centerline goodness : 0.051376 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.31, Z:-0.16 [[ 9.91182769e-01 -4.29842705e-03 -1.32432025e-01 7.08962925e-01] [ 4.16390164e-03 9.99990495e-01 -1.29272837e-03 -3.14043254e-01] [ 1.32436323e-01 7.29896162e-04 9.91191247e-01 -1.57673999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20463044 meters Centerline goodness : 0.254663 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 9.91186812e-01 -4.47444916e-03 -1.32395934e-01 7.08745044e-01] [ 4.37927968e-03 9.99989901e-01 -1.00999862e-03 -3.16786004e-01] [ 1.32399116e-01 4.21298492e-04 9.91196397e-01 -1.57392116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23463044 meters Centerline goodness : 0.450902 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 9.91143798e-01 -4.66681213e-03 -1.32710938e-01 7.09368397e-01] [ 4.60487023e-03 9.99989098e-01 -7.73656501e-04 -3.19470303e-01] [ 1.32713101e-01 1.55688197e-04 9.91154483e-01 -1.57070885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26463044 meters Centerline goodness : 0.450902 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 9.91143798e-01 -4.66681213e-03 -1.32710938e-01 7.09368397e-01] [ 4.60487023e-03 9.99989098e-01 -7.73656501e-04 -3.19470303e-01] [ 1.32713101e-01 1.55688197e-04 9.91154483e-01 -1.57070885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29463044 meters Centerline goodness : 0.088630 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 0.99108368 -0.00846363 -0.13297179 0.71025534] [ 0.00805224 0.99996099 -0.00363126 -0.32317478] [ 0.13299734 0.00252817 0.99111317 -0.15708526] [ 0. 0. 0. 1. ]] SLAMing on 235.32463044 meters Centerline goodness : 0.104255 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 0.99105453 -0.00849395 -0.13318696 0.711076 ] [ 0.0080989 0.99996105 -0.00350759 -0.32426868] [ 0.13321156 0.00239755 0.99108472 -0.15732633] [ 0. 0. 0. 1. ]] SLAMing on 235.35463044 meters Centerline goodness : 0.105098 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 0.99103181 -0.00843484 -0.13335969 0.71183558] [ 0.00804995 0.99996173 -0.00342506 -0.32459653] [ 0.13338348 0.0023208 0.99106178 -0.15764581] [ 0. 0. 0. 1. ]] SLAMing on 235.38463044 meters Centerline goodness : 0.122102 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 0.99099698 -0.00842519 -0.1336189 0.7132906 ] [ 0.00801218 0.99996132 -0.00362836 -0.3228359 ] [ 0.1336443 0.00252511 0.99102615 -0.15853409] [ 0. 0. 0. 1. ]] SLAMing on 235.41463044 meters Centerline goodness : 0.118239 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 0.99097105 -0.0084364 -0.13381034 0.71384209] [ 0.00800274 0.99996084 -0.0037784 -0.32172239] [ 0.13383697 0.00267344 0.99099976 -0.15862346] [ 0. 0. 0. 1. ]] SLAMing on 235.44463044 meters Centerline goodness : 0.122562 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 0.99096068 -0.00847933 -0.13388441 0.71396682] [ 0.00803601 0.99996029 -0.00385131 -0.32131477] [ 0.13391175 0.0027406 0.99098947 -0.15853371] [ 0. 0. 0. 1. ]] SLAMing on 235.47463044 meters Centerline goodness : 0.446378 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.16 [[ 0.99098765 -0.00891384 -0.13365637 0.71286808] [ 0.00847469 0.99995666 -0.00385424 -0.32336604] [ 0.13368493 0.00268681 0.99102024 -0.15788001] [ 0. 0. 0. 1. ]] SLAMing on 235.50463044 meters Centerline goodness : 0.463283 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.16 [[ 0.99101752 -0.009076 -0.13342376 0.71209188] [ 0.00869909 0.99995636 -0.00340762 -0.32628452] [ 0.13344887 0.00221635 0.99105322 -0.1579475 ] [ 0. 0. 0. 1. ]] SLAMing on 235.53463044 meters Centerline goodness : 0.462942 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.16 [[ 0.99102362 -0.00928388 -0.13336417 0.71189541] [ 0.00898353 0.99995558 -0.0028537 -0.32983003] [ 0.13338473 0.00163001 0.99106299 -0.15832112] [ 0. 0. 0. 1. ]] SLAMing on 235.56463044 meters Centerline goodness : 0.087662 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.16 [[ 0.99100707 -0.00955338 -0.13346806 0.71210838] [ 0.00930844 0.99995365 -0.00245911 -0.3329579 ] [ 0.13348537 0.00119462 0.99105006 -0.15867255] [ 0. 0. 0. 1. ]] SLAMing on 235.59463044 meters Centerline goodness : 0.460655 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.34, Z:-0.16 [[ 0.99085822 -0.01292482 -0.13428675 0.7147328 ] [ 0.01242991 0.99991251 -0.00452327 -0.33925599] [ 0.13433347 0.00281275 0.99093219 -0.15956863] [ 0. 0. 0. 1. ]] SLAMing on 235.62463044 meters Centerline goodness : 0.091504 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.35, Z:-0.16 [[ 0.99075479 -0.00378181 -0.13561212 0.70129448] [ 0.00305098 0.99997968 -0.00559653 -0.34608295] [ 0.13563053 0.00513104 0.9907462 -0.162742 ] [ 0. 0. 0. 1. ]] SLAMing on 235.65463043999998 meters Centerline goodness : 0.088436 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.35, Z:-0.16 [[ 0.99068488 -0.00351705 -0.13612896 0.70278084] [ 0.00282655 0.99998214 -0.00526532 -0.34703936] [ 0.13614505 0.0048315 0.99067713 -0.16288248] [ 0. 0. 0. 1. ]] SLAMing on 235.68463043999998 meters Centerline goodness : 0.089445 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.35, Z:-0.16 [[ 0.99063092 -0.00324785 -0.13652775 0.70401055] [ 0.00257953 0.99998381 -0.00507175 -0.34703581] [ 0.13654202 0.00467205 0.99062326 -0.16310181] [ 0. 0. 0. 1. ]] SLAMing on 235.71463043999998 meters Centerline goodness : 0.191107 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99059329 0.00631149 -0.13669345 0.72521109] [-0.00714385 0.9999588 -0.00559952 -0.34861582] [ 0.13665247 0.00652336 0.99059757 -0.15944224] [ 0. 0. 0. 1. ]] SLAMing on 235.74463043999998 meters Centerline goodness : 0.225242 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99055938 0.006373 -0.1369361 0.72553667] [-0.00726528 0.9999555 -0.00601722 -0.34660031] [ 0.13689166 0.00695529 0.99056161 -0.1587683 ] [ 0. 0. 0. 1. ]] SLAMing on 235.77463043999998 meters Centerline goodness : 0.213796 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.35, Z:-0.16 [[ 0.99058835 0.00649518 -0.13672064 0.72492738] [-0.00740718 0.99995358 -0.00616288 -0.34517194] [ 0.13667427 0.00711759 0.99059047 -0.15866919] [ 0. 0. 0. 1. ]] SLAMing on 235.80463043999998 meters Centerline goodness : 0.098507 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.99063152 0.0066208 -0.13640146 0.72401244] [-0.00755239 0.99995155 -0.0063134 -0.34367087] [ 0.13635305 0.00728441 0.99063353 -0.15842013] [ 0. 0. 0. 1. ]] SLAMing on 235.83463043999998 meters Centerline goodness : 0.103823 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.99064417 0.00662088 -0.13630954 0.7238348 ] [-0.0075818 0.99994993 -0.0065316 -0.34202825] [ 0.13625946 0.00750396 0.99064476 -0.15836852] [ 0. 0. 0. 1. ]] SLAMing on 235.86463043999998 meters Centerline goodness : 0.095933 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99059571 0.00656941 -0.13666378 0.72502982] [-0.00758806 0.99994717 -0.00693405 -0.33982157] [ 0.13661101 0.00790585 0.99059322 -0.15852709] [ 0. 0. 0. 1. ]] SLAMing on 235.89463044 meters Centerline goodness : 0.088607 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99055731 0.0065157 -0.13694437 0.72584705] [-0.00755596 0.9999464 -0.00707776 -0.33933204] [ 0.13689092 0.00804568 0.99055345 -0.15858114] [ 0. 0. 0. 1. ]] SLAMing on 235.92463044 meters Centerline goodness : 0.101001 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99054333 0.00652724 -0.13704488 0.72597483] [-0.00757168 0.99994612 -0.00710119 -0.33908786] [ 0.13699114 0.00807169 0.99053939 -0.15842016] [ 0. 0. 0. 1. ]] SLAMing on 235.95463044 meters Centerline goodness : 0.244471 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99056122 0.00657671 -0.13691317 0.72533126] [-0.00761819 0.99994589 -0.00708425 -0.33856442] [ 0.13685917 0.00806041 0.99055772 -0.15808912] [ 0. 0. 0. 1. ]] SLAMing on 235.98463044 meters Centerline goodness : 0.237416 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.99062426 0.00643477 -0.13646307 0.72323153] [-0.00748747 0.99994603 -0.00720228 -0.33850039] [ 0.13640936 0.00815651 0.99061898 -0.15698792] [ 0. 0. 0. 1. ]] SLAMing on 236.01463044 meters Centerline goodness : 0.268869 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.9906279 0.00620384 -0.13644732 0.72289492] [-0.00727894 0.99994626 -0.0073817 -0.33871334] [ 0.1363942 0.00830571 0.99061983 -0.15670527] [ 0. 0. 0. 1. ]] SLAMing on 236.04463044 meters Centerline goodness : 0.120977 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.99061598 0.00608092 -0.13653935 0.72291589] [-0.00716962 0.9999463 -0.00748311 -0.33880608] [ 0.13648651 0.00839183 0.99060639 -0.15645046] [ 0. 0. 0. 1. ]] SLAMing on 236.07463044 meters Centerline goodness : 0.130175 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.99062263 0.00614832 -0.1364881 0.72284299] [-0.00721204 0.99994734 -0.00730038 -0.33953264] [ 0.13643603 0.00821628 0.99061481 -0.15656551] [ 0. 0. 0. 1. ]] SLAMing on 236.10463044 meters Centerline goodness : 0.126695 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.99067491 0.00628721 -0.13610178 0.72216786] [-0.00726665 0.99995115 -0.00670077 -0.34266382] [ 0.13605301 0.00762729 0.9906722 -0.15701547] [ 0. 0. 0. 1. ]] SLAMing on 236.13463044 meters Centerline goodness : 0.120847 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.34, Z:-0.16 [[ 0.99066144 0.0062797 -0.13620016 0.72260667] [-0.00722727 0.99995299 -0.00646383 -0.34467754] [ 0.13615317 0.00738783 0.99066025 -0.15724031] [ 0. 0. 0. 1. ]] SLAMing on 236.16463044 meters Centerline goodness : 0.120590 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.35, Z:-0.16 [[ 0.99061925 0.00629248 -0.13650604 0.72365714] [-0.00722453 0.99995385 -0.00633355 -0.3458657 ] [ 0.13645988 0.00726033 0.99061899 -0.15747409] [ 0. 0. 0. 1. ]] SLAMing on 236.19463044 meters Centerline goodness : 0.130632 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99051969 0.00678621 -0.13720311 0.72563629] [-0.00766935 0.99995313 -0.00590913 -0.347119 ] [ 0.13715658 0.00690537 0.99052531 -0.15746045] [ 0. 0. 0. 1. ]] SLAMing on 236.22463044 meters Centerline goodness : 0.092573 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99050496 0.00685625 -0.13730595 0.72591288] [-0.00774849 0.99995219 -0.00596475 -0.3465344 ] [ 0.13725849 0.00697202 0.99051073 -0.15732105] [ 0. 0. 0. 1. ]] SLAMing on 236.25463044 meters Centerline goodness : 0.093283 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99050837 0.00686958 -0.13728066 0.72561487] [-0.00778072 0.99995111 -0.00610155 -0.34567618] [ 0.13723203 0.00711178 0.9905134 -0.15692502] [ 0. 0. 0. 1. ]] SLAMing on 236.28463044 meters Centerline goodness : 0.100695 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99052426 0.00690397 -0.13716423 0.72527946] [-0.00781069 0.99995105 -0.00607334 -0.3452531 ] [ 0.13711559 0.00708714 0.9905297 -0.15694154] [ 0. 0. 0. 1. ]] SLAMing on 236.31463044 meters Centerline goodness : 0.084016 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99046404 0.00741294 -0.13757195 0.72667967] [-0.00829226 0.99994868 -0.00581966 -0.34431248] [ 0.13752175 0.00690494 0.99047468 -0.15732071] [ 0. 0. 0. 1. ]] SLAMing on 236.34463044 meters Centerline goodness : 0.121190 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99039943 0.0075861 -0.13802686 0.72807619] [-0.00846135 0.99994764 -0.00575552 -0.34418793] [ 0.13797598 0.00686816 0.99041176 -0.15750724] [ 0. 0. 0. 1. ]] SLAMing on 236.37463044 meters Centerline goodness : 0.143870 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99036117 0.0074685 -0.13830751 0.72879552] [-0.00836531 0.99994758 -0.00590401 -0.34418449] [ 0.13825617 0.00700409 0.99037174 -0.15741935] [ 0. 0. 0. 1. ]] SLAMing on 236.40463043999998 meters Centerline goodness : 0.083810 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99034835 0.00727628 -0.13840956 0.72854003] [-0.00818447 0.99994854 -0.00599364 -0.34514897] [ 0.13835883 0.0070686 0.99035694 -0.15685974] [ 0. 0. 0. 1. ]] SLAMing on 236.43463043999998 meters Centerline goodness : 0.083802 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.35, Z:-0.16 [[ 0.99056078 0.00541922 -0.13696703 0.72362833] [-0.00640433 0.99995669 -0.00675273 -0.35152296] [ 0.13692451 0.00756617 0.99055259 -0.15611256] [ 0. 0. 0. 1. ]] SLAMing on 236.46463043999998 meters Centerline goodness : 0.243820 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.36, Z:-0.16 [[ 0.99057332 0.00568253 -0.13686565 0.72344047] [-0.00655896 0.99996077 -0.00595343 -0.35521795] [ 0.13682645 0.00679501 0.99057173 -0.15636675] [ 0. 0. 0. 1. ]] SLAMing on 236.49463043999998 meters Centerline goodness : 0.234697 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.9904839 0.00248066 -0.1376063 0.72610045] [-0.00362521 0.99996089 -0.00806755 -0.36136608] [ 0.13758091 0.00848963 0.99045415 -0.15720856] [ 0. 0. 0. 1. ]] SLAMing on 236.52463043999998 meters Centerline goodness : 0.266556 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99042205 0.00248449 -0.13805068 0.72711038] [-0.00360358 0.99996264 -0.00785703 -0.36338222] [ 0.138026 0.00827926 0.990394 -0.15705562] [ 0. 0. 0. 1. ]] SLAMing on 236.55463043999998 meters Centerline goodness : 0.119662 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99037549 0.00267962 -0.13838068 0.72795049] [-0.00376067 0.99996442 -0.00755129 -0.36477714] [ 0.13835552 0.00799901 0.99035033 -0.15702653] [ 0. 0. 0. 1. ]] SLAMing on 236.58463043999998 meters Centerline goodness : 0.083765 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.37, Z:-0.16 [[ 0.99035566 0.00295802 -0.13851683 0.72855458] [-0.00399643 0.99996596 -0.00721911 -0.36577367] [ 0.13849076 0.00770306 0.99033377 -0.15722606] [ 0. 0. 0. 1. ]] SLAMing on 236.61463043999998 meters Centerline goodness : 0.148749 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99037013 0.00635794 -0.13829888 0.72814663] [-0.00703897 0.99996539 -0.00443581 -0.3643252 ] [ 0.13826589 0.00536658 0.99038061 -0.15703681] [ 0. 0. 0. 1. ]] SLAMing on 236.64463044 meters Centerline goodness : 0.140982 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99035689 0.00642595 -0.13839053 0.72840271] [-0.00712476 0.99996425 -0.00455475 -0.36348576] [ 0.13835631 0.00549682 0.99036726 -0.15693309] [ 0. 0. 0. 1. ]] SLAMing on 236.67463044 meters Centerline goodness : 0.155927 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99030404 0.00651142 -0.13876423 0.72946423] [-0.00722279 0.99996323 -0.00462349 -0.36287907] [ 0.13872902 0.00558093 0.99031465 -0.15691539] [ 0. 0. 0. 1. ]] SLAMing on 236.70463044 meters Centerline goodness : 0.214688 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99023958 0.00661442 -0.13921859 0.73065049] [-0.00735599 0.99996136 -0.00481275 -0.36153038] [ 0.13918138 0.00578987 0.99024998 -0.15676602] [ 0. 0. 0. 1. ]] SLAMing on 236.73463044 meters Centerline goodness : 0.136062 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99023339 0.00657478 -0.13926451 0.73104423] [-0.00735819 0.99995987 -0.00511121 -0.35988007] [ 0.13922531 0.00608602 0.99024203 -0.15698201] [ 0. 0. 0. 1. ]] SLAMing on 236.76463044 meters Centerline goodness : 0.141485 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.9902636 0.00643784 -0.13905593 0.73051584] [-0.00724597 0.99995967 -0.00530604 -0.35912201] [ 0.13901616 0.00626197 0.99027031 -0.15701536] [ 0. 0. 0. 1. ]] SLAMing on 236.79463044 meters Centerline goodness : 0.106139 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99028211 0.00643783 -0.13892406 0.73014495] [-0.00724274 0.99995978 -0.00528911 -0.35890214] [ 0.13888442 0.0062439 0.99028891 -0.15700195] [ 0. 0. 0. 1. ]] SLAMing on 236.82463044 meters Centerline goodness : 0.116962 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99029722 0.00646668 -0.13881499 0.72988641] [-0.00726344 0.99995992 -0.00523391 -0.35903229] [ 0.13877558 0.0061914 0.9903045 -0.15701841] [ 0. 0. 0. 1. ]] SLAMing on 236.85463044 meters Centerline goodness : 0.125196 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99028088 0.00650508 -0.13892972 0.73001243] [-0.00728174 0.99996057 -0.00508274 -0.35985337] [ 0.13889118 0.00604499 0.9902892 -0.15686806] [ 0. 0. 0. 1. ]] SLAMing on 236.88463044 meters Centerline goodness : 0.114634 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99023809 0.00653382 -0.139233 0.73088719] [-0.00729528 0.99996109 -0.00495931 -0.36057922] [ 0.13919518 0.00592664 0.99024723 -0.1569467 ] [ 0. 0. 0. 1. ]] SLAMing on 236.91463044 meters Centerline goodness : 0.112642 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99020183 0.00691769 -0.13947214 0.73184531] [-0.00759917 0.99996165 -0.00435416 -0.36236215] [ 0.13943667 0.00537137 0.99021642 -0.15735401] [ 0. 0. 0. 1. ]] SLAMing on 236.94463044 meters Centerline goodness : 0.115010 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99021271 0.00686095 -0.13939766 0.73177951] [-0.00754193 0.99996207 -0.00435749 -0.36265385] [ 0.13936247 0.00536617 0.9902269 -0.15749286] [ 0. 0. 0. 1. ]] SLAMing on 236.97463044 meters Centerline goodness : 0.146345 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99023208 0.00681807 -0.13926215 0.73148355] [-0.00749703 0.99996243 -0.00435144 -0.36308964] [ 0.13922725 0.00535299 0.99024599 -0.15754888] [ 0. 0. 0. 1. ]] SLAMing on 237.00463044 meters Centerline goodness : 0.092257 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.36, Z:-0.16 [[ 0.99020214 0.00668658 -0.1394812 0.73208018] [-0.00738461 0.99996266 -0.00448751 -0.36311504] [ 0.13944598 0.00547355 0.99021455 -0.15751262] [ 0. 0. 0. 1. ]] SLAMing on 237.03463044 meters Centerline goodness : 0.174679 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.9899378 0.0138218 -0.14082655 0.717242 ] [-0.01483237 0.99987121 -0.00612884 -0.37231378] [ 0.1407237 0.00815596 0.99001531 -0.16089274] [ 0. 0. 0. 1. ]] SLAMing on 237.06463044 meters Centerline goodness : 0.112601 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.98989923 0.01405117 -0.14107475 0.71813228] [-0.01500982 0.99987091 -0.00573349 -0.37383394] [ 0.14097598 0.00779309 0.98998234 -0.16117349] [ 0. 0. 0. 1. ]] SLAMing on 237.09463044 meters Centerline goodness : 0.107053 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.98991967 0.01419783 -0.14091655 0.71805887] [-0.01510552 0.99987147 -0.00537369 -0.37531633] [ 0.14082214 0.00744814 0.99000689 -0.16157687] [ 0. 0. 0. 1. ]] SLAMing on 237.12463044 meters Centerline goodness : 0.109441 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.990034 0.01151253 -0.14035721 0.71736614] [-0.01267592 0.99989229 -0.00739756 -0.37864955] [ 0.14025692 0.00910299 0.9900733 -0.16246313] [ 0. 0. 0. 1. ]] SLAMing on 237.15463043999998 meters Centerline goodness : 0.109526 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.99002863 0.00793191 -0.14064281 0.71855351] [-0.0094487 0.99990415 -0.01012019 -0.38241461] [ 0.14054906 0.01134817 0.99000868 -0.16300695] [ 0. 0. 0. 1. ]] SLAMing on 237.18463043999998 meters Centerline goodness : 0.109526 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.99002863 0.00793191 -0.14064281 0.71855351] [-0.0094487 0.99990415 -0.01012019 -0.38241461] [ 0.14054906 0.01134817 0.99000868 -0.16300695] [ 0. 0. 0. 1. ]] SLAMing on 237.21463043999998 meters Centerline goodness : 0.109277 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.99001974 0.00814609 -0.14069315 0.7188939 ] [-0.00960277 0.99990706 -0.00967777 -0.38412999] [ 0.14060124 0.01093222 0.99000595 -0.16333915] [ 0. 0. 0. 1. ]] SLAMing on 237.24463043999998 meters Centerline goodness : 0.129732 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.39, Z:-0.16 [[ 0.99001944 0.00837036 -0.1406821 0.71893407] [-0.00977099 0.99990931 -0.00926821 -0.38554645] [ 0.14059177 0.01055031 0.99001144 -0.16344872] [ 0. 0. 0. 1. ]] SLAMing on 237.27463043999998 meters Centerline goodness : 0.110619 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.39, Z:-0.16 [[ 0.99003545 0.00844057 -0.14056519 0.71863584] [-0.00981706 0.99991039 -0.00910201 -0.38622348] [ 0.14047577 0.01039125 0.99002959 -0.16343021] [ 0. 0. 0. 1. ]] SLAMing on 237.30463043999998 meters Centerline goodness : 0.131027 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.39, Z:-0.16 [[ 0.99008939 0.00821156 -0.14019835 0.71725157] [-0.00960702 0.99991079 -0.00927955 -0.38666093] [ 0.14010964 0.01053447 0.99007995 -0.16282414] [ 0. 0. 0. 1. ]] SLAMing on 237.33463043999998 meters Centerline goodness : 0.106852 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.39, Z:-0.16 [[ 0.99011557 0.00824214 -0.14001155 0.71639441] [-0.00963677 0.99991045 -0.00928578 -0.38642442] [ 0.13992248 0.01054326 0.99010633 -0.162323 ] [ 0. 0. 0. 1. ]] SLAMing on 237.36463043999998 meters Centerline goodness : 0.153289 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.39, Z:-0.16 [[ 0.99015209 0.00832599 -0.13974806 0.71579222] [-0.00971807 0.9999097 -0.0092819 -0.38590099] [ 0.13965816 0.01054857 0.99014359 -0.16230524] [ 0. 0. 0. 1. ]] SLAMing on 237.39463044 meters Centerline goodness : 0.106121 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.99013836 0.00844811 -0.13983796 0.71605157] [-0.00985631 0.99990742 -0.00938075 -0.38477651] [ 0.13974576 0.01066653 0.99012996 -0.16214169] [ 0. 0. 0. 1. ]] SLAMing on 237.42463044 meters Centerline goodness : 0.105984 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.98996027 0.00877458 -0.14107331 0.71973338] [-0.01027341 0.99989822 -0.00989965 -0.38162935] [ 0.14097209 0.01124956 0.98994965 -0.16223092] [ 0. 0. 0. 1. ]] SLAMing on 237.45463044 meters Centerline goodness : 0.105228 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.98989143 0.00880256 -0.14155379 0.72109869] [-0.01035625 0.99989391 -0.01024305 -0.37973789] [ 0.14144861 0.01160547 0.98987757 -0.16218472] [ 0. 0. 0. 1. ]] SLAMing on 237.48463044 meters Centerline goodness : 0.104420 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.98989647 0.00891122 -0.14151169 0.72115026] [-0.01048503 0.99989116 -0.01037968 -0.37803969] [ 0.14140379 0.01175857 0.98988217 -0.16227006] [ 0. 0. 0. 1. ]] SLAMing on 237.51463044 meters Centerline goodness : 0.104278 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.98993584 0.0089108 -0.14123611 0.72041559] [-0.01050441 0.99988926 -0.01054175 -0.37660807] [ 0.14112654 0.01191926 0.98991981 -0.162211 ] [ 0. 0. 0. 1. ]] SLAMing on 237.54463044 meters Centerline goodness : 0.086072 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.38, Z:-0.16 [[ 0.98996009 0.00885392 -0.14106956 0.7201499 ] [-0.01047663 0.99988718 -0.0107644 -0.37520251] [ 0.14095834 0.01213426 0.98994116 -0.16237686] [ 0. 0. 0. 1. ]] SLAMing on 237.57463044 meters Centerline goodness : 0.105731 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.98989969 0.00844023 -0.14151811 0.72188391] [-0.01015876 0.99988312 -0.01142547 -0.37263722] [ 0.14140514 0.01274772 0.98986973 -0.16303146] [ 0. 0. 0. 1. ]] SLAMing on 237.60463044 meters Centerline goodness : 0.088388 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.98983457 0.00830782 -0.14198066 0.72332931] [-0.01006469 0.99988136 -0.01166036 -0.37142642] [ 0.14186694 0.01297082 0.98980075 -0.16334516] [ 0. 0. 0. 1. ]] SLAMing on 237.63463044 meters Centerline goodness : 0.085431 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.989819 0.00827599 -0.14209103 0.7236955 ] [-0.01005263 0.99987996 -0.0117902 -0.37026896] [ 0.14197639 0.01309855 0.98978338 -0.16341189] [ 0. 0. 0. 1. ]] SLAMing on 237.66463044 meters Centerline goodness : 0.085334 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.98983222 0.00826798 -0.14199938 0.72328358] [-0.01005363 0.9998791 -0.01186226 -0.36941059] [ 0.14188414 0.01316925 0.98979567 -0.16313769] [ 0. 0. 0. 1. ]] SLAMing on 237.69463044 meters Centerline goodness : 0.085261 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.98994956 0.00815456 -0.14118557 0.7207266 ] [-0.00995409 0.99987792 -0.01204432 -0.3682493 ] [ 0.14107012 0.01332865 0.98990988 -0.16249296] [ 0. 0. 0. 1. ]] SLAMing on 237.72463044 meters Centerline goodness : 0.121737 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.9900177 0.00807339 -0.14071165 0.71933564] [-0.00987431 0.99987797 -0.0121051 -0.36806602] [ 0.14059675 0.01337369 0.98997662 -0.16226149] [ 0. 0. 0. 1. ]] SLAMing on 237.75463044 meters Centerline goodness : 0.126042 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.99004446 0.00808307 -0.14052273 0.71864995] [-0.00988159 0.9998779 -0.01210575 -0.36769152] [ 0.14040772 0.01337382 0.99000344 -0.1619673 ] [ 0. 0. 0. 1. ]] SLAMing on 237.78463044 meters Centerline goodness : 0.248879 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.9900696 0.00805417 -0.14034713 0.71827255] [-0.00983869 0.99987928 -0.01202578 -0.36790819] [ 0.14023333 0.01328719 0.99002932 -0.16215345] [ 0. 0. 0. 1. ]] SLAMing on 237.81463044 meters Centerline goodness : 0.117160 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.98996763 0.00769807 -0.14108445 0.72046288] [-0.0095487 0.99987697 -0.01244492 -0.36686676] [ 0.14097129 0.01366724 0.98991934 -0.16242899] [ 0. 0. 0. 1. ]] SLAMing on 237.84463044 meters Centerline goodness : 0.114419 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.37, Z:-0.16 [[ 0.98991517 0.00754117 -0.14146056 0.72172582] [-0.00943536 0.99987453 -0.01272431 -0.36566158] [ 0.14134685 0.01393072 0.98986211 -0.16275014] [ 0. 0. 0. 1. ]] SLAMing on 237.87463044 meters Centerline goodness : 0.132727 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.36, Z:-0.16 [[ 0.98990231 0.00754152 -0.14155047 0.72211893] [-0.00946586 0.99987165 -0.01292632 -0.36388702] [ 0.14143482 0.01413569 0.98984664 -0.16292935] [ 0. 0. 0. 1. ]] SLAMing on 237.90463043999998 meters Centerline goodness : 0.083683 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.36, Z:-0.16 [[ 0.98992774 0.00176686 -0.14156251 0.73839944] [-0.00342036 0.99992874 -0.01143785 -0.35612187] [ 0.14153221 0.01180684 0.98986324 -0.15847819] [ 0. 0. 0. 1. ]] SLAMing on 237.93463043999998 meters Centerline goodness : 0.077888 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99011297 0.00372339 -0.14022286 0.73304271] [-0.00520629 0.99993432 -0.01020998 -0.35090695] [ 0.14017563 0.01083908 0.99006732 -0.15677397] [ 0. 0. 0. 1. ]] SLAMing on 237.96463043999998 meters Centerline goodness : 0.084004 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.35, Z:-0.16 [[ 0.99018001 0.00367937 -0.13974983 0.73174719] [-0.0052152 0.99992995 -0.0106253 -0.34794934] [ 0.13970094 0.01124978 0.99012983 -0.15666091] [ 0. 0. 0. 1. ]] SLAMing on 237.99463043999998 meters Centerline goodness : 0.096766 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99020746 0.00355031 -0.13955851 0.73138801] [-0.00515749 0.99992447 -0.01115624 -0.34456636] [ 0.13950836 0.01176676 0.99015098 -0.15685812] [ 0. 0. 0. 1. ]] SLAMing on 238.02463043999998 meters Centerline goodness : 0.083484 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.34, Z:-0.16 [[ 0.99010636 0.00657318 -0.14016485 0.73390541] [-0.00794238 0.99992603 -0.00921136 -0.3379834 ] [ 0.14009394 0.01023347 0.99008533 -0.15770438] [ 0. 0. 0. 1. ]] SLAMing on 238.05463043999998 meters Centerline goodness : 0.083588 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.16 [[ 0.99009212 0.00633502 -0.14027636 0.73443202] [-0.00778016 0.99992214 -0.00975608 -0.33481665] [ 0.14020363 0.01075079 0.99006432 -0.15799288] [ 0. 0. 0. 1. ]] SLAMing on 238.08463043999998 meters Centerline goodness : 0.083949 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.16 [[ 0.99008949 0.00610706 -0.14030508 0.73464858] [-0.00761303 0.999919 -0.01019934 -0.33246406] [ 0.14023143 0.01116641 0.99005579 -0.15813856] [ 0. 0. 0. 1. ]] SLAMing on 238.11463043999998 meters Centerline goodness : 0.084494 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.16 [[ 0.99007986 0.0059145 -0.14038123 0.73471511] [-0.00746222 0.99991702 -0.01050133 -0.33094653] [ 0.14030747 0.01144471 0.99004183 -0.15799029] [ 0. 0. 0. 1. ]] SLAMing on 238.14463044 meters Centerline goodness : 0.083841 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.16 [[ 0.99006225 0.00538996 -0.14052651 0.73477127] [-0.00703275 0.99991259 -0.01119628 -0.32802553] [ 0.14045388 0.0120733 0.99001361 -0.15757626] [ 0. 0. 0. 1. ]] SLAMing on 238.17463044 meters Centerline goodness : 0.094619 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.16 [[ 0.99005796 0.00515761 -0.14056541 0.73494994] [-0.00685005 0.99990973 -0.01155905 -0.32626333] [ 0.1404931 0.01240701 0.99000392 -0.15763236] [ 0. 0. 0. 1. ]] SLAMing on 238.20463044 meters Centerline goodness : 0.083887 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.32, Z:-0.16 [[ 0.99005305 0.00499986 -0.1406057 0.73507333] [-0.00673379 0.99990701 -0.0118588 -0.32449359] [ 0.14053333 0.01268765 0.98999465 -0.1576432 ] [ 0. 0. 0. 1. ]] SLAMing on 238.23463044 meters Centerline goodness : 0.118889 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.32, Z:-0.16 [[ 0.99004973 0.00495925 -0.14063047 0.7352733 ] [-0.00672151 0.9999047 -0.01205896 -0.32263258] [ 0.14055727 0.01288422 0.98998871 -0.15777505] [ 0. 0. 0. 1. ]] SLAMing on 238.26463044 meters Centerline goodness : 0.121388 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.32, Z:-0.16 [[ 0.99003242 0.00488331 -0.14075495 0.73590715] [-0.00668469 0.99990166 -0.012328 -0.32028214] [ 0.14068091 0.01314602 0.98996771 -0.15807165] [ 0. 0. 0. 1. ]] SLAMing on 238.29463044 meters Centerline goodness : 0.123884 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.31, Z:-0.16 [[ 0.98983375 -0.00319594 -0.14219328 0.71861959] [ 0.00163445 0.99993709 -0.01109697 -0.31344511] [ 0.1422198 0.01075175 0.98977671 -0.1623085 ] [ 0. 0. 0. 1. ]] SLAMing on 238.32463044 meters Centerline goodness : 0.124729 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.31, Z:-0.16 [[ 0.98978427 -0.00348181 -0.14253064 0.71962654] [ 0.00185981 0.99993201 -0.01151169 -0.31191872] [ 0.14256103 0.01112901 0.98972345 -0.1624652 ] [ 0. 0. 0. 1. ]] SLAMing on 238.35463044 meters Centerline goodness : 0.125540 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.31, Z:-0.16 [[ 0.9897474 -0.00366669 -0.14278177 0.7202736 ] [ 0.00199948 0.99992816 -0.01181836 -0.31048756] [ 0.14281485 0.0114117 0.98968363 -0.16246176] [ 0. 0. 0. 1. ]] SLAMing on 238.38463044 meters Centerline goodness : 0.229984 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.31, Z:-0.16 [[ 0.98974384 -0.00381384 -0.14280261 0.72029643] [ 0.00210298 0.99992422 -0.01212961 -0.30865583] [ 0.14283805 0.0117049 0.98967686 -0.16242688] [ 0. 0. 0. 1. ]] SLAMing on 238.41463044 meters Centerline goodness : 0.092522 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.31, Z:-0.16 [[ 0.98998276 0.00372355 -0.14113916 0.73920201] [-0.00573483 0.99988769 -0.01384628 -0.30768383] [ 0.14107175 0.01451699 0.98989293 -0.15912049] [ 0. 0. 0. 1. ]] SLAMing on 238.44463044 meters Centerline goodness : 0.218976 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.30, Z:-0.16 [[ 0.99009337 0.0039711 -0.14035436 0.73654033] [-0.0060166 0.99988175 -0.01415249 -0.30067927] [ 0.14028156 0.01485674 0.99000018 -0.15839545] [ 0. 0. 0. 1. ]] SLAMing on 238.47463044 meters Centerline goodness : 0.103424 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.30, Z:-0.16 [[ 0.99010955 0.00380975 -0.14024464 0.73643829] [-0.00593424 0.99987385 -0.01473335 -0.29674829] [ 0.14017082 0.01541987 0.99000726 -0.15853738] [ 0. 0. 0. 1. ]] SLAMing on 238.50463044 meters Centerline goodness : 0.269414 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.29, Z:-0.16 [[ 0.99008551 0.00383434 -0.14041358 0.73697686] [-0.00602885 0.99986619 -0.01520684 -0.29222286] [ 0.14033649 0.01590261 0.98997615 -0.15865744] [ 0. 0. 0. 1. ]] SLAMing on 238.53463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 238.56463044 meters Centerline goodness : 0.132809 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.28, Z:-0.16 [[ 0.990043 0.00717458 -0.14058228 0.73787726] [-0.00917223 0.99986589 -0.01356702 -0.2788537 ] [ 0.14046609 0.01472139 0.98997604 -0.15895693] [ 0. 0. 0. 1. ]] SLAMing on 238.59463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 238.62463044 meters Centerline goodness : 0.139709 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.16 [[ 0.99016357 0.0069209 -0.13974338 0.73455722] [-0.00903464 0.99985409 -0.01449715 -0.27062596] [ 0.13962265 0.01561708 0.99008162 -0.15770315] [ 0. 0. 0. 1. ]] SLAMing on 238.65463043999998 meters Centerline goodness : 0.122950 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.16 [[ 0.99020062 0.00680471 -0.1394863 0.73379525] [-0.00895691 0.99985024 -0.01480749 -0.26854271] [ 0.13936465 0.01591175 0.99011328 -0.15757548] [ 0. 0. 0. 1. ]] SLAMing on 238.68463043999998 meters Centerline goodness : 0.130049 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.27, Z:-0.16 [[ 0.99022442 0.00668765 -0.13932292 0.73342421] [-0.00888291 0.99984591 -0.01514071 -0.26633498] [ 0.1392002 0.0162303 0.99013125 -0.1576388 ] [ 0. 0. 0. 1. ]] SLAMing on 238.71463043999998 meters Centerline goodness : 0.129549 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.16 [[ 0.99023758 0.00653215 -0.1392367 0.73335272] [-0.00877413 0.99984146 -0.01549421 -0.26422905] [ 0.13911341 0.01656463 0.99013791 -0.15777379] [ 0. 0. 0. 1. ]] SLAMing on 238.74463043999998 meters Centerline goodness : 0.132440 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.16 [[ 0.99025396 0.00635194 -0.1391285 0.73281145] [-0.0086632 0.99983425 -0.01601315 -0.26040639] [ 0.13900373 0.01706238 0.99014486 -0.15739025] [ 0. 0. 0. 1. ]] SLAMing on 238.77463043999998 meters Centerline goodness : 0.136962 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.16 [[ 0.99025032 0.00626403 -0.13915842 0.73278353] [-0.00861361 0.99983023 -0.0162884 -0.25867526] [ 0.13903276 0.01732825 0.99013616 -0.15724946] [ 0. 0. 0. 1. ]] SLAMing on 238.80463043999998 meters Centerline goodness : 0.137116 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.26, Z:-0.16 [[ 0.9901965 0.0061091 -0.13954776 0.73394639] [-0.00852287 0.99982412 -0.01670602 -0.25613431] [ 0.13942116 0.01773159 0.99007441 -0.15742521] [ 0. 0. 0. 1. ]] SLAMing on 238.83463043999998 meters Centerline goodness : 0.139592 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.16 [[ 0.99012207 0.00601816 -0.14007879 0.73603113] [-0.0084987 0.99981738 -0.01711677 -0.25338962] [ 0.13995019 0.01813818 0.9899924 -0.15822232] [ 0. 0. 0. 1. ]] SLAMing on 238.86463043999998 meters Centerline goodness : 0.142866 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.16 [[ 0.98990325 0.00826741 -0.1415034 0.74193387] [-0.01063686 0.99981547 -0.01599664 -0.24551194] [ 0.14134504 0.01734028 0.98980851 -0.1601902 ] [ 0. 0. 0. 1. ]] SLAMing on 238.89463044 meters Centerline goodness : 0.146361 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.16 [[ 0.98992444 0.00811529 -0.14136389 0.74161004] [-0.01056594 0.99980648 -0.01659381 -0.24155252] [ 0.14120187 0.01792026 0.98981862 -0.16023164] [ 0. 0. 0. 1. ]] SLAMing on 238.92463044 meters Centerline goodness : 0.141058 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.16 [[ 0.98997499 0.00800038 -0.14101602 0.7404497 ] [-0.01051724 0.99979827 -0.01711177 -0.23758608] [ 0.14085067 0.01842332 0.98985942 -0.15993785] [ 0. 0. 0. 1. ]] SLAMing on 238.95463044 meters Centerline goodness : 0.085347 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.16 [[ 0.99006334 0.00801788 -0.14039337 0.73829915] [-0.01057595 0.99979121 -0.01748409 -0.23394543] [ 0.14022387 0.01879515 0.98994142 -0.15932356] [ 0. 0. 0. 1. ]] SLAMing on 238.98463044 meters Centerline goodness : 0.108042 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.16 [[ 0.99012845 0.00810647 -0.13992836 0.73692258] [-0.01071874 0.99978188 -0.01792506 -0.22607281] [ 0.13975253 0.01924797 0.98999937 -0.15901249] [ 0. 0. 0. 1. ]] SLAMing on 239.01463044 meters Centerline goodness : 0.157162 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.16 [[ 9.90118043e-01 -2.34618583e-04 -1.40236249e-01 7.18356175e-01] [-2.19947891e-03 9.99849618e-01 -1.72018794e-02 -2.20763273e-01] [ 1.40219196e-01 1.73403379e-02 9.89968631e-01 -1.63332241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04463044 meters Centerline goodness : 0.110890 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.16 [[ 9.90056337e-01 -6.61351097e-04 -1.40669871e-01 7.19746086e-01] [-1.85619914e-03 9.99840469e-01 -1.77649080e-02 -2.18888522e-01] [ 1.40659178e-01 1.78493711e-02 9.89897164e-01 -1.63623378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07463044 meters Centerline goodness : 0.110890 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.16 [[ 9.90056337e-01 -6.61351097e-04 -1.40669871e-01 7.19746086e-01] [-1.85619914e-03 9.99840469e-01 -1.77649080e-02 -2.18888522e-01] [ 1.40659178e-01 1.78493711e-02 9.89897164e-01 -1.63623378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10463044 meters Centerline goodness : 0.132843 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.16 [[ 9.90002109e-01 -9.09783549e-04 -1.41049627e-01 7.20920985e-01] [-1.66142041e-03 9.99834616e-01 -1.81102414e-02 -2.17214832e-01] [ 1.41042776e-01 1.81635199e-02 9.89836866e-01 -1.63837893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13463044 meters Centerline goodness : 0.108569 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.16 [[ 0.99000467 -0.00103085 -0.14103084 0.72075594] [-0.00158759 0.99982848 -0.01845264 -0.21344642] [ 0.14102567 0.0184921 0.98983322 -0.16363314] [ 0. 0. 0. 1. ]] SLAMing on 239.16463044 meters Centerline goodness : 0.176587 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.16 [[ 0.99001467 -0.00122136 -0.14095905 0.72061605] [-0.00144291 0.99982227 -0.01879729 -0.21138889] [ 0.14095695 0.01881298 0.98983696 -0.16362235] [ 0. 0. 0. 1. ]] SLAMing on 239.19463044 meters Centerline goodness : 0.095168 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.16 [[ 0.99001353 -0.00147957 -0.14096459 0.72061376] [-0.0012464 0.99981397 -0.01924771 -0.20917967] [ 0.14096685 0.01923119 0.98982751 -0.16354551] [ 0. 0. 0. 1. ]] SLAMing on 239.22463044 meters Centerline goodness : 0.106442 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.16 [[ 0.9899747 -0.0017527 -0.1412339 0.72137716] [-0.0010466 0.99980453 -0.01974359 -0.20676937] [ 0.1412409 0.01969347 0.98977936 -0.16358116] [ 0. 0. 0. 1. ]] SLAMing on 239.25463044 meters Centerline goodness : 0.384624 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.16 [[ 0.98986095 -0.00174599 -0.14202908 0.72348438] [-0.00113524 0.99979526 -0.02020268 -0.20051823] [ 0.14203527 0.02015909 0.9896563 -0.16358168] [ 0. 0. 0. 1. ]] SLAMing on 239.28463044 meters Centerline goodness : 0.196260 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.16 [[ 0.98985535 -0.00175206 -0.14206798 0.72363426] [-0.00116419 0.99979037 -0.02044145 -0.19832763] [ 0.14207401 0.02039948 0.98964581 -0.1636147 ] [ 0. 0. 0. 1. ]] SLAMing on 239.31463044 meters Centerline goodness : 0.085697 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.16 [[ 0.98987797 -0.00182478 -0.14190938 0.72318809] [-0.00111564 0.99978639 -0.02063806 -0.19704698] [ 0.14191673 0.02058748 0.98966449 -0.16353007] [ 0. 0. 0. 1. ]] SLAMing on 239.34463044 meters Centerline goodness : 0.268303 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.16 [[ 9.89918107e-01 -2.00120300e-03 -1.41626754e-01 7.22316555e-01] [-9.60336720e-04 9.99782374e-01 -2.08394397e-02 -1.96558417e-01] [ 1.41637636e-01 2.07653481e-02 9.89700753e-01 -1.63302211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37463044 meters Centerline goodness : 0.193000 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.16 [[ 0.98998931 -0.00974767 -0.14080536 0.74187471] [ 0.00699261 0.99977456 -0.02004804 -0.19169241] [ 0.14096904 0.01886275 0.98983429 -0.15960202] [ 0. 0. 0. 1. ]] SLAMing on 239.40463043999998 meters Centerline goodness : 0.451555 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.16 [[ 0.98998487 -0.0096761 -0.14084151 0.74202686] [ 0.00693455 0.99977706 -0.0199433 -0.19193595] [ 0.14100308 0.01876689 0.98983127 -0.15963126] [ 0. 0. 0. 1. ]] SLAMing on 239.43463043999998 meters Centerline goodness : 0.191889 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.16 [[ 0.98996964 -0.00964604 -0.14095059 0.74218967] [ 0.00690676 0.99977791 -0.01991066 -0.19198016] [ 0.14111135 0.01873743 0.9898164 -0.15945803] [ 0. 0. 0. 1. ]] SLAMing on 239.46463043999998 meters Centerline goodness : 0.448897 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.16 [[ 0.99001526 -0.00956425 -0.14063539 0.74118641] [ 0.00682723 0.99977804 -0.0199314 -0.19131329] [ 0.1407948 0.01877224 0.98986081 -0.15920593] [ 0. 0. 0. 1. ]] SLAMing on 239.49463043999998 meters Centerline goodness : 0.405362 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.16 [[ 0.99005835 -0.00944811 -0.1403396 0.74072771] [ 0.00670736 0.99977769 -0.01998963 -0.18992201] [ 0.14049727 0.01884959 0.98990162 -0.15954589] [ 0. 0. 0. 1. ]] SLAMing on 239.52463043999998 meters Centerline goodness : 0.243723 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.16 [[ 0.99009434 -0.00934114 -0.14009263 0.74036384] [ 0.00657718 0.99977474 -0.02017958 -0.18761959] [ 0.14024957 0.01905827 0.98993275 -0.15985625] [ 0. 0. 0. 1. ]] SLAMing on 239.55463043999998 meters Centerline goodness : 0.354141 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:-0.16 [[ 0.9901034 -0.00939274 -0.14002509 0.74065939] [ 0.00656872 0.99976588 -0.02061649 -0.18455224] [ 0.14018596 0.01949268 0.9899333 -0.16037702] [ 0. 0. 0. 1. ]] SLAMing on 239.58463043999998 meters Centerline goodness : 0.159117 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:-0.16 [[ 0.98998474 -0.00715219 -0.14099315 0.74427607] [ 0.00443539 0.99979858 -0.01957387 -0.176697 ] [ 0.14110475 0.01875247 0.98981705 -0.16150425] [ 0. 0. 0. 1. ]] SLAMing on 239.61463043999998 meters Centerline goodness : 0.455743 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 9.90038098e-01 8.87842221e-04 -1.40796931e-01 7.64703984e-01] [-3.85741698e-03 9.99775806e-01 -2.08196768e-02 -1.74399816e-01] [ 1.40746880e-01 2.11553857e-02 9.89819562e-01 -1.57912607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64463044 meters Centerline goodness : 0.449173 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 9.90053536e-01 8.30531643e-04 -1.40688682e-01 7.64473771e-01] [-3.84487087e-03 9.99768812e-01 -2.11551371e-02 -1.71746354e-01] [ 1.40638587e-01 2.14856482e-02 9.89827841e-01 -1.57983746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67463044 meters Centerline goodness : 0.102379 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 9.90095851e-01 6.80873819e-04 -1.40391390e-01 7.63834441e-01] [-3.73172075e-03 9.99762552e-01 -2.14689027e-02 -1.69983519e-01] [ 1.40343436e-01 2.17801730e-02 9.89863296e-01 -1.58091522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70463044 meters Centerline goodness : 0.442617 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 9.90104871e-01 2.26711632e-05 -1.40329409e-01 7.63647685e-01] [-3.16907216e-03 9.99748569e-01 -2.21981148e-02 -1.68084052e-01] [ 1.40293622e-01 2.24231756e-02 9.89856000e-01 -1.57987533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73463044 meters Centerline goodness : 0.487675 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 9.90086536e-01 -1.95100552e-04 -1.40458583e-01 7.64178009e-01] [-2.97920799e-03 9.99744896e-01 -2.23889807e-02 -1.67824494e-01] [ 1.40427119e-01 2.25854837e-02 9.89833380e-01 -1.58206366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76463044 meters Centerline goodness : 0.441965 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 9.90055446e-01 -2.52819180e-04 -1.40677465e-01 7.64976819e-01] [-2.92869727e-03 9.99744615e-01 -2.24081894e-02 -1.67768434e-01] [ 1.40647204e-01 2.25973517e-02 9.89801861e-01 -1.58438919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 239.82463044 meters Centerline goodness : 0.089475 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.17, Z:-0.16 [[ 9.90077374e-01 -6.04650109e-04 -1.40521987e-01 7.65338272e-01] [-2.58599498e-03 9.99743004e-01 -2.25219548e-02 -1.68333259e-01] [ 1.40499491e-01 2.26618670e-02 9.89821364e-01 -1.59115221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85463044 meters Centerline goodness : 0.451604 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.17 [[ 9.89738799e-01 -9.96757178e-04 -1.42884975e-01 7.21528833e-01] [-2.29357105e-03 9.99736016e-01 -2.28612583e-02 -1.70406363e-01] [ 1.42870042e-01 2.29543911e-02 9.89475238e-01 -1.65173626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88463044 meters Centerline goodness : 0.461537 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.17 [[ 0.98969751 -0.00104272 -0.14317034 0.72241894] [-0.00228862 0.9997305 -0.02310175 -0.16895891] [ 0.14315584 0.02319141 0.9894284 -0.16537407] [ 0. 0. 0. 1. ]] SLAMing on 239.91463044 meters Centerline goodness : 0.110001 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.17 [[ 0.98963902 -0.0010342 -0.14357416 0.72358885] [-0.00234605 0.99972408 -0.02337228 -0.16700379] [ 0.14355872 0.02346695 0.98936353 -0.16558528] [ 0. 0. 0. 1. ]] SLAMing on 239.94463044 meters Centerline goodness : 0.167029 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.17 [[ 9.89533129e-01 3.48761839e-04 -1.44305458e-01 7.25518681e-01] [-3.66309533e-03 9.99735556e-01 -2.27024300e-02 -1.61758471e-01] [ 1.44259380e-01 2.29934113e-02 9.89272730e-01 -1.65621479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97463044 meters Centerline goodness : 0.190755 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.16 [[ 0.98962801 -0.00409286 -0.14359544 0.74517682] [ 0.00134625 0.99981438 -0.01921936 -0.15739429] [ 0.14364745 0.0188267 0.98944983 -0.1619716 ] [ 0. 0. 0. 1. ]] SLAMing on 240.00463044 meters Centerline goodness : 0.460055 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.98968992 -0.00403174 -0.14316988 0.74369052] [ 0.00127753 0.99981246 -0.0193241 -0.15586135] [ 0.14322094 0.01894197 0.98950946 -0.16152719] [ 0. 0. 0. 1. ]] SLAMing on 240.03463044 meters Centerline goodness : 0.451520 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.16 [[ 0.98974342 -0.00399428 -0.14280061 0.74242611] [ 0.00123629 0.99981109 -0.01939712 -0.15485137] [ 0.14285111 0.01902163 0.98956139 -0.16118485] [ 0. 0. 0. 1. ]] SLAMing on 240.06463044 meters Centerline goodness : 0.434320 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.16 [[ 0.98976046 -0.00440556 -0.14267035 0.74185341] [ 0.00158491 0.99980116 -0.01987805 -0.1537139 ] [ 0.14272956 0.01944838 0.98957063 -0.16087258] [ 0. 0. 0. 1. ]] SLAMing on 240.09463044 meters Centerline goodness : 0.460639 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.16 [[ 0.98976332 -0.00456044 -0.1426456 0.74173247] [ 0.00172296 0.99979832 -0.02000898 -0.1536846 ] [ 0.14270808 0.01955838 0.98957156 -0.16078559] [ 0. 0. 0. 1. ]] SLAMing on 240.12463044 meters Centerline goodness : 0.401323 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.16 [[ 0.98977342 -0.00455124 -0.14257584 0.74128703] [ 0.00172214 0.9997993 -0.01995986 -0.15377754] [ 0.14263807 0.0195102 0.98958261 -0.16046938] [ 0. 0. 0. 1. ]] SLAMing on 240.15463043999998 meters Centerline goodness : 0.091719 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.16 [[ 0.98978617 -0.00448554 -0.14248939 0.74040842] [ 0.00167803 0.99980221 -0.01981733 -0.15393023] [ 0.1425501 0.01937582 0.98959792 -0.15961753] [ 0. 0. 0. 1. ]] SLAMing on 240.18463043999998 meters Centerline goodness : 0.453038 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.16 [[ 0.98975648 -0.00450201 -0.14269496 0.74117733] [ 0.00169347 0.99980258 -0.0197975 -0.15412938] [ 0.14275592 0.01935306 0.9895687 -0.15983122] [ 0. 0. 0. 1. ]] SLAMing on 240.21463043999998 meters Centerline goodness : 0.208520 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.16 [[ 0.98969202 -0.00456469 -0.14313934 0.7427574 ] [ 0.00174873 0.99980258 -0.01979247 -0.15465681] [ 0.14320143 0.01933814 0.98950462 -0.16027963] [ 0. 0. 0. 1. ]] SLAMing on 240.24463043999998 meters Centerline goodness : 0.396526 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.98961121 -0.00456693 -0.14369691 0.74464265] [ 0.00175184 0.99980419 -0.01971088 -0.15538703] [ 0.14375879 0.01925437 0.98942543 -0.16074848] [ 0. 0. 0. 1. ]] SLAMing on 240.27463043999998 meters Centerline goodness : 0.107279 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.16 [[ 0.98957774 -0.00466397 -0.14392406 0.74547975] [ 0.00187838 0.9998084 -0.01948437 -0.15793896] [ 0.14398736 0.01901095 0.9893969 -0.16097452] [ 0. 0. 0. 1. ]] SLAMing on 240.30463043999998 meters Centerline goodness : 0.416225 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.98959089 -0.0046876 -0.14383286 0.74498996] [ 0.00194164 0.99981328 -0.01922573 -0.16017402] [ 0.14389613 0.01874634 0.98941522 -0.16061491] [ 0. 0. 0. 1. ]] SLAMing on 240.33463043999998 meters Centerline goodness : 0.104772 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.98958781 -0.00469079 -0.14385394 0.7447849 ] [ 0.00199135 0.99981933 -0.01890342 -0.16281761] [ 0.14391663 0.01842013 0.98941837 -0.16025969] [ 0. 0. 0. 1. ]] SLAMing on 240.36463043999998 meters Centerline goodness : 0.288908 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.17, Z:-0.16 [[ 0.98957846 -0.00470908 -0.1439177 0.74495619] [ 0.00206589 0.99982654 -0.01850988 -0.1658753 ] [ 0.1439799 0.01801966 0.98941654 -0.16020503] [ 0. 0. 0. 1. ]] SLAMing on 240.39463044 meters Centerline goodness : 0.452024 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.16 [[ 0.98949322 -0.00578534 -0.14446347 0.74692767] [ 0.00313094 0.9998222 -0.01859481 -0.17402258] [ 0.14454536 0.01794713 0.9893354 -0.16065908] [ 0. 0. 0. 1. ]] SLAMing on 240.42463044 meters Centerline goodness : 0.445919 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98948044 -0.00571144 -0.14455395 0.74716563] [ 0.00311783 0.99983019 -0.01816237 -0.17706145] [ 0.14463314 0.01752061 0.98933022 -0.16058298] [ 0. 0. 0. 1. ]] SLAMing on 240.45463044 meters Centerline goodness : 0.457969 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98947199 -0.00559081 -0.14461648 0.74731316] [ 0.00305774 0.9998381 -0.01773214 -0.1799053 ] [ 0.1446922 0.01710326 0.98932889 -0.16050035] [ 0. 0. 0. 1. ]] SLAMing on 240.48463044 meters Centerline goodness : 0.100211 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98943604 -0.00535138 -0.14487126 0.74817409] [ 0.00289141 0.99984814 -0.01718565 -0.18304255] [ 0.14494123 0.01658522 0.98930125 -0.16070992] [ 0. 0. 0. 1. ]] SLAMing on 240.51463044 meters Centerline goodness : 0.100308 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98940387 -0.0052365 -0.145095 0.74900737] [ 0.00279142 0.99985074 -0.01705008 -0.18346586] [ 0.14516263 0.01646439 0.98927081 -0.16098496] [ 0. 0. 0. 1. ]] SLAMing on 240.54463044 meters Centerline goodness : 0.454717 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98938505 -0.00517409 -0.14522552 0.74966891] [ 0.00273023 0.99985138 -0.01702228 -0.18364078] [ 0.14529201 0.01644509 0.98925214 -0.16129832] [ 0. 0. 0. 1. ]] SLAMing on 240.57463044 meters Centerline goodness : 0.179887 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98936915 -0.00517647 -0.14533369 0.75008064] [ 0.00272081 0.99985025 -0.01709044 -0.18325467] [ 0.1454004 0.01651333 0.98923508 -0.16147005] [ 0. 0. 0. 1. ]] SLAMing on 240.60463044 meters Centerline goodness : 0.217739 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.9893012 -0.00493977 -0.14580375 0.75146945] [ 0.0024793 0.99985153 -0.01705212 -0.1820353 ] [ 0.14586634 0.01650819 0.98916656 -0.16165132] [ 0. 0. 0. 1. ]] SLAMing on 240.63463044 meters Centerline goodness : 0.093870 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98928494 -0.0048712 -0.14591635 0.75189039] [ 0.00240995 0.99985191 -0.01703957 -0.1815639 ] [ 0.14597775 0.01650534 0.98915018 -0.16178478] [ 0. 0. 0. 1. ]] SLAMing on 240.66463044 meters Centerline goodness : 0.257683 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98926212 -0.00485455 -0.14607152 0.75226598] [ 0.00238677 0.99985154 -0.01706489 -0.18122284] [ 0.14613268 0.01653301 0.98912684 -0.16171859] [ 0. 0. 0. 1. ]] SLAMing on 240.69463044 meters Centerline goodness : 0.113087 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98926689 -0.00490461 -0.14603754 0.75205305] [ 0.00242684 0.99985015 -0.01713999 -0.18094041] [ 0.14609972 0.01660162 0.98913056 -0.16156657] [ 0. 0. 0. 1. ]] SLAMing on 240.72463044 meters Centerline goodness : 0.170724 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98933884 -0.00496303 -0.14554737 0.74988831] [ 0.00248255 0.99984866 -0.01721911 -0.18089798] [ 0.1456108 0.0166742 0.98920143 -0.16048001] [ 0. 0. 0. 1. ]] SLAMing on 240.75463044 meters Centerline goodness : 0.119391 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98934996 -0.00492413 -0.14547308 0.74919497] [ 0.00244733 0.99984908 -0.01719991 -0.18070715] [ 0.14553582 0.01666071 0.98921269 -0.15988826] [ 0. 0. 0. 1. ]] SLAMing on 240.78463044 meters Centerline goodness : 0.123381 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98934837 -0.00493281 -0.14548359 0.74889237] [ 0.00244694 0.99984802 -0.01726093 -0.18029664] [ 0.14554663 0.01672108 0.98921008 -0.15949534] [ 0. 0. 0. 1. ]] SLAMing on 240.81463044 meters Centerline goodness : 0.125384 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98936194 -0.0049679 -0.14539005 0.74841504] [ 0.00247471 0.99984686 -0.0173241 -0.18002011] [ 0.14545385 0.01678 0.98922273 -0.15920174] [ 0. 0. 0. 1. ]] SLAMing on 240.84463044 meters Centerline goodness : 0.120689 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98942397 -0.00492803 -0.14496866 0.74646064] [ 0.00244083 0.99984685 -0.01732967 -0.17971666] [ 0.14503186 0.01679254 0.98928447 -0.15820436] [ 0. 0. 0. 1. ]] SLAMing on 240.87463044 meters Centerline goodness : 0.453417 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98943682 -0.00481707 -0.14488468 0.74569698] [ 0.00234296 0.9998486 -0.01724226 -0.17952563] [ 0.1449458 0.01672067 0.9892983 -0.15757781] [ 0. 0. 0. 1. ]] SLAMing on 240.90463043999998 meters Centerline goodness : 0.177482 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:-0.16 [[ 0.9894646 -0.00479966 -0.14469543 0.74467169] [ 0.00231473 0.99984702 -0.01733692 -0.17845714] [ 0.14475651 0.01681934 0.98932435 -0.15691718] [ 0. 0. 0. 1. ]] SLAMing on 240.93463043999998 meters Centerline goodness : 0.434714 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:-0.16 [[ 0.98945367 -0.00486717 -0.14476792 0.74467648] [ 0.00236139 0.9998445 -0.01747574 -0.17776612] [ 0.14483047 0.01694958 0.9893113 -0.15670203] [ 0. 0. 0. 1. ]] SLAMing on 240.96463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 240.99463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.02463043999998 meters Centerline goodness : 0.103519 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.16 [[ 0.98937851 -0.0048653 -0.14528075 0.74579722] [ 0.0023105 0.99983981 -0.01774884 -0.17549898] [ 0.14534383 0.01722465 0.98923126 -0.15647801] [ 0. 0. 0. 1. ]] SLAMing on 241.05463043999998 meters Centerline goodness : 0.102923 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.16 [[ 9.89203486e-01 -2.78209033e-03 -1.46522093e-01 7.50208144e-01] [ 3.85454909e-04 9.99865721e-01 -1.63826721e-02 -1.71285833e-01] [ 1.46547997e-01 1.61493187e-02 9.89071729e-01 -1.57339135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08463043999998 meters Centerline goodness : 0.201688 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.16 [[ 9.89153725e-01 -2.79927945e-03 -1.46857321e-01 7.51308087e-01] [ 3.40204078e-04 9.99859364e-01 -1.67671017e-02 -1.68427041e-01] [ 1.46883604e-01 1.65352796e-02 9.89015567e-01 -1.57649118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11463043999998 meters Centerline goodness : 0.090743 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.16 [[ 9.89102562e-01 -2.67664292e-03 -1.47203796e-01 7.52416127e-01] [ 1.66662732e-04 9.99854441e-01 -1.70607474e-02 -1.65425147e-01] [ 1.47228035e-01 1.68502955e-02 9.88959035e-01 -1.57948353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14463044 meters Centerline goodness : 0.090790 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.16 [[ 9.89075629e-01 -2.60732095e-03 -1.47385894e-01 7.52931229e-01] [ 3.46162838e-05 9.99847642e-01 -1.74554396e-02 -1.61965655e-01] [ 1.47408951e-01 1.72596480e-02 9.88925025e-01 -1.58032109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17463044 meters Centerline goodness : 0.194821 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.16 [[ 0.98904446 0.00100385 -0.1476145 0.75373548] [-0.0032499 0.99988258 -0.01497524 -0.15645013] [ 0.14758213 0.01529091 0.9889316 -0.15824109] [ 0. 0. 0. 1. ]] SLAMing on 241.20463044 meters Centerline goodness : 0.091594 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.15, Z:-0.16 [[ 9.88998480e-01 8.61160172e-04 -1.47923175e-01 7.54541693e-01] [-3.18312210e-03 9.99875404e-01 -1.54610665e-02 -1.53361907e-01] [ 1.47891430e-01 1.57618288e-02 9.88877995e-01 -1.58307042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23463044 meters Centerline goodness : 0.089818 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.16 [[ 9.88941654e-01 7.48580486e-04 -1.48303220e-01 7.55523430e-01] [-3.14026036e-03 9.99868760e-01 -1.58934649e-02 -1.50476930e-01] [ 1.48271860e-01 1.61834202e-02 9.88814215e-01 -1.58354761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26463044 meters Centerline goodness : 0.089527 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.16 [[ 9.88920406e-01 3.84728488e-04 -1.48446230e-01 7.55967119e-01] [-2.88531309e-03 9.99857548e-01 -1.66300708e-02 -1.46104960e-01] [ 1.48418685e-01 1.68741302e-02 9.88780642e-01 -1.58419629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29463044 meters Centerline goodness : 0.360298 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.16 [[ 9.88929919e-01 2.05545934e-04 -1.48383194e-01 7.55795784e-01] [-2.75247053e-03 9.99852391e-01 -1.69593658e-02 -1.44310361e-01] [ 1.48357805e-01 1.71800446e-02 9.88784510e-01 -1.58393926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32463044 meters Centerline goodness : 0.427773 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.16 [[ 9.88934667e-01 7.78727460e-05 -1.48351668e-01 7.55543724e-01] [-2.65736392e-03 9.99848717e-01 -1.71895495e-02 -1.42831181e-01] [ 1.48327886e-01 1.73935658e-02 9.88785266e-01 -1.58145787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35463044 meters Centerline goodness : 0.437227 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.16 [[ 9.88905694e-01 -2.03991204e-04 -1.48544559e-01 7.55847669e-01] [-2.44920865e-03 9.99840729e-01 -1.76781641e-02 -1.39391789e-01] [ 1.48524506e-01 1.78458538e-02 9.88747691e-01 -1.57856567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38463044 meters Centerline goodness : 0.097452 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.16 [[ 9.88874615e-01 -3.63943737e-04 -1.48751012e-01 7.56372041e-01] [-2.32802925e-03 9.99836666e-01 -1.79226567e-02 -1.37909848e-01] [ 1.48733239e-01 1.80695569e-02 9.88712251e-01 -1.57795309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.44463044 meters Centerline goodness : 0.140962 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 0.98889785 -0.00840308 -0.1483591 0.73532119] [ 0.00589099 0.99983188 -0.01736387 -0.13216624] [ 0.14848006 0.01629712 0.98878111 -0.16098181] [ 0. 0. 0. 1. ]] SLAMing on 241.47463044 meters Centerline goodness : 0.220254 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.16 [[ 0.98891662 -0.00866348 -0.148219 0.73449004] [ 0.00610281 0.99982432 -0.01772233 -0.13049246] [ 0.14834649 0.01662135 0.98879576 -0.1603529 ] [ 0. 0. 0. 1. ]] SLAMing on 241.50463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.53463044 meters Centerline goodness : 0.115746 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.16 [[ 0.9889015 -0.00897018 -0.14830161 0.73472143] [ 0.00635615 0.99981614 -0.018091 -0.12922443] [ 0.14843663 0.01694759 0.98877669 -0.1602613 ] [ 0. 0. 0. 1. ]] SLAMing on 241.56463044 meters Centerline goodness : 0.222795 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.16 [[ 0.98889402 -0.00907894 -0.14834486 0.73471997] [ 0.00643223 0.99981164 -0.01831162 -0.12816284] [ 0.14848317 0.01715406 0.98876614 -0.16011548] [ 0. 0. 0. 1. ]] SLAMing on 241.59463044 meters Centerline goodness : 0.104233 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.16 [[ 0.98895756 -0.00697685 -0.1480347 0.7323462 ] [ 0.00452344 0.9998469 -0.01690337 -0.12351119] [ 0.14812997 0.01604709 0.9888377 -0.15883765] [ 0. 0. 0. 1. ]] SLAMing on 241.62463044 meters Centerline goodness : 0.318792 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.16 [[ 0.98893475 -0.00705241 -0.14818343 0.73244763] [ 0.00454053 0.99984033 -0.01728265 -0.12095501] [ 0.14828165 0.01641858 0.98880887 -0.1585624 ] [ 0. 0. 0. 1. ]] SLAMing on 241.65463043999998 meters Centerline goodness : 0.453815 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 9.88944453e-01 7.42830958e-04 -1.48284581e-01 7.13898883e-01] [-3.55331489e-03 9.99819026e-01 -1.86892966e-02 -1.23559826e-01] [ 1.48243863e-01 1.90095780e-02 9.88768119e-01 -1.62770818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68463043999998 meters Centerline goodness : 0.398736 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 9.88954715e-01 5.74026710e-04 -1.48216877e-01 7.13709898e-01] [-3.47042923e-03 9.99808028e-01 -1.92837745e-02 -1.20033822e-01] [ 1.48177354e-01 1.95851559e-02 9.88766855e-01 -1.62765040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71463043999998 meters Centerline goodness : 0.309673 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 9.88954128e-01 4.69865374e-04 -1.48221159e-01 7.13709267e-01] [-3.40003377e-03 9.99803761e-01 -1.95161358e-02 -1.18835108e-01] [ 1.48182902e-01 1.98045200e-02 9.88761654e-01 -1.62758709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74463043999998 meters Centerline goodness : 0.359691 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 9.88937416e-01 4.02787206e-04 -1.48332822e-01 7.13947977e-01] [-3.35116217e-03 9.99801748e-01 -1.96273642e-02 -1.18421697e-01] [ 1.48295509e-01 1.99073221e-02 9.88742707e-01 -1.62716555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77463043999998 meters Centerline goodness : 0.453438 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 9.88918530e-01 3.29427784e-04 -1.48458857e-01 7.14398610e-01] [-3.28726953e-03 9.99800951e-01 -1.96787150e-02 -1.18535010e-01] [ 1.48422824e-01 1.99486702e-02 9.88722770e-01 -1.62815200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80463043999998 meters Centerline goodness : 0.446189 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.17 [[ 0.988821 -0.00766566 -0.14891024 0.69470731] [ 0.0049732 0.99981751 -0.01844501 -0.11846432] [ 0.14902446 0.01749826 0.98867868 -0.16661072] [ 0. 0. 0. 1. ]] SLAMing on 241.83463043999998 meters Centerline goodness : 0.262050 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 0.98887124 -0.01515008 -0.14800046 0.71366116] [ 0.01277692 0.99977432 -0.01697241 -0.11571163] [ 0.14822419 0.01489254 0.98884165 -0.16267799] [ 0. 0. 0. 1. ]] SLAMing on 241.86463043999998 meters Centerline goodness : 0.444891 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 0.98890024 -0.01504436 -0.14781742 0.71308232] [ 0.01272581 0.99978092 -0.01661853 -0.11775306] [ 0.14803505 0.01455298 0.98887504 -0.1624462 ] [ 0. 0. 0. 1. ]] SLAMing on 241.89463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.92463044 meters Centerline goodness : 0.092642 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:-0.16 [[ 0.98877546 -0.01505813 -0.14864838 0.71601147] [ 0.01279172 0.99978709 -0.01619111 -0.12135633] [ 0.14886054 0.01410791 0.98875756 -0.16313892] [ 0. 0. 0. 1. ]] SLAMing on 241.95463044 meters Centerline goodness : 0.454754 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.17 [[ 0.98876073 -0.0071173 -0.14933708 0.69853223] [ 0.00460116 0.9998417 -0.01718749 -0.12691245] [ 0.14943577 0.01630719 0.98863695 -0.1676406 ] [ 0. 0. 0. 1. ]] SLAMing on 241.98463044 meters Centerline goodness : 0.270569 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.16 [[ 0.98884925 -0.00630641 -0.14878637 0.74169828] [ 0.00384994 0.99985159 -0.01679227 -0.12388213] [ 0.14887019 0.0160322 0.98872677 -0.16115903] [ 0. 0. 0. 1. ]] SLAMing on 242.01463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.04463044 meters Centerline goodness : 0.096777 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.17 [[ 0.98866299 -0.00423104 -0.15009191 0.69425507] [ 0.00183608 0.99986884 -0.01609161 -0.12393773] [ 0.15014031 0.0156336 0.98854109 -0.16628281] [ 0. 0. 0. 1. ]] SLAMing on 242.07463044 meters Centerline goodness : 0.453091 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.17 [[ 0.98863592 -0.00419874 -0.15027104 0.6944842 ] [ 0.00178772 0.99986756 -0.01617597 -0.12319222] [ 0.15031905 0.01572351 0.9885125 -0.16603716] [ 0. 0. 0. 1. ]] SLAMing on 242.10463044 meters Centerline goodness : 0.230223 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.17 [[ 0.98860591 -0.00424985 -0.15046689 0.69487397] [ 0.00182119 0.9998659 -0.01627491 -0.12283816] [ 0.15051588 0.01581544 0.98848108 -0.16586967] [ 0. 0. 0. 1. ]] SLAMing on 242.13463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.16463044 meters Centerline goodness : 0.243976 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.17 [[ 0.98857075 -0.00446369 -0.15069154 0.69535086] [ 0.0020183 0.99986385 -0.01637688 -0.12330818] [ 0.15074412 0.01588556 0.98844517 -0.16572866] [ 0. 0. 0. 1. ]] SLAMing on 242.19463044 meters Centerline goodness : 0.100826 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.17 [[ 0.98868566 -0.0049306 -0.14992117 0.69332144] [ 0.00253335 0.99986594 -0.01617684 -0.12683738] [ 0.14998083 0.01561401 0.9885656 -0.16543874] [ 0. 0. 0. 1. ]] SLAMing on 242.22463044 meters Centerline goodness : 0.227604 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.17 [[ 0.98872613 -0.0050754 -0.14964921 0.69259947] [ 0.00272289 0.99986955 -0.01592089 -0.12952069] [ 0.1497105 0.01533392 0.98861096 -0.16531292] [ 0. 0. 0. 1. ]] SLAMing on 242.25463044 meters Centerline goodness : 0.451453 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.17 [[ 0.98871458 -0.00521843 -0.14972054 0.69267873] [ 0.00289594 0.99987215 -0.015726 -0.13200092] [ 0.14978346 0.01511494 0.98860328 -0.16509547] [ 0. 0. 0. 1. ]] SLAMing on 242.28463044 meters Centerline goodness : 0.099495 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.17 [[ 0.98867191 -0.00524886 -0.15000101 0.69339689] [ 0.00295898 0.99987572 -0.01548489 -0.13415995] [ 0.15006365 0.01486562 0.98856457 -0.16500996] [ 0. 0. 0. 1. ]] SLAMing on 242.31463044 meters Centerline goodness : 0.455084 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.17 [[ 0.98859102 -0.00511856 -0.15053766 0.69487157] [ 0.00287703 0.99988179 -0.01510415 -0.1367114 ] [ 0.15059718 0.01449873 0.98848889 -0.16504157] [ 0. 0. 0. 1. ]] SLAMing on 242.34463044 meters Centerline goodness : 0.404346 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98858723 -0.0049501 -0.15056818 0.69488726] [ 0.00273738 0.99988525 -0.01489948 -0.1374342 ] [ 0.15062465 0.01431728 0.98848734 -0.16496532] [ 0. 0. 0. 1. ]] SLAMing on 242.37463044 meters Centerline goodness : 0.243998 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98860936 -0.00478449 -0.1504282 0.69437352] [ 0.00259819 0.99988818 -0.014727 -0.13795135] [ 0.15048184 0.01416841 0.98851124 -0.1648084 ] [ 0. 0. 0. 1. ]] SLAMing on 242.40463043999998 meters Centerline goodness : 0.206294 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98871138 -0.00439452 -0.14976811 0.69241562] [ 0.00227798 0.99989514 -0.0143007 -0.13965096] [ 0.14981525 0.01379809 0.98861772 -0.16447795] [ 0. 0. 0. 1. ]] SLAMing on 242.43463043999998 meters Centerline goodness : 0.457343 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98873232 -0.00430662 -0.1496324 0.69196731] [ 0.00220669 0.99989678 -0.01419715 -0.14035226] [ 0.1496781 0.01370699 0.98863977 -0.16435314] [ 0. 0. 0. 1. ]] SLAMing on 242.46463043999998 meters Centerline goodness : 0.094422 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98872906 -0.00419166 -0.14965719 0.69195276] [ 0.00211616 0.99989941 -0.01402493 -0.14137849] [ 0.14970092 0.01355016 0.98863847 -0.16428791] [ 0. 0. 0. 1. ]] SLAMing on 242.49463043999998 meters Centerline goodness : 0.456668 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98870381 -0.00402256 -0.14982857 0.69250071] [ 0.00198533 0.99990357 -0.01374412 -0.14277752] [ 0.14986941 0.01329141 0.98861646 -0.16442235] [ 0. 0. 0. 1. ]] SLAMing on 242.52463043999998 meters Centerline goodness : 0.448637 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.17 [[ 0.98860641 -0.00362817 -0.15047989 0.69485389] [ 0.00170757 0.99991546 -0.01289042 -0.14762974] [ 0.15051394 0.0124866 0.98852903 -0.16501551] [ 0. 0. 0. 1. ]] SLAMing on 242.55463043999998 meters Centerline goodness : 0.190867 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.17 [[ 0.98853924 -0.00349323 -0.15092369 0.69637477] [ 0.00162815 0.9999208 -0.01247958 -0.15038061] [ 0.15095533 0.01209082 0.98846664 -0.16536338] [ 0. 0. 0. 1. ]] SLAMing on 242.58463043999998 meters Centerline goodness : 0.231179 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.17 [[ 0.98847067 -0.00342177 -0.15137379 0.69806841] [ 0.0016013 0.99992495 -0.01214658 -0.15294797] [ 0.15140399 0.01176414 0.98840196 -0.16586898] [ 0. 0. 0. 1. ]] SLAMing on 242.61463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.64463044 meters Centerline goodness : 0.218736 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.17 [[ 0.9883901 -0.00284232 -0.15191094 0.70003585] [ 0.0011399 0.99993559 -0.01129259 -0.15713959] [ 0.15193325 0.01098832 0.98832967 -0.16643845] [ 0. 0. 0. 1. ]] SLAMing on 242.67463044 meters Centerline goodness : 0.106481 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.17 [[ 9.88367730e-01 -2.65916932e-03 -1.52059721e-01 7.00583407e-01] [ 9.62679039e-04 9.99936486e-01 -1.12292692e-02 -1.56656255e-01] [ 1.52079923e-01 1.09522626e-02 9.88307515e-01 -1.66661160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70463044 meters Centerline goodness : 0.098702 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.17 [[ 9.88348341e-01 -2.02237232e-03 -1.52195486e-01 7.01170485e-01] [ 3.44584086e-04 9.99938893e-01 -1.10494711e-02 -1.55242899e-01] [ 1.52208532e-01 1.08682823e-02 9.88288644e-01 -1.66987235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73463044 meters Centerline goodness : 0.119117 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.16 [[ 0.98836305 0.00582153 -0.15200194 0.72045528] [-0.00781264 0.99989128 -0.0125053 -0.15523508] [ 0.15191262 0.01354731 0.98830108 -0.16238286] [ 0. 0. 0. 1. ]] SLAMing on 242.76463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.79463044 meters Centerline goodness : 0.101791 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.16 [[ 0.98835148 0.00591661 -0.15207351 0.72020228] [-0.00797722 0.99988441 -0.01294354 -0.15148937] [ 0.15197935 0.01400589 0.98828443 -0.16204564] [ 0. 0. 0. 1. ]] SLAMing on 242.82463044 meters Centerline goodness : 0.367194 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.16 [[ 0.98835562 0.00597611 -0.15204427 0.71967224] [-0.00810189 0.99987785 -0.01336565 -0.14726882] [ 0.15194582 0.01444187 0.98828331 -0.16163344] [ 0. 0. 0. 1. ]] SLAMing on 242.85463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.88463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.91463044 meters Centerline goodness : 0.115050 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.16 [[ 9.88360342e-01 -5.92100107e-04 -1.52129825e-01 7.36121863e-01] [-1.26771109e-03 9.99925651e-01 -1.21278747e-02 -1.36659476e-01] [ 1.52125695e-01 1.21795670e-02 9.88286108e-01 -1.56385963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94463044 meters Centerline goodness : 0.221230 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 9.88351527e-01 -8.57629535e-04 -1.52185816e-01 7.35984877e-01] [-1.06627936e-03 9.99920554e-01 -1.25597791e-02 -1.34663946e-01] [ 1.52184497e-01 1.25757495e-02 9.88272093e-01 -1.56086213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97463044 meters Centerline goodness : 0.419276 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 9.88338658e-01 -1.14954082e-03 -1.52267445e-01 7.35760827e-01] [-8.59697045e-04 9.99913442e-01 -1.31289597e-02 -1.31390340e-01] [ 1.52269357e-01 1.31067622e-02 9.88252121e-01 -1.55611892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00463044 meters Centerline goodness : 0.117278 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 9.88329106e-01 -1.28846863e-03 -1.52328322e-01 7.35818544e-01] [-7.62787471e-04 9.99909834e-01 -1.34068142e-02 -1.29662071e-01] [ 1.52331861e-01 1.33665389e-02 9.88239009e-01 -1.55464343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03463044 meters Centerline goodness : 0.432551 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 9.88310652e-01 -1.42849435e-03 -1.52446759e-01 7.36076880e-01] [-6.62775162e-04 9.99906392e-01 -1.36663344e-02 -1.28260725e-01] [ 1.52452011e-01 1.36076218e-02 9.88217191e-01 -1.55382185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06463044 meters Centerline goodness : 0.147763 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 9.88289308e-01 -1.57626687e-03 -1.52583614e-01 7.36420626e-01] [-5.58208467e-04 9.99902607e-01 -1.39450414e-02 -1.26767000e-01] [ 1.52590734e-01 1.38669088e-02 9.88192176e-01 -1.55364588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09463044 meters Centerline goodness : 0.361331 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 9.87934779e-01 -2.05634405e-03 -1.54856850e-01 6.91742455e-01] [-2.44383569e-04 9.99889901e-01 -1.48366229e-02 -1.24726929e-01] [ 1.54870309e-01 1.46954602e-02 9.87825506e-01 -1.60539146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12463044 meters Centerline goodness : 0.460674 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 9.87942833e-01 -2.18119568e-03 -1.54803751e-01 6.91226046e-01] [-1.73518488e-04 9.99884522e-01 -1.51958214e-02 -1.22437347e-01] [ 1.54819019e-01 1.50394641e-02 9.87828369e-01 -1.60179124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15463043999998 meters Centerline goodness : 0.179342 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 9.88159144e-01 -1.06682385e-05 -1.53432417e-01 6.85541664e-01] [-2.09962085e-03 9.99905422e-01 -1.35918263e-02 -1.18290991e-01] [ 1.53418051e-01 1.37530374e-02 9.88065664e-01 -1.58278658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18463043999998 meters Centerline goodness : 0.120822 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.16 [[ 9.88206495e-01 -1.85809422e-05 -1.53127149e-01 6.84339202e-01] [-2.10803804e-03 9.99903578e-01 -1.37255610e-02 -1.17019923e-01] [ 1.53112639e-01 1.38864864e-02 9.88111170e-01 -1.57800984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21463043999998 meters Centerline goodness : 0.381430 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.16 [[ 9.88216667e-01 -1.49170268e-04 -1.53061417e-01 6.84088374e-01] [-2.00722577e-03 9.99900905e-01 -1.39338149e-02 -1.16134928e-01] [ 1.53048328e-01 1.40768569e-02 9.88118440e-01 -1.57702931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24463043999998 meters Centerline goodness : 0.095747 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.16 [[ 9.88204708e-01 -3.33969152e-04 -1.53138318e-01 6.84301356e-01] [-1.85748028e-03 9.99897918e-01 -1.41669691e-02 -1.15678355e-01] [ 1.53127417e-01 1.42843170e-02 9.88103209e-01 -1.57726013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27463043999998 meters Centerline goodness : 0.122986 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.16 [[ 9.88166815e-01 -6.69256052e-04 -1.53381545e-01 6.84810086e-01] [-1.59375227e-03 9.99891696e-01 -1.46306824e-02 -1.14456709e-01] [ 1.53374725e-01 1.47020070e-02 9.88058725e-01 -1.57582503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30463043999998 meters Centerline goodness : 0.458288 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.16 [[ 9.88176614e-01 -7.03912932e-04 -1.53318244e-01 6.84470704e-01] [-1.57100693e-03 9.99890476e-01 -1.47162405e-02 -1.13981198e-01] [ 1.53311811e-01 1.47831087e-02 9.88067279e-01 -1.57407531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33463043999998 meters Centerline goodness : 0.371540 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.16 [[ 9.88193870e-01 -6.56783875e-04 -1.53207192e-01 6.83955902e-01] [-1.61658966e-03 9.99890444e-01 -1.47135123e-02 -1.13442387e-01] [ 1.53200071e-01 1.47874759e-02 9.88084545e-01 -1.57172196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36463043999998 meters Centerline goodness : 0.453920 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.16 [[ 9.88184059e-01 -5.71532029e-04 -1.53270803e-01 6.83989540e-01] [-1.68548898e-03 9.99892061e-01 -1.45953674e-02 -1.13501784e-01] [ 1.53262601e-01 1.46812457e-02 9.88076432e-01 -1.56964280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39463044 meters Centerline goodness : 0.460236 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 9.88076311e-01 -7.91479363e-04 -1.53962906e-01 6.85867141e-01] [-1.47099613e-03 9.99892617e-01 -1.45804652e-02 -1.15024950e-01] [ 1.53957914e-01 1.46330911e-02 9.87969045e-01 -1.57006384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42463044 meters Centerline goodness : 0.408806 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 9.88009621e-01 -7.81261611e-04 -1.54390342e-01 6.86913101e-01] [-1.44880934e-03 9.99896252e-01 -1.43313247e-02 -1.17062188e-01] [ 1.54385521e-01 1.43831689e-02 9.87905985e-01 -1.56890424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45463044 meters Centerline goodness : 0.461877 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 9.87962860e-01 -7.03062221e-04 -1.54689664e-01 6.87472177e-01] [-1.46889999e-03 9.99901949e-01 -1.39260236e-02 -1.19624782e-01] [ 1.54684288e-01 1.39856178e-02 9.87864957e-01 -1.56587111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48463044 meters Centerline goodness : 0.460558 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.15 [[ 0.98802414 -0.00872597 -0.15405247 0.70717325] [ 0.00683948 0.99989505 -0.01277151 -0.11864825] [ 0.15414775 0.01156492 0.98798012 -0.15257007] [ 0. 0. 0. 1. ]] SLAMing on 243.51463044 meters Centerline goodness : 0.464135 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 0.98805794 -0.01253399 -0.15357217 0.70530376] [ 0.01030334 0.99982967 -0.01531242 -0.12561602] [ 0.15373794 0.01354726 0.98801878 -0.15166451] [ 0. 0. 0. 1. ]] SLAMing on 243.54463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.57463044 meters Centerline goodness : 0.454592 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.15 [[ 0.98810359 -0.01273362 -0.15326169 0.70496479] [ 0.01059556 0.99983494 -0.01475909 -0.13371657] [ 0.15342433 0.01295962 0.98807541 -0.15195523] [ 0. 0. 0. 1. ]] SLAMing on 243.60463044 meters Centerline goodness : 0.090754 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.15 [[ 0.9880653 -0.0124346 -0.1535329 0.70610189] [ 0.01036515 0.99984443 -0.01427196 -0.13590947] [ 0.15368648 0.01251024 0.98804046 -0.15237 ] [ 0. 0. 0. 1. ]] SLAMing on 243.63463044 meters Centerline goodness : 0.461823 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.15 [[ 0.98800199 -0.01223305 -0.15395588 0.70762987] [ 0.01020334 0.9998504 -0.01396701 -0.1373367 ] [ 0.1541037 0.01222857 0.987979 -0.15284326] [ 0. 0. 0. 1. ]] SLAMing on 243.66463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.69463044 meters Centerline goodness : 0.157544 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.15 [[ 0.98751987 -0.0041506 -0.15743978 0.7321165 ] [ 0.00192195 0.99989583 -0.01430517 -0.1421143 ] [ 0.15748275 0.01382405 0.98742497 -0.14828944] [ 0. 0. 0. 1. ]] SLAMing on 243.72463044 meters Centerline goodness : 0.130832 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.15 [[ 0.98750954 -0.00389941 -0.15751095 0.73233529] [ 0.00169258 0.99989856 -0.01414237 -0.14184175] [ 0.15755012 0.01369913 0.98741597 -0.14834293] [ 0. 0. 0. 1. ]] SLAMing on 243.75463044 meters Centerline goodness : 0.159518 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.15 [[ 0.98760731 -0.00370355 -0.15690151 0.7307829 ] [ 0.00153129 0.99990133 -0.01396336 -0.14234672] [ 0.15693774 0.01355006 0.98751554 -0.14830684] [ 0. 0. 0. 1. ]] SLAMing on 243.78463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.81463044 meters Centerline goodness : 0.113878 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 9.88003787e-01 4.59269877e-04 -1.54428965e-01 7.09427059e-01] [-3.11674876e-03 9.99851197e-01 -1.69667526e-02 -1.49855347e-01] [ 1.54398194e-01 1.72445321e-02 9.87858200e-01 -1.52616212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84463044 meters Centerline goodness : 0.102316 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 9.87991156e-01 4.68313064e-04 -1.54509731e-01 7.09586716e-01] [-3.09867946e-03 9.99854345e-01 -1.67835581e-02 -1.51369214e-01] [ 1.54479366e-01 1.70607830e-02 9.87848701e-01 -1.52512029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87463044 meters Centerline goodness : 0.083928 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 9.88023978e-01 6.10224914e-04 -1.54299211e-01 7.08586119e-01] [-3.15572720e-03 9.99862935e-01 -1.62527912e-02 -1.54741182e-01] [ 1.54268144e-01 1.65450736e-02 9.87890480e-01 -1.51916632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90463043999998 meters Centerline goodness : 0.457660 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.15 [[ 9.88025020e-01 6.33981558e-04 -1.54292441e-01 7.08481181e-01] [-3.15758563e-03 9.99865216e-01 -1.61114665e-02 -1.55825817e-01] [ 1.54261431e-01 1.64057236e-02 9.87893852e-01 -1.51744920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93463043999998 meters Centerline goodness : 0.094551 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.15 [[ 0.98804438 -0.00673275 -0.15402266 0.7278934 ] [ 0.0044676 0.99987679 -0.01504804 -0.15172383] [ 0.154105 0.01418002 0.98795272 -0.14786828] [ 0. 0. 0. 1. ]] SLAMing on 243.96463043999998 meters Centerline goodness : 0.262504 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.15 [[ 9.88126487e-01 8.92978002e-04 -1.53639995e-01 7.08233656e-01] [-3.36622239e-03 9.99868900e-01 -1.58382755e-02 -1.58011496e-01] [ 1.53605710e-01 1.61674059e-02 9.87999950e-01 -1.52053148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99463043999998 meters Centerline goodness : 0.168160 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.15 [[ 9.88121005e-01 9.80807364e-04 -1.53674716e-01 7.08300583e-01] [-3.45347458e-03 9.99868826e-01 -1.58241519e-02 -1.57359898e-01] [ 1.53639038e-01 1.61668886e-02 9.87994776e-01 -1.52017945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02463043999998 meters Centerline goodness : 0.191176 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.15 [[ 9.88118091e-01 9.85918711e-04 -1.53693414e-01 7.08465045e-01] [-3.46651304e-03 9.99868011e-01 -1.58727405e-02 -1.56806034e-01] [ 1.53657479e-01 1.62169222e-02 9.87991088e-01 -1.52138479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05463043999998 meters Centerline goodness : 0.193043 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.15 [[ 9.88059109e-01 7.79805713e-04 -1.54073323e-01 7.09389278e-01] [-3.31356581e-03 9.99863458e-01 -1.61890429e-02 -1.55451547e-01] [ 1.54039662e-01 1.65062634e-02 9.87926782e-01 -1.52064083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08463043999998 meters Centerline goodness : 0.117188 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 9.88057609e-01 6.88067531e-04 -1.54083378e-01 7.09381676e-01] [-3.24097421e-03 9.99861604e-01 -1.63177687e-02 -1.54891496e-01] [ 1.54050826e-01 1.66222758e-02 9.87923096e-01 -1.51993457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11463043999998 meters Centerline goodness : 0.221733 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 9.88072037e-01 6.45551423e-04 -1.53991018e-01 7.09005806e-01] [-3.20999917e-03 9.99860273e-01 -1.64051724e-02 -1.54297597e-01] [ 1.53958911e-01 1.67038032e-02 9.87936049e-01 -1.51817922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14463044 meters Centerline goodness : 0.171172 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.15 [[ 0.98810333 -0.00651782 -0.15365328 0.72720512] [ 0.00421129 0.99987359 -0.01533199 -0.14780072] [ 0.15373379 0.01450251 0.98800587 -0.14768496] [ 0. 0. 0. 1. ]] SLAMing on 244.17463044 meters Centerline goodness : 0.180677 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 9.88081977e-01 9.97616616e-04 -1.53925344e-01 7.07286063e-01] [-3.64212299e-03 9.99850561e-01 -1.68994169e-02 -1.49098855e-01] [ 1.53885482e-01 1.72586242e-02 9.87937953e-01 -1.51559884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20463044 meters Centerline goodness : 0.464543 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 9.88065846e-01 9.12711790e-04 -1.54029380e-01 7.07635067e-01] [-3.61091839e-03 9.99844883e-01 -1.72386263e-02 -1.46840500e-01] [ 1.53989754e-01 1.75890854e-02 9.87915877e-01 -1.51649510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23463044 meters Centerline goodness : 0.103793 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.15 [[ 9.88033645e-01 8.46878602e-04 -1.54236177e-01 7.08258512e-01] [-3.59969142e-03 9.99839162e-01 -1.75696383e-02 -1.44193536e-01] [ 1.54196491e-01 1.79145964e-02 9.87877781e-01 -1.51742399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26463044 meters Centerline goodness : 0.461595 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98790462 -0.00651114 -0.154926 0.68970768] [ 0.0040257 0.99985821 -0.01635109 -0.13859291] [ 0.1550105 0.01552963 0.98779076 -0.15598806] [ 0. 0. 0. 1. ]] SLAMing on 244.29463044 meters Centerline goodness : 0.193244 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.16 [[ 0.98789864 -0.00660981 -0.15495994 0.6898396 ] [ 0.00407651 0.9998529 -0.01666015 -0.13644768] [ 0.15504726 0.01582685 0.98778027 -0.15602538] [ 0. 0. 0. 1. ]] SLAMing on 244.32463044 meters Centerline goodness : 0.182706 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.16 [[ 0.98789915 -0.00689726 -0.15494419 0.68989371] [ 0.0042586 0.99984032 -0.01735526 -0.13208326] [ 0.15503915 0.01648541 0.98777077 -0.15611368] [ 0. 0. 0. 1. ]] SLAMing on 244.35463044 meters Centerline goodness : 0.166763 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 9.88034413e-01 3.70724172e-04 -1.54233139e-01 7.08492715e-01] [-3.34817377e-03 9.99813011e-01 -1.90455571e-02 -1.31675642e-01] [ 1.54197238e-01 1.93340652e-02 9.87850903e-01 -1.51712205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38463044 meters Centerline goodness : 0.156073 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 9.88081331e-01 1.99680346e-04 -1.53932596e-01 7.07607014e-01] [-3.22604869e-03 9.99806388e-01 -1.94108127e-02 -1.29586254e-01] [ 1.53898917e-01 1.96760557e-02 9.87890670e-01 -1.51598818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41463044 meters Centerline goodness : 0.465393 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98822155 -0.00711958 -0.15286425 0.6873169 ] [ 0.00434642 0.99982001 -0.01846784 -0.12413311] [ 0.15296822 0.01758591 0.98807462 -0.15628479] [ 0. 0. 0. 1. ]] SLAMing on 244.44463044 meters Centerline goodness : 0.463059 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98820368 -0.00728498 -0.15297192 0.68786844] [ 0.0044325 0.99981004 -0.01897985 -0.12031579] [ 0.15308113 0.01807791 0.98804826 -0.15649505] [ 0. 0. 0. 1. ]] SLAMing on 244.47463044 meters Centerline goodness : 0.460435 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98815371 -0.00738511 -0.15328959 0.68884626] [ 0.00448729 0.99980479 -0.01924161 -0.11866158] [ 0.15340177 0.01832582 0.98799396 -0.15666539] [ 0. 0. 0. 1. ]] SLAMing on 244.50463044 meters Centerline goodness : 0.094578 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98811457 -0.00752199 -0.15353506 0.68971961] [ 0.00458079 0.99979934 -0.01950128 -0.11738959] [ 0.15365094 0.01856619 0.98795075 -0.15692856] [ 0. 0. 0. 1. ]] SLAMing on 244.53463044 meters Centerline goodness : 0.091005 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98809873 -0.00766062 -0.15363011 0.69001093] [ 0.00467902 0.99979381 -0.01975985 -0.11595834] [ 0.1537498 0.01880584 0.98793084 -0.15696636] [ 0. 0. 0. 1. ]] SLAMing on 244.56463044 meters Centerline goodness : 0.464562 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.9881187 -0.00760881 -0.1535042 0.68956629] [ 0.00463937 0.99979531 -0.01969325 -0.11588244] [ 0.15362262 0.01874711 0.98795174 -0.15678896] [ 0. 0. 0. 1. ]] SLAMing on 244.59463044 meters Centerline goodness : 0.432184 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98816095 -0.00750605 -0.15323707 0.68866751] [ 0.00456643 0.99979891 -0.01952646 -0.11636083] [ 0.15335282 0.01859554 0.98799652 -0.15652759] [ 0. 0. 0. 1. ]] SLAMing on 244.62463044 meters Centerline goodness : 0.354892 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98827301 -0.00756382 -0.15250984 0.68680937] [ 0.00468524 0.9998042 -0.01922524 -0.11896134] [ 0.15262539 0.01828524 0.98811494 -0.15636146] [ 0. 0. 0. 1. ]] SLAMing on 244.65463043999998 meters Centerline goodness : 0.408987 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.16 [[ 0.98838036 -0.00181282 -0.15199006 0.66607803] [-0.0014938 0.99976474 -0.02163852 -0.12558099] [ 0.15199353 0.02161413 0.98814513 -0.16040783] [ 0. 0. 0. 1. ]] SLAMing on 244.68463043999998 meters Centerline goodness : 0.298012 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98826277 -0.00937655 -0.15247548 0.6852802 ] [ 0.00632625 0.99977029 -0.02047806 -0.12244014] [ 0.15263247 0.0192731 0.98809507 -0.15626966] [ 0. 0. 0. 1. ]] SLAMing on 244.71463043999998 meters Centerline goodness : 0.090751 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98822458 -0.0092562 -0.15273018 0.68636159] [ 0.00623707 0.9997758 -0.02023499 -0.12379851] [ 0.15288324 0.01904413 0.98806075 -0.15666412] [ 0. 0. 0. 1. ]] SLAMing on 244.74463043999998 meters Centerline goodness : 0.097920 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98818652 -0.00910458 -0.15298535 0.68734846] [ 0.00610898 0.99978052 -0.02003967 -0.12463882] [ 0.15313423 0.01886835 0.98802525 -0.15696618] [ 0. 0. 0. 1. ]] SLAMing on 244.77463043999998 meters Centerline goodness : 0.091783 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98817082 -0.00904834 -0.15309001 0.68790441] [ 0.00604124 0.99977979 -0.0200965 -0.12394931] [ 0.15323814 0.01893392 0.98800788 -0.15730156] [ 0. 0. 0. 1. ]] SLAMing on 244.80463043999998 meters Centerline goodness : 0.091783 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98817082 -0.00904834 -0.15309001 0.68790441] [ 0.00604124 0.99977979 -0.0200965 -0.12394931] [ 0.15323814 0.01893392 0.98800788 -0.15730156] [ 0. 0. 0. 1. ]] SLAMing on 244.83463043999998 meters Centerline goodness : 0.463104 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.16 [[ 9.88097777e-01 -7.93203925e-04 -1.53825077e-01 6.68393435e-01] [-2.44577964e-03 9.99779292e-01 -2.08658975e-02 -1.28176246e-01] [ 1.53807677e-01 2.09937692e-02 9.87877756e-01 -1.61437787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86463043999998 meters Centerline goodness : 0.134166 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98795903 -0.00507824 -0.15463235 0.68913949] [ 0.00238822 0.99984266 -0.01757699 -0.12320965] [ 0.15469728 0.01699605 0.98781571 -0.15791782] [ 0. 0. 0. 1. ]] SLAMing on 244.89463044 meters Centerline goodness : 0.094756 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.16 [[ 0.9879076 0.00325566 -0.1550096 0.66819668] [-0.00618371 0.99981138 -0.01841102 -0.12507048] [ 0.15492042 0.01914692 0.98774139 -0.16135506] [ 0. 0. 0. 1. ]] SLAMing on 244.92463044 meters Centerline goodness : 0.415360 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98787227 -0.00369838 -0.15522469 0.68590831] [ 0.0010407 0.99985154 -0.01719929 -0.11863297] [ 0.15526525 0.01682916 0.98772946 -0.15687559] [ 0. 0. 0. 1. ]] SLAMing on 244.95463044 meters Centerline goodness : 0.094238 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98786806 -0.00380799 -0.15524884 0.6860184 ] [ 0.00112416 0.99984847 -0.01737138 -0.11796104] [ 0.15529147 0.01698611 0.98772265 -0.15695087] [ 0. 0. 0. 1. ]] SLAMing on 244.98463044 meters Centerline goodness : 0.111033 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98785898 -0.00384905 -0.15530554 0.68637963] [ 0.00115431 0.99984729 -0.01743768 -0.11758366] [ 0.15534894 0.0170467 0.98771257 -0.1571463 ] [ 0. 0. 0. 1. ]] SLAMing on 245.01463044 meters Centerline goodness : 0.091569 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98787141 -0.00386324 -0.15522615 0.68644155] [ 0.00119977 0.99985051 -0.01724866 -0.11866176] [ 0.15526958 0.01685322 0.98772837 -0.15736555] [ 0. 0. 0. 1. ]] SLAMing on 245.04463044 meters Centerline goodness : 0.093898 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.98785428 -0.0039127 -0.15533386 0.68677581] [ 0.00126625 0.99985243 -0.01713244 -0.11980658] [ 0.15537797 0.01672767 0.98771346 -0.15734706] [ 0. 0. 0. 1. ]] SLAMing on 245.07463044 meters Centerline goodness : 0.316294 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.15 [[ 0.98775244 -0.01190167 -0.15557462 0.70651724] [ 0.0094771 0.99982195 -0.01631708 -0.11638017] [ 0.15574112 0.01464283 0.98768937 -0.15308991] [ 0. 0. 0. 1. ]] SLAMing on 245.10463044 meters Centerline goodness : 0.282837 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.15 [[ 0.98770264 -0.011935 -0.15588795 0.7073383 ] [ 0.0095428 0.99982509 -0.01608506 -0.11859996] [ 0.15605266 0.01439965 0.98764377 -0.15300856] [ 0. 0. 0. 1. ]] SLAMing on 245.13463044 meters Centerline goodness : 0.249662 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 0.98765078 -0.01220439 -0.15619536 0.70829788] [ 0.00987902 0.99982864 -0.01565529 -0.12521867] [ 0.15635966 0.0139189 0.98760211 -0.15299839] [ 0. 0. 0. 1. ]] SLAMing on 245.16463044 meters Centerline goodness : 0.259500 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 0.98766774 -0.01201915 -0.15610242 0.70798123] [ 0.0097735 0.99983754 -0.01514536 -0.12816048] [ 0.1562591 0.01343292 0.98762475 -0.1527784 ] [ 0. 0. 0. 1. ]] SLAMing on 245.19463044 meters Centerline goodness : 0.466806 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 0.98772063 -0.01192193 -0.1557749 0.70708762] [ 0.00973766 0.99984339 -0.01477757 -0.13074975] [ 0.15592668 0.01307923 0.98768204 -0.15263828] [ 0. 0. 0. 1. ]] SLAMing on 245.22463044 meters Centerline goodness : 0.093240 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 0.98777485 -0.01178441 -0.15544124 0.70613304] [ 0.00965058 0.99984866 -0.01447509 -0.13259054] [ 0.15558829 0.01279803 0.98773908 -0.15245522] [ 0. 0. 0. 1. ]] SLAMing on 245.25463044 meters Centerline goodness : 0.359489 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.98787376 -0.01133893 -0.15484463 0.70408619] [ 0.00929954 0.9998603 -0.01388863 -0.13520294] [ 0.15498048 0.01228023 0.98784121 -0.15188036] [ 0. 0. 0. 1. ]] SLAMing on 245.28463044 meters Centerline goodness : 0.150754 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.98791198 -0.01108514 -0.15461902 0.70335173] [ 0.0091007 0.99986696 -0.01353634 -0.13665086] [ 0.1547485 0.01196557 0.98788143 -0.15172819] [ 0. 0. 0. 1. ]] SLAMing on 245.31463044 meters Centerline goodness : 0.117007 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.98793978 -0.01088905 -0.15445522 0.70289197] [ 0.00895782 0.99987283 -0.01319394 -0.13846815] [ 0.15457925 0.01165124 0.98791169 -0.15170796] [ 0. 0. 0. 1. ]] SLAMing on 245.34463044 meters Centerline goodness : 0.152476 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.98795751 -0.01075999 -0.15435082 0.70286137] [ 0.00887024 0.9998771 -0.01292673 -0.1402053 ] [ 0.15447094 0.01140193 0.98793154 -0.15194552] [ 0. 0. 0. 1. ]] SLAMing on 245.37463044 meters Centerline goodness : 0.104027 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.98790655 -0.01064044 -0.15468494 0.70442844] [ 0.00880157 0.99988228 -0.01256785 -0.14331359] [ 0.15480045 0.01105439 0.98788391 -0.15262151] [ 0. 0. 0. 1. ]] SLAMing on 245.40463043999998 meters Centerline goodness : 0.453487 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.15 [[ 0.98786067 -0.01048075 -0.15498853 0.70556112] [ 0.00866963 0.99988607 -0.01235684 -0.14422491] [ 0.15510038 0.01086315 0.98783899 -0.15297635] [ 0. 0. 0. 1. ]] SLAMing on 245.43463043999998 meters Centerline goodness : 0.094154 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.16 [[ 9.87896954e-01 -2.96552554e-03 -1.55083247e-01 6.88048585e-01] [ 8.82277686e-04 9.99908479e-01 -1.35001990e-02 -1.50420031e-01] [ 1.55109089e-01 1.31999790e-02 9.87809157e-01 -1.57825678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.49463043999998 meters Centerline goodness : 0.428859 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.16 [[ 9.87936678e-01 -2.58929878e-03 -1.54836739e-01 6.88250654e-01] [ 5.75780163e-04 9.99914711e-01 -1.30475727e-02 -1.51855784e-01] [ 1.54857317e-01 1.28010237e-02 9.87853909e-01 -1.58758825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52463043999998 meters Centerline goodness : 0.401153 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.16 [[ 9.87949379e-01 -2.56481684e-03 -1.54756085e-01 6.88008536e-01] [ 5.66338796e-04 9.99915901e-01 -1.29564345e-02 -1.52554609e-01] [ 1.54776302e-01 1.27126570e-02 9.87867747e-01 -1.58741806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55463043999998 meters Centerline goodness : 0.464354 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.16 [[ 9.87941495e-01 -2.63250481e-03 -1.54805273e-01 6.88220298e-01] [ 6.30778464e-04 9.99915579e-01 -1.29783070e-02 -1.53069059e-01] [ 1.54826369e-01 1.27241602e-02 9.87859753e-01 -1.58792492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58463043999998 meters Centerline goodness : 0.087493 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.16 [[ 9.87859219e-01 -2.71764653e-03 -1.55327965e-01 6.89450812e-01] [ 6.92600058e-04 9.99914084e-01 -1.30898623e-02 -1.52896295e-01] [ 1.55350194e-01 1.28233610e-02 9.87776229e-01 -1.58715928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61463043999998 meters Centerline goodness : 0.264409 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.16 [[ 9.87814861e-01 -2.64917106e-03 -1.55610994e-01 6.90197124e-01] [ 6.14149252e-04 9.99913685e-01 -1.31242439e-02 -1.51982201e-01] [ 1.55632331e-01 1.28687548e-02 9.87731225e-01 -1.58732874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64463044 meters Centerline goodness : 0.218846 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.16 [[ 9.87788128e-01 -2.58052045e-03 -1.55781755e-01 6.90697618e-01] [ 5.37608161e-04 9.99913329e-01 -1.31546459e-02 -1.51049596e-01] [ 1.55802199e-01 1.29102535e-02 9.87703903e-01 -1.58768098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67463044 meters Centerline goodness : 0.462748 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 9.87564364e-01 -2.35268763e-03 -1.57197618e-01 6.45991931e-01] [ 3.03933689e-04 9.99914724e-01 -1.30557507e-02 -1.52715880e-01] [ 1.57214929e-01 1.28456165e-02 9.87480864e-01 -1.65398089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70463044 meters Centerline goodness : 0.098567 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 9.87589234e-01 -2.41344512e-03 -1.57040377e-01 6.45445311e-01] [ 3.44167954e-04 9.99912783e-01 -1.32025794e-02 -1.51883167e-01] [ 1.57058544e-01 1.29846771e-02 9.87503930e-01 -1.65238600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73463044 meters Centerline goodness : 0.095978 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.16 [[ 9.87607116e-01 -2.48350506e-03 -1.56926790e-01 6.44851360e-01] [ 3.96643128e-04 9.99911096e-01 -1.33282321e-02 -1.51218786e-01] [ 1.56945940e-01 1.31008129e-02 9.87520299e-01 -1.64912983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76463044 meters Centerline goodness : 0.108143 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.16 [[ 9.87570548e-01 -2.71980908e-03 -1.57152841e-01 6.45088568e-01] [ 5.77886461e-04 9.99906344e-01 -1.36736357e-02 -1.49822836e-01] [ 1.57175313e-01 1.34128634e-02 9.87479628e-01 -1.64471033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79463044 meters Centerline goodness : 0.451174 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.16 [[ 9.87530016e-01 -2.82701592e-03 -1.57405448e-01 6.45737962e-01] [ 6.64274865e-04 9.99904681e-01 -1.37908510e-02 -1.49526931e-01] [ 1.57429432e-01 1.35143188e-02 9.87437764e-01 -1.64459519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82463044 meters Centerline goodness : 0.107806 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.16 [[ 0.98741605 -0.00998661 -0.15782843 0.6648376 ] [ 0.00808378 0.99988675 -0.01269369 -0.14353958] [ 0.15793732 0.0112581 0.98738496 -0.16032124] [ 0. 0. 0. 1. ]] SLAMing on 245.85463044 meters Centerline goodness : 0.463408 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.16 [[ 0.98745395 -0.00995004 -0.15759344 0.66389397] [ 0.00806299 0.99988799 -0.01260899 -0.1434242 ] [ 0.15770125 0.01118013 0.98742358 -0.15983078] [ 0. 0. 0. 1. ]] SLAMing on 245.88463044 meters Centerline goodness : 0.469919 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.16 [[ 0.98750707 -0.0099993 -0.15725714 0.66261449] [ 0.00811071 0.99988713 -0.01264676 -0.14325715] [ 0.15736585 0.0112133 0.98747671 -0.159298 ] [ 0. 0. 0. 1. ]] SLAMing on 245.91463044 meters Centerline goodness : 0.431756 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.16 [[ 0.98755507 -0.01005774 -0.15695167 0.66145176] [ 0.0081696 0.99988635 -0.01267056 -0.14337523] [ 0.15706127 0.01123065 0.987525 -0.15882811] [ 0. 0. 0. 1. ]] SLAMing on 245.94463044 meters Centerline goodness : 0.092903 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.15 [[ 9.87794191e-01 -2.74042027e-03 -1.55740571e-01 6.79509943e-01] [ 5.66083573e-04 9.99901780e-01 -1.40039107e-02 -1.46161877e-01] [ 1.55763651e-01 1.37448194e-02 9.87698722e-01 -1.54410733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97463044 meters Centerline goodness : 0.206011 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.15 [[ 9.87792063e-01 -2.68578435e-03 -1.55755023e-01 6.79600138e-01] [ 5.26096399e-04 9.99903176e-01 -1.39054934e-02 -1.46504884e-01] [ 1.55777290e-01 1.36537939e-02 9.87697833e-01 -1.54418600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00463044 meters Centerline goodness : 0.467785 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.15 [[ 9.87749431e-01 -2.61262356e-03 -1.56026393e-01 6.80666489e-01] [ 4.73741826e-04 9.99905434e-01 -1.37440739e-02 -1.47298298e-01] [ 1.56047547e-01 1.35017849e-02 9.87657261e-01 -1.54713207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03463044 meters Centerline goodness : 0.131937 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.15 [[ 9.87682922e-01 -2.84905033e-03 -1.56442734e-01 6.82009654e-01] [ 7.25197322e-04 9.99906826e-01 -1.36313129e-02 -1.50220116e-01] [ 1.56466994e-01 1.33499631e-02 9.87592962e-01 -1.54875791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06463044 meters Centerline goodness : 0.173751 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.15 [[ 9.87670862e-01 -2.81235182e-03 -1.56519518e-01 6.82066652e-01] [ 7.26514568e-04 9.99910193e-01 -1.33819859e-02 -1.52143179e-01] [ 1.56543096e-01 1.31032838e-02 9.87584205e-01 -1.54626997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09463044 meters Centerline goodness : 0.144552 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.15 [[ 9.87673732e-01 -2.71481146e-03 -1.56503127e-01 6.81744923e-01] [ 6.73609169e-04 9.99914041e-01 -1.30941283e-02 -1.53932323e-01] [ 1.56525222e-01 1.28273046e-02 9.87590662e-01 -1.54258082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12463044 meters Centerline goodness : 0.459452 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.15 [[ 9.87669326e-01 -2.58581604e-03 -1.56533116e-01 6.81820218e-01] [ 5.81890013e-04 9.99917312e-01 -1.28464018e-02 -1.55197024e-01] [ 1.56553392e-01 1.25969119e-02 9.87589162e-01 -1.54179393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15463043999998 meters Centerline goodness : 0.180057 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.15 [[ 9.87565575e-01 -2.40887312e-03 -1.57189162e-01 6.84006802e-01] [ 4.35964919e-04 9.99920718e-01 -1.25844439e-02 -1.56530360e-01] [ 1.57207014e-01 1.23594346e-02 9.87488329e-01 -1.54594723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18463043999998 meters Centerline goodness : 0.104481 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87496214e-01 -2.30320580e-03 -1.57625893e-01 6.85430371e-01] [ 3.49534160e-04 9.99922796e-01 -1.24209563e-02 -1.57242050e-01] [ 1.57642331e-01 1.22105516e-02 9.87420780e-01 -1.54872353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21463043999998 meters Centerline goodness : 0.455760 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87441542e-01 -2.14137985e-03 -1.57970298e-01 6.86367715e-01] [ 2.20289412e-04 9.99925826e-01 -1.21775937e-02 -1.58304247e-01] [ 1.57984657e-01 1.19898627e-02 9.87368772e-01 -1.54909596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24463043999998 meters Centerline goodness : 0.104383 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87425587e-01 -2.03989977e-03 -1.58071340e-01 6.86538987e-01] [ 1.48270706e-04 9.99928253e-01 -1.19778014e-02 -1.59503272e-01] [ 1.58084432e-01 1.18037502e-02 9.87355044e-01 -1.54728284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27463043999998 meters Centerline goodness : 0.490951 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87427696e-01 -2.01249049e-03 -1.58058515e-01 6.86177329e-01] [ 1.47003181e-04 9.99930210e-01 -1.18133150e-02 -1.61097982e-01] [ 1.58071258e-01 1.16415593e-02 9.87359079e-01 -1.54311503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30463043999998 meters Centerline goodness : 0.110181 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87419701e-01 -2.08475916e-03 -1.58107520e-01 6.85903499e-01] [ 2.44817484e-04 9.99932038e-01 -1.16558648e-02 -1.63995900e-01] [ 1.58121074e-01 1.14705230e-02 9.87353105e-01 -1.53723955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33463043999998 meters Centerline goodness : 0.460642 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87385584e-01 -1.96022433e-03 -1.58322031e-01 6.86667182e-01] [ 1.49252465e-04 9.99934440e-01 -1.14496137e-02 -1.64988865e-01] [ 1.58334095e-01 1.12815535e-02 9.87321144e-01 -1.53909312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36463043999998 meters Centerline goodness : 0.470319 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87345036e-01 -1.78666631e-03 -1.58576756e-01 6.87643211e-01] [ 9.17230815e-06 9.99937176e-01 -1.12090692e-02 -1.65853564e-01] [ 1.58586821e-01 1.10657643e-02 9.87283024e-01 -1.54254607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39463044 meters Centerline goodness : 0.224799 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87321089e-01 -1.59331524e-03 -1.58727845e-01 6.88221212e-01] [-1.48311482e-04 9.99939927e-01 -1.09599584e-02 -1.66698593e-01] [ 1.58735772e-01 1.08445392e-02 9.87261541e-01 -1.54397511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42463044 meters Centerline goodness : 0.107446 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87284072e-01 -1.55502442e-03 -1.58958308e-01 6.88761336e-01] [-1.72397535e-04 9.99941092e-01 -1.08527713e-02 -1.67834891e-01] [ 1.58965820e-01 1.07421722e-02 9.87225645e-01 -1.54210121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45463044 meters Centerline goodness : 0.092934 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87279580e-01 -1.53084947e-03 -1.58986437e-01 6.88666285e-01] [-1.86846119e-04 9.99941785e-01 -1.07885285e-02 -1.68448926e-01] [ 1.58993697e-01 1.06809999e-02 9.87221819e-01 -1.54028715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48463044 meters Centerline goodness : 0.102177 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87276131e-01 -1.37738407e-03 -1.59009256e-01 6.88775163e-01] [-3.27402867e-04 9.99942757e-01 -1.06946118e-02 -1.68489329e-01] [ 1.59014885e-01 1.06105950e-02 9.87219166e-01 -1.54025235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51463044 meters Centerline goodness : 0.111451 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87321324e-01 -1.22210471e-03 -1.58729674e-01 6.88152638e-01] [-4.63050548e-04 9.99943933e-01 -1.05790923e-02 -1.68413100e-01] [ 1.58733703e-01 1.05184633e-02 9.87265402e-01 -1.54132135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54463044 meters Centerline goodness : 0.177285 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87488167e-01 -1.01823571e-03 -1.57689831e-01 6.85797922e-01] [-6.60955563e-04 9.99943644e-01 -1.05958901e-02 -1.67324512e-01] [ 1.57691734e-01 1.05675421e-02 9.87431843e-01 -1.54303599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57463044 meters Centerline goodness : 0.097924 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 9.87509070e-01 -1.05513953e-03 -1.57558633e-01 6.85299658e-01] [-6.55026472e-04 9.99941444e-01 -1.08018348e-02 -1.65940670e-01] [ 1.57560805e-01 1.07701149e-02 9.87450554e-01 -1.54112817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60463044 meters Centerline goodness : 0.099983 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87516065e-01 -1.04749694e-03 -1.57514835e-01 6.85435383e-01] [-6.97963903e-04 9.99938973e-01 -1.10255239e-02 -1.63995181e-01] [ 1.57516772e-01 1.09978216e-02 9.87455070e-01 -1.54398635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63463044 meters Centerline goodness : 0.111029 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87496516e-01 -9.39013401e-04 -1.57638034e-01 6.86008060e-01] [-8.31474296e-04 9.99937323e-01 -1.11650245e-02 -1.61925463e-01] [ 1.57638638e-01 1.11564948e-02 9.87433842e-01 -1.54715295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66463044 meters Centerline goodness : 0.386582 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87452800e-01 -9.14041825e-04 -1.57911785e-01 6.86832833e-01] [-8.91218009e-04 9.99935066e-01 -1.13608885e-02 -1.59954200e-01] [ 1.57911916e-01 1.13590750e-02 9.87387866e-01 -1.54868086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69463044 meters Centerline goodness : 0.386582 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87452800e-01 -9.14041825e-04 -1.57911785e-01 6.86832833e-01] [-8.91218009e-04 9.99935066e-01 -1.13608885e-02 -1.59954200e-01] [ 1.57911916e-01 1.13590750e-02 9.87387866e-01 -1.54868086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72463044 meters Centerline goodness : 0.279533 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 9.87415138e-01 -1.03184264e-03 -1.58146393e-01 6.87548970e-01] [-8.27963086e-04 9.99931284e-01 -1.16936908e-02 -1.57784876e-01] [ 1.58147591e-01 1.16774667e-02 9.87346432e-01 -1.54994048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75463044 meters Centerline goodness : 0.094606 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.15 [[ 9.87393729e-01 -1.24659304e-03 -1.58278454e-01 6.87506040e-01] [-6.86168212e-04 9.99925879e-01 -1.21559111e-02 -1.54993698e-01] [ 1.58281876e-01 1.21112761e-02 9.87319687e-01 -1.54499266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78463044 meters Centerline goodness : 0.469440 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.15 [[ 9.87432914e-01 -1.27408571e-03 -1.58033594e-01 6.86465750e-01] [-6.57040344e-04 9.99925765e-01 -1.21668713e-02 -1.54779621e-01] [ 1.58037364e-01 1.21178036e-02 9.87358775e-01 -1.54000706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81463044 meters Centerline goodness : 0.160282 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 0.98747906 -0.00545463 -0.1576558 0.68554461] [ 0.00301869 0.9998724 -0.01568635 -0.15506436] [ 0.15772125 0.01501403 0.98736953 -0.15386274] [ 0. 0. 0. 1. ]] SLAMing on 246.84463044 meters Centerline goodness : 0.099389 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 0.98737005 -0.00574966 -0.15832663 0.68741662] [ 0.00330932 0.9998717 -0.01567268 -0.15685527] [ 0.15839643 0.01495078 0.9872624 -0.15387251] [ 0. 0. 0. 1. ]] SLAMing on 246.87463044 meters Centerline goodness : 0.497002 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 0.9872505 -0.00578889 -0.15906897 0.68936454] [ 0.00338723 0.99987621 -0.01536519 -0.15937485] [ 0.15913823 0.01463049 0.9871479 -0.15377604] [ 0. 0. 0. 1. ]] SLAMing on 246.90463043999998 meters Centerline goodness : 0.087287 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.15 [[ 0.98716511 -0.00563304 -0.15960359 0.69077173] [ 0.00330212 0.99988404 -0.01486594 -0.16224453] [ 0.15966883 0.01414811 0.98706925 -0.15367882] [ 0. 0. 0. 1. ]] SLAMing on 246.93463043999998 meters Centerline goodness : 0.090817 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 0.98712572 -0.00546407 -0.15985291 0.69145422] [ 0.0032124 0.999892 -0.01434095 -0.16536554] [ 0.15991401 0.0136428 0.98703667 -0.15362183] [ 0. 0. 0. 1. ]] SLAMing on 246.96463043999998 meters Centerline goodness : 0.092883 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 0.9871111 -0.00542744 -0.15994443 0.69165102] [ 0.00323904 0.99989759 -0.01393981 -0.1686852 ] [ 0.1600037 0.01324208 0.98702759 -0.15343426] [ 0. 0. 0. 1. ]] SLAMing on 246.99463043999998 meters Centerline goodness : 0.161619 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.15 [[ 0.98709467 -0.0093098 -0.15986692 0.69163519] [ 0.00670562 0.99983602 -0.01682147 -0.17324014] [ 0.15999731 0.01553238 0.98699524 -0.15337794] [ 0. 0. 0. 1. ]] SLAMing on 247.02463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.05463043999998 meters Centerline goodness : 0.436841 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.16 [[ 0.98687152 -0.00162112 -0.16149913 0.67472415] [-0.001183 0.99985024 -0.0172654 -0.1836775 ] [ 0.16150293 0.01722978 0.98672181 -0.15809039] [ 0. 0. 0. 1. ]] SLAMing on 247.08463043999998 meters Centerline goodness : 0.417148 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.15 [[ 0.98674612 -0.00665069 -0.16213531 0.69713779] [ 0.00436962 0.99988646 -0.01442145 -0.18218674] [ 0.16221282 0.01352184 0.98666315 -0.15469793] [ 0. 0. 0. 1. ]] SLAMing on 247.11463043999998 meters Centerline goodness : 0.093574 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.16 [[ 0.986762 0.00160069 -0.16216718 0.67795319] [-0.00412179 0.99987581 -0.0152111 -0.18725579] [ 0.16212269 0.01567816 0.98664605 -0.15907803] [ 0. 0. 0. 1. ]] SLAMing on 247.14463044 meters Centerline goodness : 0.165943 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.16 [[ 0.98680943 0.00167895 -0.16187753 0.67694054] [-0.00422747 0.99987247 -0.01540033 -0.18570088] [ 0.16183103 0.01588153 0.98669068 -0.15882696] [ 0. 0. 0. 1. ]] SLAMing on 247.17463044 meters Centerline goodness : 0.097407 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.16 [[ 0.9868357 0.00175464 -0.16171651 0.67627774] [-0.00433723 0.99986862 -0.01561821 -0.18374391] [ 0.16166786 0.01611401 0.98671366 -0.15853372] [ 0. 0. 0. 1. ]] SLAMing on 247.20463044 meters Centerline goodness : 0.091607 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.16 [[ 0.9868784 0.00187546 -0.16145432 0.6755813 ] [-0.0044781 0.99986581 -0.01575761 -0.1818678 ] [ 0.1614031 0.01627385 0.98675438 -0.15854666] [ 0. 0. 0. 1. ]] SLAMing on 247.23463044 meters Centerline goodness : 0.088915 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.16 [[ 0.98693889 0.00207863 -0.16108165 0.67448267] [-0.00471009 0.9998616 -0.01595608 -0.17862479] [ 0.16102619 0.01650639 0.98681209 -0.1583248 ] [ 0. 0. 0. 1. ]] SLAMing on 247.26463044 meters Centerline goodness : 0.099211 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.16 [[ 0.9869291 0.00201385 -0.16114248 0.67456645] [-0.00467373 0.999859 -0.01612903 -0.17757179] [ 0.16108728 0.01667135 0.98679935 -0.15821623] [ 0. 0. 0. 1. ]] SLAMing on 247.29463044 meters Centerline goodness : 0.100618 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.16 [[ 0.98689596 0.00195082 -0.1613461 0.67516016] [-0.00463587 0.99985694 -0.01626682 -0.17672574] [ 0.16129128 0.01680164 0.98676382 -0.15822395] [ 0. 0. 0. 1. ]] SLAMing on 247.32463044 meters Centerline goodness : 0.291631 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.98688281 -0.00570606 -0.1613374 0.65742185] [ 0.00331917 0.99988108 -0.01506002 -0.17332066] [ 0.16140415 0.01432697 0.98678439 -0.16305276] [ 0. 0. 0. 1. ]] SLAMing on 247.35463044 meters Centerline goodness : 0.089238 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.98687634 -0.00579065 -0.16137395 0.65752327] [ 0.00338772 0.99987932 -0.01516162 -0.17304579] [ 0.16144228 0.01441596 0.98677686 -0.16302464] [ 0. 0. 0. 1. ]] SLAMing on 247.38463044 meters Centerline goodness : 0.099513 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.98685917 -0.00584932 -0.1614768 0.65768064] [ 0.00343204 0.9998779 -0.0152447 -0.17272345] [ 0.16154625 0.01449017 0.98675876 -0.16283243] [ 0. 0. 0. 1. ]] SLAMing on 247.41463044 meters Centerline goodness : 0.100825 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.98683491 -0.00581672 -0.16162619 0.65801627] [ 0.00338099 0.9998766 -0.01534107 -0.17128606] [ 0.16169548 0.01459265 0.9867328 -0.16270746] [ 0. 0. 0. 1. ]] SLAMing on 247.44463044 meters Centerline goodness : 0.471292 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.98682822 -0.00566725 -0.16167235 0.65814679] [ 0.00322971 0.99987718 -0.01533588 -0.17013172] [ 0.16173941 0.01461172 0.98672532 -0.16270272] [ 0. 0. 0. 1. ]] SLAMing on 247.47463044 meters Centerline goodness : 0.090606 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.98684703 -0.0055151 -0.16156277 0.65795068] [ 0.00307833 0.99987777 -0.01532895 -0.16893712] [ 0.16162756 0.01462999 0.98674338 -0.16281533] [ 0. 0. 0. 1. ]] SLAMing on 247.50463044 meters Centerline goodness : 0.156124 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.16 [[ 0.98685475 -0.00551781 -0.16151549 0.65788896] [ 0.00305363 0.99987519 -0.0155009 -0.1675964 ] [ 0.16158086 0.01480393 0.98674843 -0.16286945] [ 0. 0. 0. 1. ]] SLAMing on 247.53463044 meters Centerline goodness : 0.161193 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.16 [[ 0.98686696 -0.00566252 -0.16143587 0.65787591] [ 0.00312013 0.99986716 -0.01599773 -0.16463934] [ 0.16150501 0.01528393 0.98675353 -0.16303371] [ 0. 0. 0. 1. ]] SLAMing on 247.56463044 meters Centerline goodness : 0.167662 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.17 [[ 0.98689601 0.0016289 -0.16134933 0.63989519] [-0.00450672 0.9998372 -0.01747161 -0.16845638] [ 0.1612946 0.01796982 0.98674269 -0.16806651] [ 0. 0. 0. 1. ]] SLAMing on 247.59463044 meters Centerline goodness : 0.485892 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.17 [[ 0.98687666 0.00148979 -0.16146897 0.64060663] [-0.00442336 0.9998316 -0.01781008 -0.16642308] [ 0.16141525 0.01829059 0.98671707 -0.16845825] [ 0. 0. 0. 1. ]] SLAMing on 247.62463044 meters Centerline goodness : 0.099620 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.17 [[ 0.98687576 0.00126721 -0.16147641 0.64041718] [-0.00427662 0.99982357 -0.01829062 -0.16338667] [ 0.16142475 0.01874114 0.98670706 -0.16822739] [ 0. 0. 0. 1. ]] SLAMing on 247.65463043999998 meters Centerline goodness : 0.105819 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.17 [[ 0.98689512 0.00120973 -0.16135849 0.63964139] [-0.004225 0.99982279 -0.01834497 -0.16294474] [ 0.1613077 0.01878631 0.98672534 -0.16764009] [ 0. 0. 0. 1. ]] SLAMing on 247.68463043999998 meters Centerline goodness : 0.102949 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.17 [[ 0.9869078 0.00116729 -0.16128121 0.63907279] [-0.00418506 0.99982245 -0.01837279 -0.16271472] [ 0.16123113 0.01880722 0.98673746 -0.16720108] [ 0. 0. 0. 1. ]] SLAMing on 247.71463043999998 meters Centerline goodness : 0.103295 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.17 [[ 0.98690285 0.00104501 -0.16131235 0.63918262] [-0.00407435 0.99982149 -0.01844967 -0.16278599] [ 0.16126428 0.01886528 0.98673093 -0.16718281] [ 0. 0. 0. 1. ]] SLAMing on 247.74463043999998 meters Centerline goodness : 0.106457 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.17 [[ 9.86879031e-01 8.11977916e-04 -1.61459343e-01 6.39805830e-01] [-3.87074207e-03 9.99818938e-01 -1.86308406e-02 -1.62963334e-01] [ 1.61414981e-01 1.90113534e-02 9.86703488e-01 -1.67380517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77463043999998 meters Centerline goodness : 0.109555 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.17 [[ 9.86820072e-01 5.18266740e-04 -1.61820509e-01 6.41150468e-01] [-3.60560016e-03 9.99817032e-01 -1.87856701e-02 -1.63567716e-01] [ 1.61781166e-01 1.91215363e-02 9.86641384e-01 -1.67805494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80463043999998 meters Centerline goodness : 0.116046 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.16 [[ 0.9868723 -0.00651109 -0.16137121 0.65961357] [ 0.00379398 0.9998459 -0.01714008 -0.15931452] [ 0.16145794 0.01630283 0.98674493 -0.16337853] [ 0. 0. 0. 1. ]] SLAMing on 247.83463043999998 meters Centerline goodness : 0.108813 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.17 [[ 0.98679995 -0.00682985 -0.1617999 0.61467255] [ 0.00413704 0.99984737 -0.01697395 -0.16313038] [ 0.16189114 0.01608052 0.98667759 -0.17067854] [ 0. 0. 0. 1. ]] SLAMing on 247.86463043999998 meters Centerline goodness : 0.110907 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.17 [[ 0.98682604 -0.00681999 -0.16164112 0.61424113] [ 0.00415016 0.99984943 -0.01684895 -0.16406886] [ 0.1617317 0.01595615 0.98670576 -0.17054582] [ 0. 0. 0. 1. ]] SLAMing on 247.89463044 meters Centerline goodness : 0.111428 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86784028e-01 -2.92125672e-05 -1.62040987e-01 5.97614284e-01] [-3.04309581e-03 9.99820287e-01 -1.87118440e-02 -1.69923465e-01] [ 1.62012412e-01 1.89576550e-02 9.86606601e-01 -1.75817373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92463044 meters Centerline goodness : 0.108616 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86740952e-01 3.55307783e-05 -1.62303089e-01 5.98726973e-01] [-3.11456167e-03 9.99819980e-01 -1.87164716e-02 -1.69284690e-01] [ 1.62273207e-01 1.89738120e-02 9.86563430e-01 -1.76266826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95463044 meters Centerline goodness : 0.120187 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86719240e-01 1.63619260e-04 -1.62434952e-01 5.99485504e-01] [-3.23733987e-03 9.99820678e-01 -1.86582726e-02 -1.68732103e-01] [ 1.62402771e-01 1.89363337e-02 9.86542830e-01 -1.76753898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98463044 meters Centerline goodness : 0.149409 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86706175e-01 1.81039488e-04 -1.62514284e-01 5.99965249e-01] [-3.26674952e-03 9.99819423e-01 -1.87202937e-02 -1.67985996e-01] [ 1.62481548e-01 1.90023229e-02 9.86528590e-01 -1.77006403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01463044 meters Centerline goodness : 0.111200 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86737912e-01 1.89453395e-05 -1.62321572e-01 5.99403458e-01] [-3.13742913e-03 9.99815407e-01 -1.89554499e-02 -1.67211502e-01] [ 1.62291250e-01 1.92133335e-02 9.86555826e-01 -1.76935738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04463044 meters Centerline goodness : 0.148792 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86753996e-01 2.74279198e-05 -1.62223768e-01 5.98966823e-01] [-3.14909929e-03 9.99814792e-01 -1.89858953e-02 -1.66814027e-01] [ 1.62193202e-01 1.92452668e-02 9.86571328e-01 -1.76715296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07463044 meters Centerline goodness : 0.135638 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86763070e-01 9.60323320e-05 -1.62168535e-01 5.98742589e-01] [-3.20922870e-03 9.99815558e-01 -1.89354473e-02 -1.66609262e-01] [ 1.62136806e-01 1.92052360e-02 9.86581378e-01 -1.76625158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10463044 meters Centerline goodness : 0.106784 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86760491e-01 3.60985186e-05 -1.62184255e-01 5.98651050e-01] [-3.17082883e-03 9.99813134e-01 -1.90694024e-02 -1.65901501e-01] [ 1.62153260e-01 1.93311914e-02 9.86576214e-01 -1.76472023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13463044 meters Centerline goodness : 0.106207 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86761863e-01 -2.82571189e-05 -1.62175907e-01 5.98561137e-01] [-3.11834483e-03 9.99811801e-01 -1.91478229e-02 -1.65893949e-01] [ 1.62145927e-01 1.94000618e-02 9.86576067e-01 -1.76395838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16463044 meters Centerline goodness : 0.137930 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86754997e-01 -2.05871966e-05 -1.62217680e-01 5.98542519e-01] [-3.12685037e-03 9.99811786e-01 -1.91472258e-02 -1.65870476e-01] [ 1.62187542e-01 1.94008512e-02 9.86569211e-01 -1.76244453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19463044 meters Centerline goodness : 0.104404 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86760779e-01 6.73060917e-05 -1.62182493e-01 5.98490966e-01] [-3.19531155e-03 9.99813880e-01 -1.90261877e-02 -1.66325938e-01] [ 1.62151027e-01 1.92925194e-02 9.86577338e-01 -1.76282974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22463044 meters Centerline goodness : 0.109915 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86790334e-01 1.47930031e-04 -1.62002514e-01 5.98058795e-01] [-3.23212219e-03 9.99818518e-01 -1.87745466e-02 -1.68180177e-01] [ 1.61970337e-01 1.90501530e-02 9.86611728e-01 -1.76273629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25463044 meters Centerline goodness : 0.108788 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.18 [[ 9.86799449e-01 1.46047727e-04 -1.61946986e-01 5.97753202e-01] [-3.20852193e-03 9.99820944e-01 -1.86489800e-02 -1.69458238e-01] [ 1.61915265e-01 1.89224136e-02 9.86623226e-01 -1.76082488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28463044 meters Centerline goodness : 0.120325 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.17 [[ 0.9867467 -0.0070926 -0.16211308 0.61608893] [ 0.00434043 0.99984049 -0.01732472 -0.16642486] [ 0.1622101 0.01639147 0.98662009 -0.17120197] [ 0. 0. 0. 1. ]] SLAMing on 248.31463044 meters Centerline goodness : 0.197176 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.17 [[ 0.98672245 -0.00696004 -0.16226632 0.61650625] [ 0.00425564 0.9998463 -0.01700804 -0.16825046] [ 0.16235976 0.01609167 0.98660041 -0.17118024] [ 0. 0. 0. 1. ]] SLAMing on 248.34463044 meters Centerline goodness : 0.105064 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.17 [[ 0.98669858 -0.00679756 -0.16241829 0.61691696] [ 0.00414752 0.99985278 -0.01664969 -0.17018406] [ 0.16250756 0.01575459 0.98658152 -0.17120331] [ 0. 0. 0. 1. ]] SLAMing on 248.37463044 meters Centerline goodness : 0.107769 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.17 [[ 0.98668192 -0.00668291 -0.16252426 0.61727675] [ 0.00411393 0.99986131 -0.01613818 -0.17406763] [ 0.16260957 0.01525463 0.98657256 -0.17123709] [ 0. 0. 0. 1. ]] SLAMing on 248.40463043999998 meters Centerline goodness : 0.104040 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98667255 -0.00661454 -0.16258391 0.61739815] [ 0.00407806 0.9998648 -0.01592984 -0.17563582] [ 0.16266729 0.01505451 0.98656612 -0.17114132] [ 0. 0. 0. 1. ]] SLAMing on 248.43463043999998 meters Centerline goodness : 0.125417 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98666239 -0.00652765 -0.16264905 0.61739459] [ 0.00401207 0.99986728 -0.01578998 -0.17631363] [ 0.16273054 0.01492682 0.98655763 -0.17096121] [ 0. 0. 0. 1. ]] SLAMing on 248.46463043999998 meters Centerline goodness : 0.105260 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98664735 -0.00645369 -0.1627432 0.61757375] [ 0.00394559 0.99986849 -0.01572989 -0.17647383] [ 0.16282331 0.01487773 0.98654307 -0.17089847] [ 0. 0. 0. 1. ]] SLAMing on 248.49463043999998 meters Centerline goodness : 0.119798 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98650732 -0.0061731 -0.16360074 0.6203562 ] [ 0.00366997 0.99987161 -0.01559804 -0.17622025] [ 0.16367602 0.01478717 0.98640332 -0.17152217] [ 0. 0. 0. 1. ]] SLAMing on 248.52463043999998 meters Centerline goodness : 0.142839 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.18 [[ 0.98639041 0.00116525 -0.16441596 0.60252035] [-0.0039916 0.99984988 -0.01686089 -0.18163782] [ 0.16437163 0.0172877 0.98624698 -0.17623413] [ 0. 0. 0. 1. ]] SLAMing on 248.55463043999998 meters Centerline goodness : 0.129917 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.18 [[ 0.98637318 0.0011755 -0.16451918 0.60300862] [-0.00399569 0.99985068 -0.01681215 -0.18199876] [ 0.16447485 0.01724042 0.9862306 -0.17648633] [ 0. 0. 0. 1. ]] SLAMing on 248.58463043999998 meters Centerline goodness : 0.091007 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.18 [[ 0.98636945 0.00125022 -0.16454104 0.60312672] [-0.00405073 0.99985258 -0.01668573 -0.18251336] [ 0.16449592 0.01712481 0.9862291 -0.17655491] [ 0. 0. 0. 1. ]] SLAMing on 248.61463043999998 meters Centerline goodness : 0.091007 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.18 [[ 0.98636945 0.00125022 -0.16454104 0.60312672] [-0.00405073 0.99985258 -0.01668573 -0.18251336] [ 0.16449592 0.01712481 0.9862291 -0.17655491] [ 0. 0. 0. 1. ]] SLAMing on 248.64463044 meters Centerline goodness : 0.118518 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98644434 -0.00586933 -0.16399121 0.62150003] [ 0.00339857 0.99987652 -0.01534289 -0.17765379] [ 0.16406101 0.01457757 0.98634248 -0.1722297 ] [ 0. 0. 0. 1. ]] SLAMing on 248.67463044 meters Centerline goodness : 0.100521 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.18 [[ 0.9865528 0.00146129 -0.16343631 0.60245052] [-0.00419336 0.99985717 -0.01637269 -0.18320871] [ 0.16338904 0.01683787 0.98641802 -0.17674983] [ 0. 0. 0. 1. ]] SLAMing on 248.70463044 meters Centerline goodness : 0.120782 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98660174 -0.00561656 -0.16305048 0.62024805] [ 0.00320215 0.99988136 -0.01506681 -0.17782931] [ 0.16311576 0.01434283 0.98650268 -0.17233628] [ 0. 0. 0. 1. ]] SLAMing on 248.73463044 meters Centerline goodness : 0.146767 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98661924 -0.00556542 -0.16294632 0.61990207] [ 0.00316318 0.99988252 -0.01499825 -0.17785635] [ 0.16301065 0.01428214 0.98652093 -0.17230334] [ 0. 0. 0. 1. ]] SLAMing on 248.76463044 meters Centerline goodness : 0.104025 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.17 [[ 0.98663463 -0.00545544 -0.1628568 0.6196039 ] [ 0.00308415 0.99988557 -0.01480985 -0.17831305] [ 0.16291896 0.01410964 0.98653856 -0.17218765] [ 0. 0. 0. 1. ]] SLAMing on 248.79463044 meters Centerline goodness : 0.105951 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.18 [[ 0.98667725 -0.00683442 -0.16254631 0.57442557] [ 0.00447814 0.99987959 -0.01485801 -0.18312086] [ 0.16262828 0.01393215 0.98658904 -0.17964434] [ 0. 0. 0. 1. ]] SLAMing on 248.82463044 meters Centerline goodness : 0.100305 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.18 [[ 0.98662815 -0.0069434 -0.16283943 0.57547111] [ 0.00458711 0.99987934 -0.01484157 -0.18408739] [ 0.16292283 0.01389615 0.98654095 -0.17991054] [ 0. 0. 0. 1. ]] SLAMing on 248.85463044 meters Centerline goodness : 0.104128 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.18 [[ 9.86424955e-01 1.06063682e-05 -1.64212691e-01 5.58797280e-01] [-2.74925370e-03 9.99860907e-01 -1.64501754e-02 -1.90186074e-01] [ 1.64189676e-01 1.66783259e-02 9.86287779e-01 -1.84731734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88463044 meters Centerline goodness : 0.106751 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 9.86360061e-01 -4.41600011e-05 -1.64602030e-01 5.60087531e-01] [-2.69305099e-03 9.99861785e-01 -1.64060664e-02 -1.91009372e-01] [ 1.64580004e-01 1.66255703e-02 9.86223612e-01 -1.85027911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91463044 meters Centerline goodness : 0.107499 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.18 [[ 0.98632874 -0.00712698 -0.16463543 0.5785498 ] [ 0.00470125 0.99987465 -0.0151189 -0.18543351] [ 0.16472255 0.01413821 0.98623861 -0.18055224] [ 0. 0. 0. 1. ]] SLAMing on 248.94463044 meters Centerline goodness : 0.106708 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.18 [[ 0.98634208 -0.00709575 -0.1645568 0.57831142] [ 0.00465838 0.99987373 -0.0151929 -0.18453488] [ 0.16464383 0.01421883 0.98625059 -0.18052077] [ 0. 0. 0. 1. ]] SLAMing on 248.97463044 meters Centerline goodness : 0.105884 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 9.86840513e-01 -1.67275480e-03 -1.61687980e-01 5.63952659e-01] [-9.64724277e-04 9.99867783e-01 -1.62322681e-02 -1.87253931e-01] [ 1.61693755e-01 1.61746441e-02 9.86708422e-01 -1.86032430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00463044 meters Centerline goodness : 0.106663 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 9.86830075e-01 -1.68432267e-03 -1.61751559e-01 5.64183923e-01] [-9.88856654e-04 9.99864291e-01 -1.64445252e-02 -1.85481417e-01] [ 1.61757305e-01 1.63879011e-02 9.86694487e-01 -1.86102957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03463044 meters Centerline goodness : 0.129794 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 0.98688036 -0.00171785 -0.1614441 0.56360471] [-0.00100296 0.99985887 -0.01676995 -0.18263455] [ 0.16145012 0.01671185 0.98673936 -0.18634719] [ 0. 0. 0. 1. ]] SLAMing on 249.06463044 meters Centerline goodness : 0.110194 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 9.86913175e-01 -1.83248767e-03 -1.61242140e-01 5.62982100e-01] [-9.11304036e-04 9.99856076e-01 -1.69409925e-02 -1.81855341e-01] [ 1.61249977e-01 1.68662294e-02 9.86769464e-01 -1.86218737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09463044 meters Centerline goodness : 0.110776 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 9.86940141e-01 -1.94114584e-03 -1.61075728e-01 5.62505507e-01] [-8.20343285e-04 9.99853862e-01 -1.70757687e-02 -1.81415967e-01] [ 1.61085336e-01 1.69848990e-02 9.86794319e-01 -1.86191886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12463044 meters Centerline goodness : 0.110067 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 9.86915116e-01 -2.04696905e-03 -1.61227674e-01 5.62898781e-01] [-7.27765939e-04 9.99852678e-01 -1.71491074e-02 -1.81491017e-01] [ 1.61239025e-01 1.70420493e-02 9.86768233e-01 -1.86189979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15463043999998 meters Centerline goodness : 0.164441 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 9.86833731e-01 -2.11578357e-03 -1.61724182e-01 5.64348075e-01] [-6.74846709e-04 9.99851865e-01 -1.71986132e-02 -1.81434568e-01] [ 1.61736613e-01 1.70813106e-02 9.86686119e-01 -1.86323437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18463043999998 meters Centerline goodness : 0.105098 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.19 [[ 9.86782957e-01 -2.08359666e-03 -1.62034116e-01 5.65492672e-01] [-6.99732363e-04 9.99853224e-01 -1.71184616e-02 -1.81971862e-01] [ 1.62046001e-01 1.70055867e-02 9.86636662e-01 -1.86664803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21463043999998 meters Centerline goodness : 0.104764 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 9.86822962e-01 -1.94424726e-03 -1.61792030e-01 5.64849723e-01] [-7.84882712e-04 9.99858520e-01 -1.68025117e-02 -1.83673136e-01] [ 1.61801808e-01 1.67080921e-02 9.86681820e-01 -1.86626121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24463043999998 meters Centerline goodness : 0.106550 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 9.86891656e-01 -1.78829108e-03 -1.61374290e-01 5.63626275e-01] [-8.96987331e-04 9.99862377e-01 -1.65656765e-02 -1.84768086e-01] [ 1.61381706e-01 1.64932786e-02 9.86754233e-01 -1.86448993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27463043999998 meters Centerline goodness : 0.169469 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 0.98701958 -0.00152358 -0.16059272 0.56141241] [-0.00107821 0.9998696 -0.01611279 -0.18730934] [ 0.16059633 0.0160768 0.98688923 -0.18626075] [ 0. 0. 0. 1. ]] SLAMing on 249.30463043999998 meters Centerline goodness : 0.110795 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 0.98701835 -0.00145092 -0.16060095 0.56172563] [-0.00113006 0.9998717 -0.01597823 -0.18812639] [ 0.16060352 0.01595229 0.98689008 -0.18659144] [ 0. 0. 0. 1. ]] SLAMing on 249.33463043999998 meters Centerline goodness : 0.110274 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 0.98697358 -0.00134391 -0.16087683 0.56272387] [-0.00121493 0.99987434 -0.01580617 -0.1890178 ] [ 0.16087786 0.01579572 0.98684792 -0.18688701] [ 0. 0. 0. 1. ]] SLAMing on 249.36463043999998 meters Centerline goodness : 0.115572 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 0.98695539 -0.00115442 -0.16098986 0.56347768] [-0.00137123 0.99987774 -0.01557628 -0.18976813] [ 0.16098816 0.01559385 0.98683314 -0.18738246] [ 0. 0. 0. 1. ]] SLAMing on 249.39463044 meters Centerline goodness : 0.107694 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 9.86955138e-01 -9.86159103e-04 -1.60992495e-01 5.63625651e-01] [-1.49762657e-03 9.99881736e-01 -1.53058856e-02 -1.90987609e-01] [ 1.60988550e-01 1.53473291e-02 9.86836940e-01 -1.87553745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42463044 meters Centerline goodness : 0.118659 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 9.86971411e-01 -8.30176219e-04 -1.60893580e-01 5.63659554e-01] [-1.60721813e-03 9.99885926e-01 -1.50183734e-02 -1.92419512e-01] [ 1.60887694e-01 1.50812963e-02 9.86857489e-01 -1.87857493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45463044 meters Centerline goodness : 0.109216 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.19 [[ 9.86915559e-01 -6.17263263e-04 -1.61236775e-01 5.64914446e-01] [-1.76349167e-03 9.99891537e-01 -1.46220593e-02 -1.94728393e-01] [ 1.61228312e-01 1.47150775e-02 9.86807427e-01 -1.88236415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48463044 meters Centerline goodness : 0.108177 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.19 [[ 9.86880170e-01 -5.79786565e-04 -1.61453380e-01 5.65458162e-01] [-1.79043821e-03 9.99892763e-01 -1.45346747e-02 -1.95501948e-01] [ 1.61444493e-01 1.46330545e-02 9.86773302e-01 -1.88234508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51463044 meters Centerline goodness : 0.119472 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.19 [[ 9.86873903e-01 -5.18837828e-04 -1.61491892e-01 5.65620247e-01] [-1.84457789e-03 9.99893391e-01 -1.44846175e-02 -1.95666269e-01] [ 1.61482191e-01 1.45923754e-02 9.86767736e-01 -1.88320290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54463044 meters Centerline goodness : 0.161528 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.19 [[ 9.86861852e-01 -3.85168723e-04 -1.61565892e-01 5.65732133e-01] [-1.97678864e-03 9.99893521e-01 -1.44581568e-02 -1.95088497e-01] [ 1.61554258e-01 1.45875850e-02 9.86756010e-01 -1.88297193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57463044 meters Centerline goodness : 0.106162 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.19 [[ 9.86884333e-01 2.09931661e-04 -1.61428838e-01 5.66329189e-01] [-2.54773610e-03 9.99894860e-01 -1.42750904e-02 -1.93437281e-01] [ 1.61408869e-01 1.44991411e-02 9.86781106e-01 -1.89372524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60463044 meters Centerline goodness : 0.122498 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.19 [[ 9.86911827e-01 1.66673026e-04 -1.61260713e-01 5.66332308e-01] [-2.52974059e-03 9.99892415e-01 -1.44485025e-02 -1.92575440e-01] [ 1.61240956e-01 1.46673458e-02 9.86806072e-01 -1.89868997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63463044 meters Centerline goodness : 0.109299 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86698211e-01 1.80194477e-04 -1.62562628e-01 5.21738016e-01] [-2.55314182e-03 9.99893223e-01 -1.43883330e-02 -1.95697203e-01] [ 1.62542677e-01 1.46119879e-02 9.86593314e-01 -1.97126813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66463044 meters Centerline goodness : 0.108541 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86729372e-01 2.80414145e-04 -1.62373234e-01 5.21239243e-01] [-2.63839976e-03 9.99894175e-01 -1.43065579e-02 -1.95707835e-01] [ 1.62352039e-01 1.45451064e-02 9.86625692e-01 -1.97114378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69463044 meters Centerline goodness : 0.119664 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86721959e-01 3.44164327e-04 -1.62418152e-01 5.21235937e-01] [-2.68619882e-03 9.99895561e-01 -1.42004015e-02 -1.96261337e-01] [ 1.62396302e-01 1.44481355e-02 9.86619832e-01 -1.97002574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72463044 meters Centerline goodness : 0.118218 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86682930e-01 2.73723941e-04 -1.62655218e-01 5.21846706e-01] [-2.61954882e-03 9.99895633e-01 -1.42077750e-02 -1.96873638e-01] [ 1.62634353e-01 1.44446524e-02 9.86580670e-01 -1.96930376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75463044 meters Centerline goodness : 0.115925 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86612801e-01 3.20659769e-04 -1.63079977e-01 5.23359754e-01] [-2.64251527e-03 9.99898212e-01 -1.40208032e-02 -1.98493615e-01] [ 1.63058881e-01 1.42640452e-02 9.86513223e-01 -1.97395708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78463044 meters Centerline goodness : 0.114624 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86600299e-01 4.78471323e-04 -1.63155203e-01 5.23751807e-01] [-2.77631648e-03 9.99900146e-01 -1.38560774e-02 -1.98773845e-01] [ 1.63132282e-01 1.41233806e-02 9.86503111e-01 -1.97587898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81463044 meters Centerline goodness : 0.120169 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86619189e-01 5.42051067e-04 -1.63040740e-01 5.23968505e-01] [-2.82749656e-03 9.99900972e-01 -1.37859101e-02 -1.98957132e-01] [ 1.63017121e-01 1.40624406e-02 9.86523018e-01 -1.98114905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84463044 meters Centerline goodness : 0.118713 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86624558e-01 4.73817058e-04 -1.63008456e-01 5.24225218e-01] [-2.76313348e-03 9.99900713e-01 -1.38177208e-02 -1.99379645e-01] [ 1.62985724e-01 1.40833168e-02 9.86527908e-01 -1.98452554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87463044 meters Centerline goodness : 0.118275 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 9.86614884e-01 3.33278714e-04 -1.63067347e-01 5.24661646e-01] [-2.63426252e-03 9.99899995e-01 -1.38946102e-02 -2.00016584e-01] [ 1.63046408e-01 1.41381915e-02 9.86517096e-01 -1.98738506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90463043999998 meters Centerline goodness : 0.118995 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.20 [[ 9.86547252e-01 2.59850758e-04 -1.63476149e-01 5.25795274e-01] [-2.57000988e-03 9.99899807e-01 -1.39201436e-02 -2.00381682e-01] [ 1.63456152e-01 1.41530147e-02 9.86449075e-01 -1.98767136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93463043999998 meters Centerline goodness : 0.110822 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.20 [[ 9.86479662e-01 3.49456733e-04 -1.63883357e-01 5.26866751e-01] [-2.64741369e-03 9.99901220e-01 -1.38037052e-02 -2.00503912e-01] [ 1.63862345e-01 1.40509415e-02 9.86383142e-01 -1.98755343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96463043999998 meters Centerline goodness : 0.093122 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.20 [[ 9.86467302e-01 5.76035276e-04 -1.63957098e-01 5.26942492e-01] [-2.85034741e-03 9.99902956e-01 -1.36364645e-02 -1.99695744e-01] [ 1.63933332e-01 1.39192610e-02 9.86373214e-01 -1.98542868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99463043999998 meters Centerline goodness : 0.119155 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.20 [[ 9.86474280e-01 4.37513059e-04 -1.63915538e-01 5.26586043e-01] [-2.72840309e-03 9.99901726e-01 -1.37511638e-02 -1.99710781e-01] [ 1.63893413e-01 1.40123971e-02 9.86378529e-01 -1.98269495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02463043999998 meters Centerline goodness : 0.121737 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.19 [[ 0.9869029 -0.00112231 -0.16131152 0.56690017] [-0.00138425 0.99988006 -0.01542536 -0.19503393] [ 0.16130948 0.01544662 0.98678298 -0.19027165] [ 0. 0. 0. 1. ]] SLAMing on 250.05463043999998 meters Centerline goodness : 0.105721 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.19 [[ 0.98687979 -0.00105522 -0.16145329 0.56694919] [-0.00144533 0.99988084 -0.01536955 -0.19468969] [ 0.16145026 0.01540125 0.98676067 -0.1898905 ] [ 0. 0. 0. 1. ]] SLAMing on 250.08463043999998 meters Centerline goodness : 0.122557 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.19 [[ 9.86846644e-01 -9.01122671e-04 -1.61656704e-01 5.67353579e-01] [-1.59100232e-03 9.99881896e-01 -1.52860443e-02 -1.93940382e-01] [ 1.61651387e-01 1.53421777e-02 9.86728659e-01 -1.89711456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11463043999998 meters Centerline goodness : 0.107947 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.19 [[ 9.86817001e-01 -9.21517899e-04 -1.61837439e-01 5.67668959e-01] [-1.59509729e-03 9.99879838e-01 -1.54196477e-02 -1.92710225e-01] [ 1.61832202e-01 1.54745169e-02 9.86696953e-01 -1.89509023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14463044 meters Centerline goodness : 0.104737 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.19 [[ 0.9867936 -0.00112034 -0.16197883 0.56795348] [-0.00146176 0.99987377 -0.01582092 -0.19073187] [ 0.16197611 0.01584876 0.9866674 -0.18940452] [ 0. 0. 0. 1. ]] SLAMing on 250.17463044 meters Centerline goodness : 0.105345 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.19 [[ 0.98677241 -0.00136161 -0.162106 0.56813737] [-0.00130172 0.99986594 -0.01632224 -0.18826836] [ 0.16210649 0.01631735 0.98663835 -0.18928274] [ 0. 0. 0. 1. ]] SLAMing on 250.20463044 meters Centerline goodness : 0.107807 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.19 [[ 0.98673974 0.00253621 -0.16229065 0.56786032] [-0.00479122 0.99989732 -0.01350504 -0.18317518] [ 0.16223974 0.01410353 0.98665058 -0.18854292] [ 0. 0. 0. 1. ]] SLAMing on 250.23463044 meters Centerline goodness : 0.106238 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.19 [[ 0.98680114 0.0027632 -0.16191315 0.56664833] [-0.00504661 0.99989351 -0.0136931 -0.17980274] [ 0.16185807 0.01432948 0.98671 -0.18833149] [ 0. 0. 0. 1. ]] SLAMing on 250.26463044 meters Centerline goodness : 0.105176 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.19 [[ 9.86955428e-01 -1.61627014e-03 -1.60985625e-01 5.87529965e-01] [-1.17867390e-04 9.99942082e-01 -1.07618702e-02 -1.72690271e-01] [ 1.60993695e-01 1.06404611e-02 9.86898075e-01 -1.85149047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29463044 meters Centerline goodness : 0.131701 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.19 [[ 9.86977059e-01 -1.85184309e-03 -1.60850413e-01 5.87021706e-01] [ 2.44195318e-05 9.99935447e-01 -1.13622465e-02 -1.69221441e-01] [ 1.60861071e-01 1.12103487e-02 9.86913392e-01 -1.85050521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32463044 meters Centerline goodness : 0.175068 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.18 [[ 9.86969933e-01 -2.15059142e-03 -1.60890418e-01 5.86966190e-01] [ 2.26396951e-04 9.99928247e-01 -1.19770347e-02 -1.66015498e-01] [ 1.60904632e-01 1.17845480e-02 9.86899602e-01 -1.84955607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35463044 meters Centerline goodness : 0.419285 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.19 [[ 9.86520089e-01 -1.51259472e-03 -1.63633206e-01 5.43197933e-01] [-4.21456310e-04 9.99930477e-01 -1.17840671e-02 -1.63266782e-01] [ 1.63639654e-01 1.16941832e-02 9.86450865e-01 -1.91189159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38463044 meters Centerline goodness : 0.099633 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.19 [[ 0.98652065 -0.00688395 -0.16349194 0.56448189] [ 0.00544736 0.99994253 -0.0092336 -0.15722037] [ 0.16354611 0.00821853 0.98650146 -0.18777419] [ 0. 0. 0. 1. ]] SLAMing on 250.41463044 meters Centerline goodness : 0.102030 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.19 [[ 0.98652939 -0.00709614 -0.16343014 0.56421041] [ 0.00560522 0.99993838 -0.00958204 -0.15534494] [ 0.16348806 0.00853691 0.98650838 -0.18764401] [ 0. 0. 0. 1. ]] SLAMing on 250.44463044 meters Centerline goodness : 0.132839 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.19 [[ 9.86596112e-01 1.03192457e-04 -1.63181193e-01 5.44953355e-01] [-1.91689960e-03 9.99938130e-01 -1.09572653e-02 -1.59081066e-01] [ 1.63169966e-01 1.11231973e-02 9.86535269e-01 -1.91688751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47463044 meters Centerline goodness : 0.102320 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.19 [[ 0.98653972 -0.00712678 -0.16336645 0.56238357] [ 0.00558284 0.99993533 -0.00990797 -0.15176183] [ 0.1634265 0.00886256 0.9865157 -0.18668339] [ 0. 0. 0. 1. ]] SLAMing on 250.50463044 meters Centerline goodness : 0.102320 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.19 [[ 0.98653972 -0.00712678 -0.16336645 0.56238357] [ 0.00558284 0.99993533 -0.00990797 -0.15176183] [ 0.1634265 0.00886256 0.9865157 -0.18668339] [ 0. 0. 0. 1. ]] SLAMing on 250.53463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.56463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.59463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.62463044 meters Centerline goodness : 0.108088 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.19 [[ 0.98589507 -0.01821887 -0.16637002 0.54397662] [ 0.01656204 0.99979852 -0.01134078 -0.14620884] [ 0.16654312 0.00842539 0.98599818 -0.18901461] [ 0. 0. 0. 1. ]] SLAMing on 250.65463043999998 meters Centerline goodness : 0.106964 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.19 [[ 0.98595478 -0.01918852 -0.16590653 0.54228926] [ 0.01750678 0.99977953 -0.01159327 -0.1489912 ] [ 0.16609241 0.00852595 0.98607333 -0.1881887 ] [ 0. 0. 0. 1. ]] SLAMing on 250.68463043999998 meters Centerline goodness : 0.410712 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.19 [[ 0.98596124 -0.01935669 -0.16584859 0.54178996] [ 0.01772096 0.9997787 -0.01133701 -0.15137384] [ 0.16603133 0.00823886 0.98608606 -0.18758345] [ 0. 0. 0. 1. ]] SLAMing on 250.71463043999998 meters Centerline goodness : 0.304730 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.19 [[ 0.98597299 -0.01953412 -0.16575788 0.54138938] [ 0.01795816 0.99977821 -0.01100118 -0.15472886] [ 0.16593601 0.00787016 0.98610512 -0.18720439] [ 0. 0. 0. 1. ]] SLAMing on 250.74463043999998 meters Centerline goodness : 0.206489 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.18 [[ 0.98597943 -0.01362597 -0.16630962 0.55954305] [ 0.01175296 0.999856 -0.01224124 -0.16231108] [ 0.16645247 0.01011499 0.9859976 -0.18243904] [ 0. 0. 0. 1. ]] SLAMing on 250.77463043999998 meters Centerline goodness : 0.094546 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.18 [[ 0.98599989 -0.014129 -0.16614627 0.5592883 ] [ 0.01227532 0.99985049 -0.01217855 -0.16747344] [ 0.1662935 0.00996855 0.98602591 -0.18242185] [ 0. 0. 0. 1. ]] SLAMing on 250.80463043999998 meters Centerline goodness : 0.200149 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.18 [[ 0.98590809 -0.01799525 -0.16631722 0.56042156] [ 0.01577858 0.99976833 -0.01463982 -0.17536909] [ 0.16654213 0.01180927 0.98596362 -0.18277097] [ 0. 0. 0. 1. ]] SLAMing on 250.83463043999998 meters Centerline goodness : 0.090017 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.19 [[ 0.98601524 -0.01082534 -0.1663032 0.54389262] [ 0.00837086 0.99984556 -0.01545292 -0.18519928] [ 0.1664448 0.01384471 0.98595358 -0.18801056] [ 0. 0. 0. 1. ]] SLAMing on 250.86463043999998 meters Centerline goodness : 0.093901 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.19 [[ 9.85994033e-01 -3.36552567e-03 -1.66746637e-01 5.26580643e-01] [ 6.65668091e-04 9.99867826e-01 -1.62446218e-02 -1.94166482e-01] [ 1.66779269e-01 1.59061023e-02 9.85865950e-01 -1.92998474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89463044 meters Centerline goodness : 0.089067 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.19 [[ 0.98597135 -0.01096369 -0.16655416 0.54693527] [ 0.00858059 0.99985036 -0.01502116 -0.19375246] [ 0.16669392 0.0133813 0.98591789 -0.18915203] [ 0. 0. 0. 1. ]] SLAMing on 250.92463044 meters Centerline goodness : 0.103764 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.19 [[ 0.98597956 -0.01075569 -0.16651913 0.54697881] [ 0.00845334 0.99985872 -0.01452895 -0.19681624] [ 0.16665187 0.0129176 0.98593118 -0.18924932] [ 0. 0. 0. 1. ]] SLAMing on 250.95463044 meters Centerline goodness : 0.240801 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.19 [[ 0.98598146 -0.01056515 -0.1665201 0.54698831] [ 0.0083395 0.99986639 -0.01405925 -0.19993468] [ 0.16664639 0.01247346 0.98593783 -0.18918588] [ 0. 0. 0. 1. ]] SLAMing on 250.98463044 meters Centerline goodness : 0.117374 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 0.98597366 -0.01024861 -0.16658602 0.54713389] [ 0.00815672 0.99987912 -0.01323678 -0.20698421] [ 0.16670154 0.01169232 0.98593807 -0.18918089] [ 0. 0. 0. 1. ]] SLAMing on 251.01463044 meters Centerline goodness : 0.311453 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 0.98595477 -0.00999474 -0.16671322 0.54768578] [ 0.00798021 0.99988688 -0.0127493 -0.20963615] [ 0.16682179 0.01123983 0.985923 -0.18939141] [ 0. 0. 0. 1. ]] SLAMing on 251.04463044 meters Centerline goodness : 0.095775 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 0.98590899 -0.00986179 -0.16699165 0.54864323] [ 0.00789859 0.99989172 -0.01241635 -0.21185008] [ 0.16709601 0.01092239 0.98588013 -0.18961394] [ 0. 0. 0. 1. ]] SLAMing on 251.07463044 meters Centerline goodness : 0.104831 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 0.98583893 -0.00977997 -0.16740957 0.54995848] [ 0.0078534 0.99989515 -0.01216629 -0.21385598] [ 0.167511 0.01067927 0.98581236 -0.18980383] [ 0. 0. 0. 1. ]] SLAMing on 251.10463044 meters Centerline goodness : 0.104753 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.9857589 -0.00967945 -0.16788597 0.55144814] [ 0.00780826 0.99989987 -0.01180216 -0.21694658] [ 0.1679834 0.01032319 0.98573577 -0.19004456] [ 0. 0. 0. 1. ]] SLAMing on 251.13463044 meters Centerline goodness : 0.105337 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.98575558 -0.00941923 -0.16792024 0.55137421] [ 0.00761189 0.99990601 -0.01140352 -0.21846172] [ 0.16801187 0.00996289 0.98573463 -0.18988786] [ 0. 0. 0. 1. ]] SLAMing on 251.16463044 meters Centerline goodness : 0.101624 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.98578441 -0.00913396 -0.16776671 0.55064862] [ 0.00740669 0.99991296 -0.01091848 -0.22051011] [ 0.16785183 0.00952067 0.98576626 -0.18947861] [ 0. 0. 0. 1. ]] SLAMing on 251.19463044 meters Centerline goodness : 0.103175 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.98581227 -0.00901459 -0.16760939 0.54985313] [ 0.0073431 0.99991697 -0.01058961 -0.22256356] [ 0.16769093 0.0092086 0.98579661 -0.18900425] [ 0. 0. 0. 1. ]] SLAMing on 251.22463044 meters Centerline goodness : 0.105562 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.98583092 -0.0090176 -0.16749952 0.54934591] [ 0.00738676 0.99991908 -0.01035693 -0.22479466] [ 0.16757936 0.0089729 0.98581775 -0.18872562] [ 0. 0. 0. 1. ]] SLAMing on 251.25463044 meters Centerline goodness : 0.105181 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.19 [[ 0.98581186 -0.00900886 -0.16761208 0.54945399] [ 0.00742366 0.99992162 -0.01008178 -0.22740111] [ 0.16768977 0.00869445 0.98580147 -0.18850596] [ 0. 0. 0. 1. ]] SLAMing on 251.28463044 meters Centerline goodness : 0.106511 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.19 [[ 0.98572288 -0.00886533 -0.16814226 0.55135495] [ 0.00738713 0.99992839 -0.00941481 -0.23311825] [ 0.16821368 0.00803831 0.98571778 -0.18897089] [ 0. 0. 0. 1. ]] SLAMing on 251.31463044 meters Centerline goodness : 0.112353 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.24, Z:-0.19 [[ 0.98568015 -0.00861012 -0.16840579 0.55231511] [ 0.00721846 0.99993457 -0.00887419 -0.23591985] [ 0.16847118 0.00753148 0.98567781 -0.18923912] [ 0. 0. 0. 1. ]] SLAMing on 251.34463044 meters Centerline goodness : 0.108581 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.24, Z:-0.19 [[ 0.98566476 -0.00846397 -0.16850326 0.55269764] [ 0.00713831 0.99993864 -0.00847143 -0.23854161] [ 0.16856463 0.00714716 0.98566469 -0.18933068] [ 0. 0. 0. 1. ]] SLAMing on 251.37463044 meters Centerline goodness : 0.114661 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.24, Z:-0.19 [[ 0.98565436 -0.00823089 -0.16857559 0.55269339] [ 0.00700057 0.99994436 -0.00789134 -0.24248639] [ 0.16863116 0.00659801 0.98565714 -0.18908059] [ 0. 0. 0. 1. ]] SLAMing on 251.40463043999998 meters Centerline goodness : 0.117497 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.19 [[ 9.85807598e-01 -4.23462200e-04 -1.67878527e-01 5.33917290e-01] [-1.01064526e-03 9.99963728e-01 -8.45699951e-03 -2.48087519e-01] [ 1.67876019e-01 8.50664001e-03 9.85771413e-01 -1.93775890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43463043999998 meters Centerline goodness : 0.110284 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.19 [[ 9.85802781e-01 -1.90136015e-04 -1.67907238e-01 5.34095790e-01] [-1.22091604e-03 9.99964805e-01 -8.30048647e-03 -2.48114351e-01] [ 1.67902906e-01 8.38764329e-03 9.85767854e-01 -1.93855057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46463043999998 meters Centerline goodness : 0.108244 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.19 [[ 9.85802378e-01 -1.04043754e-04 -1.67909679e-01 5.34275703e-01] [-1.31704231e-03 9.99964254e-01 -8.35201099e-03 -2.47559300e-01] [ 1.67904545e-01 8.45457645e-03 9.85767003e-01 -1.94031408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49463043999998 meters Centerline goodness : 0.109588 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.19 [[ 9.85798792e-01 -9.00033241e-05 -1.67930742e-01 5.34391519e-01] [-1.35633215e-03 9.99962972e-01 -8.49797108e-03 -2.46889205e-01] [ 1.67925288e-01 8.60505948e-03 9.85762167e-01 -1.94121382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52463043999998 meters Centerline goodness : 0.126571 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.19 [[ 9.85869086e-01 7.22842530e-04 -1.67516036e-01 5.33227549e-01] [-2.12093639e-03 9.99964398e-01 -8.16727078e-03 -2.45659129e-01] [ 1.67504168e-01 8.40715064e-03 9.85835520e-01 -1.94098158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55463043999998 meters Centerline goodness : 0.170408 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.25, Z:-0.20 [[ 0.9855733 0.00189959 -0.16923848 0.48832138] [-0.00315392 0.99996951 -0.00714308 -0.24607147] [ 0.16921975 0.00757379 0.98554924 -0.20108216] [ 0. 0. 0. 1. ]] SLAMing on 251.58463043999998 meters Centerline goodness : 0.105832 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.19 [[ 0.9856995 0.00367074 -0.16847262 0.53055926] [-0.00487586 0.9999654 -0.00674007 -0.242942 ] [ 0.16844205 0.00746514 0.98568329 -0.19354738] [ 0. 0. 0. 1. ]] SLAMing on 251.61463043999998 meters Centerline goodness : 0.114920 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.19 [[ 0.98562536 0.00365612 -0.16890611 0.53192815] [-0.00490964 0.99996342 -0.00700438 -0.24126215] [ 0.16887432 0.00773296 0.98560726 -0.19381644] [ 0. 0. 0. 1. ]] SLAMing on 251.64463044 meters Centerline goodness : 0.141898 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.19 [[ 0.98543025 0.00388694 -0.1700356 0.53499991] [-0.0052095 0.99995955 -0.00733266 -0.23781155] [ 0.17000022 0.00811162 0.98541064 -0.19399596] [ 0. 0. 0. 1. ]] SLAMing on 251.67463044 meters Centerline goodness : 0.116791 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.20 [[ 0.98547356 -0.00289837 -0.16980419 0.51775034] [ 0.00195638 0.99998176 -0.00571454 -0.23148181] [ 0.16981765 0.00529932 0.98546125 -0.19912583] [ 0. 0. 0. 1. ]] SLAMing on 251.70463044 meters Centerline goodness : 0.119413 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.20 [[ 0.98546738 -0.0028536 -0.16984078 0.51798661] [ 0.00187476 0.9999807 -0.00592337 -0.22941343] [ 0.16985441 0.00551888 0.98545371 -0.19930456] [ 0. 0. 0. 1. ]] SLAMing on 251.73463044 meters Centerline goodness : 0.116076 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.20 [[ 0.98549042 -0.00297508 -0.16970497 0.51755375] [ 0.00193754 0.99997841 -0.00627904 -0.22727404] [ 0.16971998 0.00585913 0.98547491 -0.19926835] [ 0. 0. 0. 1. ]] SLAMing on 251.76463044 meters Centerline goodness : 0.119516 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.19 [[ 0.98570896 0.00440682 -0.1683996 0.53556753] [-0.00585284 0.99995014 -0.00809143 -0.22774933] [ 0.16835555 0.00896141 0.9856856 -0.19481294] [ 0. 0. 0. 1. ]] SLAMing on 251.79463044 meters Centerline goodness : 0.092938 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.20 [[ 9.86201553e-01 -1.83919598e-03 -1.65538862e-01 5.17440960e-01] [ 5.95087415e-04 9.99971209e-01 -7.56479102e-03 -2.18319370e-01] [ 1.65548010e-01 7.36189855e-03 9.86174254e-01 -1.99913448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82463044 meters Centerline goodness : 0.118616 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.20 [[ 9.86178498e-01 -1.87762836e-03 -1.65675724e-01 5.17960240e-01] [ 5.82775722e-04 9.99968910e-01 -7.86385034e-03 -2.15412760e-01] [ 1.65685338e-01 7.65860832e-03 9.86148931e-01 -2.00095499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85463044 meters Centerline goodness : 0.114035 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.20 [[ 9.86163146e-01 -2.06104217e-03 -1.65764898e-01 5.18423632e-01] [ 6.90576630e-04 9.99965110e-01 -8.32473612e-03 -2.12273277e-01] [ 1.65776273e-01 8.09507460e-03 9.86130162e-01 -2.00367821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88463044 meters Centerline goodness : 0.114687 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.20 [[ 9.86170368e-01 -2.31696439e-03 -1.65718549e-01 5.18567486e-01] [ 8.62800058e-04 9.99960498e-01 -8.84635441e-03 -2.09196038e-01] [ 1.65732499e-01 8.58103061e-03 9.86133411e-01 -2.00676336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91463044 meters Centerline goodness : 0.100743 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98616335 -0.00295933 -0.16575007 0.51799915] [ 0.00134178 0.99995039 -0.00987011 -0.20396718] [ 0.16577106 0.00951114 0.9861184 -0.20002457] [ 0. 0. 0. 1. ]] SLAMing on 251.94463044 meters Centerline goodness : 0.108514 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98615049 -0.00311906 -0.16582363 0.51785799] [ 0.00145217 0.9999472 -0.01017252 -0.2020146 ] [ 0.16584661 0.00979083 0.98610296 -0.19967249] [ 0. 0. 0. 1. ]] SLAMing on 251.97463044 meters Centerline goodness : 0.113161 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98612649 -0.00328785 -0.16596305 0.5181447 ] [ 0.00157014 0.99994385 -0.01048011 -0.2000909 ] [ 0.16598819 0.01007412 0.98607628 -0.19959396] [ 0. 0. 0. 1. ]] SLAMing on 252.00463044 meters Centerline goodness : 0.121848 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98610202 -0.00356954 -0.16610258 0.51859355] [ 0.0017895 0.99993937 -0.01086493 -0.19836125] [ 0.16613129 0.01041669 0.98604862 -0.19965603] [ 0. 0. 0. 1. ]] SLAMing on 252.03463044 meters Centerline goodness : 0.108876 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98615295 -0.00426943 -0.16578336 0.51786479] [ 0.00235889 0.99992854 -0.01171949 -0.19500774] [ 0.16582155 0.01116614 0.98609256 -0.19972943] [ 0. 0. 0. 1. ]] SLAMing on 252.06463044 meters Centerline goodness : 0.110412 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.20 [[ 0.98618967 -0.00429484 -0.16556413 0.5172859 ] [ 0.00236761 0.99992715 -0.01183602 -0.19363314] [ 0.16560291 0.01128057 0.986128 -0.19971797] [ 0. 0. 0. 1. ]] SLAMing on 252.09463044 meters Centerline goodness : 0.272395 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.20 [[ 0.9862048 -0.00421911 -0.16547594 0.51699742] [ 0.0022865 0.99992696 -0.01186785 -0.19230954] [ 0.16551392 0.01132577 0.98614242 -0.19963143] [ 0. 0. 0. 1. ]] SLAMing on 252.12463044 meters Centerline goodness : 0.302587 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.20 [[ 0.98629745 0.00319584 -0.16494584 0.49913445] [-0.00541974 0.99990036 -0.01303432 -0.1961876 ] [ 0.16488775 0.01374968 0.9862165 -0.20475487] [ 0. 0. 0. 1. ]] SLAMing on 252.15463043999998 meters Centerline goodness : 0.177644 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.20 [[ 0.98627966 0.00296528 -0.16505647 0.49941357] [-0.00523507 0.9998976 -0.01331826 -0.19549966] [ 0.16500007 0.01399961 0.98619419 -0.20472048] [ 0. 0. 0. 1. ]] SLAMing on 252.18463043999998 meters Centerline goodness : 0.111416 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.20 [[ 0.98623606 0.00267941 -0.16532166 0.49993545] [-0.00500625 0.99989417 -0.0136595 -0.19494767] [ 0.16526756 0.01429913 0.9861451 -0.20452848] [ 0. 0. 0. 1. ]] SLAMing on 252.21463043999998 meters Centerline goodness : 0.115062 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.20 [[ 0.9862194 0.00266737 -0.16542125 0.4998217 ] [-0.00503043 0.99989118 -0.01386778 -0.19347977] [ 0.16536626 0.01450881 0.9861255 -0.20418958] [ 0. 0. 0. 1. ]] SLAMing on 252.24463043999998 meters Centerline goodness : 0.109215 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.20 [[ 0.98624344 0.00280503 -0.16527555 0.4994468 ] [-0.00516394 0.99989082 -0.01384463 -0.19259983] [ 0.16521867 0.01450765 0.98615025 -0.20419899] [ 0. 0. 0. 1. ]] SLAMing on 252.27463043999998 meters Centerline goodness : 0.196171 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.20 [[ 0.98626951 0.00284151 -0.16511929 0.49915626] [-0.00520892 0.99988973 -0.01390633 -0.19197095] [ 0.16506157 0.01457548 0.98617556 -0.20433659] [ 0. 0. 0. 1. ]] SLAMing on 252.30463043999998 meters Centerline goodness : 0.115351 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.20 [[ 0.98624698 0.00270811 -0.16525607 0.49976181] [-0.00510471 0.99988785 -0.01407936 -0.19203651] [ 0.16519941 0.01472931 0.98615019 -0.204642 ] [ 0. 0. 0. 1. ]] SLAMing on 252.33463043999998 meters Centerline goodness : 0.112147 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.20 [[ 0.986206 0.00278634 -0.16549912 0.50034494] [-0.00516345 0.99988957 -0.01393475 -0.19280407] [ 0.16544202 0.01459708 0.98611149 -0.20460494] [ 0. 0. 0. 1. ]] SLAMing on 252.36463043999998 meters Centerline goodness : 0.115215 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.20 [[ 0.98618467 0.00290317 -0.16562418 0.50066766] [-0.00524741 0.99989213 -0.01371819 -0.1938799 ] [ 0.16556649 0.01439777 0.98609353 -0.20460106] [ 0. 0. 0. 1. ]] SLAMing on 252.39463044 meters Centerline goodness : 0.107720 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.20 [[ 0.98617106 0.0030024 -0.16570342 0.50072502] [-0.00530012 0.99989582 -0.01342602 -0.19567942] [ 0.16564585 0.0141186 0.98608423 -0.2044343 ] [ 0. 0. 0. 1. ]] SLAMing on 252.42463044 meters Centerline goodness : 0.107720 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.20 [[ 0.98617106 0.0030024 -0.16570342 0.50072502] [-0.00530012 0.99989582 -0.01342602 -0.19567942] [ 0.16564585 0.0141186 0.98608423 -0.2044343 ] [ 0. 0. 0. 1. ]] SLAMing on 252.45463044 meters Centerline goodness : 0.107843 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.20 [[ 0.98619368 0.00298264 -0.16556911 0.50039554] [-0.00523497 0.99989958 -0.01316888 -0.19815585] [ 0.1655132 0.01385381 0.98611026 -0.20441355] [ 0. 0. 0. 1. ]] SLAMing on 252.48463044 meters Centerline goodness : 0.124150 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98624771 -0.00499296 -0.16519842 0.5197036 ] [ 0.00301532 0.99992079 -0.0122199 -0.19699955] [ 0.16524635 0.01155372 0.98618465 -0.2000821 ] [ 0. 0. 0. 1. ]] SLAMing on 252.51463044 meters Centerline goodness : 0.109924 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98626706 -0.00489031 -0.16508595 0.51960122] [ 0.00301986 0.9999284 -0.01157922 -0.20224367] [ 0.16513075 0.01092167 0.98621121 -0.20017997] [ 0. 0. 0. 1. ]] SLAMing on 252.54463044 meters Centerline goodness : 0.111016 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.20 [[ 0.98626409 -0.00457446 -0.16511275 0.5195295 ] [ 0.00278978 0.99993518 -0.01103913 -0.20470191] [ 0.16515254 0.01042687 0.98621292 -0.1999951 ] [ 0. 0. 0. 1. ]] SLAMing on 252.57463044 meters Centerline goodness : 0.116146 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.20 [[ 0.9862619 -0.00439246 -0.16513076 0.51936419] [ 0.00267293 0.99993989 -0.01063395 -0.20708462] [ 0.16516754 0.01004648 0.98621435 -0.19972409] [ 0. 0. 0. 1. ]] SLAMing on 252.60463044 meters Centerline goodness : 0.118009 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.20 [[ 0.98626215 -0.00430322 -0.16513163 0.51924668] [ 0.00263904 0.99994351 -0.01029601 -0.2098028 ] [ 0.16516661 0.00971877 0.98621779 -0.19958978] [ 0. 0. 0. 1. ]] SLAMing on 252.63463044 meters Centerline goodness : 0.129039 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.20 [[ 0.98623204 -0.00429586 -0.16531156 0.51994137] [ 0.00269482 0.99994728 -0.00990806 -0.21609422] [ 0.16534541 0.00932617 0.98619162 -0.1997734 ] [ 0. 0. 0. 1. ]] SLAMing on 252.66463044 meters Centerline goodness : 0.122121 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.20 [[ 0.98619336 -0.00405023 -0.16554834 0.52086255] [ 0.00250544 0.99995136 -0.00953911 -0.21786004] [ 0.16557892 0.00899263 0.98615554 -0.2000864 ] [ 0. 0. 0. 1. ]] SLAMing on 252.69463044 meters Centerline goodness : 0.112134 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.20 [[ 0.98606196 0.0036414 -0.16633868 0.50258283] [-0.00544737 0.99993106 -0.01040227 -0.2246822 ] [ 0.16628933 0.01116339 0.98601381 -0.20484185] [ 0. 0. 0. 1. ]] SLAMing on 252.72463044 meters Centerline goodness : 0.124564 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98604051 0.00377997 -0.16646268 0.50306428] [-0.00555525 0.99993254 -0.01020042 -0.22571677] [ 0.1664129 0.01098276 0.98599499 -0.20499464] [ 0. 0. 0. 1. ]] SLAMing on 252.75463044 meters Centerline goodness : 0.115673 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98604099 0.00391866 -0.16645661 0.50283346] [-0.00567074 0.9999334 -0.01005176 -0.22643384] [ 0.16640613 0.01085538 0.98599755 -0.20478268] [ 0. 0. 0. 1. ]] SLAMing on 252.78463044 meters Centerline goodness : 0.124109 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98609208 0.00405977 -0.16615033 0.50165024] [-0.00579094 0.99993387 -0.00993615 -0.22683055] [ 0.16609901 0.01076013 0.98605037 -0.20438263] [ 0. 0. 0. 1. ]] SLAMing on 252.81463044 meters Centerline goodness : 0.117699 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98634135 0.00526916 -0.16462982 0.49689464] [-0.00683236 0.99993678 -0.00893042 -0.2278576 ] [ 0.16457236 0.00993325 0.986315 -0.20354487] [ 0. 0. 0. 1. ]] SLAMing on 252.84463044 meters Centerline goodness : 0.102488 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98635241 0.00539425 -0.16455947 0.49662559] [-0.00695296 0.99993624 -0.00889749 -0.22749508] [ 0.16450098 0.00992024 0.98632703 -0.20343944] [ 0. 0. 0. 1. ]] SLAMing on 252.87463044 meters Centerline goodness : 0.060759 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98634372 0.0054242 -0.16461059 0.49680475] [-0.00698812 0.99993577 -0.00892306 -0.22727926] [ 0.16455161 0.00995152 0.98631827 -0.20352004] [ 0. 0. 0. 1. ]] SLAMing on 252.90463043999998 meters Centerline goodness : 0.124668 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98625571 0.00552397 -0.16513379 0.49861201] [-0.0071047 0.99993441 -0.00898327 -0.22671519] [ 0.16507333 0.01003303 0.98623026 -0.20412211] [ 0. 0. 0. 1. ]] SLAMing on 252.93463043999998 meters Centerline goodness : 0.112023 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98623621 0.00554624 -0.16524942 0.49896013] [-0.0071353 0.99993383 -0.00902403 -0.22615687] [ 0.16518844 0.01007893 0.98621052 -0.20421511] [ 0. 0. 0. 1. ]] SLAMing on 252.96463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.99463043999998 meters Centerline goodness : 0.116666 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.23, Z:-0.20 [[ 0.98622458 0.00567594 -0.16531443 0.49929084] [-0.00724396 0.9999343 -0.00888372 -0.22633083] [ 0.16525315 0.00995888 0.9862009 -0.20435229] [ 0. 0. 0. 1. ]] SLAMing on 253.02463043999998 meters Centerline goodness : 0.116511 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.20 [[ 9.86090593e-01 -2.31608441e-03 -1.66192596e-01 5.20841325e-01] [ 9.02548328e-04 9.99962780e-01 -8.58042913e-03 -2.23044680e-01] [ 1.66206283e-01 8.31108359e-03 9.86055981e-01 -2.00531666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05463043999998 meters Centerline goodness : 0.185283 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.20 [[ 9.86064192e-01 -2.36427287e-03 -1.66348486e-01 5.21030560e-01] [ 9.61468960e-04 9.99963302e-01 -8.51294790e-03 -2.23975542e-01] [ 1.66362508e-01 8.23437419e-03 9.86030279e-01 -2.00268577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08463043999998 meters Centerline goodness : 0.116623 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.20 [[ 9.86079450e-01 -2.33743406e-03 -1.66258400e-01 5.20650061e-01] [ 9.57945557e-04 9.99964454e-01 -8.37696347e-03 -2.24903042e-01] [ 1.66272071e-01 8.10108503e-03 9.86046637e-01 -2.00065426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.14463044 meters Centerline goodness : 0.112577 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.20 [[ 9.86075446e-01 -2.34310887e-03 -1.66282063e-01 5.20856617e-01] [ 9.97389578e-04 9.99966078e-01 -8.17603525e-03 -2.26564692e-01] [ 1.66295580e-01 7.89633960e-03 9.86044334e-01 -2.00125234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.20463044 meters Centerline goodness : 0.115368 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.20 [[ 0.98611291 -0.00399996 -0.16602812 0.5207052 ] [ 0.00253768 0.99995611 -0.00901865 -0.23291668] [ 0.16605691 0.00847208 0.98607978 -0.20053013] [ 0. 0. 0. 1. ]] SLAMing on 253.23463044 meters Centerline goodness : 0.237736 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.20 [[ 0.98607225 -0.0038838 -0.16627217 0.52150106] [ 0.00246596 0.99995883 -0.0087328 -0.23465633] [ 0.16629924 0.00820115 0.98604123 -0.20067327] [ 0. 0. 0. 1. ]] SLAMing on 253.26463044 meters Centerline goodness : 0.115766 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.20 [[ 0.98602646 -0.00379393 -0.16654556 0.52244903] [ 0.00241261 0.999961 -0.00849549 -0.23626071] [ 0.16657129 0.00797497 0.98599716 -0.20089819] [ 0. 0. 0. 1. ]] SLAMing on 253.29463044 meters Centerline goodness : 0.085198 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.20 [[ 0.98599472 -0.00366509 -0.16673628 0.52304887] [ 0.00235214 0.99996466 -0.0080712 -0.23955265] [ 0.16675997 0.00756597 0.98596849 -0.20095808] [ 0. 0. 0. 1. ]] SLAMing on 253.32463044 meters Centerline goodness : 0.069407 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.20 [[ 0.98600991 -0.00357911 -0.16664828 0.52251813] [ 0.00229995 0.9999664 -0.00786812 -0.24081533] [ 0.16667084 0.00737477 0.98598501 -0.20061456] [ 0. 0. 0. 1. ]] SLAMing on 253.35463044 meters Centerline goodness : 0.138952 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.20 [[ 0.98605849 -0.00340922 -0.16636415 0.52163729] [ 0.00218064 0.99996899 -0.00756699 -0.24217581] [ 0.16638479 0.00709871 0.98603535 -0.2004654 ] [ 0. 0. 0. 1. ]] SLAMing on 253.38463044 meters Centerline goodness : 0.205826 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.20 [[ 0.98611041 -0.00322362 -0.16605984 0.52074832] [ 0.00205123 0.99997175 -0.00723108 -0.24369458] [ 0.16607846 0.00679002 0.98608916 -0.20035089] [ 0. 0. 0. 1. ]] SLAMing on 253.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.44463044 meters Centerline goodness : 0.102185 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.25, Z:-0.20 [[ 0.9863744 -0.00523362 -0.16443282 0.51507274] [ 0.0038971 0.99995671 -0.00844959 -0.24910949] [ 0.16446992 0.00769365 0.98635209 -0.19912595] [ 0. 0. 0. 1. ]] SLAMing on 253.47463044 meters Centerline goodness : 0.124475 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.20 [[ 0.98637573 -0.00513878 -0.16442782 0.51495142] [ 0.00384226 0.99995898 -0.00820213 -0.2506196 ] [ 0.16446322 0.00745861 0.98635502 -0.19899393] [ 0. 0. 0. 1. ]] SLAMing on 253.50463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.53463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.56463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.59463044 meters Centerline goodness : 0.044012 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98612124 -0.0061746 -0.16591195 0.51912852] [ 0.00485194 0.99995315 -0.00837618 -0.25863355] [ 0.16595589 0.00745493 0.986105 -0.19925922] [ 0. 0. 0. 1. ]] SLAMing on 253.62463044 meters Centerline goodness : 0.104430 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98610885 -0.0060554 -0.16598997 0.51929613] [ 0.00477829 0.99995584 -0.00809219 -0.26037027] [ 0.16603165 0.00718663 0.98609424 -0.19916734] [ 0. 0. 0. 1. ]] SLAMing on 253.65463043999998 meters Centerline goodness : 0.131540 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98612096 -0.00595262 -0.16592173 0.51916767] [ 0.0047166 0.99995812 -0.00784244 -0.2619287 ] [ 0.16596146 0.006951 0.98610774 -0.19917309] [ 0. 0. 0. 1. ]] SLAMing on 253.68463043999998 meters Centerline goodness : 0.144483 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98614078 -0.00597351 -0.16580314 0.51854124] [ 0.00478099 0.99995976 -0.00759058 -0.2648347 ] [ 0.16584182 0.00669267 0.98612966 -0.1987584 ] [ 0. 0. 0. 1. ]] SLAMing on 253.71463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.74463043999998 meters Centerline goodness : 0.140250 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.20 [[ 0.98608641 -0.00569509 -0.16613596 0.51947859] [ 0.00455934 0.99996356 -0.00721685 -0.26629873] [ 0.166171 0.00635897 0.98607645 -0.19877841] [ 0. 0. 0. 1. ]] SLAMing on 253.77463043999998 meters Centerline goodness : 0.142750 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.20 [[ 0.98606687 -0.00560303 -0.166255 0.51991922] [ 0.00447018 0.99996418 -0.00718738 -0.26595407] [ 0.16628932 0.00634405 0.9860566 -0.19887775] [ 0. 0. 0. 1. ]] SLAMing on 253.80463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.83463043999998 meters Centerline goodness : 0.126091 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98604221 -0.00521613 -0.1664138 0.5202664 ] [ 0.0040462 0.99996467 -0.0073685 -0.26290094] [ 0.16644636 0.00659231 0.98602847 -0.19889482] [ 0. 0. 0. 1. ]] SLAMing on 253.86463043999998 meters Centerline goodness : 0.123723 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98602978 -0.00521235 -0.16648755 0.52044285] [ 0.00401303 0.99996353 -0.00753927 -0.26148055] [ 0.16652077 0.00676582 0.98601473 -0.19892007] [ 0. 0. 0. 1. ]] SLAMing on 253.89463044 meters Centerline goodness : 0.143419 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98603485 -0.00523537 -0.16645677 0.52036396] [ 0.00400394 0.99996209 -0.00773265 -0.25987856] [ 0.16649094 0.00695818 0.98601843 -0.19893072] [ 0. 0. 0. 1. ]] SLAMing on 253.92463044 meters Centerline goodness : 0.085635 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98603514 -0.00527686 -0.16645375 0.52035777] [ 0.00400331 0.9999601 -0.00798568 -0.25785531] [ 0.16648925 0.0072078 0.98601693 -0.19896641] [ 0. 0. 0. 1. ]] SLAMing on 253.95463044 meters Centerline goodness : 0.126106 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.20 [[ 0.98602798 -0.00537728 -0.16649295 0.52030602] [ 0.00404971 0.99995725 -0.00831218 -0.25559901] [ 0.16653053 0.00752179 0.98600761 -0.1988239 ] [ 0. 0. 0. 1. ]] SLAMing on 253.98463044 meters Centerline goodness : 0.084522 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.25, Z:-0.20 [[ 0.98601289 -0.00545314 -0.16657986 0.52036476] [ 0.00407634 0.99995466 -0.00860589 -0.25350883] [ 0.16661924 0.00780649 0.98599041 -0.19869336] [ 0. 0. 0. 1. ]] SLAMing on 254.01463044 meters Centerline goodness : 0.083896 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98625453 0.00259623 -0.16521276 0.5407629 ] [-0.00427506 0.99994277 -0.00980681 -0.24996551] [ 0.16517785 0.0103783 0.98620919 -0.19485629] [ 0. 0. 0. 1. ]] SLAMing on 254.04463044 meters Centerline goodness : 0.083743 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98628433 0.00253671 -0.16503569 0.53999264] [-0.00425355 0.99994045 -0.01005025 -0.2480152 ] [ 0.16500037 0.0106144 0.98623639 -0.19456709] [ 0. 0. 0. 1. ]] SLAMing on 254.07463044 meters Centerline goodness : 0.105325 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98629897 0.00242912 -0.16494979 0.53946011] [-0.00418982 0.9999379 -0.01032707 -0.24606053] [ 0.16491446 0.01087669 0.9862479 -0.19424447] [ 0. 0. 0. 1. ]] SLAMing on 254.10463044 meters Centerline goodness : 0.101786 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.24, Z:-0.19 [[ 0.98630356 0.00230186 -0.1649242 0.5393172 ] [-0.00410537 0.99993544 -0.01059529 -0.24439145] [ 0.16488916 0.01112725 0.98624933 -0.19415907] [ 0. 0. 0. 1. ]] SLAMing on 254.13463044 meters Centerline goodness : 0.084266 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.24, Z:-0.19 [[ 0.98630312 0.00199585 -0.16493079 0.53925695] [-0.0038634 0.999932 -0.01100318 -0.24260488] [ 0.16489761 0.01148966 0.98624377 -0.19403124] [ 0. 0. 0. 1. ]] SLAMing on 254.16463044 meters Centerline goodness : 0.099371 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.24, Z:-0.19 [[ 0.98630049 0.00191262 -0.1649475 0.538975 ] [-0.00379037 0.99993154 -0.01106994 -0.24251609] [ 0.16491503 0.0115435 0.98624022 -0.19369063] [ 0. 0. 0. 1. ]] SLAMing on 254.19463044 meters Centerline goodness : 0.117422 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.24, Z:-0.19 [[ 0.98630838 0.00186725 -0.16490087 0.53859033] [-0.00374911 0.99993135 -0.01110155 -0.24241486] [ 0.16486882 0.01156778 0.98624767 -0.19338593] [ 0. 0. 0. 1. ]] SLAMing on 254.22463044 meters Centerline goodness : 0.349583 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.24, Z:-0.19 [[ 0.98638836 -0.00530449 -0.16434677 0.55708898] [ 0.00372949 0.99994413 -0.00989049 -0.23760183] [ 0.16439005 0.00914293 0.98635304 -0.18875377] [ 0. 0. 0. 1. ]] SLAMing on 254.25463044 meters Centerline goodness : 0.115275 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.24, Z:-0.19 [[ 0.98637526 -0.0055153 -0.16441848 0.55684679] [ 0.00396027 0.99994429 -0.00978406 -0.23951811] [ 0.16446328 0.00899961 0.98634215 -0.18819388] [ 0. 0. 0. 1. ]] SLAMing on 254.28463044 meters Centerline goodness : 0.114618 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.24, Z:-0.19 [[ 0.98634389 -0.00554135 -0.16460565 0.55726738] [ 0.00401796 0.99994598 -0.00958634 -0.24125087] [ 0.16464988 0.00879405 0.98631287 -0.18809274] [ 0. 0. 0. 1. ]] SLAMing on 254.31463044 meters Centerline goodness : 0.114618 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.24, Z:-0.19 [[ 0.98634389 -0.00554135 -0.16460565 0.55726738] [ 0.00401796 0.99994598 -0.00958634 -0.24125087] [ 0.16464988 0.00879405 0.98631287 -0.18809274] [ 0. 0. 0. 1. ]] SLAMing on 254.34463044 meters Centerline goodness : 0.238683 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.24, Z:-0.19 [[ 0.98629972 -0.00553973 -0.16487014 0.55795442] [ 0.00406141 0.99994848 -0.00930229 -0.24356633] [ 0.16491318 0.00850524 0.98627141 -0.18804036] [ 0. 0. 0. 1. ]] SLAMing on 254.37463044 meters Centerline goodness : 0.100060 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.25, Z:-0.19 [[ 0.98626046 -0.00556008 -0.16510418 0.55844001] [ 0.00412379 0.99995063 -0.00904083 -0.24593698] [ 0.1651463 0.00823576 0.98623469 -0.18781993] [ 0. 0. 0. 1. ]] SLAMing on 254.40463043999998 meters Centerline goodness : 0.132935 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.25, Z:-0.19 [[ 0.98626586 -0.00558594 -0.16507106 0.55828983] [ 0.00418485 0.99995222 -0.00883433 -0.24797693] [ 0.16511252 0.00802221 0.98624211 -0.18768093] [ 0. 0. 0. 1. ]] SLAMing on 254.43463043999998 meters Centerline goodness : 0.119832 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.25, Z:-0.19 [[ 0.98619796 -0.00559508 -0.1654759 0.55922363] [ 0.00421603 0.99995341 -0.00868393 -0.24967473] [ 0.16551677 0.00786642 0.9861756 -0.18743579] [ 0. 0. 0. 1. ]] SLAMing on 254.46463043999998 meters Centerline goodness : 0.103843 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98608499 0.00199626 -0.16622999 0.5414986 ] [-0.00366553 0.99994589 -0.00973574 -0.25429596] [ 0.16620156 0.01020959 0.98603895 -0.19226768] [ 0. 0. 0. 1. ]] SLAMing on 254.49463043999998 meters Centerline goodness : 0.083562 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98601601 0.00205605 -0.16663793 0.54312818] [-0.00374337 0.99994485 -0.00981224 -0.25332915] [ 0.16660857 0.01029882 0.98596933 -0.19287018] [ 0. 0. 0. 1. ]] SLAMing on 254.52463043999998 meters Centerline goodness : 0.264800 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98595595 0.0021356 -0.1669919 0.5441357 ] [-0.00384409 0.99994352 -0.00990841 -0.25219714] [ 0.16696131 0.01041119 0.98590848 -0.19298443] [ 0. 0. 0. 1. ]] SLAMing on 254.55463043999998 meters Centerline goodness : 0.201932 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98599614 0.00247861 -0.16674974 0.5431859 ] [-0.00418183 0.99994261 -0.0098639 -0.25077712] [ 0.16671572 0.01042309 0.98594991 -0.19267923] [ 0. 0. 0. 1. ]] SLAMing on 254.58463043999998 meters Centerline goodness : 0.258432 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98601413 0.00251316 -0.16664279 0.54262883] [-0.00421886 0.99994227 -0.00988243 -0.25042325] [ 0.16660833 0.01044725 0.98596781 -0.192393 ] [ 0. 0. 0. 1. ]] SLAMing on 254.61463043999998 meters Centerline goodness : 0.083632 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.19 [[ 0.98601273 0.0025541 -0.16665042 0.54259159] [-0.00424753 0.9999429 -0.00980592 -0.2509771 ] [ 0.16661586 0.01037661 0.98596728 -0.19234908] [ 0. 0. 0. 1. ]] SLAMing on 254.64463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.67463044 meters Centerline goodness : 0.130388 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.25, Z:-0.19 [[ 0.98598925 -0.00546701 -0.16671924 0.56386304] [ 0.0040005 0.99995031 -0.00913083 -0.25003679] [ 0.16676087 0.00833594 0.98596213 -0.18866759] [ 0. 0. 0. 1. ]] SLAMing on 254.70463044 meters Centerline goodness : 0.123942 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.25, Z:-0.19 [[ 0.9860008 -0.00531043 -0.16665597 0.56360004] [ 0.00388087 0.99995284 -0.00890238 -0.25096263] [ 0.16669539 0.00813098 0.98597492 -0.18852914] [ 0. 0. 0. 1. ]] SLAMing on 254.73463044 meters Centerline goodness : 0.149109 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.19 [[ 0.98614048 0.0022097 -0.1658978 0.54407324] [-0.00382701 0.99994822 -0.00942979 -0.25764812] [ 0.16586837 0.00993399 0.98609786 -0.19292752] [ 0. 0. 0. 1. ]] SLAMing on 254.76463044 meters Centerline goodness : 0.089944 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.25, Z:-0.19 [[ 0.98621361 -0.00447282 -0.1654168 0.56217599] [ 0.00320195 0.99996328 -0.00794875 -0.25310738] [ 0.16544628 0.00730951 0.98619172 -0.18857454] [ 0. 0. 0. 1. ]] SLAMing on 254.79463044 meters Centerline goodness : 0.109882 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 9.86720851e-01 6.99763267e-04 -1.62423743e-01 5.46970897e-01] [-2.13932562e-03 9.99959968e-01 -8.68827378e-03 -2.59875130e-01] [ 1.62411161e-01 8.92037817e-03 9.86682848e-01 -1.93540526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82463044 meters Centerline goodness : 0.111289 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 9.86700411e-01 7.27874310e-04 -1.62547746e-01 5.47293859e-01] [-2.15843224e-03 9.99960479e-01 -8.62442248e-03 -2.60306194e-01] [ 1.62535045e-01 8.86056950e-03 9.86662987e-01 -1.93500347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85463044 meters Centerline goodness : 0.114715 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 9.86673298e-01 7.89470604e-04 -1.62711951e-01 5.47856128e-01] [-2.21354847e-03 9.99960818e-01 -8.57103297e-03 -2.60398180e-01] [ 1.62698810e-01 8.81698016e-03 9.86636386e-01 -1.93656374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88463044 meters Centerline goodness : 0.129263 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 9.86651454e-01 8.66490064e-04 -1.62843967e-01 5.48350033e-01] [-2.28578160e-03 9.99961019e-01 -8.52849189e-03 -2.60225926e-01] [ 1.62830229e-01 8.78687466e-03 9.86614974e-01 -1.93812495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91463044 meters Centerline goodness : 0.126413 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 0.98666868 0.00107404 -0.16273832 0.54801312] [-0.00248909 0.99996085 -0.00849162 -0.25912333] [ 0.16272282 0.00878348 0.98663272 -0.19377015] [ 0. 0. 0. 1. ]] SLAMing on 254.94463044 meters Centerline goodness : 0.124566 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 0.98670414 0.00109044 -0.1625231 0.54727887] [-0.0025186 0.99996001 -0.00858163 -0.25821612] [ 0.16250724 0.00887686 0.98666742 -0.19357903] [ 0. 0. 0. 1. ]] SLAMing on 254.97463044 meters Centerline goodness : 0.128590 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 0.98670983 0.00102873 -0.16248891 0.54694346] [-0.00248506 0.99995855 -0.00875962 -0.2570445 ] [ 0.16247317 0.009047 0.98667149 -0.19330606] [ 0. 0. 0. 1. ]] SLAMing on 255.00463044 meters Centerline goodness : 0.129816 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:-0.19 [[ 9.86702968e-01 9.45753044e-04 -1.62531103e-01 5.47109885e-01] [-2.44088930e-03 9.99956523e-01 -8.99963613e-03 -2.55559354e-01] [ 1.62515525e-01 9.27668811e-03 9.86662377e-01 -1.93385229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03463044 meters Centerline goodness : 0.174021 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.25, Z:-0.19 [[ 9.86672004e-01 7.81666257e-04 -1.62719838e-01 5.47750310e-01] [-2.33331301e-03 9.99953614e-01 -9.34480174e-03 -2.53683833e-01] [ 1.62704985e-01 9.59993058e-03 9.86628060e-01 -1.93554447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06463044 meters Centerline goodness : 0.124866 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.25, Z:-0.19 [[ 9.86638522e-01 6.17867455e-04 -1.62923436e-01 5.48628581e-01] [-2.23051792e-03 9.99950316e-01 -9.71547237e-03 -2.51637124e-01] [ 1.62909339e-01 9.94906294e-03 9.86590879e-01 -1.93933330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09463044 meters Centerline goodness : 0.098513 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.25, Z:-0.19 [[ 9.86682407e-01 6.33309891e-04 -1.62657392e-01 5.47941509e-01] [-2.32623169e-03 9.99945093e-01 -1.02176528e-02 -2.46712476e-01] [ 1.62641990e-01 1.04599571e-02 9.86629704e-01 -1.93978118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12463044 meters Centerline goodness : 0.124161 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.24, Z:-0.19 [[ 9.86749793e-01 6.08712083e-04 -1.62248188e-01 5.46787733e-01] [-2.35393996e-03 9.99941423e-01 -1.05645145e-02 -2.43793539e-01] [ 1.62232254e-01 1.08064550e-02 9.86693426e-01 -1.93896304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15463043999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.18463043999998 meters Centerline goodness : 0.050911 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.24, Z:-0.19 [[ 0.98689729 0.00109302 -0.16134601 0.54462458] [-0.00286429 0.99993816 -0.01074589 -0.23707386] [ 0.16132429 0.01106723 0.98683939 -0.19410613] [ 0. 0. 0. 1. ]] SLAMing on 255.21463043999998 meters Centerline goodness : 0.131406 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.19 [[ 0.98665693 0.00215329 -0.16279887 0.54901072] [-0.00390504 0.99993787 -0.01044101 -0.23021114] [ 0.16276627 0.01093744 0.98660403 -0.19458419] [ 0. 0. 0. 1. ]] SLAMing on 255.24463043999998 meters Centerline goodness : 0.112719 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.19 [[ 0.98664116 0.00188293 -0.16289775 0.5494391 ] [-0.00372572 0.99993247 -0.01100779 -0.22702384] [ 0.16286603 0.01146765 0.98658155 -0.19480748] [ 0. 0. 0. 1. ]] SLAMing on 255.27463043999998 meters Centerline goodness : 0.113399 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.98665108 0.00168673 -0.16283978 0.54931933] [-0.00360337 0.99992766 -0.01147542 -0.22411382] [ 0.16280864 0.01190901 0.98658579 -0.19485236] [ 0. 0. 0. 1. ]] SLAMing on 255.30463043999998 meters Centerline goodness : 0.120656 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.98669491 0.00154888 -0.16257539 0.54854856] [-0.0035197 0.99992377 -0.01183512 -0.22160426] [ 0.16254467 0.01224987 0.98662514 -0.19477111] [ 0. 0. 0. 1. ]] SLAMing on 255.33463043999998 meters Centerline goodness : 0.117393 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.19 [[ 0.98676351 0.00134235 -0.16216032 0.54726105] [-0.0033929 0.99991775 -0.01236896 -0.21672832] [ 0.16213038 0.01275544 0.9866869 -0.19453525] [ 0. 0. 0. 1. ]] SLAMing on 255.36463043999998 meters Centerline goodness : 0.116186 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 0.98678357 0.00116602 -0.16203958 0.54678152] [-0.00326849 0.99991389 -0.01270908 -0.21464012] [ 0.16201081 0.01307074 0.98670241 -0.19433568] [ 0. 0. 0. 1. ]] SLAMing on 255.39463044 meters Centerline goodness : 0.118693 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 9.86783557e-01 9.97184082e-04 -1.62040789e-01 5.46446480e-01] [-3.15010790e-03 9.99910145e-01 -1.30299303e-02 -2.12753685e-01] [ 1.62013236e-01 1.33681669e-02 9.86698031e-01 -1.93950381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42463044 meters Centerline goodness : 0.330430 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 9.86782436e-01 7.96200084e-04 -1.62048729e-01 5.46405588e-01] [-3.00524743e-03 9.99905869e-01 -1.33873327e-02 -2.10779832e-01] [ 1.62022816e-01 1.36973813e-02 9.86691942e-01 -1.93870369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45463044 meters Centerline goodness : 0.099950 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 9.86767873e-01 6.14059898e-04 -1.62138174e-01 5.46666965e-01] [-2.87372379e-03 9.99901987e-01 -1.37025017e-02 -2.08998566e-01] [ 1.62113869e-01 1.39871287e-02 9.86672921e-01 -1.93881368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48463044 meters Centerline goodness : 0.148998 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 9.86754490e-01 4.81644118e-04 -1.62220050e-01 5.47060517e-01] [-2.77507560e-03 9.99899380e-01 -1.39114903e-02 -2.07703437e-01] [ 1.62197027e-01 1.41773984e-02 9.86656539e-01 -1.94047978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51463044 meters Centerline goodness : 0.159075 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 9.86737544e-01 1.73322480e-04 -1.62323716e-01 5.47417093e-01] [-2.52565390e-03 9.99894769e-01 -1.42853635e-02 -2.05975852e-01] [ 1.62304159e-01 1.45058780e-02 9.86634147e-01 -1.94012603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54463044 meters Centerline goodness : 0.106705 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 9.86754929e-01 9.18560049e-05 -1.62218066e-01 5.47069709e-01] [-2.45329716e-03 9.99893924e-01 -1.43569509e-02 -2.05764905e-01] [ 1.62199540e-01 1.45647612e-02 9.86650484e-01 -1.93888312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57463044 meters Centerline goodness : 0.463710 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.21, Z:-0.19 [[ 9.86760607e-01 2.69647130e-05 -1.62183547e-01 5.46817102e-01] [-2.40186105e-03 9.99892749e-01 -1.44472118e-02 -2.05315237e-01] [ 1.62165763e-01 1.46454818e-02 9.86654841e-01 -1.93670445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60463044 meters Centerline goodness : 0.102728 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.19 [[ 9.86765700e-01 -6.48673612e-05 -1.62152546e-01 5.46863243e-01] [-2.33563318e-03 9.99890492e-01 -1.46132949e-02 -2.04512553e-01] [ 1.62135737e-01 1.47986270e-02 9.86657490e-01 -1.93790790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63463044 meters Centerline goodness : 0.100789 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.19 [[ 9.86698083e-01 -1.84329581e-04 -1.62563401e-01 5.48664189e-01] [-2.27832201e-03 9.99885463e-01 -1.49623126e-02 -2.02369937e-01] [ 1.62547540e-01 1.51336569e-02 9.86584649e-01 -1.94580450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66463044 meters Centerline goodness : 0.108662 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86654742e-01 -1.74516926e-04 -1.62826258e-01 5.49977558e-01] [-2.31057802e-03 9.99883730e-01 -1.50727495e-02 -2.01235120e-01] [ 1.62809957e-01 1.52478225e-02 9.86539620e-01 -1.95187237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69463044 meters Centerline goodness : 0.106773 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86647077e-01 -6.51793300e-05 -1.62872776e-01 5.50670053e-01] [-2.42058261e-03 9.99883609e-01 -1.50634904e-02 -2.00450690e-01] [ 1.62854801e-01 1.52565957e-02 9.86532083e-01 -1.95750780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72463044 meters Centerline goodness : 0.107384 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86662296e-01 -1.67058775e-04 -1.62780482e-01 5.50500983e-01] [-2.33098944e-03 9.99882439e-01 -1.51550020e-02 -2.00601197e-01] [ 1.62763877e-01 1.53323087e-02 9.86545914e-01 -1.95800482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75463044 meters Centerline goodness : 0.107859 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86662978e-01 -2.67743248e-04 -1.62776217e-01 5.50668325e-01] [-2.23401981e-03 9.99882189e-01 -1.51861027e-02 -2.01279780e-01] [ 1.62761106e-01 1.53472106e-02 9.86546140e-01 -1.95934230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78463044 meters Centerline goodness : 0.107049 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86640413e-01 -2.83918845e-04 -1.62912906e-01 5.51299152e-01] [-2.21262074e-03 9.99882894e-01 -1.51427330e-02 -2.01894949e-01] [ 1.62898127e-01 1.53008968e-02 9.86524243e-01 -1.96227313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81463044 meters Centerline goodness : 0.102922 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86630872e-01 -1.77650368e-04 -1.62970830e-01 5.51890275e-01] [-2.30945847e-03 9.99883752e-01 -1.50714870e-02 -2.01811191e-01] [ 1.62954562e-01 1.52463687e-02 9.86515767e-01 -1.96637426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84463044 meters Centerline goodness : 0.098462 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86629146e-01 -1.98375898e-04 -1.62981252e-01 5.52084709e-01] [-2.31112355e-03 9.99881685e-01 -1.52077263e-02 -2.00729996e-01] [ 1.62964986e-01 1.53810559e-02 9.86511955e-01 -1.96723171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87463044 meters Centerline goodness : 0.106421 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86647915e-01 -2.67856981e-04 -1.62867492e-01 5.51990737e-01] [-2.27915035e-03 9.99878021e-01 -1.54514766e-02 -1.99202175e-01] [ 1.62851764e-01 1.56163667e-02 9.86526954e-01 -1.96945445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90463043999998 meters Centerline goodness : 0.498360 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86651810e-01 -2.31743028e-04 -1.62843947e-01 5.51976376e-01] [-2.34682206e-03 9.99874902e-01 -1.56420322e-02 -1.97501144e-01] [ 1.62827201e-01 1.58154051e-02 9.86527838e-01 -1.97031508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93463043999998 meters Centerline goodness : 0.441577 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.20 [[ 9.86639905e-01 -1.16048330e-04 -1.62916188e-01 5.52294757e-01] [-2.49118352e-03 9.99872083e-01 -1.57991332e-02 -1.95544897e-01] [ 1.62897182e-01 1.59939094e-02 9.86513407e-01 -1.97194723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96463043999998 meters Centerline goodness : 0.403445 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.20 [[ 9.86642733e-01 -8.18511166e-05 -1.62899081e-01 5.52413682e-01] [-2.56736284e-03 9.99867857e-01 -1.60523323e-02 -1.93211525e-01] [ 1.62878869e-01 1.62561381e-02 9.86512145e-01 -1.97387760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99463043999998 meters Centerline goodness : 0.140224 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.20 [[ 9.86699006e-01 -2.42793332e-04 -1.62557722e-01 5.51661271e-01] [-2.49985651e-03 9.99857969e-01 -1.66670937e-02 -1.89417260e-01] [ 1.62538680e-01 1.68517757e-02 9.86558257e-01 -1.97514294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02463044 meters Centerline goodness : 0.100039 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.20 [[ 9.86728275e-01 -4.22867799e-04 -1.62379591e-01 5.50892895e-01] [-2.36118198e-03 9.99853517e-01 -1.69519510e-02 -1.88250381e-01] [ 1.62362974e-01 1.71103772e-02 9.86582738e-01 -1.97179173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05463044000004 meters Centerline goodness : 0.092463 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.20 [[ 9.86752643e-01 -4.60200124e-04 -1.62231347e-01 5.50247726e-01] [-2.34123314e-03 9.99851444e-01 -1.70765380e-02 -1.87344881e-01] [ 1.62215105e-01 1.72301404e-02 9.86604978e-01 -1.96912023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08463044 meters Centerline goodness : 0.087754 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.20 [[ 9.86760086e-01 -4.46809481e-04 -1.62186107e-01 5.49931937e-01] [-2.36921252e-03 9.99849793e-01 -1.71690829e-02 -1.86315760e-01] [ 1.62169417e-01 1.73260191e-02 9.86610809e-01 -1.96686033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11463044000004 meters Centerline goodness : 0.436434 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.20 [[ 9.86756859e-01 -5.92803185e-04 -1.62205272e-01 5.50157138e-01] [-2.30550899e-03 9.99841050e-01 -1.76793623e-02 -1.83073272e-01] [ 1.62189969e-01 1.78191978e-02 9.86598647e-01 -1.96822236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14463044 meters Centerline goodness : 0.360119 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.20 [[ 9.86723352e-01 -7.30538620e-04 -1.62408412e-01 5.50957665e-01] [-2.24356440e-03 9.99833151e-01 -1.81283351e-02 -1.80413411e-01] [ 1.62394558e-01 1.82520253e-02 9.86557079e-01 -1.97188903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17463044000004 meters Centerline goodness : 0.106254 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.20 [[ 9.86645993e-01 -6.79245582e-04 -1.62877941e-01 5.52446580e-01] [-2.36075366e-03 9.99826628e-01 -1.84700024e-02 -1.77205033e-01] [ 1.62862248e-01 1.86078685e-02 9.86473332e-01 -1.97517915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20463044 meters Centerline goodness : 0.093292 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.20 [[ 9.86558153e-01 -4.97345046e-04 -1.63409802e-01 5.53976318e-01] [-2.59419951e-03 9.99821680e-01 -1.87050287e-02 -1.74055550e-01] [ 1.63389966e-01 1.88775162e-02 9.86380940e-01 -1.97739075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23463044000005 meters Centerline goodness : 0.442945 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.20 [[ 9.86495947e-01 -3.35910495e-04 -1.63785327e-01 5.55274613e-01] [-2.80520989e-03 9.99816562e-01 -1.89466121e-02 -1.70655236e-01] [ 1.63761647e-01 1.91502083e-02 9.86314044e-01 -1.98109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26463044 meters Centerline goodness : 0.442945 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.20 [[ 9.86495947e-01 -3.35910495e-04 -1.63785327e-01 5.55274613e-01] [-2.80520989e-03 9.99816562e-01 -1.89466121e-02 -1.70655236e-01] [ 1.63761647e-01 1.91502083e-02 9.86314044e-01 -1.98109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29463044 meters Centerline goodness : 0.092267 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.20 [[ 9.86441835e-01 -5.34735456e-04 -1.64110388e-01 5.56060561e-01] [-2.72515919e-03 9.99803437e-01 -1.96382534e-02 -1.65548274e-01] [ 1.64088631e-01 1.98192216e-02 9.86246480e-01 -1.98087931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32463044 meters Centerline goodness : 0.097469 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.20 [[ 9.86430975e-01 -7.96660554e-04 -1.64174592e-01 5.55985849e-01] [-2.52564472e-03 9.99796256e-01 -2.00266824e-02 -1.63706676e-01] [ 1.64157097e-01 2.01695866e-02 9.86227983e-01 -1.97786035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.38463044 meters Centerline goodness : 0.435897 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.20 [[ 0.98640112 -0.00130298 -0.16435067 0.55619006] [-0.00212387 0.99978403 -0.02067343 -0.16056576] [ 0.16434211 0.02074136 0.98618531 -0.19743526] [ 0. 0. 0. 1. ]] SLAMing on 256.41463044 meters Centerline goodness : 0.111935 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.19 [[ 0.98614479 -0.00883383 -0.16565151 0.5756281 ] [ 0.00562936 0.99978803 -0.01980415 -0.15172539] [ 0.16579134 0.01859724 0.98598548 -0.19210476] [ 0. 0. 0. 1. ]] SLAMing on 256.44463044 meters Centerline goodness : 0.111836 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.19 [[ 0.98612704 -0.0089527 -0.16575072 0.57583819] [ 0.00572976 0.99978531 -0.01991247 -0.15114831] [ 0.16589341 0.01868651 0.98596663 -0.19198068] [ 0. 0. 0. 1. ]] SLAMing on 256.47463044 meters Centerline goodness : 0.221589 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.19 [[ 0.98613975 -0.00914432 -0.16566464 0.57545734] [ 0.00590516 0.99978185 -0.02003453 -0.15083088] [ 0.1658117 0.01877857 0.98597862 -0.19169934] [ 0. 0. 0. 1. ]] SLAMing on 256.50463044 meters Centerline goodness : 0.466810 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.19 [[ 0.98613792 -0.0094164 -0.16566029 0.57523784] [ 0.00615768 0.99977753 -0.02017368 -0.15101759] [ 0.1658134 0.01887394 0.98597652 -0.19135651] [ 0. 0. 0. 1. ]] SLAMing on 256.53463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.56463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.59463044 meters Centerline goodness : 0.087469 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.19 [[ 0.9861315 -0.01117412 -0.16558927 0.57522791] [ 0.00775232 0.99974315 -0.02129631 -0.15001208] [ 0.16578471 0.01971726 0.98596484 -0.19125537] [ 0. 0. 0. 1. ]] SLAMing on 256.62463044000003 meters Centerline goodness : 0.406143 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.19 [[ 0.98612113 -0.01125106 -0.16564578 0.57548915] [ 0.00781235 0.99974055 -0.02139635 -0.14935755] [ 0.16584353 0.01980531 0.98595318 -0.19129045] [ 0. 0. 0. 1. ]] SLAMing on 256.65463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.68463044000003 meters Centerline goodness : 0.468353 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.19 [[ 0.98616212 -0.01143609 -0.16538889 0.57430156] [ 0.00793972 0.99973113 -0.02178606 -0.14699281] [ 0.16559357 0.02017145 0.98598777 -0.19067759] [ 0. 0. 0. 1. ]] SLAMing on 256.71463044 meters Centerline goodness : 0.465465 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.19 [[ 9.86347930e-01 -3.66513805e-03 -1.64633920e-01 5.93445348e-01] [-1.67074983e-04 9.99729498e-01 -2.32573014e-02 -1.44533362e-01] [ 1.64674627e-01 2.29672973e-02 9.86080509e-01 -1.85786067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74463044000004 meters Centerline goodness : 0.458963 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.19 [[ 9.85964807e-01 -3.15167236e-03 -1.66923536e-01 5.50314715e-01] [-7.83463876e-04 9.99723450e-01 -2.35033877e-02 -1.44275865e-01] [ 1.66951448e-01 2.33042916e-02 9.85689669e-01 -1.93123082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77463044 meters Centerline goodness : 0.396852 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.19 [[ 9.85932509e-01 -3.28459175e-03 -1.67111639e-01 5.51099536e-01] [-7.30371662e-04 9.99712687e-01 -2.39585060e-02 -1.41481299e-01] [ 1.67142320e-01 2.37435235e-02 9.85646838e-01 -1.93480559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80463044000004 meters Centerline goodness : 0.092804 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.19 [[ 0.98597043 -0.00307323 -0.16689177 0.55074027] [-0.00100593 0.99970294 -0.02435194 -0.13511012] [ 0.16691703 0.02417817 0.98567445 -0.19368975] [ 0. 0. 0. 1. ]] SLAMing on 256.83463044 meters Centerline goodness : 0.094384 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.19 [[ 0.98600364 -0.00311508 -0.16669471 0.54993476] [-0.0010063 0.99969603 -0.02463394 -0.13281193] [ 0.16672078 0.0244569 0.98570079 -0.1934216 ] [ 0. 0. 0. 1. ]] SLAMing on 256.86463044000004 meters Centerline goodness : 0.100206 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.19 [[ 9.86016899e-01 -3.19993683e-03 -1.66614631e-01 5.49546872e-01] [-9.58998019e-04 9.99690110e-01 -2.48749670e-02 -1.31033507e-01] [ 1.66642597e-01 2.46869209e-02 9.85708274e-01 -1.93220465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.92463044000004 meters Centerline goodness : 0.307593 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.19 [[ 9.85922862e-01 -3.75780273e-03 -1.67158576e-01 5.50068556e-01] [-5.15340733e-04 9.99674365e-01 -2.55126921e-02 -1.28629480e-01] [ 1.67200015e-01 2.52396901e-02 9.85599875e-01 -1.92211634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95463044 meters Centerline goodness : 0.446477 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.19 [[ 9.85885109e-01 -3.82204978e-03 -1.67379639e-01 5.50293975e-01] [-4.44201628e-04 9.99676160e-01 -2.54436193e-02 -1.29122092e-01] [ 1.67422682e-01 2.51588357e-02 9.85564142e-01 -1.91764151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98463044000005 meters Centerline goodness : 0.274665 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.19 [[ 9.85900698e-01 -3.83078368e-03 -1.67287590e-01 5.49912007e-01] [-4.01423010e-04 9.99680889e-01 -2.52578476e-02 -1.30417396e-01] [ 1.67330964e-01 2.49688826e-02 9.85584549e-01 -1.91542369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01463044 meters Centerline goodness : 0.308115 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.19 [[ 0.98603003 -0.00641364 -0.16644414 0.54621556] [ 0.00194899 0.99963426 -0.02697325 -0.13446807] [ 0.16655626 0.02627203 0.98568189 -0.19018696] [ 0. 0. 0. 1. ]] SLAMing on 257.04463044 meters Centerline goodness : 0.320232 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.19 [[ 0.98605674 -0.00646199 -0.16628391 0.54562269] [ 0.00204394 0.99964069 -0.02672672 -0.13668352] [ 0.16639687 0.02601418 0.98571565 -0.1899238 ] [ 0. 0. 0. 1. ]] SLAMing on 257.07463044 meters Centerline goodness : 0.469624 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.19 [[ 0.98604712 -0.00634247 -0.16634558 0.54565008] [ 0.00198888 0.99965144 -0.02632553 -0.13912391] [ 0.16645457 0.02562737 0.98571604 -0.1896948 ] [ 0. 0. 0. 1. ]] SLAMing on 257.10463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 257.13463044 meters Centerline goodness : 0.081048 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.19 [[ 0.98595313 -0.00595175 -0.16691616 0.54758871] [ 0.00173551 0.99967601 -0.02539415 -0.14558841] [ 0.16701322 0.02474776 0.98564402 -0.19012563] [ 0. 0. 0. 1. ]] SLAMing on 257.16463044 meters Centerline goodness : 0.467589 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.19 [[ 0.98592186 -0.00573629 -0.16710832 0.54830161] [ 0.0015739 0.99968546 -0.02503016 -0.14743232] [ 0.16719933 0.02441477 0.98562077 -0.1903573 ] [ 0. 0. 0. 1. ]] SLAMing on 257.19463044 meters Centerline goodness : 0.452468 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.19 [[ 0.98590605 -0.0055417 -0.16720813 0.54870351] [ 0.00142961 0.99969381 -0.02470298 -0.1491529 ] [ 0.16729383 0.02411577 0.9856121 -0.190512 ] [ 0. 0. 0. 1. ]] SLAMing on 257.22463044 meters Centerline goodness : 0.458455 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.19 [[ 0.98590988 -0.00535638 -0.16719158 0.54878422] [ 0.00129599 0.99970179 -0.02438555 -0.15095373] [ 0.16727234 0.02382528 0.98562281 -0.19064998] [ 0. 0. 0. 1. ]] SLAMing on 257.25463044 meters Centerline goodness : 0.279196 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.19 [[ 0.9859341 -0.00503035 -0.1670588 0.54855586] [ 0.00106883 0.99971629 -0.02379477 -0.15452562] [ 0.1671311 0.02328151 0.98565976 -0.19078778] [ 0. 0. 0. 1. ]] SLAMing on 257.28463044 meters Centerline goodness : 0.398636 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.19 [[ 9.85926576e-01 -4.85110328e-03 -1.67108507e-01 5.48829194e-01] [ 9.37731790e-04 9.99723653e-01 -2.34890974e-02 -1.56131897e-01] [ 1.67176275e-01 2.30018225e-02 9.85658668e-01 -1.90975521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31463044000003 meters Centerline goodness : 0.374976 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.19 [[ 0.98581102 -0.00984402 -0.16757005 0.57047499] [ 0.00648916 0.99976763 -0.02055644 -0.15427944] [ 0.16773347 0.01917738 0.98564583 -0.18758906] [ 0. 0. 0. 1. ]] SLAMing on 257.34463044 meters Centerline goodness : 0.467992 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.19 [[ 0.9857831 -0.00207225 -0.1680101 0.55305826] [-0.00159747 0.99976316 -0.02170417 -0.15978087] [ 0.16801529 0.02166399 0.98554631 -0.19276113] [ 0. 0. 0. 1. ]] SLAMing on 257.37463044000003 meters Centerline goodness : 0.464475 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.19 [[ 0.98569948 -0.00145378 -0.16850643 0.55476689] [-0.00220692 0.99976566 -0.02153506 -0.15852429] [ 0.16849825 0.02159898 0.98546528 -0.19328908] [ 0. 0. 0. 1. ]] SLAMing on 257.40463044 meters Centerline goodness : 0.328353 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.19 [[ 0.98568183 -0.0013508 -0.1686105 0.5550906 ] [-0.00234349 0.99976158 -0.02170928 -0.15685332] [ 0.16859963 0.02179358 0.98544366 -0.19340628] [ 0. 0. 0. 1. ]] SLAMing on 257.43463044000003 meters Centerline goodness : 0.089724 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.19 [[ 0.98567433 -0.00125808 -0.16865506 0.55511018] [-0.00247524 0.99975658 -0.02192376 -0.15478485] [ 0.16864159 0.02202715 0.98543129 -0.19337112] [ 0. 0. 0. 1. ]] SLAMing on 257.46463044 meters Centerline goodness : 0.095399 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.19 [[ 0.98567988 -0.00122187 -0.16862289 0.55490692] [-0.00255763 0.99975039 -0.02219488 -0.1525673 ] [ 0.16860792 0.02230832 0.98543072 -0.19332669] [ 0. 0. 0. 1. ]] SLAMing on 257.49463044000004 meters Centerline goodness : 0.466769 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.19 [[ 0.98567178 -0.00127409 -0.16866987 0.55488223] [-0.00255928 0.99974339 -0.02250768 -0.15039887] [ 0.16865526 0.02261686 0.98541559 -0.19326487] [ 0. 0. 0. 1. ]] SLAMing on 257.52463044 meters Centerline goodness : 0.090096 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.19 [[ 0.98561425 -0.00124376 -0.16900594 0.55575565] [-0.00267875 0.99973235 -0.02297932 -0.14561191] [ 0.16898929 0.02310147 0.98534712 -0.19329752] [ 0. 0. 0. 1. ]] SLAMing on 257.55463044000004 meters Centerline goodness : 0.467026 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.19 [[ 0.98561033 -0.00136401 -0.16902783 0.55574684] [-0.00262047 0.99972397 -0.02334764 -0.14307434] [ 0.16901302 0.02345461 0.9853347 -0.19326021] [ 0. 0. 0. 1. ]] SLAMing on 257.58463044 meters Centerline goodness : 0.093556 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.19 [[ 0.98561424 -0.00147728 -0.16900409 0.55547227] [-0.00256473 0.99971592 -0.02369586 -0.14064116] [ 0.16899108 0.02378842 0.98533046 -0.19302572] [ 0. 0. 0. 1. ]] SLAMing on 257.61463044000004 meters Centerline goodness : 0.096899 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.19 [[ 0.98563852 -0.00159103 -0.16886139 0.55489053] [-0.00250131 0.99970836 -0.02401941 -0.13833776] [ 0.16885036 0.02409683 0.9853471 -0.19280629] [ 0. 0. 0. 1. ]] SLAMing on 257.64463044 meters Centerline goodness : 0.096294 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.19 [[ 0.98567302 -0.00175648 -0.16865828 0.55430915] [-0.00239144 0.99969972 -0.02438736 -0.13602448] [ 0.16865047 0.0244413 0.98537284 -0.19274416] [ 0. 0. 0. 1. ]] SLAMing on 257.67463044000004 meters Centerline goodness : 0.095454 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.19 [[ 0.98568558 -0.00223628 -0.16857917 0.55412392] [-0.0020201 0.99968359 -0.02507284 -0.13281219] [ 0.1685819 0.02505448 0.98536918 -0.19263812] [ 0. 0. 0. 1. ]] SLAMing on 257.70463044 meters Centerline goodness : 0.211436 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.20 [[ 0.98574951 -0.0098833 -0.1679292 0.53475046] [ 0.00590725 0.99969065 -0.02416003 -0.12893657] [ 0.16811603 0.02282374 0.98550296 -0.19755231] [ 0. 0. 0. 1. ]] SLAMing on 257.73463044000005 meters Centerline goodness : 0.465978 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.20 [[ 0.98570721 -0.00994437 -0.16817371 0.5351348 ] [ 0.00595695 0.99968944 -0.02419802 -0.12837361] [ 0.16836211 0.02285036 0.98546033 -0.19719297] [ 0. 0. 0. 1. ]] SLAMing on 257.76463044 meters Centerline goodness : 0.209663 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.20 [[ 0.98568592 -0.00989351 -0.16830146 0.53540317] [ 0.0059156 0.99969155 -0.02412061 -0.1282041 ] [ 0.16848819 0.02277974 0.98544042 -0.19706313] [ 0. 0. 0. 1. ]] SLAMing on 257.79463044 meters Centerline goodness : 0.311068 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.20 [[ 0.98567393 -0.00995175 -0.16836826 0.5354512 ] [ 0.00598923 0.99969339 -0.02402633 -0.12833956] [ 0.16855574 0.02267373 0.98543131 -0.19677629] [ 0. 0. 0. 1. ]] SLAMing on 257.82463044 meters Centerline goodness : 0.178841 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.20 [[ 0.9856817 -0.01008301 -0.16831492 0.53518174] [ 0.00612827 0.9996932 -0.02399901 -0.12918813] [ 0.16850527 0.0226239 0.98544109 -0.196538 ] [ 0. 0. 0. 1. ]] SLAMing on 257.85463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 257.88463044 meters Centerline goodness : 0.309886 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.20 [[ 0.98553915 -0.01413094 -0.16885763 0.53675456] [ 0.00970222 0.9995877 -0.02702392 -0.13230854] [ 0.16916988 0.02499484 0.98526992 -0.19641698] [ 0. 0. 0. 1. ]] SLAMing on 257.91463044 meters Centerline goodness : 0.300153 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.20 [[ 0.98550003 -0.01404186 -0.16909324 0.53761736] [ 0.00966168 0.99959683 -0.02669896 -0.13424878] [ 0.16939997 0.0246781 0.98523837 -0.19657347] [ 0. 0. 0. 1. ]] SLAMing on 257.94463044 meters Centerline goodness : 0.234516 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.20 [[ 0.98547536 -0.01399205 -0.16924109 0.53800423] [ 0.00966215 0.99960527 -0.02638084 -0.13653386] [ 0.1695434 0.02436244 0.98522155 -0.19646083] [ 0. 0. 0. 1. ]] SLAMing on 257.97463044 meters Centerline goodness : 0.116311 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.20 [[ 0.98565892 -0.00878822 -0.16852082 0.51631159] [ 0.00394525 0.99957013 -0.02905144 -0.1432578 ] [ 0.16870369 0.02796995 0.98526988 -0.20035713] [ 0. 0. 0. 1. ]] SLAMing on 258.00463044 meters Centerline goodness : 0.379412 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98569595 -0.00878891 -0.16830406 0.51572632] [ 0.00404747 0.99958576 -0.02849422 -0.14832686] [ 0.16848478 0.02740543 0.98532321 -0.20024287] [ 0. 0. 0. 1. ]] SLAMing on 258.03463044 meters Centerline goodness : 0.092866 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98568711 -0.00859452 -0.16836584 0.51593928] [ 0.00391816 0.99959779 -0.02808754 -0.15048972] [ 0.16853952 0.02702584 0.98532433 -0.2002221 ] [ 0. 0. 0. 1. ]] SLAMing on 258.06463044000003 meters Centerline goodness : 0.442292 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.9856733 -0.00843339 -0.16845481 0.5161434 ] [ 0.00380627 0.99960704 -0.02777204 -0.15220383] [ 0.16862282 0.02673297 0.98531807 -0.20019484] [ 0. 0. 0. 1. ]] SLAMing on 258.09463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 258.12463044000003 meters Centerline goodness : 0.467521 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98559967 -0.00829783 -0.16889179 0.51807969] [ 0.00370174 0.99961468 -0.0275099 -0.15480424] [ 0.16905498 0.02648855 0.98525061 -0.20104521] [ 0. 0. 0. 1. ]] SLAMing on 258.15463044 meters Centerline goodness : 0.467521 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98559967 -0.00829783 -0.16889179 0.51807969] [ 0.00370174 0.99961468 -0.0275099 -0.15480424] [ 0.16905498 0.02648855 0.98525061 -0.20104521] [ 0. 0. 0. 1. ]] SLAMing on 258.18463044000003 meters Centerline goodness : 0.433497 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98559933 -0.00814378 -0.16890126 0.51826842] [ 0.00355539 0.99961683 -0.02745077 -0.15440603] [ 0.1690601 0.02645495 0.98525064 -0.20122412] [ 0. 0. 0. 1. ]] SLAMing on 258.21463044 meters Centerline goodness : 0.461576 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98558307 -0.00809445 -0.1689985 0.51848694] [ 0.00349232 0.99961539 -0.02751124 -0.1536145 ] [ 0.16915619 0.02652442 0.98523228 -0.20120781] [ 0. 0. 0. 1. ]] SLAMing on 258.24463044000004 meters Centerline goodness : 0.127477 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98551622 -0.00803118 -0.1693909 0.51978444] [ 0.00339772 0.99961256 -0.02762581 -0.15282184] [ 0.16954714 0.02665015 0.98516168 -0.20151997] [ 0. 0. 0. 1. ]] SLAMing on 258.27463044 meters Centerline goodness : 0.087656 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.9855011 -0.00801055 -0.16947985 0.5199777 ] [ 0.00337522 0.99961277 -0.02762081 -0.15285245] [ 0.16963548 0.02664831 0.98514652 -0.20151818] [ 0. 0. 0. 1. ]] SLAMing on 258.30463044000004 meters Centerline goodness : 0.464119 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.20 [[ 0.98548526 -0.00794239 -0.16957513 0.52001999] [ 0.003321 0.99961576 -0.027519 -0.15320371] [ 0.16972854 0.02655641 0.98513298 -0.20130068] [ 0. 0. 0. 1. ]] SLAMing on 258.33463044 meters Centerline goodness : 0.243383 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.20 [[ 0.98548543 -0.00790483 -0.16957588 0.51978613] [ 0.00332785 0.99962289 -0.02725799 -0.15519619] [ 0.1697274 0.02629803 0.9851401 -0.20104806] [ 0. 0. 0. 1. ]] SLAMing on 258.36463044000004 meters Centerline goodness : 0.332748 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.20 [[ 0.98549043 -0.00780767 -0.16955133 0.51962874] [ 0.00327036 0.99962945 -0.02702346 -0.1565808 ] [ 0.1696995 0.02607687 0.98515079 -0.20092542] [ 0. 0. 0. 1. ]] SLAMing on 258.39463044 meters Centerline goodness : 0.458978 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.20 [[ 0.98549317 -0.00764525 -0.16954278 0.51948987] [ 0.00315817 0.99963798 -0.02671968 -0.1580994 ] [ 0.16968568 0.02579662 0.98516055 -0.20078737] [ 0. 0. 0. 1. ]] SLAMing on 258.42463044000004 meters Centerline goodness : 0.090671 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.20 [[ 0.9854867 -0.00754564 -0.16958489 0.51977541] [ 0.00309585 0.99964433 -0.0264884 -0.15946631] [ 0.16972444 0.02557896 0.98515955 -0.20095163] [ 0. 0. 0. 1. ]] SLAMing on 258.45463044 meters Centerline goodness : 0.403115 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.20 [[ 0.98544528 -0.00729788 -0.16983622 0.52077904] [ 0.00293169 0.99965908 -0.0259448 -0.16247725] [ 0.16996766 0.02506927 0.98513071 -0.20125148] [ 0. 0. 0. 1. ]] SLAMing on 258.48463044000005 meters Centerline goodness : 0.095605 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.20 [[ 0.98544925 -0.00711607 -0.16982089 0.52052463] [ 0.00280489 0.999668 -0.02561306 -0.16403496] [ 0.16994677 0.02476404 0.98514204 -0.20103665] [ 0. 0. 0. 1. ]] SLAMing on 258.51463044 meters Centerline goodness : 0.389875 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.20 [[ 0.98543968 -0.00700132 -0.16988121 0.52063319] [ 0.00273057 0.99967465 -0.02536028 -0.16540587] [ 0.17000349 0.02452715 0.98513818 -0.20096206] [ 0. 0. 0. 1. ]] SLAMing on 258.54463044 meters Centerline goodness : 0.306791 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.20 [[ 0.98540151 -0.00692565 -0.17010557 0.5213366 ] [ 0.00268448 0.99968009 -0.02514994 -0.16679967] [ 0.17022533 0.02432615 0.98510486 -0.20102135] [ 0. 0. 0. 1. ]] SLAMing on 258.57463044 meters Centerline goodness : 0.397133 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98487963 -0.00744795 -0.17307985 0.47993818] [ 0.00307575 0.99966969 -0.02551564 -0.17178715] [ 0.17321272 0.02459749 0.98457723 -0.20898677] [ 0. 0. 0. 1. ]] SLAMing on 258.60463044 meters Centerline goodness : 0.088325 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.9848628 -0.00729198 -0.17318227 0.48049708] [ 0.00294517 0.99967447 -0.02534334 -0.17213277] [ 0.17331069 0.02444966 0.98456367 -0.20927922] [ 0. 0. 0. 1. ]] SLAMing on 258.63463044 meters Centerline goodness : 0.088680 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98486204 -0.00715143 -0.17319241 0.48062467] [ 0.00281921 0.99967727 -0.025247 -0.17191825] [ 0.17331707 0.02437654 0.98456436 -0.20936753] [ 0. 0. 0. 1. ]] SLAMing on 258.66463044 meters Centerline goodness : 0.115658 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98487306 -0.00706931 -0.17313314 0.48029043] [ 0.00273157 0.99967668 -0.02527983 -0.17119986] [ 0.17325587 0.0244245 0.98457394 -0.2092099 ] [ 0. 0. 0. 1. ]] SLAMing on 258.69463044 meters Centerline goodness : 0.135676 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98485359 -0.00705781 -0.17324431 0.4805988 ] [ 0.00269306 0.99967332 -0.02541635 -0.17017867] [ 0.1733671 0.02456483 0.98455087 -0.20924915] [ 0. 0. 0. 1. ]] SLAMing on 258.72463044 meters Centerline goodness : 0.121814 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98474594 -0.00673821 -0.17386784 0.48256445] [ 0.00236927 0.99967651 -0.02532327 -0.16925107] [ 0.17398223 0.02452505 0.98444335 -0.2096315 ] [ 0. 0. 0. 1. ]] SLAMing on 258.75463044 meters Centerline goodness : 0.126177 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98474894 -0.00666008 -0.17385387 0.48280613] [ 0.00230166 0.99967829 -0.02525902 -0.16925505] [ 0.17396617 0.02447364 0.98444747 -0.2099231 ] [ 0. 0. 0. 1. ]] SLAMing on 258.78463044 meters Centerline goodness : 0.133508 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98475491 -0.00657144 -0.17382343 0.48252265] [ 0.00224615 0.99968322 -0.02506824 -0.17038967] [ 0.1739331 0.02429564 0.98445772 -0.20969885] [ 0. 0. 0. 1. ]] SLAMing on 258.81463044000003 meters Centerline goodness : 0.434885 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.21 [[ 0.98479389 -0.00654902 -0.17360331 0.48163299] [ 0.00226833 0.99968875 -0.02484479 -0.17212597] [ 0.17371198 0.02407321 0.98450222 -0.20935824] [ 0. 0. 0. 1. ]] SLAMing on 258.84463044 meters Centerline goodness : 0.099039 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.18, Z:-0.21 [[ 0.98481307 -0.00661534 -0.17349195 0.48096498] [ 0.00240706 0.99969802 -0.02445551 -0.17605169] [ 0.17360134 0.0236665 0.9845316 -0.20897249] [ 0. 0. 0. 1. ]] SLAMing on 258.87463044000003 meters Centerline goodness : 0.098979 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.18, Z:-0.21 [[ 0.98477446 -0.0065391 -0.17371383 0.48183186] [ 0.00236769 0.9997041 -0.02420951 -0.17783462] [ 0.17382073 0.02342961 0.98449856 -0.20925955] [ 0. 0. 0. 1. ]] SLAMing on 258.90463044 meters Centerline goodness : 0.099385 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.18, Z:-0.21 [[ 0.98472129 -0.00650696 -0.1740162 0.48283523] [ 0.00236264 0.99970887 -0.02401227 -0.17959184] [ 0.17412179 0.02323426 0.98444998 -0.20946547] [ 0. 0. 0. 1. ]] SLAMing on 258.93463044000003 meters Centerline goodness : 0.204360 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.18, Z:-0.21 [[ 0.9846801 -0.00637142 -0.17425411 0.48375024] [ 0.00226807 0.99971566 -0.02373704 -0.18111992] [ 0.1743558 0.02297817 0.98441458 -0.20975571] [ 0. 0. 0. 1. ]] SLAMing on 258.96463044 meters Centerline goodness : 0.457485 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.18, Z:-0.21 [[ 0.98467544 -0.00595494 -0.1742952 0.48389116] [ 0.00195131 0.9997305 -0.02313275 -0.18357944] [ 0.17438599 0.02243815 0.98442169 -0.20975951] [ 0. 0. 0. 1. ]] SLAMing on 258.99463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 259.02463044 meters Centerline goodness : 0.116147 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 0.98465172 -0.00584811 -0.17443278 0.48384645] [ 0.00188519 0.99973653 -0.02287592 -0.18559865] [ 0.17452061 0.02219597 0.98440332 -0.20932945] [ 0. 0. 0. 1. ]] SLAMing on 259.05463044000004 meters Centerline goodness : 0.106438 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 0.98458693 -0.00576201 -0.17480098 0.48434472] [ 0.00181539 0.99974001 -0.02272931 -0.18657606] [ 0.1748865 0.02206165 0.9843414 -0.20881309] [ 0. 0. 0. 1. ]] SLAMing on 259.08463044 meters Centerline goodness : 0.106905 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 0.98456764 -0.00559198 -0.17491507 0.48428235] [ 0.00167748 0.999745 -0.02251926 -0.18724125] [ 0.1749964 0.02187832 0.98432596 -0.20843691] [ 0. 0. 0. 1. ]] SLAMing on 259.11463044000004 meters Centerline goodness : 0.110097 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 0.98463945 -0.00498414 -0.17452881 0.48277254] [ 0.00118445 0.99976015 -0.02186854 -0.18852494] [ 0.17459594 0.02132591 0.98440919 -0.20792055] [ 0. 0. 0. 1. ]] SLAMing on 259.14463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 259.17463044000004 meters Centerline goodness : 0.092926 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 0.98469276 -0.00477743 -0.17423358 0.48178487] [ 0.00102927 0.99976624 -0.02159629 -0.1895084 ] [ 0.17429602 0.02108638 0.9844675 -0.20764505] [ 0. 0. 0. 1. ]] SLAMing on 259.20463044 meters Centerline goodness : 0.109751 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 9.84708692e-01 -4.70460982e-03 -1.74145510e-01 4.81304364e-01] [ 9.76525023e-04 9.99768643e-01 -2.14873682e-02 -1.90097888e-01] [ 1.74206310e-01 2.09887408e-02 9.84485467e-01 -2.07328246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23463044000005 meters Centerline goodness : 0.144564 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.20, Z:-0.21 [[ 0.98480239 0.00278048 -0.17365636 0.46172007] [-0.00677107 0.99972635 -0.02239166 -0.19613308] [ 0.17354658 0.0232272 0.98455172 -0.21144659] [ 0. 0. 0. 1. ]] SLAMing on 259.26463044 meters Centerline goodness : 0.106338 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 9.84896058e-01 -4.05472368e-03 -1.73099147e-01 4.79028709e-01] [ 4.47746902e-04 9.99782064e-01 -2.08715982e-02 -1.90793746e-01] [ 1.73146051e-01 2.04788502e-02 9.84683229e-01 -2.06475344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29463044 meters Centerline goodness : 0.093053 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 9.84899343e-01 -3.98990456e-03 -1.73081963e-01 4.78796900e-01] [ 3.89862406e-04 9.99782984e-01 -2.08286491e-02 -1.90606339e-01] [ 1.73127505e-01 2.04466446e-02 9.84687159e-01 -2.06274516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32463044 meters Centerline goodness : 0.146170 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 9.84829427e-01 -4.07807528e-03 -1.73477289e-01 4.80326372e-01] [ 4.42924451e-04 9.99779626e-01 -2.09881741e-02 -1.90001137e-01] [ 1.73524651e-01 2.05929341e-02 9.84614202e-01 -2.06798334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 259.38463044 meters Centerline goodness : 0.175762 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 9.84753149e-01 -4.16090148e-03 -1.73907800e-01 4.81855202e-01] [ 5.08420425e-04 9.99778470e-01 -2.10416733e-02 -1.90133333e-01] [ 1.73956826e-01 2.06324357e-02 9.84537112e-01 -2.07187838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41463044 meters Centerline goodness : 0.115291 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 9.84742940e-01 -4.08897044e-03 -1.73967305e-01 4.82101174e-01] [ 4.62981088e-04 9.99781915e-01 -2.08784136e-02 -1.90968193e-01] [ 1.74014736e-01 2.04793269e-02 9.84530075e-01 -2.07247894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44463044 meters Centerline goodness : 0.208247 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.19, Z:-0.21 [[ 9.84737573e-01 -4.32276119e-03 -1.73992028e-01 4.81911087e-01] [ 7.35334056e-04 9.99785927e-01 -2.06775263e-02 -1.94069539e-01] [ 1.74044165e-01 2.02339948e-02 9.84529946e-01 -2.06870419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47463044 meters Centerline goodness : 0.466194 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.21 [[ 9.84690013e-01 -4.29330421e-03 -1.74261716e-01 4.82651243e-01] [ 7.50472503e-04 9.99791794e-01 -2.03913265e-02 -1.96349055e-01] [ 1.74312980e-01 1.99483569e-02 9.84488216e-01 -2.06832161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50463044 meters Centerline goodness : 0.161760 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.21 [[ 9.84643935e-01 -4.15906746e-03 -1.74525138e-01 4.83304577e-01] [ 6.68609499e-04 9.99798679e-01 -2.00537751e-02 -1.98420305e-01] [ 1.74573407e-01 1.96291389e-02 9.84448486e-01 -2.06742810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53463044 meters Centerline goodness : 0.105657 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.21 [[ 9.84634485e-01 -3.97954765e-03 -1.74582631e-01 4.83368050e-01] [ 5.38713298e-04 9.99804767e-01 -1.97518791e-02 -1.99895947e-01] [ 1.74627150e-01 1.93543313e-02 9.84444396e-01 -2.06609390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56463044000003 meters Centerline goodness : 0.106824 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.21 [[ 9.84622197e-01 -3.78146485e-03 -1.74656321e-01 4.83376576e-01] [ 3.76060437e-04 9.99809265e-01 -1.95267261e-02 -2.00832924e-01] [ 1.74696848e-01 1.91607666e-02 9.84435816e-01 -2.06399155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59463044 meters Centerline goodness : 0.446081 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.21 [[ 9.84626549e-01 -3.54586690e-03 -1.74636727e-01 4.83091680e-01] [ 1.53792820e-04 9.99811144e-01 -1.94333048e-02 -2.00996914e-01] [ 1.74672654e-01 1.91076900e-02 9.84441141e-01 -2.06154731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62463044000003 meters Centerline goodness : 0.104681 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.21 [[ 9.84607064e-01 -3.45174930e-03 -1.74748434e-01 4.83304832e-01] [ 5.38653039e-05 9.99810918e-01 -1.94454417e-02 -2.00487144e-01] [ 1.74782513e-01 1.91367064e-02 9.84421078e-01 -2.06100531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65463044 meters Centerline goodness : 0.102679 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.20 [[ 0.98456453 -0.00804367 -0.17483702 0.50488088] [ 0.00526484 0.99985244 -0.01635184 -0.19734945] [ 0.17494275 0.01517896 0.9844616 -0.20243485] [ 0. 0. 0. 1. ]] SLAMing on 259.68463044000003 meters Centerline goodness : 0.107228 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.20, Z:-0.21 [[ 9.85064405e-01 -2.45804031e-03 -1.72168743e-01 4.90742173e-01] [-4.40422954e-04 9.99858861e-01 -1.67947928e-02 -2.03220188e-01] [ 1.72185725e-01 1.66197796e-02 9.84924291e-01 -2.07496337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71463044 meters Centerline goodness : 0.101601 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.20, Z:-0.21 [[ 9.85047499e-01 -2.36778365e-03 -1.72266708e-01 4.90738735e-01] [-4.99420712e-04 9.99862107e-01 -1.65987399e-02 -2.04381645e-01] [ 1.72282256e-01 1.64365808e-02 9.84910485e-01 -2.07176776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74463044000004 meters Centerline goodness : 0.104777 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.21, Z:-0.21 [[ 0.98508523 -0.00528947 -0.1719858 0.4883329 ] [ 0.00210762 0.99982333 -0.01867803 -0.20858085] [ 0.17205421 0.01803697 0.98492234 -0.20578005] [ 0. 0. 0. 1. ]] SLAMing on 259.77463044 meters Centerline goodness : 0.109079 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.21, Z:-0.21 [[ 0.98510223 -0.00534768 -0.17188661 0.48778169] [ 0.00220386 0.99982688 -0.01847573 -0.21058184] [ 0.17195566 0.01782167 0.98494347 -0.20539126] [ 0. 0. 0. 1. ]] SLAMing on 259.80463044000004 meters Centerline goodness : 0.456211 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.21, Z:-0.21 [[ 0.98507764 -0.00509127 -0.17203522 0.48826355] [ 0.00205153 0.99983871 -0.01784246 -0.21399581] [ 0.17209832 0.01722327 0.9849292 -0.20532961] [ 0. 0. 0. 1. ]] SLAMing on 259.83463044 meters Centerline goodness : 0.090962 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.22, Z:-0.21 [[ 0.98507027 -0.00497963 -0.17208068 0.48859656] [ 0.0019746 0.99984264 -0.01762969 -0.21512191] [ 0.17214139 0.0170267 0.98492509 -0.20549198] [ 0. 0. 0. 1. ]] SLAMing on 259.86463044000004 meters Centerline goodness : 0.109523 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.22, Z:-0.21 [[ 0.98509534 -0.00493689 -0.17193838 0.48842108] [ 0.00195209 0.99984453 -0.01752444 -0.21589338] [ 0.17199816 0.01692761 0.98495182 -0.20565373] [ 0. 0. 0. 1. ]] SLAMing on 259.89463044 meters Centerline goodness : 0.120570 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.22, Z:-0.21 [[ 0.98510486 -0.00484559 -0.17188643 0.48820129] [ 0.00188236 0.99984687 -0.0173983 -0.21665587] [ 0.17194441 0.0168156 0.98496312 -0.20556377] [ 0. 0. 0. 1. ]] SLAMing on 259.92463044000004 meters Centerline goodness : 0.178744 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.22, Z:-0.21 [[ 0.98479143 -0.00508974 -0.17366613 0.44482691] [ 0.00211781 0.99984821 -0.01729391 -0.22076941] [ 0.17372779 0.0166631 0.98465273 -0.21290184] [ 0. 0. 0. 1. ]] SLAMing on 259.95463044 meters Centerline goodness : 0.260649 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.22, Z:-0.21 [[ 0.98476728 -0.00486935 -0.17380939 0.44537618] [ 0.00195942 0.9998551 -0.01690976 -0.22281501] [ 0.17386654 0.01631161 0.98463412 -0.21301719] [ 0. 0. 0. 1. ]] SLAMing on 259.98463044000005 meters Centerline goodness : 0.168918 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.22, Z:-0.21 [[ 0.98474073 -0.00477566 -0.17396233 0.44606111] [ 0.00190401 0.99985923 -0.01667042 -0.22438839] [ 0.17401745 0.01608482 0.98461119 -0.21329142] [ 0. 0. 0. 1. ]] SLAMing on 260.01463044 meters Centerline goodness : 0.161562 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.23, Z:-0.21 [[ 0.98470116 -0.00468216 -0.1741887 0.44683821] [ 0.00186326 0.99986471 -0.01634302 -0.22670713] [ 0.17424166 0.01576843 0.98457666 -0.21343712] [ 0. 0. 0. 1. ]] SLAMing on 260.04463044 meters Centerline goodness : 0.161562 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.23, Z:-0.21 [[ 0.98470116 -0.00468216 -0.1741887 0.44683821] [ 0.00186326 0.99986471 -0.01634302 -0.22670713] [ 0.17424166 0.01576843 0.98457666 -0.21343712] [ 0. 0. 0. 1. ]] SLAMing on 260.07463044 meters Centerline goodness : 0.308202 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.23, Z:-0.21 [[ 0.98465356 -0.00460242 -0.17445968 0.44786524] [ 0.00183568 0.99987003 -0.01601697 -0.22900089] [ 0.17451072 0.01545092 0.98453404 -0.21370814] [ 0. 0. 0. 1. ]] SLAMing on 260.10463044 meters Centerline goodness : 0.103242 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.23, Z:-0.21 [[ 0.98460591 -0.00449976 -0.17473109 0.44875427] [ 0.00178719 0.99987549 -0.01567853 -0.23130151] [ 0.17477988 0.0151249 0.98449136 -0.213828 ] [ 0. 0. 0. 1. ]] SLAMing on 260.13463044 meters Centerline goodness : 0.098492 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:-0.21 [[ 0.98455615 -0.00441573 -0.17501341 0.44967213] [ 0.00178034 0.9998827 -0.01521233 -0.2352668 ] [ 0.17506005 0.01466581 0.98444852 -0.21391701] [ 0. 0. 0. 1. ]] SLAMing on 260.16463044 meters Centerline goodness : 0.104034 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:-0.21 [[ 0.98453717 -0.0043084 -0.1751228 0.44984045] [ 0.00171541 0.99988669 -0.01495536 -0.23695284] [ 0.17516739 0.0144237 0.98443301 -0.21377472] [ 0. 0. 0. 1. ]] SLAMing on 260.19463044 meters Centerline goodness : 0.102461 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:-0.21 [[ 0.984502 -0.00419814 -0.17532311 0.45029458] [ 0.00164279 0.99989034 -0.01471764 -0.23836102] [ 0.17536567 0.01420153 0.98440093 -0.21368534] [ 0. 0. 0. 1. ]] SLAMing on 260.22463044 meters Centerline goodness : 0.272938 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:-0.21 [[ 0.98445134 -0.00401562 -0.17561158 0.45101109] [ 0.00150601 0.99989487 -0.01442162 -0.2397124 ] [ 0.17565103 0.01393291 0.9843539 -0.21361812] [ 0. 0. 0. 1. ]] SLAMing on 260.25463044 meters Centerline goodness : 0.121331 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:-0.21 [[ 0.98437945 -0.00369526 -0.17602117 0.45232202] [ 0.00127979 0.99990348 -0.01383418 -0.24283713] [ 0.1760553 0.01339282 0.98428917 -0.21387566] [ 0. 0. 0. 1. ]] SLAMing on 260.28463044 meters Centerline goodness : 0.142783 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:-0.21 [[ 0.98434072 -0.00351143 -0.17624139 0.45289578] [ 0.00115474 0.99990857 -0.01347273 -0.24480928] [ 0.17627258 0.01305824 0.98425477 -0.21384368] [ 0. 0. 0. 1. ]] SLAMing on 260.31463044000003 meters Centerline goodness : 0.102667 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.25, Z:-0.21 [[ 0.98432467 -0.00330466 -0.17633497 0.45312266] [ 0.00101598 0.9999141 -0.01306791 -0.24719209] [ 0.17636301 0.01268392 0.98424347 -0.21377113] [ 0. 0. 0. 1. ]] SLAMing on 260.34463044 meters Centerline goodness : 0.113630 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.25, Z:-0.21 [[ 9.84377456e-01 -3.00025663e-03 -1.76045513e-01 4.51597330e-01] [ 8.19818319e-04 9.99922072e-01 -1.24570750e-02 -2.51268284e-01] [ 1.76069169e-01 1.21181384e-02 9.84303205e-01 -2.12924324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37463044000003 meters Centerline goodness : 0.114545 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.25, Z:-0.21 [[ 9.84401076e-01 -2.86860447e-03 -1.75915581e-01 4.50910900e-01] [ 7.19787094e-04 9.99924368e-01 -1.22776408e-02 -2.52272958e-01] [ 1.75937496e-01 1.19595011e-02 9.84328689e-01 -2.12553134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40463044 meters Centerline goodness : 0.072517 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.26, Z:-0.22 [[ 0.98491352 0.00260518 -0.17302767 0.43591725] [-0.00491064 0.99990477 -0.01289753 -0.25828608] [ 0.17297759 0.01355263 0.98483251 -0.21787463] [ 0. 0. 0. 1. ]] SLAMing on 260.43463044000003 meters Centerline goodness : 0.083852 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.26, Z:-0.22 [[ 0.98490895 0.00281156 -0.17305042 0.4361484 ] [-0.00509089 0.99990602 -0.01272905 -0.25849509] [ 0.17299837 0.01341794 0.98483071 -0.21806628] [ 0. 0. 0. 1. ]] SLAMing on 260.46463044 meters Centerline goodness : 0.102261 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.26, Z:-0.22 [[ 0.98489389 0.00302223 -0.17313256 0.43645148] [-0.00527752 0.9999071 -0.01256754 -0.25856094] [ 0.17307849 0.0132914 0.98481835 -0.21813208] [ 0. 0. 0. 1. ]] SLAMing on 260.49463044000004 meters Centerline goodness : 0.119881 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.26, Z:-0.22 [[ 0.98491977 0.00313736 -0.17298327 0.43608157] [-0.00538157 0.99990731 -0.01250605 -0.25862546] [ 0.172928 0.01324838 0.98484536 -0.21817271] [ 0. 0. 0. 1. ]] SLAMing on 260.52463044 meters Centerline goodness : 0.124406 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.26, Z:-0.22 [[ 0.98495987 0.00311465 -0.17275516 0.43516816] [-0.00536211 0.99990694 -0.01254435 -0.25919678] [ 0.17270001 0.01328201 0.98488491 -0.21781752] [ 0. 0. 0. 1. ]] SLAMing on 260.55463044000004 meters Centerline goodness : 0.213902 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.26, Z:-0.22 [[ 0.98495724 0.00310489 -0.17277035 0.43489108] [-0.00535769 0.99990658 -0.01257445 -0.25914849] [ 0.17271516 0.01331094 0.98488187 -0.21749792] [ 0. 0. 0. 1. ]] SLAMing on 260.58463044 meters Centerline goodness : 0.128230 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.26, Z:-0.22 [[ 0.98498429 0.00310751 -0.17261602 0.43427779] [-0.00536004 0.99990644 -0.01258481 -0.25910069] [ 0.17256077 0.01332107 0.98490879 -0.21728955] [ 0. 0. 0. 1. ]] SLAMing on 260.61463044000004 meters Centerline goodness : 0.127524 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.26, Z:-0.22 [[ 0.98500892 0.00312973 -0.172475 0.43374214] [-0.00538304 0.99990615 -0.01259836 -0.25875674] [ 0.17241938 0.01333793 0.98493333 -0.21709402] [ 0. 0. 0. 1. ]] SLAMing on 260.64463044 meters Centerline goodness : 0.176626 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.22 [[ 0.98507602 -0.00475564 -0.17205411 0.41393789] [ 0.002808 0.99992922 -0.01156157 -0.25522967] [ 0.17209692 0.0109059 0.98501965 -0.22161808] [ 0. 0. 0. 1. ]] SLAMing on 260.67463044000004 meters Centerline goodness : 0.265541 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.22 [[ 0.985049 -0.00473297 -0.1722094 0.41465909] [ 0.00273913 0.99992646 -0.01181373 -0.25285617] [ 0.17225265 0.0111654 0.98498952 -0.22194343] [ 0. 0. 0. 1. ]] SLAMing on 260.70463044 meters Centerline goodness : 0.132902 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.22 [[ 0.98504334 -0.00471533 -0.17224221 0.41491106] [ 0.0026916 0.9999246 -0.01198102 -0.25111375] [ 0.17228572 0.01133821 0.98498176 -0.22215709] [ 0. 0. 0. 1. ]] SLAMing on 260.73463044000005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 260.76463044 meters Centerline goodness : 0.111465 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.25, Z:-0.22 [[ 0.98530142 0.00281339 -0.1708016 0.43427911] [-0.00525513 0.99989034 -0.01384531 -0.24716773] [ 0.17074392 0.01453939 0.98520816 -0.21781652] [ 0. 0. 0. 1. ]] SLAMing on 260.79463044 meters Centerline goodness : 0.135911 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.25, Z:-0.22 [[ 0.98529883 0.00266661 -0.17081894 0.43423826] [-0.00515755 0.99988672 -0.01414021 -0.24557593] [ 0.17076189 0.01481333 0.98520097 -0.21774152] [ 0. 0. 0. 1. ]] SLAMing on 260.82463044 meters Centerline goodness : 0.156188 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.22 [[ 0.98529174 0.00259489 -0.17086094 0.43450239] [-0.00512454 0.99988367 -0.01436595 -0.24387352] [ 0.17080378 0.01503023 0.98519042 -0.21790576] [ 0. 0. 0. 1. ]] SLAMing on 260.85463044 meters Centerline goodness : 0.135665 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.22 [[ 0.98528859 0.0024665 -0.17088096 0.43500333] [-0.00505412 0.99987904 -0.01470946 -0.24156089] [ 0.17082401 0.01535672 0.98518188 -0.21836469] [ 0. 0. 0. 1. ]] SLAMing on 260.88463044 meters Centerline goodness : 0.117142 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.22 [[ 0.98528057 0.00204127 -0.17093285 0.43564126] [-0.00476675 0.99986795 -0.01553583 -0.23682672] [ 0.17087857 0.01612195 0.98516019 -0.21890138] [ 0. 0. 0. 1. ]] SLAMing on 260.91463044 meters Centerline goodness : 0.120857 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.23, Z:-0.22 [[ 0.98526887 0.00183183 -0.17100262 0.43562148] [-0.00462199 0.99986259 -0.01591982 -0.23472307] [ 0.17094996 0.01647568 0.98514195 -0.21867574] [ 0. 0. 0. 1. ]] SLAMing on 260.94463044 meters Centerline goodness : 0.098277 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.23, Z:-0.22 [[ 0.98524683 0.00169736 -0.17113094 0.43580441] [-0.00453533 0.99985858 -0.01619402 -0.2329034 ] [ 0.17107926 0.01673125 0.9851152 -0.21848922] [ 0. 0. 0. 1. ]] SLAMing on 260.97463044 meters Centerline goodness : 0.119069 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.23, Z:-0.22 [[ 0.98523819 0.00161362 -0.17118149 0.4358609 ] [-0.00448202 0.99985593 -0.01637136 -0.23150467] [ 0.17113041 0.01689693 0.98510349 -0.21835992] [ 0. 0. 0. 1. ]] SLAMing on 261.00463044 meters Centerline goodness : 0.113796 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.23, Z:-0.22 [[ 0.98522536 0.00153642 -0.17125601 0.43590823] [-0.00441562 0.99985523 -0.01643263 -0.23108577] [ 0.17120597 0.01694604 0.98508951 -0.21814978] [ 0. 0. 0. 1. ]] SLAMing on 261.03463044 meters Centerline goodness : 0.113134 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.21 [[ 0.98513284 -0.00724504 -0.17164147 0.4566567 ] [ 0.00447613 0.99985362 -0.01651346 -0.22610409] [ 0.17173599 0.01549967 0.98502107 -0.21370143] [ 0. 0. 0. 1. ]] SLAMing on 261.06463044000003 meters Centerline goodness : 0.112390 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.21 [[ 0.98510332 -0.00735672 -0.17180606 0.457188 ] [ 0.00459597 0.99985394 -0.01646127 -0.22704754] [ 0.17190207 0.01542643 0.98499325 -0.21372849] [ 0. 0. 0. 1. ]] SLAMing on 261.09463044 meters Centerline goodness : 0.160545 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.21 [[ 0.98510616 -0.00740104 -0.17178786 0.45733019] [ 0.00465633 0.99985508 -0.01637481 -0.22785819] [ 0.17188416 0.01533102 0.98499787 -0.21386521] [ 0. 0. 0. 1. ]] SLAMing on 261.12463044000003 meters Centerline goodness : 0.147178 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.21 [[ 0.98512002 -0.00741895 -0.17170761 0.45723523] [ 0.0046855 0.99985586 -0.01631905 -0.22816894] [ 0.17180393 0.01527169 0.98501278 -0.21389287] [ 0. 0. 0. 1. ]] SLAMing on 261.15463044 meters Centerline goodness : 0.106175 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.21 [[ 0.98511984 -0.00761455 -0.17170011 0.45724676] [ 0.00484421 0.99985134 -0.01654798 -0.22735263] [ 0.17180059 0.01547 0.98501027 -0.21383504] [ 0. 0. 0. 1. ]] SLAMing on 261.18463044000003 meters Centerline goodness : 0.127194 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.21 [[ 0.98509341 -0.0076696 -0.17184919 0.45771863] [ 0.00487638 0.99984915 -0.01667017 -0.22657137] [ 0.17195112 0.01558368 0.98498221 -0.21391057] [ 0. 0. 0. 1. ]] SLAMing on 261.21463044 meters Centerline goodness : 0.108575 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.21 [[ 0.98505499 -0.00766836 -0.17206938 0.45826446] [ 0.00484839 0.99984707 -0.01680288 -0.22535726] [ 0.17217191 0.0157175 0.98494152 -0.21388084] [ 0. 0. 0. 1. ]] SLAMing on 261.24463044000004 meters Centerline goodness : 0.105477 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 0.98493098 -0.00542584 -0.17286275 0.4617094 ] [ 0.00284272 0.99988063 -0.01518723 -0.22234006] [ 0.17292452 0.01446697 0.98482883 -0.21478526] [ 0. 0. 0. 1. ]] SLAMing on 261.27463044 meters Centerline goodness : 0.102454 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 0.98497556 -0.005444 -0.17260798 0.46109626] [ 0.00284507 0.99987889 -0.01530066 -0.22150468] [ 0.17267037 0.0145797 0.98487176 -0.21484466] [ 0. 0. 0. 1. ]] SLAMing on 261.30463044000004 meters Centerline goodness : 0.107196 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 0.98501645 -0.0055495 -0.17237111 0.46034534] [ 0.00292917 0.99987631 -0.01545235 -0.22096872] [ 0.17243555 0.01471592 0.98491087 -0.21467278] [ 0. 0. 0. 1. ]] SLAMing on 261.33463044 meters Centerline goodness : 0.121092 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 0.98505566 -0.00566184 -0.17214325 0.45957506] [ 0.00302504 0.99987411 -0.01557591 -0.22074532] [ 0.17220977 0.0148224 0.98494878 -0.21450642] [ 0. 0. 0. 1. ]] SLAMing on 261.36463044000004 meters Centerline goodness : 0.121810 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 0.98507324 -0.00574119 -0.17203996 0.45912446] [ 0.00308691 0.99987211 -0.01569186 -0.22016261] [ 0.17210805 0.01492656 0.98496498 -0.21429298] [ 0. 0. 0. 1. ]] SLAMing on 261.39463044 meters Centerline goodness : 0.118965 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 0.98505671 -0.0057367 -0.17213474 0.4593589 ] [ 0.00306505 0.99987075 -0.01578247 -0.21922571] [ 0.17220303 0.01501903 0.98494698 -0.21427384] [ 0. 0. 0. 1. ]] SLAMing on 261.42463044000004 meters Centerline goodness : 0.110370 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 0.9849654 -0.00571657 -0.17265712 0.46128949] [ 0.00298517 0.99986633 -0.01607528 -0.21641212] [ 0.17272594 0.01531818 0.9848508 -0.21480208] [ 0. 0. 0. 1. ]] SLAMing on 261.45463044 meters Centerline goodness : 0.121649 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.21, Z:-0.22 [[ 0.98493263 -0.0057674 -0.17284226 0.46198654] [ 0.00299461 0.99986268 -0.01629878 -0.21486311] [ 0.17291253 0.0155356 0.98481465 -0.21504551] [ 0. 0. 0. 1. ]] SLAMing on 261.48463044000005 meters Centerline goodness : 0.115227 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.21, Z:-0.22 [[ 0.98493962 -0.00582593 -0.17280046 0.46190656] [ 0.00301291 0.99985872 -0.01653683 -0.21320334] [ 0.17287239 0.01576715 0.98481802 -0.21509324] [ 0. 0. 0. 1. ]] SLAMing on 261.51463044 meters Centerline goodness : 0.142405 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.21, Z:-0.21 [[ 0.98499801 -0.00566402 -0.17247271 0.46058328] [ 0.00283652 0.99985759 -0.01663591 -0.21102532] [ 0.17254237 0.01589712 0.9848738 -0.21467403] [ 0. 0. 0. 1. ]] SLAMing on 261.54463044 meters Centerline goodness : 0.106437 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.21, Z:-0.22 [[ 0.98480899 -0.00622272 -0.17352961 0.41658154] [ 0.0033773 0.99985505 -0.01668774 -0.21413402] [ 0.1736083 0.01584817 0.98468726 -0.22231939] [ 0. 0. 0. 1. ]] SLAMing on 261.57463044 meters Centerline goodness : 0.103288 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.22, Z:-0.22 [[ 0.98480073 -0.00624184 -0.17357581 0.41651742] [ 0.00341622 0.99985682 -0.01657291 -0.21518198] [ 0.1736544 0.01572804 0.98468105 -0.22210197] [ 0. 0. 0. 1. ]] SLAMing on 261.60463044 meters Centerline goodness : 0.106627 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.22, Z:-0.22 [[ 0.9848271 -0.00638276 -0.17342102 0.416184 ] [ 0.00359686 0.99985947 -0.01637389 -0.21754282] [ 0.17350116 0.01550168 0.98471166 -0.22208625] [ 0. 0. 0. 1. ]] SLAMing on 261.63463044 meters Centerline goodness : 0.117010 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.22, Z:-0.22 [[ 0.98474784 -0.01021181 -0.17368766 0.41741065] [ 0.00702759 0.99979596 -0.01893814 -0.22341665] [ 0.17384561 0.01742868 0.98461868 -0.22237215] [ 0. 0. 0. 1. ]] SLAMing on 261.66463044 meters Centerline goodness : 0.110458 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.23, Z:-0.22 [[ 0.98466321 -0.01012972 -0.17417159 0.41904688] [ 0.00702348 0.99980527 -0.01844148 -0.22691135] [ 0.17432448 0.01693536 0.98454262 -0.22268731] [ 0. 0. 0. 1. ]] SLAMing on 261.69463044 meters Centerline goodness : 0.105788 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.24, Z:-0.23 [[ 9.84683156e-01 -3.07775481e-03 -1.74326162e-01 4.02027041e-01] [-3.14226095e-04 9.99811234e-01 -1.94267283e-02 -2.35541492e-01] [ 1.74353045e-01 1.91839499e-02 9.84496314e-01 -2.27940525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72463044 meters Centerline goodness : 0.116350 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.23, Z:-0.22 [[ 0.98464757 -0.01034371 -0.17424746 0.42159678] [ 0.00728267 0.99980789 -0.01819745 -0.23352326] [ 0.17440221 0.01664908 0.98453374 -0.22361529] [ 0. 0. 0. 1. ]] SLAMing on 261.75463044 meters Centerline goodness : 0.104261 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.24, Z:-0.23 [[ 9.84822626e-01 -3.17193622e-03 -1.73534823e-01 4.04026203e-01] [-1.61054612e-04 9.99815861e-01 -1.91890153e-02 -2.40496175e-01] [ 1.73563735e-01 1.89257250e-02 9.84640771e-01 -2.28748199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78463044 meters Centerline goodness : 0.107508 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.24, Z:-0.23 [[ 9.84855026e-01 -2.51493509e-03 -1.73361627e-01 4.03405989e-01] [-7.37663531e-04 9.99824962e-01 -1.86949475e-02 -2.41367091e-01] [ 1.73378298e-01 1.85396956e-02 9.84680783e-01 -2.28527135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81463044000003 meters Centerline goodness : 0.121187 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.22 [[ 0.98496886 0.00535809 -0.17264887 0.42253594] [-0.0089239 0.99976247 -0.01988394 -0.2437313 ] [ 0.17250132 0.02112577 0.98478271 -0.22398818] [ 0. 0. 0. 1. ]] SLAMing on 261.84463044 meters Centerline goodness : 0.107093 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.22 [[ 0.98500129 0.00541271 -0.17246206 0.42188169] [-0.00897546 0.99976198 -0.01988505 -0.24382608] [ 0.17231338 0.02113472 0.98481543 -0.22388108] [ 0. 0. 0. 1. ]] SLAMing on 261.87463044000003 meters Centerline goodness : 0.106857 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.22 [[ 0.98505196 0.0054721 -0.1721705 0.42088626] [-0.00901808 0.99976289 -0.01982033 -0.24445052] [ 0.17202122 0.0210767 0.98486774 -0.22363878] [ 0. 0. 0. 1. ]] SLAMing on 261.90463044 meters Centerline goodness : 0.124817 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.22 [[ 0.9851735 0.00556607 -0.17147069 0.41869748] [-0.00902847 0.99977067 -0.01941914 -0.24804346] [ 0.17132327 0.02067934 0.98499782 -0.22324273] [ 0. 0. 0. 1. ]] SLAMing on 261.93463044000003 meters Centerline goodness : 0.102005 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.22 [[ 0.98519837 0.00567642 -0.17132412 0.41817684] [-0.00907321 0.99977736 -0.01905019 -0.25060375] [ 0.17117784 0.02032268 0.98503053 -0.22311082] [ 0. 0. 0. 1. ]] SLAMing on 261.96463044 meters Centerline goodness : 0.102005 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.22 [[ 0.98519837 0.00567642 -0.17132412 0.41817684] [-0.00907321 0.99977736 -0.01905019 -0.25060375] [ 0.17117784 0.02032268 0.98503053 -0.22311082] [ 0. 0. 0. 1. ]] SLAMing on 261.99463044000004 meters Centerline goodness : 0.104303 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.22 [[ 0.98523076 0.00582001 -0.17113293 0.41777892] [-0.0091345 0.99978552 -0.01858692 -0.25365262] [ 0.17098805 0.01987562 0.98507261 -0.22318422] [ 0. 0. 0. 1. ]] SLAMing on 262.02463044 meters Centerline goodness : 0.112781 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:-0.22 [[ 0.98532583 0.00244533 -0.17066645 0.41690267] [-0.00609641 0.99976356 -0.02087232 -0.25914476] [ 0.17057506 0.02160649 0.98510776 -0.22350578] [ 0. 0. 0. 1. ]] SLAMing on 262.05463044000004 meters Centerline goodness : 0.101697 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:-0.22 [[ 0.98531512 0.00263905 -0.17072538 0.41727249] [-0.00620447 0.99977359 -0.02035376 -0.26254052] [ 0.17063301 0.02111413 0.98510841 -0.22371288] [ 0. 0. 0. 1. ]] SLAMing on 262.08463044 meters Centerline goodness : 0.086697 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.22 [[ 0.98527737 0.00287032 -0.17093935 0.41814962] [-0.00636063 0.99978225 -0.01987423 -0.26538697] [ 0.17084508 0.02066891 0.98508109 -0.22403286] [ 0. 0. 0. 1. ]] SLAMing on 262.11463044000004 meters Centerline goodness : 0.119352 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.22 [[ 0.98523852 0.00306769 -0.17115972 0.41926954] [-0.00649576 0.9997893 -0.01947206 -0.26776346] [ 0.17106393 0.02029644 0.98505086 -0.2246073 ] [ 0. 0. 0. 1. ]] SLAMing on 262.14463044 meters Centerline goodness : 0.121644 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.23 [[ 0.98513616 0.00354535 -0.17173867 0.42167576] [-0.00687041 0.99980021 -0.01877063 -0.27128149] [ 0.17163781 0.01967154 0.9849637 -0.22549127] [ 0. 0. 0. 1. ]] SLAMing on 262.17463044000004 meters Centerline goodness : 0.124997 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.23 [[ 0.98512326 0.00371862 -0.17180902 0.42214727] [-0.00700554 0.99980378 -0.01852891 -0.27255542] [ 0.17170641 0.01945688 0.98495601 -0.22580089] [ 0. 0. 0. 1. ]] SLAMing on 262.20463044 meters Centerline goodness : 0.096044 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.23 [[ 0.98513752 0.00386212 -0.17172403 0.42211179] [-0.00711391 0.99980678 -0.01832477 -0.27355658] [ 0.17162008 0.01927405 0.98497465 -0.22602935] [ 0. 0. 0. 1. ]] SLAMing on 262.23463044000005 meters Centerline goodness : 0.122349 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.23 [[ 0.98514162 0.00399073 -0.17169758 0.42213807] [-0.00721429 0.99980916 -0.01815472 -0.27435414] [ 0.17159236 0.01912365 0.98498241 -0.22612923] [ 0. 0. 0. 1. ]] SLAMing on 262.26463044 meters Centerline goodness : 0.118626 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98513808 0.00410046 -0.17171531 0.42221714] [-0.00729913 0.99981133 -0.01800049 -0.27515063] [ 0.1716091 0.01898634 0.98498215 -0.2261454 ] [ 0. 0. 0. 1. ]] SLAMing on 262.29463044 meters Centerline goodness : 0.126155 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98512568 0.00411469 -0.1717861 0.42282999] [-0.00729178 0.99981377 -0.01786755 -0.27697604] [ 0.17168059 0.01885441 0.98497223 -0.22656596] [ 0. 0. 0. 1. ]] SLAMing on 262.32463044 meters Centerline goodness : 0.132425 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98511176 0.00417427 -0.17186449 0.42329716] [-0.00732632 0.99981632 -0.01771011 -0.27823307] [ 0.171759 0.01870557 0.98496139 -0.22684432] [ 0. 0. 0. 1. ]] SLAMing on 262.35463044 meters Centerline goodness : 0.164985 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98510523 0.00424043 -0.1719003 0.42360712] [-0.00737048 0.99981839 -0.01757434 -0.27920642] [ 0.17179456 0.01857956 0.98495758 -0.22709413] [ 0. 0. 0. 1. ]] SLAMing on 262.38463044 meters Centerline goodness : 0.126619 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98507776 0.00435299 -0.17205479 0.42419728] [-0.00746157 0.99982033 -0.01742481 -0.27978604] [ 0.17194803 0.01844859 0.98493326 -0.22725972] [ 0. 0. 0. 1. ]] SLAMing on 262.41463044 meters Centerline goodness : 0.123510 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.28, Z:-0.23 [[ 0.98500569 0.00460304 -0.17246047 0.42561625] [-0.00767692 0.99982327 -0.01716093 -0.28055773] [ 0.17235099 0.01822758 0.98486694 -0.22764725] [ 0. 0. 0. 1. ]] SLAMing on 262.44463044 meters Centerline goodness : 0.124081 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.28, Z:-0.23 [[ 0.98497598 0.00468932 -0.17262772 0.42623401] [-0.00775287 0.99982413 -0.01707661 -0.28085223] [ 0.17251728 0.01815841 0.9848391 -0.22786511] [ 0. 0. 0. 1. ]] SLAMing on 262.47463044 meters Centerline goodness : 0.124752 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.28, Z:-0.23 [[ 0.98494622 0.00478983 -0.1727947 0.42695204] [-0.00783648 0.99982557 -0.01695372 -0.28122523] [ 0.17268336 0.0180526 0.98481194 -0.22812123] [ 0. 0. 0. 1. ]] SLAMing on 262.50463044 meters Centerline goodness : 0.129854 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.28, Z:-0.23 [[ 0.9849313 0.00491634 -0.17287617 0.42733112] [-0.00794361 0.99982692 -0.01682369 -0.28154008] [ 0.17276353 0.01794344 0.98479988 -0.22830845] [ 0. 0. 0. 1. ]] SLAMing on 262.53463044 meters Centerline goodness : 0.124355 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.28, Z:-0.23 [[ 0.98498992 0.00504795 -0.17253806 0.42590648] [-0.00803452 0.99982967 -0.01661564 -0.28240032] [ 0.1724248 0.0177525 0.9848627 -0.22767139] [ 0. 0. 0. 1. ]] SLAMing on 262.56463044000003 meters Centerline goodness : 0.173204 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98504313 0.00510723 -0.17223223 0.42467044] [-0.00806789 0.99983141 -0.0164943 -0.28292356] [ 0.17211895 0.01763715 0.98491827 -0.22721212] [ 0. 0. 0. 1. ]] SLAMing on 262.59463044 meters Centerline goodness : 0.124360 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98509326 0.00514376 -0.17194421 0.42376853] [-0.008084 0.99983276 -0.01640414 -0.28325451] [ 0.17183108 0.0175496 0.9849701 -0.22700147] [ 0. 0. 0. 1. ]] SLAMing on 262.62463044000003 meters Centerline goodness : 0.129599 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98512412 0.00517872 -0.17176629 0.42340127] [-0.00810209 0.99983395 -0.01632278 -0.28351814] [ 0.17165324 0.01747163 0.98500249 -0.22704087] [ 0. 0. 0. 1. ]] SLAMing on 262.65463044 meters Centerline goodness : 0.182424 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98509735 0.00505931 -0.17192326 0.42435577] [-0.00798296 0.99983498 -0.01631841 -0.28391084] [ 0.17181233 0.01744768 0.98497518 -0.22756349] [ 0. 0. 0. 1. ]] SLAMing on 262.68463044000003 meters Centerline goodness : 0.116899 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.23 [[ 0.98509231 0.00495606 -0.17195516 0.42431533] [-0.00788102 0.99983557 -0.01633153 -0.28443844] [ 0.17184595 0.01744325 0.98496939 -0.22738878] [ 0. 0. 0. 1. ]] SLAMing on 262.71463044 meters Centerline goodness : 0.114932 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.28, Z:-0.22 [[ 9.85246892e-01 -2.25056167e-03 -1.71124216e-01 4.42180831e-01] [-3.60879142e-04 9.99883984e-01 -1.52278601e-02 -2.80733895e-01] [ 1.71138634e-01 1.50649570e-02 9.85131775e-01 -2.22468459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74463044000004 meters Centerline goodness : 0.204538 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.28, Z:-0.22 [[ 9.85290171e-01 -2.32945124e-03 -1.70873789e-01 4.41221311e-01] [-2.66489564e-04 9.99884929e-01 -1.51676436e-02 -2.81634348e-01] [ 1.70889459e-01 1.49900662e-02 9.85176172e-01 -2.22103709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77463044 meters Centerline goodness : 0.084096 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.28, Z:-0.22 [[ 9.85264416e-01 -2.44276034e-03 -1.71020654e-01 4.41749716e-01] [-1.37750408e-04 9.99886350e-01 -1.50753914e-02 -2.82846128e-01] [ 1.71038043e-01 1.48768049e-02 9.85152104e-01 -2.22185191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80463044000004 meters Centerline goodness : 0.124074 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.28, Z:-0.22 [[ 9.85212529e-01 -2.46504213e-03 -1.71318990e-01 4.42706831e-01] [-1.04429518e-04 9.99887675e-01 -1.49875417e-02 -2.83714557e-01] [ 1.71336692e-01 1.47838046e-02 9.85101608e-01 -2.22340003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83463044 meters Centerline goodness : 0.118199 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.28, Z:-0.22 [[ 9.85158440e-01 -2.45991830e-03 -1.71629826e-01 4.43872779e-01] [-9.05809778e-05 9.99889713e-01 -1.48510528e-02 -2.84853577e-01] [ 1.71647430e-01 1.46461864e-02 9.85049567e-01 -2.22668278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86463044000004 meters Centerline goodness : 0.117407 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.85064517e-01 -2.49676647e-03 -1.72167543e-01 4.45513755e-01] [-4.38788036e-05 9.99891191e-01 -1.47514346e-02 -2.86052348e-01] [ 1.72185640e-01 1.45386693e-02 9.84957224e-01 -2.22863117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89463044 meters Centerline goodness : 0.125278 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84993381e-01 -2.49149275e-03 -1.72574134e-01 4.47171298e-01] [-2.60793849e-05 9.99893639e-01 -1.45845482e-02 -2.87520918e-01] [ 1.72592117e-01 1.43701840e-02 9.84888552e-01 -2.23428950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92463044000004 meters Centerline goodness : 0.120782 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84902849e-01 -2.46149610e-03 -1.73090493e-01 4.49274835e-01] [-2.10139029e-05 9.99897191e-01 -1.43389718e-02 -2.89988883e-01] [ 1.73107993e-01 1.41261315e-02 9.84801541e-01 -2.24123053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95463044 meters Centerline goodness : 0.161514 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84916924e-01 -2.41113904e-03 -1.73011093e-01 4.49045873e-01] [-5.30243289e-05 9.99898651e-01 -1.42367705e-02 -2.90850615e-01] [ 1.73027885e-01 1.40312100e-02 9.84816976e-01 -2.24056990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98463044000005 meters Centerline goodness : 0.096051 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84944264e-01 -2.37693094e-03 -1.72855853e-01 4.48399624e-01] [-7.20547510e-05 9.99899738e-01 -1.41601369e-02 -2.91630407e-01] [ 1.72872180e-01 1.39594007e-02 9.84845340e-01 -2.23816021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01463044 meters Centerline goodness : 0.083891 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84942842e-01 -1.99027987e-03 -1.72868840e-01 4.48654005e-01] [-4.04520213e-04 9.99904460e-01 -1.38169436e-02 -2.92231926e-01] [ 1.72879824e-01 1.36788286e-02 9.84847936e-01 -2.24043373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04463044 meters Centerline goodness : 0.145238 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84921732e-01 -1.80639961e-03 -1.72991096e-01 4.49341973e-01] [-5.81839039e-04 9.99905242e-01 -1.37538545e-02 -2.91561219e-01] [ 1.72999548e-01 1.36471231e-02 9.84827352e-01 -2.24411931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07463044 meters Centerline goodness : 0.105252 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84897750e-01 -1.66130170e-03 -1.73129034e-01 4.49959536e-01] [-7.41591362e-04 9.99904313e-01 -1.38135952e-02 -2.90442376e-01] [ 1.73135416e-01 1.37333699e-02 9.84802276e-01 -2.24717814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10463044 meters Centerline goodness : 0.090512 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84904566e-01 -1.67702964e-03 -1.73090102e-01 4.50047831e-01] [-7.54105678e-04 9.99902008e-01 -1.39787741e-02 -2.89462764e-01] [ 1.73096583e-01 1.38982867e-02 9.84806788e-01 -2.24959006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13463044 meters Centerline goodness : 0.121225 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84954316e-01 -1.61861566e-03 -1.72807339e-01 4.49034294e-01] [-8.26153137e-04 9.99900608e-01 -1.40745057e-02 -2.88714645e-01] [ 1.72812945e-01 1.40055105e-02 9.84855082e-01 -2.24701481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16463044 meters Centerline goodness : 0.121602 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.84985326e-01 -1.47388094e-03 -1.72631790e-01 4.48475610e-01] [-9.37574955e-04 9.99903140e-01 -1.38864097e-02 -2.89169091e-01] [ 1.72635536e-01 1.38397650e-02 9.84888538e-01 -2.24567874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19463044 meters Centerline goodness : 0.126808 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 0.98502563 -0.00136877 -0.17240252 0.44786615] [-0.00100051 0.99990626 -0.01365507 -0.29027612] [ 0.17240505 0.01362308 0.98493193 -0.22452514] [ 0. 0. 0. 1. ]] SLAMing on 263.22463044 meters Centerline goodness : 0.087855 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.85063341e-01 -1.36851393e-03 -1.72186936e-01 4.47264329e-01] [-9.66674659e-04 9.99908709e-01 -1.34773568e-02 -2.91770897e-01] [ 1.72189660e-01 1.34424989e-02 9.84972091e-01 -2.24424175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25463044 meters Centerline goodness : 0.125506 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.22 [[ 9.85097518e-01 -1.47259575e-03 -1.71990442e-01 4.46618396e-01] [-8.39497445e-04 9.99910270e-01 -1.33696410e-02 -2.93364815e-01] [ 1.71994697e-01 1.33147857e-02 9.85007889e-01 -2.24189569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28463044 meters Centerline goodness : 0.120663 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.30, Z:-0.22 [[ 9.85105862e-01 -1.56256164e-03 -1.71941849e-01 4.46555763e-01] [-6.80695303e-04 9.99915435e-01 -1.29868699e-02 -2.96634051e-01] [ 1.71947602e-01 1.29104817e-02 9.85021493e-01 -2.24157430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31463044000003 meters Centerline goodness : 0.112093 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.30, Z:-0.22 [[ 9.85075799e-01 -1.35627581e-03 -1.72115747e-01 4.47041959e-01] [-8.14693337e-04 9.99921012e-01 -1.25421608e-02 -2.98832744e-01] [ 1.72119163e-01 1.24952006e-02 9.84996885e-01 -2.24149088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34463044 meters Centerline goodness : 0.111202 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.30, Z:-0.22 [[ 9.85050437e-01 -1.21982296e-03 -1.72261861e-01 4.47505725e-01] [-8.94732989e-04 9.99925213e-01 -1.21970635e-02 -3.00834437e-01] [ 1.72263856e-01 1.21688511e-02 9.84975676e-01 -2.24194747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37463044000003 meters Centerline goodness : 0.110461 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.30, Z:-0.22 [[ 9.85019190e-01 -1.16230127e-03 -1.72440843e-01 4.47824020e-01] [-9.02563123e-04 9.99928839e-01 -1.18954450e-02 -3.03086168e-01] [ 1.72442398e-01 1.18728803e-02 9.84948046e-01 -2.23985551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40463044 meters Centerline goodness : 0.112563 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.31, Z:-0.22 [[ 0.9850721 -0.00519096 -0.172064 0.44690461] [ 0.0026348 0.9998828 -0.01508094 -0.30560949] [ 0.17212212 0.01440246 0.98497033 -0.22395166] [ 0. 0. 0. 1. ]] SLAMing on 263.43463044000003 meters Centerline goodness : 0.152009 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.31, Z:-0.22 [[ 0.98506046 -0.0051368 -0.17213224 0.44718685] [ 0.00261957 0.99988633 -0.01484782 -0.30732604] [ 0.17218895 0.01417508 0.98496195 -0.22399133] [ 0. 0. 0. 1. ]] SLAMing on 263.46463044 meters Centerline goodness : 0.115506 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.31, Z:-0.22 [[ 0.98505803 -0.00498846 -0.17215048 0.44719405] [ 0.0025191 0.99989083 -0.01455965 -0.30878302] [ 0.17220432 0.01390843 0.98496306 -0.22396609] [ 0. 0. 0. 1. ]] SLAMing on 263.49463044000004 meters Centerline goodness : 0.120799 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.31, Z:-0.22 [[ 0.9850118 -0.00474751 -0.17242161 0.44822251] [ 0.0023451 0.99989736 -0.01413435 -0.31076793] [ 0.17247101 0.01351815 0.98492183 -0.22421357] [ 0. 0. 0. 1. ]] SLAMing on 263.52463044 meters Centerline goodness : 0.103258 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.31, Z:-0.22 [[ 0.98495951 -0.00471785 -0.17272089 0.44905895] [ 0.00231908 0.99989808 -0.0140873 -0.31117142] [ 0.17276975 0.01347486 0.98487006 -0.22424556] [ 0. 0. 0. 1. ]] SLAMing on 263.55463044000004 meters Centerline goodness : 0.113060 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.31, Z:-0.22 [[ 0.984934 -0.00472593 -0.17286607 0.44963047] [ 0.00232671 0.99989818 -0.01407906 -0.31141964] [ 0.17291501 0.01346473 0.98484471 -0.22443488] [ 0. 0. 0. 1. ]] SLAMing on 263.58463044 meters Centerline goodness : 0.141046 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.32, Z:-0.23 [[ 0.9850261 0.00204417 -0.17239317 0.43133779] [-0.00471899 0.99987474 -0.01510738 -0.31816529] [ 0.1723407 0.01569468 0.98491236 -0.22930504] [ 0. 0. 0. 1. ]] SLAMing on 263.61463044000004 meters Centerline goodness : 0.138261 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.32, Z:-0.22 [[ 0.98523919 -0.00579854 -0.17108512 0.44995208] [ 0.00342055 0.99989345 -0.01419092 -0.31777873] [ 0.17114918 0.01339624 0.98515405 -0.22468567] [ 0. 0. 0. 1. ]] SLAMing on 263.64463044 meters Centerline goodness : 0.122113 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.32, Z:-0.22 [[ 0.98524983 -0.005837 -0.17102255 0.44972772] [ 0.00350898 0.99989707 -0.0139115 -0.32027922] [ 0.17108615 0.01310619 0.9851689 -0.22461282] [ 0. 0. 0. 1. ]] SLAMing on 263.67463044000004 meters Centerline goodness : 0.121695 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.32, Z:-0.22 [[ 0.98523218 -0.00586092 -0.17112334 0.45003934] [ 0.00358641 0.99990112 -0.01359771 -0.32304798] [ 0.17118612 0.01278318 0.98515578 -0.2245913 ] [ 0. 0. 0. 1. ]] SLAMing on 263.70463044 meters Centerline goodness : 0.097634 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.33, Z:-0.22 [[ 0.98518615 -0.00582989 -0.17138922 0.45066601] [ 0.00361525 0.99990593 -0.01323098 -0.32594832] [ 0.17145024 0.01241537 0.98511455 -0.22446304] [ 0. 0. 0. 1. ]] SLAMing on 263.73463044000005 meters Centerline goodness : 0.146088 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.33, Z:-0.22 [[ 0.98505794 -0.00634455 -0.17210637 0.45283386] [ 0.00414504 0.99990512 -0.01313637 -0.33205583] [ 0.17217339 0.0122267 0.98499078 -0.22467957] [ 0. 0. 0. 1. ]] SLAMing on 263.76463044 meters Centerline goodness : 0.112313 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.33, Z:-0.22 [[ 0.98503478 -0.00615984 -0.17224555 0.45323248] [ 0.00402617 0.99991081 -0.01273401 -0.33440408] [ 0.17230863 0.01184995 0.98497173 -0.22474232] [ 0. 0. 0. 1. ]] SLAMing on 263.79463044 meters Centerline goodness : 0.097042 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.34, Z:-0.22 [[ 0.98505681 -0.00606751 -0.17212282 0.45289201] [ 0.00398438 0.99991461 -0.01244546 -0.33633622] [ 0.17218364 0.01157368 0.98499688 -0.22468561] [ 0. 0. 0. 1. ]] SLAMing on 263.82463044 meters Centerline goodness : 0.102839 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.34, Z:-0.22 [[ 0.98509724 -0.0058298 -0.17189952 0.45223344] [ 0.00385136 0.99992248 -0.01184053 -0.33994064] [ 0.17195522 0.01100202 0.98504333 -0.22456748] [ 0. 0. 0. 1. ]] SLAMing on 263.85463044 meters Centerline goodness : 0.102839 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.34, Z:-0.22 [[ 0.98509724 -0.0058298 -0.17189952 0.45223344] [ 0.00385136 0.99992248 -0.01184053 -0.33994064] [ 0.17195522 0.01100202 0.98504333 -0.22456748] [ 0. 0. 0. 1. ]] SLAMing on 263.88463044 meters Centerline goodness : 0.122692 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.34, Z:-0.22 [[ 0.98506841 -0.00569728 -0.17206911 0.45296882] [ 0.00376791 0.99992634 -0.01153728 -0.34167067] [ 0.17212217 0.01071667 0.98501732 -0.2248294 ] [ 0. 0. 0. 1. ]] SLAMing on 263.91463044 meters Centerline goodness : 0.122648 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.34, Z:-0.23 [[ 0.98502523 -0.00563285 -0.1723182 0.45412691] [ 0.00374637 0.99992946 -0.01127089 -0.3436263 ] [ 0.17236953 0.01045655 0.98497686 -0.22535031] [ 0. 0. 0. 1. ]] SLAMing on 263.94463044 meters Centerline goodness : 0.459062 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.35, Z:-0.23 [[ 9.85083657e-01 8.62954100e-04 -1.72073947e-01 4.36976604e-01] [-3.04348650e-03 9.99918378e-01 -1.24086487e-02 -3.51175419e-01] [ 1.72049194e-01 1.27472618e-02 9.85005879e-01 -2.30784010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97463044 meters Centerline goodness : 0.164199 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.23 [[ 9.85298896e-01 -1.43251217e-03 -1.70833352e-01 4.33151718e-01] [-8.33199654e-04 9.99912657e-01 -1.31902684e-02 -3.58274800e-01] [ 1.70837326e-01 1.31386951e-02 9.85211644e-01 -2.30995190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00463044 meters Centerline goodness : 0.124343 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.23 [[ 9.85427025e-01 -1.94217477e-03 -1.70087643e-01 4.30991544e-01] [-2.89451001e-04 9.99914219e-01 -1.30946668e-02 -3.60542997e-01] [ 1.70098484e-01 1.29530706e-02 9.85341932e-01 -2.31133762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03463044 meters Centerline goodness : 0.122633 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.23 [[ 9.85513954e-01 -2.37425045e-03 -1.69577741e-01 4.29524190e-01] [ 1.76411819e-04 9.99915811e-01 -1.29745464e-02 -3.62708725e-01] [ 1.69594269e-01 1.27566810e-02 9.85431404e-01 -2.31377957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06463044000003 meters Centerline goodness : 0.124144 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.23 [[ 9.85534115e-01 -2.63551101e-03 -1.69456667e-01 4.29208516e-01] [ 4.86873589e-04 9.99918981e-01 -1.27198710e-02 -3.64987809e-01] [ 1.69476461e-01 1.24533629e-02 9.85455551e-01 -2.31770524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09463044 meters Centerline goodness : 0.123749 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.23 [[ 9.85498480e-01 -2.55534546e-03 -1.69665012e-01 4.29731412e-01] [ 4.91686745e-04 9.99925407e-01 -1.22040384e-02 -3.67386274e-01] [ 1.69683542e-01 1.19436392e-02 9.85426225e-01 -2.32146785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12463044000003 meters Centerline goodness : 0.126837 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.38, Z:-0.24 [[ 0.98559589 0.00586203 -0.16901593 0.41601387] [-0.00803757 0.99989339 -0.01219053 -0.37728648] [ 0.16892645 0.01337341 0.98553793 -0.23718338] [ 0. 0. 0. 1. ]] SLAMing on 264.15463044 meters Centerline goodness : 0.142482 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.23 [[ 9.85507516e-01 -1.25528052e-03 -1.69627121e-01 4.35246993e-01] [-6.36847318e-04 9.99938193e-01 -1.10997624e-02 -3.75528110e-01] [ 1.69630570e-01 1.10469259e-02 9.85445805e-01 -2.32369228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18463044000003 meters Centerline goodness : 0.257258 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.23 [[ 9.85496944e-01 -1.25156728e-03 -1.69688558e-01 4.35440179e-01] [-6.16271008e-04 9.99939810e-01 -1.09543341e-02 -3.76982192e-01] [ 1.69692054e-01 1.09000369e-02 9.85436855e-01 -2.32377117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21463044 meters Centerline goodness : 0.125891 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.23 [[ 9.85474836e-01 -1.27569560e-03 -1.69816724e-01 4.35763691e-01] [-5.81635408e-04 9.99940565e-01 -1.08870716e-02 -3.77772000e-01] [ 1.69820520e-01 1.08277065e-02 9.85415522e-01 -2.32272981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24463044000004 meters Centerline goodness : 0.091416 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.23 [[ 9.85448523e-01 -1.05771809e-03 -1.69970851e-01 4.36764669e-01] [-7.76686734e-04 9.99942177e-01 -1.07256140e-02 -3.77515740e-01] [ 1.69972367e-01 1.07015545e-02 9.85390720e-01 -2.32745963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27463044 meters Centerline goodness : 0.160112 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.23 [[ 9.85415164e-01 -9.86920595e-04 -1.70164566e-01 4.37570628e-01] [-8.58713938e-04 9.99941609e-01 -1.07722350e-02 -3.76616863e-01] [ 1.70165262e-01 1.07612464e-02 9.85356778e-01 -2.33000270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30463044000004 meters Centerline goodness : 0.126076 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.23 [[ 9.85343145e-01 -9.87298978e-04 -1.70581101e-01 4.38963348e-01] [-8.87976422e-04 9.99940016e-01 -1.09168086e-02 -3.75502674e-01] [ 1.70581647e-01 1.09082746e-02 9.85283163e-01 -2.33213211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33463044 meters Centerline goodness : 0.109240 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85295752e-01 -1.05933819e-03 -1.70854205e-01 4.39833413e-01] [-8.57498387e-04 9.99937525e-01 -1.11449497e-02 -3.74274322e-01] [ 1.70855337e-01 1.11275788e-02 9.85233287e-01 -2.33306245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36463044000004 meters Centerline goodness : 0.128166 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85206034e-01 -1.02401288e-03 -1.71371008e-01 4.40910818e-01] [-9.37183943e-04 9.99935001e-01 -1.13628648e-02 -3.72495837e-01] [ 1.71371505e-01 1.13553691e-02 9.85141037e-01 -2.32946764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39463044 meters Centerline goodness : 0.125595 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85159613e-01 -1.01395834e-03 -1.71637725e-01 4.41546436e-01] [-9.66977504e-04 9.99933895e-01 -1.14573792e-02 -3.71594681e-01] [ 1.71637996e-01 1.14533171e-02 9.85093508e-01 -2.32826149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42463044000004 meters Centerline goodness : 0.156546 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85135090e-01 -1.01962809e-03 -1.71778389e-01 4.41811883e-01] [-9.78724532e-04 9.99932838e-01 -1.15482250e-02 -3.70754681e-01] [ 1.71778627e-01 1.15446854e-02 9.85067928e-01 -2.32669825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45463044 meters Centerline goodness : 0.095597 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85119996e-01 -1.12009558e-03 -1.71864306e-01 4.42009999e-01] [-9.33224219e-04 9.99929160e-01 -1.18660711e-02 -3.68612127e-01] [ 1.71865422e-01 1.18498918e-02 9.85049165e-01 -2.32508725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48463044000005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 264.51463044 meters Centerline goodness : 0.270841 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85123386e-01 -1.13670642e-03 -1.71844761e-01 4.41586441e-01] [-9.48005632e-04 9.99926961e-01 -1.20488161e-02 -3.66719872e-01] [ 1.71845905e-01 1.20324803e-02 9.85050356e-01 -2.32004356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54463044 meters Centerline goodness : 0.144371 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85121312e-01 -1.09567898e-03 -1.71856918e-01 4.41378765e-01] [-9.96356700e-04 9.99926460e-01 -1.20863952e-02 -3.65791604e-01] [ 1.71857522e-01 1.20777963e-02 9.85047775e-01 -2.31694747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57463044 meters Centerline goodness : 0.148183 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.36, Z:-0.23 [[ 9.85099560e-01 -1.14331138e-03 -1.71981248e-01 4.41290817e-01] [-9.75726047e-04 9.99924658e-01 -1.22362906e-02 -3.64478069e-01] [ 1.71982281e-01 1.22217711e-02 9.85024225e-01 -2.31009995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60463044 meters Centerline goodness : 0.103335 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.36, Z:-0.23 [[ 9.85112682e-01 -1.13977560e-03 -1.71906091e-01 4.40848569e-01] [-9.78982810e-04 9.99924611e-01 -1.22398110e-02 -3.64274502e-01] [ 1.71907082e-01 1.22258861e-02 9.85037300e-01 -2.30700991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63463044 meters Centerline goodness : 0.309407 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.37, Z:-0.24 [[ 0.98540809 0.00654527 -0.1700825 0.42379226] [-0.00896608 0.99986909 -0.01346894 -0.36936035] [ 0.16997207 0.01479737 0.98533778 -0.2350109 ] [ 0. 0. 0. 1. ]] SLAMing on 264.66463044 meters Centerline goodness : 0.121976 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.23 [[ 9.85476284e-01 -3.03750661e-04 -1.69812843e-01 4.41872991e-01] [-1.80234326e-03 9.99923364e-01 -1.22481544e-02 -3.65394131e-01] [ 1.69803549e-01 1.23763267e-02 9.85400214e-01 -2.30000516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69463044 meters Centerline goodness : 0.120025 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.36, Z:-0.23 [[ 9.85495958e-01 -1.91069384e-04 -1.69698790e-01 4.41524244e-01] [-1.90463049e-03 9.99923926e-01 -1.21866543e-02 -3.64796033e-01] [ 1.69688209e-01 1.23331121e-02 9.85420624e-01 -2.29734152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72463044 meters Centerline goodness : 0.109679 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.36, Z:-0.23 [[ 9.85489790e-01 -1.52137681e-04 -1.69734648e-01 4.41477485e-01] [-1.95175913e-03 9.99923327e-01 -1.22282912e-02 -3.64062717e-01] [ 1.69723495e-01 1.23821373e-02 9.85413932e-01 -2.29477315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75463044 meters Centerline goodness : 0.134509 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.36, Z:-0.22 [[ 0.9858042 0.0013269 -0.16789377 0.48188271] [-0.0034196 0.99992002 -0.01217594 -0.36241854] [ 0.16786419 0.01257722 0.9857299 -0.22148672] [ 0. 0. 0. 1. ]] SLAMing on 264.78463044 meters Centerline goodness : 0.138484 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.36, Z:-0.22 [[ 0.98593164 0.0031189 -0.16711992 0.47906012] [-0.00503007 0.99992669 -0.01101383 -0.3586703 ] [ 0.16707332 0.01169951 0.98587506 -0.22067671] [ 0. 0. 0. 1. ]] SLAMing on 264.81463044000003 meters Centerline goodness : 0.117579 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.36, Z:-0.22 [[ 0.98590793 0.00314953 -0.1672592 0.47975914] [-0.00510374 0.99992363 -0.01125515 -0.35641825] [ 0.16721098 0.01195019 0.98584871 -0.220889 ] [ 0. 0. 0. 1. ]] SLAMing on 264.84463044 meters Centerline goodness : 0.118282 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.35, Z:-0.22 [[ 0.98587267 0.00315728 -0.16746673 0.48071833] [-0.00516998 0.99991954 -0.01158386 -0.35408088] [ 0.16741668 0.01228601 0.98580967 -0.22112909] [ 0. 0. 0. 1. ]] SLAMing on 264.87463044000003 meters Centerline goodness : 0.121661 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.35, Z:-0.22 [[ 0.98585569 0.00313106 -0.16756714 0.48130215] [-0.00519019 0.99991629 -0.01185183 -0.35200685] [ 0.167516 0.0125539 0.98578942 -0.22139592] [ 0. 0. 0. 1. ]] SLAMing on 264.90463044 meters Centerline goodness : 0.120969 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.35, Z:-0.22 [[ 0.98580674 0.00316443 -0.16785426 0.48233021] [-0.00530381 0.9999103 -0.01229866 -0.34838509] [ 0.16780029 0.01301437 0.9857351 -0.22136229] [ 0. 0. 0. 1. ]] SLAMing on 264.93463044000003 meters Centerline goodness : 0.116510 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.35, Z:-0.22 [[ 0.98577581 0.00297196 -0.16803932 0.48284724] [-0.00517163 0.99990656 -0.01265411 -0.34670136] [ 0.16798601 0.01334315 0.98569907 -0.2213572 ] [ 0. 0. 0. 1. ]] SLAMing on 264.96463044 meters Centerline goodness : 0.107306 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.35, Z:-0.22 [[ 0.98574493 0.00282142 -0.16822299 0.48343362] [-0.00507436 0.99990309 -0.01296421 -0.345082 ] [ 0.16817011 0.01363302 0.98566371 -0.22141943] [ 0. 0. 0. 1. ]] SLAMing on 264.99463044000004 meters Centerline goodness : 0.114387 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.34, Z:-0.22 [[ 0.98568787 0.00293295 -0.16855509 0.48490791] [-0.00519385 0.99990234 -0.01297411 -0.34404918] [ 0.16850058 0.01366387 0.98560685 -0.22190594] [ 0. 0. 0. 1. ]] SLAMing on 265.02463044 meters Centerline goodness : 0.120334 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.22 [[ 0.9856305 0.00281621 -0.16889226 0.4859367 ] [-0.00509958 0.99990135 -0.01308747 -0.34386523] [ 0.16883874 0.01376069 0.98554763 -0.22202135] [ 0. 0. 0. 1. ]] SLAMing on 265.05463044000004 meters Centerline goodness : 0.260127 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.22 [[ 0.98556658 0.00279509 -0.16926517 0.48716494] [-0.00507647 0.999902 -0.01304693 -0.34447431] [ 0.16921211 0.01371789 0.98548419 -0.22227191] [ 0. 0. 0. 1. ]] SLAMing on 265.08463044 meters Centerline goodness : 0.091620 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98551781 0.00271343 -0.16955023 0.48807368] [-0.00499628 0.99990251 -0.01303896 -0.3452193 ] [ 0.16949832 0.01369725 0.98543529 -0.22243537] [ 0. 0. 0. 1. ]] SLAMing on 265.11463044000004 meters Centerline goodness : 0.121391 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98550139 0.00286893 -0.1696431 0.4886329 ] [-0.00508437 0.99990736 -0.01262643 -0.34727557] [ 0.16959115 0.01330589 0.98542468 -0.22272304] [ 0. 0. 0. 1. ]] SLAMing on 265.14463044 meters Centerline goodness : 0.457006 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98551024 0.00305831 -0.16958836 0.4889372 ] [-0.00522698 0.99991016 -0.0123429 -0.3483428 ] [ 0.16953537 0.01305049 0.98543769 -0.2231153 ] [ 0. 0. 0. 1. ]] SLAMing on 265.17463044000004 meters Centerline goodness : 0.123025 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98550166 0.00306571 -0.16963808 0.48930022] [-0.0052245 0.99991094 -0.01228091 -0.34903694] [ 0.16958532 0.01298913 0.98542991 -0.22330171] [ 0. 0. 0. 1. ]] SLAMing on 265.20463044 meters Centerline goodness : 0.093825 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98547925 0.00298135 -0.16976971 0.48982513] [-0.00514919 0.99991072 -0.01233048 -0.34953797] [ 0.16971779 0.01302561 0.98540662 -0.22334741] [ 0. 0. 0. 1. ]] SLAMing on 265.23463044000005 meters Centerline goodness : 0.106067 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98546511 0.00299086 -0.1698516 0.49007782] [-0.00515309 0.99991119 -0.01229075 -0.35010484] [ 0.16979975 0.01298736 0.985393 -0.22337029] [ 0. 0. 0. 1. ]] SLAMing on 265.26463044 meters Centerline goodness : 0.450560 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98545639 0.00317324 -0.16989892 0.49041562] [-0.00531046 0.99991237 -0.0121264 -0.35036709] [ 0.16984555 0.01285228 0.98538688 -0.22344535] [ 0. 0. 0. 1. ]] SLAMing on 265.29463044 meters Centerline goodness : 0.116820 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98547121 0.00390009 -0.16979775 0.49079767] [-0.00595613 0.99991497 -0.01160108 -0.3501777 ] [ 0.16973807 0.01244387 0.98541064 -0.22379922] [ 0. 0. 0. 1. ]] SLAMing on 265.32463044 meters Centerline goodness : 0.127962 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98548628 0.00399902 -0.16970797 0.49064352] [-0.0060482 0.9999149 -0.01155947 -0.34996768] [ 0.1696473 0.01241813 0.9854266 -0.22381462] [ 0. 0. 0. 1. ]] SLAMing on 265.35463044 meters Centerline goodness : 0.152645 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98552382 0.00399679 -0.16948989 0.49031228] [-0.0060587 0.99991378 -0.01164992 -0.34937321] [ 0.16942871 0.01250817 0.98546307 -0.22402815] [ 0. 0. 0. 1. ]] SLAMing on 265.38463044 meters Centerline goodness : 0.120263 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98552745 0.00397805 -0.16946921 0.49028039] [-0.00605842 0.99991249 -0.01176049 -0.34859739] [ 0.1694076 0.012617 0.98546531 -0.22403984] [ 0. 0. 0. 1. ]] SLAMing on 265.41463044 meters Centerline goodness : 0.123399 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98551197 0.00426263 -0.16955233 0.49132445] [-0.00634503 0.99991093 -0.01174183 -0.34704441] [ 0.16948717 0.01264753 0.98545124 -0.22470754] [ 0. 0. 0. 1. ]] SLAMing on 265.44463044 meters Centerline goodness : 0.097859 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98548849 0.0042796 -0.1696883 0.49189357] [-0.00637561 0.99990994 -0.01180916 -0.34628671] [ 0.16962248 0.01271966 0.98542703 -0.22490879] [ 0. 0. 0. 1. ]] SLAMing on 265.47463044 meters Centerline goodness : 0.137301 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.35, Z:-0.22 [[ 0.98549762 0.00425807 -0.16963582 0.4918398 ] [-0.00636754 0.999909 -0.0118932 -0.34585223] [ 0.16956974 0.01280089 0.98543505 -0.2249557 ] [ 0. 0. 0. 1. ]] SLAMing on 265.50463044 meters Centerline goodness : 0.137900 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.22 [[ 0.98549714 0.00419443 -0.16964017 0.49179674] [-0.00634234 0.99990642 -0.01212163 -0.34444238] [ 0.16957345 0.01302175 0.98543152 -0.22476566] [ 0. 0. 0. 1. ]] SLAMing on 265.53463044 meters Centerline goodness : 0.138784 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.22 [[ 0.98549176 0.00413666 -0.16967285 0.49189396] [-0.00631138 0.99990468 -0.0122798 -0.34350528] [ 0.16960588 0.01317251 0.98542393 -0.22478455] [ 0. 0. 0. 1. ]] SLAMing on 265.56463044000003 meters Centerline goodness : 0.139056 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.22 [[ 0.98548888 0.00404199 -0.16969187 0.49216146] [-0.00625551 0.99990216 -0.01251175 -0.34218291] [ 0.16962469 0.0133917 0.98541774 -0.22498555] [ 0. 0. 0. 1. ]] SLAMing on 265.59463044 meters Centerline goodness : 0.119449 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.23 [[ 0.98548992 0.00398986 -0.16968704 0.49237582] [-0.006242 0.99989935 -0.01274095 -0.34045193] [ 0.16961913 0.01361526 0.98541564 -0.22519835] [ 0. 0. 0. 1. ]] SLAMing on 265.62463044000003 meters Centerline goodness : 0.084430 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.23 [[ 0.98549731 0.00398587 -0.16964421 0.49248524] [-0.00627616 0.99989624 -0.01296643 -0.33845795] [ 0.16957492 0.0138431 0.98542007 -0.22537435] [ 0. 0. 0. 1. ]] SLAMing on 265.65463044 meters Centerline goodness : 0.116298 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.34, Z:-0.23 [[ 0.98549244 0.0039911 -0.1696724 0.49254959] [-0.00631406 0.99989355 -0.01315349 -0.33668328] [ 0.16960184 0.01403399 0.98541274 -0.2253569 ] [ 0. 0. 0. 1. ]] SLAMing on 265.68463044000003 meters Centerline goodness : 0.139818 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.33, Z:-0.23 [[ 0.98547726 0.00387372 -0.16976325 0.49292888] [-0.00627562 0.99988763 -0.01361426 -0.33326331] [ 0.16969143 0.01448191 0.98539083 -0.22538804] [ 0. 0. 0. 1. ]] SLAMing on 265.71463044 meters Centerline goodness : 0.119298 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.33, Z:-0.23 [[ 0.98546064 0.00371126 -0.16986333 0.49333649] [-0.0061651 0.99988409 -0.01392083 -0.33176268] [ 0.16979198 0.01476566 0.9853693 -0.22554395] [ 0. 0. 0. 1. ]] SLAMing on 265.74463044000004 meters Centerline goodness : 0.098742 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.33, Z:-0.22 [[ 9.85423971e-01 -2.82800115e-03 -1.70092918e-01 5.11400742e-01] [ 6.40851310e-04 9.99916430e-01 -1.29120871e-02 -3.25020787e-01] [ 1.70115219e-01 1.26148759e-02 9.85343431e-01 -2.20978791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77463044 meters Centerline goodness : 0.098742 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.33, Z:-0.22 [[ 9.85423971e-01 -2.82800115e-03 -1.70092918e-01 5.11400742e-01] [ 6.40851310e-04 9.99916430e-01 -1.29120871e-02 -3.25020787e-01] [ 1.70115219e-01 1.26148759e-02 9.85343431e-01 -2.20978791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80463044000004 meters Centerline goodness : 0.127724 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85456480e-01 -2.87495778e-03 -1.69903679e-01 5.11258255e-01] [ 6.41517226e-04 9.99912687e-01 -1.31987692e-02 -3.22396168e-01] [ 1.69926790e-01 1.28978165e-02 9.85372281e-01 -2.21246077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83463044 meters Centerline goodness : 0.122199 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85454485e-01 -2.95683967e-03 -1.69913846e-01 5.11474970e-01] [ 6.93604507e-04 9.99910274e-01 -1.33777131e-02 -3.21300880e-01] [ 1.69938156e-01 1.30652744e-02 9.85368115e-01 -2.21435090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86463044000004 meters Centerline goodness : 0.107021 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85418433e-01 -3.05328477e-03 -1.70121103e-01 5.12178104e-01] [ 7.54216980e-04 9.99907540e-01 -1.35772876e-02 -3.20222542e-01] [ 1.70146829e-01 1.32510012e-02 9.85329624e-01 -2.21601353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89463044 meters Centerline goodness : 0.126513 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85377269e-01 -3.11726490e-03 -1.70358211e-01 5.13002804e-01] [ 7.89908138e-04 9.99905460e-01 -1.37276194e-02 -3.19223359e-01] [ 1.70384897e-01 1.33923168e-02 9.85286574e-01 -2.21790552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92463044000004 meters Centerline goodness : 0.133530 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85347452e-01 -3.10272940e-03 -1.70530854e-01 5.13616959e-01] [ 7.66143792e-04 9.99904952e-01 -1.37659350e-02 -3.18681955e-01] [ 1.70557357e-01 1.34335779e-02 9.85256173e-01 -2.21948769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95463044 meters Centerline goodness : 0.129753 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85338273e-01 -2.98436299e-03 -1.70585992e-01 5.13911193e-01] [ 6.54727285e-04 9.99905781e-01 -1.37112897e-02 -3.18140941e-01] [ 1.70610839e-01 1.33985712e-02 9.85247390e-01 -2.22000853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98463044000005 meters Centerline goodness : 0.130181 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85354118e-01 -3.05105629e-03 -1.70493264e-01 5.13661762e-01] [ 7.15140858e-04 9.99905062e-01 -1.37606588e-02 -3.18243472e-01] [ 1.70519062e-01 1.34371952e-02 9.85262752e-01 -2.21969024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01463044 meters Centerline goodness : 0.148711 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85350751e-01 -3.11141640e-03 -1.70511634e-01 5.13653449e-01] [ 7.68782281e-04 9.99904436e-01 -1.38031571e-02 -3.18346136e-01] [ 1.70538286e-01 1.34698649e-02 9.85258979e-01 -2.21877024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04463044 meters Centerline goodness : 0.119313 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85369184e-01 -3.11235983e-03 -1.70405061e-01 5.13452184e-01] [ 7.73523977e-04 9.99904617e-01 -1.37898268e-02 -3.18439959e-01] [ 1.70431726e-01 1.34562580e-02 9.85277604e-01 -2.21922673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07463044 meters Centerline goodness : 0.125997 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85374017e-01 -3.07713842e-03 -1.70377749e-01 5.13790854e-01] [ 7.36485242e-04 9.99904511e-01 -1.37995200e-02 -3.17951491e-01] [ 1.70403943e-01 1.34722078e-02 9.85282191e-01 -2.22252866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10463044 meters Centerline goodness : 0.139650 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85368218e-01 -3.11234670e-03 -1.70410645e-01 5.14102221e-01] [ 7.52496163e-04 9.99902956e-01 -1.39108614e-02 -3.17271006e-01] [ 1.70437403e-01 1.35790873e-02 9.85274936e-01 -2.22495302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13463044 meters Centerline goodness : 0.112392 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.22 [[ 9.85358960e-01 -3.19202263e-03 -1.70462699e-01 5.14276370e-01] [ 7.94263123e-04 9.99899815e-01 -1.41325262e-02 -3.16032054e-01] [ 1.70490732e-01 1.37902191e-02 9.85262777e-01 -2.22509297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16463044 meters Centerline goodness : 0.141315 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.22 [[ 9.85337634e-01 -3.15768558e-03 -1.70586565e-01 5.14711773e-01] [ 7.28234313e-04 9.99897450e-01 -1.43024457e-02 -3.14231354e-01] [ 1.70614234e-01 1.39685110e-02 9.85238887e-01 -2.22653382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19463044 meters Centerline goodness : 0.109812 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.22 [[ 9.85304594e-01 -3.10644066e-03 -1.70778241e-01 5.15419977e-01] [ 6.41758924e-04 9.99894876e-01 -1.44853704e-02 -3.12192276e-01] [ 1.70805286e-01 1.41629035e-02 9.85203008e-01 -2.22875030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22463044 meters Centerline goodness : 0.113139 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.22 [[ 9.85251676e-01 -3.07026492e-03 -1.71083923e-01 5.16419045e-01] [ 5.35737085e-04 9.99889459e-01 -1.48587291e-02 -3.08754209e-01] [ 1.71110632e-01 1.45479318e-02 9.85144410e-01 -2.23121581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25463044 meters Centerline goodness : 0.091860 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98543423 0.00412108 -0.17000707 0.53502959] [-0.00707157 0.99983465 -0.01675326 -0.30944893] [ 0.16990991 0.01771145 0.98530042 -0.21872701] [ 0. 0. 0. 1. ]] SLAMing on 266.28463044 meters Centerline goodness : 0.093637 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98544174 0.00402093 -0.16996591 0.53470981] [-0.00698047 0.99983419 -0.01681856 -0.30965707] [ 0.1698701 0.01776015 0.98530641 -0.21852001] [ 0. 0. 0. 1. ]] SLAMing on 266.31463044000003 meters Centerline goodness : 0.125814 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98544093 0.0039485 -0.16997228 0.53461939] [-0.00689998 0.99983544 -0.01677727 -0.31045414] [ 0.16987807 0.01770582 0.98530602 -0.21837152] [ 0. 0. 0. 1. ]] SLAMing on 266.34463044 meters Centerline goodness : 0.126856 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98545905 0.00377976 -0.16987107 0.5344745 ] [-0.00673002 0.9998363 -0.01679518 -0.31130913] [ 0.16977978 0.0176942 0.98532317 -0.21843365] [ 0. 0. 0. 1. ]] SLAMing on 266.37463044000003 meters Centerline goodness : 0.083276 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98551486 0.00350965 -0.16955276 0.53402911] [-0.00642189 0.99984108 -0.01663066 -0.31392695] [ 0.16946745 0.01747861 0.98538078 -0.21869489] [ 0. 0. 0. 1. ]] SLAMing on 266.40463044 meters Centerline goodness : 0.108451 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98550489 0.00354945 -0.16960988 0.53429131] [-0.00644056 0.99984315 -0.01649855 -0.31468502] [ 0.16952471 0.01735179 0.98537317 -0.218777 ] [ 0. 0. 0. 1. ]] SLAMing on 266.43463044000003 meters Centerline goodness : 0.134606 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.32, Z:-0.22 [[ 0.98546056 0.0035479 -0.16986727 0.53509305] [-0.0064287 0.99984464 -0.01641212 -0.31541457] [ 0.16978265 0.01726553 0.98533028 -0.21888966] [ 0. 0. 0. 1. ]] SLAMing on 266.46463044 meters Centerline goodness : 0.140049 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.32, Z:-0.22 [[ 0.98539566 0.0035492 -0.17024333 0.53634179] [-0.00643075 0.9998452 -0.01637761 -0.31581413] [ 0.17015885 0.01723321 0.98526594 -0.2191724 ] [ 0. 0. 0. 1. ]] SLAMing on 266.49463044000004 meters Centerline goodness : 0.131484 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.32, Z:-0.22 [[ 0.98532488 0.00354128 -0.17065268 0.53767837] [-0.00643892 0.9998443 -0.01642927 -0.3155039 ] [ 0.17056792 0.01728699 0.98519427 -0.21938064] [ 0. 0. 0. 1. ]] SLAMing on 266.52463044 meters Centerline goodness : 0.140537 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98529121 0.00356267 -0.17084653 0.53835695] [-0.00647312 0.99984322 -0.01648146 -0.31496269] [ 0.17076103 0.01734495 0.9851598 -0.21955219] [ 0. 0. 0. 1. ]] SLAMing on 266.55463044000004 meters Centerline goodness : 0.159240 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98532438 0.00370181 -0.17065217 0.53805738] [-0.00663312 0.99984004 -0.01661015 -0.31330654] [ 0.17056339 0.01749834 0.98519132 -0.21977662] [ 0. 0. 0. 1. ]] SLAMing on 266.58463044 meters Centerline goodness : 0.140789 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98533359 0.0036532 -0.17060002 0.53782412] [-0.00661031 0.99983754 -0.01676877 -0.31223437] [ 0.17051105 0.01765055 0.98519767 -0.21964469] [ 0. 0. 0. 1. ]] SLAMing on 266.61463044000004 meters Centerline goodness : 0.125140 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98535278 0.00366136 -0.17048898 0.53742638] [-0.00662825 0.99983629 -0.01683631 -0.31164722] [ 0.17039943 0.01771975 0.98521574 -0.21954918] [ 0. 0. 0. 1. ]] SLAMing on 266.64463044 meters Centerline goodness : 0.162095 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98543069 0.00372959 -0.17003659 0.53582904] [-0.00669111 0.99983569 -0.01684721 -0.31075221] [ 0.16994581 0.01773949 0.98529373 -0.21902959] [ 0. 0. 0. 1. ]] SLAMing on 266.67463044000004 meters Centerline goodness : 0.126318 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98545231 0.00362581 -0.16991348 0.53520912] [-0.0066032 0.99983434 -0.01696114 -0.31037383] [ 0.16982383 0.01783637 0.98531301 -0.2186661 ] [ 0. 0. 0. 1. ]] SLAMing on 266.70463044 meters Centerline goodness : 0.126916 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98546388 0.00346839 -0.16984968 0.53477748] [-0.00647099 0.99983237 -0.01712762 -0.31021082] [ 0.1697618 0.01797775 0.98532113 -0.21839113] [ 0. 0. 0. 1. ]] SLAMing on 266.73463044000005 meters Centerline goodness : 0.142135 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98545008 0.00329001 -0.16993324 0.53471804] [-0.00633004 0.99982942 -0.01735089 -0.30969671] [ 0.16984717 0.01817412 0.98530282 -0.21806996] [ 0. 0. 0. 1. ]] SLAMing on 266.76463044 meters Centerline goodness : 0.144727 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.31, Z:-0.22 [[ 0.98544485 0.00312632 -0.16996669 0.53485759] [-0.00620428 0.99982619 -0.01758108 -0.30889828] [ 0.16988218 0.01837971 0.98529297 -0.21811593] [ 0. 0. 0. 1. ]] SLAMing on 266.79463044 meters Centerline goodness : 0.118061 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98541681 0.00301495 -0.1701312 0.53557325] [-0.00613177 0.99982281 -0.01779767 -0.30773969] [ 0.17004739 0.01858133 0.98526069 -0.21838818] [ 0. 0. 0. 1. ]] SLAMing on 266.82463044 meters Centerline goodness : 0.184590 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.31, Z:-0.22 [[ 0.98535966 0.00302503 -0.17046171 0.5371999 ] [-0.00619283 0.99981782 -0.018055 -0.30515306] [ 0.17037604 0.01884631 0.98519887 -0.21915146] [ 0. 0. 0. 1. ]] SLAMing on 266.85463044 meters Centerline goodness : 0.137744 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.30, Z:-0.22 [[ 0.98534305 0.0029868 -0.17055835 0.53765839] [-0.00618052 0.99981531 -0.01819724 -0.30408461] [ 0.1704725 0.01898466 0.98517953 -0.21937322] [ 0. 0. 0. 1. ]] SLAMing on 266.88463044 meters Centerline goodness : 0.131398 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.30, Z:-0.22 [[ 0.98532367 0.00287784 -0.17067218 0.53801725] [-0.00611343 0.99981136 -0.01843538 -0.30272407] [ 0.17058693 0.01920821 0.98515539 -0.21941378] [ 0. 0. 0. 1. ]] SLAMing on 266.91463044 meters Centerline goodness : 0.139211 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.30, Z:-0.22 [[ 0.98532248 0.00278955 -0.17068048 0.53810889] [-0.00606543 0.99980722 -0.0186746 -0.30127306] [ 0.17059548 0.01943575 0.98514945 -0.21948079] [ 0. 0. 0. 1. ]] SLAMing on 266.94463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 266.97463044 meters Centerline goodness : 0.141159 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.29, Z:-0.22 [[ 9.85394113e-01 -1.85069810e-03 -1.70279235e-01 5.59349555e-01] [-9.48107244e-04 9.99865818e-01 -1.63537795e-02 -2.93688879e-01] [ 1.70286653e-01 1.62763611e-02 9.85260136e-01 -2.15771638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00463044 meters Centerline goodness : 0.109087 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.29, Z:-0.22 [[ 0.98524865 -0.00154062 -0.17112195 0.51504775] [-0.00119946 0.99987274 -0.01590787 -0.29113062] [ 0.17112468 0.01587846 0.98512142 -0.22356442] [ 0. 0. 0. 1. ]] SLAMing on 267.03463044 meters Centerline goodness : 0.097615 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.29, Z:-0.22 [[ 0.98525137 -0.00162646 -0.1711055 0.51547644] [-0.00115734 0.99986861 -0.01616849 -0.28926855] [ 0.17110931 0.01612805 0.98512004 -0.22404175] [ 0. 0. 0. 1. ]] SLAMing on 267.06463044000003 meters Centerline goodness : 0.119710 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.29, Z:-0.22 [[ 0.9852442 -0.00174048 -0.17114566 0.51597466] [-0.00107938 0.99986522 -0.01638199 -0.28784868] [ 0.1711511 0.01632499 0.98510953 -0.22441427] [ 0. 0. 0. 1. ]] SLAMing on 267.09463044 meters Centerline goodness : 0.137176 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.29, Z:-0.22 [[ 9.85235937e-01 -1.88864448e-03 -1.71191650e-01 5.16332057e-01] [-9.62526020e-04 9.99862240e-01 -1.65703148e-02 -2.87095083e-01] [ 1.71199362e-01 1.64904460e-02 9.85098393e-01 -2.24689748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12463044000003 meters Centerline goodness : 0.107795 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.29, Z:-0.22 [[ 9.85208160e-01 -2.01510037e-03 -1.71349993e-01 5.16956336e-01] [-8.56744406e-04 9.99860437e-01 -1.66845102e-02 -2.86728772e-01] [ 1.71359700e-01 1.65845188e-02 9.85068935e-01 -2.24883259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15463044 meters Centerline goodness : 0.137280 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.29, Z:-0.23 [[ 9.85054920e-01 -2.43625563e-03 -1.72223311e-01 5.19517061e-01] [-5.11343849e-04 9.99854191e-01 -1.70685499e-02 -2.85668628e-01] [ 1.72239783e-01 1.69015244e-02 9.84910045e-01 -2.25100844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18463044000003 meters Centerline goodness : 0.114656 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.29, Z:-0.23 [[ 9.85002082e-01 -2.54932498e-03 -1.72523620e-01 5.20525141e-01] [-4.21189033e-04 9.99852338e-01 -1.71792164e-02 -2.85294893e-01] [ 1.72541941e-01 1.69942290e-02 9.84855560e-01 -2.25245959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21463044 meters Centerline goodness : 0.142124 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.28, Z:-0.23 [[ 9.84977413e-01 -2.64480066e-03 -1.72662968e-01 5.20972631e-01] [-3.50868416e-04 9.99849988e-01 -1.73169813e-02 -2.84728506e-01] [ 1.72682866e-01 1.71174174e-02 9.84828727e-01 -2.25335136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24463044000004 meters Centerline goodness : 0.082957 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.28, Z:-0.23 [[ 9.84958255e-01 -2.66127125e-03 -1.72771972e-01 5.21244211e-01] [-3.54372882e-04 9.99848175e-01 -1.74212846e-02 -2.83831151e-01] [ 1.72792104e-01 1.72204638e-02 9.84807770e-01 -2.25241965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27463044 meters Centerline goodness : 0.117940 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.28, Z:-0.23 [[ 9.84967965e-01 -2.63562598e-03 -1.72716996e-01 5.21073676e-01] [-3.98135837e-04 9.99846295e-01 -1.75279329e-02 -2.82758098e-01] [ 1.72736645e-01 1.73332172e-02 9.84815521e-01 -2.25191743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30463044000004 meters Centerline goodness : 0.112831 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.28, Z:-0.23 [[ 9.85050092e-01 -2.16362124e-03 -1.72254563e-01 5.19932857e-01] [-8.67915620e-04 9.99846103e-01 -1.75219082e-02 -2.79943385e-01] [ 1.72265964e-01 1.74094597e-02 9.84896618e-01 -2.25265060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.36463044000004 meters Centerline goodness : 0.123373 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.28, Z:-0.23 [[ 0.98504185 -0.00190611 -0.1723047 0.5201669 ] [-0.00117701 0.99984106 -0.01778948 -0.27621151] [ 0.17231123 0.01772619 0.98488305 -0.22544405] [ 0. 0. 0. 1. ]] SLAMing on 267.39463044 meters Centerline goodness : 0.142842 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.23 [[ 0.98505398 -0.00172155 -0.17223732 0.52013441] [-0.00140009 0.99983699 -0.0180009 -0.27337106] [ 0.17224024 0.01797301 0.98489099 -0.22560062] [ 0. 0. 0. 1. ]] SLAMing on 267.42463044000004 meters Centerline goodness : 0.132380 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.23 [[ 0.98505189 -0.00181424 -0.1722483 0.52002243] [-0.00135039 0.99983248 -0.01825348 -0.27189773] [ 0.17225257 0.01821323 0.98488443 -0.22549607] [ 0. 0. 0. 1. ]] SLAMing on 267.45463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.48463044000005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.51463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.54463044 meters Centerline goodness : 0.134871 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.23 [[ 0.98512422 -0.00189453 -0.1718333 0.51882695] [-0.0013377 0.99982438 -0.01869258 -0.2681317 ] [ 0.17183854 0.01864437 0.98494868 -0.22534346] [ 0. 0. 0. 1. ]] SLAMing on 267.57463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.60463044 meters Centerline goodness : 0.062117 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.23 [[ 9.85154456e-01 -2.37622113e-03 -1.71653868e-01 5.18082170e-01] [-9.05023261e-04 9.99818414e-01 -1.90346852e-02 -2.67806199e-01] [ 1.71667929e-01 1.89074557e-02 9.84973416e-01 -2.25004906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.66463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.69463044 meters Centerline goodness : 0.134464 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.22 [[ 9.85130496e-01 -2.76008896e-03 -1.71785585e-01 5.18292439e-01] [-5.30886791e-04 9.99817274e-01 -1.91085730e-02 -2.68829994e-01] [ 1.71806936e-01 1.89156367e-02 9.84949022e-01 -2.24754397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72463044 meters Centerline goodness : 0.131290 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.22 [[ 9.85125188e-01 -2.83861571e-03 -1.71814743e-01 5.18354816e-01] [-4.54842017e-04 9.99816973e-01 -1.91262544e-02 -2.69224867e-01] [ 1.71837589e-01 1.89199035e-02 9.84943592e-01 -2.24689789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75463044 meters Centerline goodness : 0.119644 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.22 [[ 9.85125769e-01 -2.85373580e-03 -1.71811164e-01 5.18391887e-01] [-4.44719372e-04 9.99816397e-01 -1.91565920e-02 -2.69007154e-01] [ 1.71834286e-01 1.89480601e-02 9.84943627e-01 -2.24729051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78463044 meters Centerline goodness : 0.122053 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.22 [[ 9.85127468e-01 -2.76870044e-03 -1.71802812e-01 5.18408642e-01] [-5.31137010e-04 9.99816324e-01 -1.91581821e-02 -2.68191311e-01] [ 1.71824299e-01 1.89645023e-02 9.84945053e-01 -2.24784608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81463044000003 meters Centerline goodness : 0.126896 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.27, Z:-0.22 [[ 9.85138885e-01 -2.68615924e-03 -1.71738647e-01 5.18417423e-01] [-6.27492426e-04 9.99814745e-01 -1.92375384e-02 -2.66815425e-01] [ 1.71758506e-01 1.90594118e-02 9.84954697e-01 -2.24966102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84463044 meters Centerline goodness : 0.129706 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.23 [[ 9.85072171e-01 -2.37440107e-03 -1.72125479e-01 5.19902584e-01] [-9.94066501e-04 9.99809733e-01 -1.94810005e-02 -2.62530035e-01] [ 1.72138985e-01 1.93612956e-02 9.84882384e-01 -2.25473323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87463044000003 meters Centerline goodness : 0.123500 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.23 [[ 9.85007595e-01 -2.44070312e-03 -1.72493714e-01 5.20964776e-01] [-9.95917344e-04 9.99802795e-01 -1.98338123e-02 -2.60219659e-01] [ 1.72508106e-01 1.97082452e-02 9.84810915e-01 -2.25636106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90463044 meters Centerline goodness : 0.118640 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.23 [[ 0.98495179 -0.00244707 -0.17281198 0.52194197] [-0.00103687 0.9997981 -0.02006715 -0.25834802] [ 0.17282619 0.01994436 0.98475039 -0.22582939] [ 0. 0. 0. 1. ]] SLAMing on 267.93463044000003 meters Centerline goodness : 0.132921 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.23 [[ 0.98491833 -0.00246928 -0.17300226 0.52259225] [-0.0010525 0.99979415 -0.02026212 -0.25687703] [ 0.17301668 0.02013862 0.98471299 -0.22599122] [ 0. 0. 0. 1. ]] SLAMing on 267.96463044 meters Centerline goodness : 0.208302 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.26, Z:-0.23 [[ 9.84880939e-01 -2.59157644e-03 -1.73213220e-01 5.23265010e-01] [-9.89529659e-04 9.99787617e-01 -2.05850047e-02 -2.55121711e-01] [ 1.73229780e-01 2.04451783e-02 9.84669202e-01 -2.26115274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99463044000004 meters Centerline goodness : 0.118244 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.25, Z:-0.23 [[ 9.84888527e-01 -2.86538481e-03 -1.73165756e-01 5.23097481e-01] [-8.14949089e-04 9.99775380e-01 -2.11784089e-02 -2.51648828e-01] [ 1.73187544e-01 2.09994933e-02 9.84664966e-01 -2.26080689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02463044 meters Centerline goodness : 0.118543 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.25, Z:-0.23 [[ 9.84902331e-01 -2.98863600e-03 -1.73085145e-01 5.22630081e-01] [-7.43823105e-04 9.99768670e-01 -2.14954192e-02 -2.49604685e-01] [ 1.73109347e-01 2.12996332e-02 9.84672270e-01 -2.25802209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05463044000004 meters Centerline goodness : 0.120414 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.25, Z:-0.23 [[ 9.84935449e-01 -3.01170834e-03 -1.72896186e-01 5.22080412e-01] [-7.60710499e-04 9.99763182e-01 -2.17485760e-02 -2.47385067e-01] [ 1.72920742e-01 2.15524674e-02 9.84699908e-01 -2.25763114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08463044 meters Centerline goodness : 0.105432 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.23 [[ 9.84919884e-01 -3.10803847e-03 -1.72983127e-01 5.22168707e-01] [-7.29719390e-04 9.99755107e-01 -2.21177206e-02 -2.44543716e-01] [ 1.73009508e-01 2.19104119e-02 9.84676416e-01 -2.25577745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11463044000004 meters Centerline goodness : 0.124328 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.23 [[ 9.84931366e-01 -3.25539160e-03 -1.72915025e-01 5.21995424e-01] [-6.44972069e-04 9.99746735e-01 -2.24955602e-02 -2.42074730e-01] [ 1.72944463e-01 2.22681082e-02 9.84679818e-01 -2.25580470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14463044 meters Centerline goodness : 0.137290 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.23 [[ 9.84947070e-01 -3.37655399e-03 -1.72823227e-01 5.21729124e-01] [-5.78277241e-04 9.99739235e-01 -2.28282161e-02 -2.39845389e-01] [ 1.72855242e-01 2.25845243e-02 9.84688278e-01 -2.25557484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17463044000004 meters Centerline goodness : 0.201166 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.23 [[ 9.84955863e-01 -3.66927603e-03 -1.72767139e-01 5.21195086e-01] [-3.66323466e-04 9.99727963e-01 -2.33209296e-02 -2.36996651e-01] [ 1.72805711e-01 2.30333750e-02 9.84686574e-01 -2.25139496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20463044 meters Centerline goodness : 0.119426 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.23 [[ 9.84936746e-01 -3.80798441e-03 -1.72873092e-01 5.21510737e-01] [-2.52626209e-04 9.99724723e-01 -2.34608924e-02 -2.36471438e-01] [ 1.72914843e-01 2.31511673e-02 9.84664654e-01 -2.25163918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23463044000005 meters Centerline goodness : 0.115110 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.23 [[ 9.84923733e-01 -3.95528901e-03 -1.72943912e-01 5.21640896e-01] [-1.14145816e-04 9.99723499e-01 -2.35140991e-02 -2.36827505e-01] [ 1.72989098e-01 2.31793351e-02 9.84650948e-01 -2.25067368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26463044 meters Centerline goodness : 0.109974 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.22 [[ 9.84961331e-01 -4.20211265e-03 -1.72723820e-01 5.20964979e-01] [ 1.33797626e-04 9.99722445e-01 -2.35587705e-02 -2.37660751e-01] [ 1.72774877e-01 2.31813679e-02 9.84688512e-01 -2.24857267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29463044 meters Centerline goodness : 0.109277 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.22 [[ 0.98517616 -0.00635967 -0.17142782 0.51610222] [ 0.00207993 0.99968194 -0.02513336 -0.23869862] [ 0.17153313 0.02440423 0.98487604 -0.22364606] [ 0. 0. 0. 1. ]] SLAMing on 268.32463044 meters Centerline goodness : 0.120376 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.22 [[ 0.98515646 -0.00633701 -0.17154183 0.51658751] [ 0.0020766 0.99968519 -0.02500403 -0.23928853] [ 0.17164628 0.02427666 0.98485948 -0.22377348] [ 0. 0. 0. 1. ]] SLAMing on 268.35463044 meters Centerline goodness : 0.120641 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.22 [[ 0.9851445 -0.00626172 -0.17161325 0.51732709] [ 0.0020272 0.99968941 -0.0248389 -0.23986155] [ 0.17171548 0.02412201 0.98485122 -0.22435325] [ 0. 0. 0. 1. ]] SLAMing on 268.38463044 meters Centerline goodness : 0.107379 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.22 [[ 0.98511478 -0.0061964 -0.17178615 0.51827022] [ 0.00198337 0.9996933 -0.02468566 -0.24058764] [ 0.17188643 0.02397749 0.98482493 -0.22483729] [ 0. 0. 0. 1. ]] SLAMing on 268.41463044 meters Centerline goodness : 0.117400 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.23 [[ 0.9850694 -0.00619777 -0.1720461 0.51933405] [ 0.00200671 0.99969724 -0.02452332 -0.2419259 ] [ 0.172146 0.02381193 0.9847836 -0.22520232] [ 0. 0. 0. 1. ]] SLAMing on 268.44463044 meters Centerline goodness : 0.107768 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.25, Z:-0.23 [[ 0.98467266 -0.00926592 -0.17416629 0.47726496] [ 0.00483903 0.99965476 -0.0258251 -0.25052848] [ 0.17434545 0.02458647 0.98437755 -0.23338288] [ 0. 0. 0. 1. ]] SLAMing on 268.47463044 meters Centerline goodness : 0.104672 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.25, Z:-0.23 [[ 0.98463849 -0.00926643 -0.17435931 0.47778257] [ 0.00491445 0.99966592 -0.02537506 -0.25424334] [ 0.1745362 0.02412838 0.98435509 -0.23337046] [ 0. 0. 0. 1. ]] SLAMing on 268.50463044 meters Centerline goodness : 0.106125 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.26, Z:-0.23 [[ 0.98457616 -0.00927319 -0.17471063 0.47892763] [ 0.00500371 0.99967837 -0.02486207 -0.25841216] [ 0.17488498 0.0236044 0.98430588 -0.23357521] [ 0. 0. 0. 1. ]] SLAMing on 268.53463044 meters Centerline goodness : 0.109694 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.26, Z:-0.23 [[ 0.98452823 -0.00919448 -0.17498464 0.47986496] [ 0.00502467 0.99969311 -0.02425772 -0.26305972] [ 0.17515397 0.02300317 0.98427229 -0.23375689] [ 0. 0. 0. 1. ]] SLAMing on 268.56463044000003 meters Centerline goodness : 0.110088 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.27, Z:-0.24 [[ 0.98420972 -0.01116959 -0.1766535 0.43649362] [ 0.00688273 0.99966722 -0.02486125 -0.27018365] [ 0.1768724 0.02325282 0.98395907 -0.24190747] [ 0. 0. 0. 1. ]] SLAMing on 268.59463044 meters Centerline goodness : 0.110985 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.28, Z:-0.24 [[ 0.98422738 -0.01131531 -0.17654583 0.43613865] [ 0.00712346 0.99967788 -0.02435946 -0.2781349 ] [ 0.17676459 0.02271763 0.98399095 -0.24177357] [ 0. 0. 0. 1. ]] SLAMing on 268.62463044000003 meters Centerline goodness : 0.100731 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.28, Z:-0.24 [[ 0.98422468 -0.01097958 -0.17658207 0.43631643] [ 0.00686302 0.99969064 -0.02390635 -0.27976082] [ 0.17678992 0.02231733 0.98399556 -0.24189159] [ 0. 0. 0. 1. ]] SLAMing on 268.65463044 meters Centerline goodness : 0.102477 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.29, Z:-0.25 [[ 0.9843765 -0.00311095 -0.17604892 0.41759815] [-0.00120806 0.99970105 -0.02442049 -0.28557604] [ 0.17607226 0.02425163 0.98407846 -0.24738756] [ 0. 0. 0. 1. ]] SLAMing on 268.68463044000003 meters Centerline goodness : 0.106648 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.29, Z:-0.25 [[ 0.98435292 -0.00296456 -0.17618323 0.4184638 ] [-0.00133832 0.99970384 -0.02429893 -0.2858897 ] [ 0.17620309 0.02415451 0.98405743 -0.24796699] [ 0. 0. 0. 1. ]] SLAMing on 268.71463044 meters Centerline goodness : 0.105743 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.29, Z:-0.25 [[ 0.98427791 -0.00282803 -0.17660406 0.42003931] [-0.00147964 0.9997047 -0.02425526 -0.28609615] [ 0.17662051 0.02413523 0.98398307 -0.24845891] [ 0. 0. 0. 1. ]] SLAMing on 268.74463044000004 meters Centerline goodness : 0.103888 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.29, Z:-0.26 [[ 0.98390478 -0.0028743 -0.17867041 0.37562689] [-0.00140289 0.99971556 -0.02380807 -0.28820642] [ 0.17868802 0.02367553 0.98362089 -0.25570162] [ 0. 0. 0. 1. ]] SLAMing on 268.77463044 meters Centerline goodness : 0.100233 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.29, Z:-0.26 [[ 0.98393601 -0.00273035 -0.17850062 0.37515326] [-0.00152559 0.99971793 -0.02370111 -0.28795263] [ 0.17851498 0.0235927 0.9836543 -0.25568309] [ 0. 0. 0. 1. ]] SLAMing on 268.80463044000004 meters Centerline goodness : 0.108591 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.29, Z:-0.26 [[ 0.98395243 -0.00272275 -0.17841021 0.37495388] [-0.00153544 0.99971734 -0.02372502 -0.28752312] [ 0.17842438 0.02361823 0.98367013 -0.25570325] [ 0. 0. 0. 1. ]] SLAMing on 268.83463044 meters Centerline goodness : 0.105856 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.29, Z:-0.26 [[ 0.98400004 -0.00305589 -0.17814203 0.37460633] [-0.00125652 0.99970901 -0.02408989 -0.28642811] [ 0.17816381 0.02392829 0.98370986 -0.25604816] [ 0. 0. 0. 1. ]] SLAMing on 268.86463044000004 meters Centerline goodness : 0.107615 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.29, Z:-0.26 [[ 0.9840165 -0.00313012 -0.1780498 0.37422053] [-0.00119813 0.99970651 -0.02419645 -0.28581171] [ 0.17807328 0.02402303 0.98372395 -0.25591746] [ 0. 0. 0. 1. ]] SLAMing on 268.89463044 meters Centerline goodness : 0.109336 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.29, Z:-0.26 [[ 0.98402422 -0.00316278 -0.17800657 0.37392737] [-0.00117467 0.99970509 -0.02425615 -0.28516176] [ 0.17803079 0.02407774 0.9837303 -0.25573255] [ 0. 0. 0. 1. ]] SLAMing on 268.92463044000004 meters Centerline goodness : 0.111209 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.28, Z:-0.26 [[ 0.98403896 -0.00317735 -0.17792477 0.37379413] [-0.00116535 0.99970409 -0.02429766 -0.28448757] [ 0.17794933 0.02411719 0.98374407 -0.25581039] [ 0. 0. 0. 1. ]] SLAMing on 268.95463044 meters Centerline goodness : 0.118396 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.28, Z:-0.26 [[ 0.98403817 -0.00327858 -0.17792731 0.3739157 ] [-0.00108492 0.99970117 -0.02442122 -0.28391616] [ 0.1779542 0.02422445 0.98374055 -0.25590268] [ 0. 0. 0. 1. ]] SLAMing on 268.98463044000005 meters Centerline goodness : 0.107147 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.28, Z:-0.26 [[ 9.84032532e-01 -3.47371301e-03 -1.77954793e-01 3.74225330e-01] [-9.22483981e-04 9.99696572e-01 -2.46153147e-02 -2.83523623e-01] [ 1.77986303e-01 2.43864309e-02 9.83730745e-01 -2.56109283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01463044 meters Centerline goodness : 0.106408 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.28, Z:-0.26 [[ 9.83983760e-01 -3.86444393e-03 -1.78216232e-01 3.75091552e-01] [-6.01355176e-04 9.99687333e-01 -2.49974950e-02 -2.82469853e-01] [ 1.78257111e-01 2.47043004e-02 9.83673777e-01 -2.56244501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04463044 meters Centerline goodness : 0.108354 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.28, Z:-0.26 [[ 9.83975634e-01 -3.88521015e-03 -1.78260646e-01 3.75138472e-01] [-5.95840741e-04 9.99685340e-01 -2.50772142e-02 -2.81659731e-01] [ 1.78301984e-01 2.47815827e-02 9.83663700e-01 -2.56161558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07463044 meters Centerline goodness : 0.103398 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.28, Z:-0.26 [[ 9.83973827e-01 -3.94269009e-03 -1.78269358e-01 3.75322806e-01] [-5.59790041e-04 9.99682291e-01 -2.51992618e-02 -2.80677221e-01] [ 1.78312073e-01 2.48952075e-02 9.83659003e-01 -2.56289421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10463044 meters Centerline goodness : 0.102272 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.28, Z:-0.26 [[ 9.83943179e-01 -4.15027775e-03 -1.78433732e-01 3.76025544e-01] [-4.17725012e-04 9.99673321e-01 -2.55553677e-02 -2.78458616e-01] [ 1.78481503e-01 2.52195659e-02 9.83620011e-01 -2.56534296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13463044 meters Centerline goodness : 0.106098 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.28, Z:-0.26 [[ 9.83945983e-01 -4.29645233e-03 -1.78414807e-01 3.76251148e-01] [-3.12439335e-04 9.99667171e-01 -2.57963217e-02 -2.77212329e-01] [ 1.78466258e-01 2.54379310e-02 9.83617154e-01 -2.56775877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16463044 meters Centerline goodness : 0.100878 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.28, Z:-0.26 [[ 9.83921629e-01 -4.45228036e-03 -1.78545248e-01 3.76582597e-01] [-2.00160497e-04 9.99661116e-01 -2.60310137e-02 -2.75900465e-01] [ 1.78600639e-01 2.56482151e-02 9.83587302e-01 -2.56745838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19463044 meters Centerline goodness : 0.115955 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.27, Z:-0.26 [[ 9.83881156e-01 -4.58182585e-03 -1.78764869e-01 3.77262750e-01] [-1.08856965e-04 9.99656171e-01 -2.62207715e-02 -2.74942617e-01] [ 1.78823544e-01 2.58175828e-02 9.83542370e-01 -2.56836922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22463044 meters Centerline goodness : 0.093467 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.27, Z:-0.26 [[ 9.83831324e-01 -4.73359547e-03 -1.79034967e-01 3.78168632e-01] [ 6.11601776e-06 9.99651547e-01 -2.63966810e-02 -2.74242828e-01] [ 1.79097532e-01 2.59687867e-02 9.83488534e-01 -2.57021529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25463044 meters Centerline goodness : 0.048437 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98367982 -0.01249441 -0.17949347 0.39810431] [ 0.00804085 0.99964202 -0.02551803 -0.26921015] [ 0.17974805 0.0236583 0.98342815 -0.25230299] [ 0. 0. 0. 1. ]] SLAMing on 269.28463044 meters Centerline goodness : 0.099455 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98368778 -0.01317073 -0.17940146 0.39770889] [ 0.00867611 0.99962909 -0.02581506 -0.26986039] [ 0.17967492 0.02383746 0.98343719 -0.25212587] [ 0. 0. 0. 1. ]] SLAMing on 269.31463044000003 meters Centerline goodness : 0.284779 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98376842 -0.01315036 -0.17896023 0.39651508] [ 0.00870773 0.99963466 -0.02558767 -0.27096581] [ 0.17923133 0.023614 0.98352352 -0.25219959] [ 0. 0. 0. 1. ]] SLAMing on 269.34463044 meters Centerline goodness : 0.091957 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98384844 -0.01310607 -0.17852306 0.39545192] [ 0.00872886 0.99964224 -0.02528244 -0.27257226] [ 0.17879054 0.02331579 0.98361086 -0.25239547] [ 0. 0. 0. 1. ]] SLAMing on 269.37463044000003 meters Centerline goodness : 0.419701 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.27, Z:-0.25 [[ 0.98391151 -0.01333128 -0.17815839 0.39485597] [ 0.00897826 0.99964167 -0.02521741 -0.27408378] [ 0.17843073 0.02321215 0.98367864 -0.25283433] [ 0. 0. 0. 1. ]] SLAMing on 269.40463044 meters Centerline goodness : 0.357601 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98386035 -0.01343297 -0.17843306 0.39592623] [ 0.0090554 0.99963825 -0.02532522 -0.27401689] [ 0.17870871 0.02330069 0.98362609 -0.25313958] [ 0. 0. 0. 1. ]] SLAMing on 269.43463044000003 meters Centerline goodness : 0.217342 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98378759 -0.0134691 -0.17883112 0.39717887] [ 0.00906631 0.99963589 -0.02541434 -0.27369574] [ 0.17910832 0.02338097 0.98355149 -0.25328938] [ 0. 0. 0. 1. ]] SLAMing on 269.46463044 meters Centerline goodness : 0.236791 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98375709 -0.01342202 -0.17900235 0.39782076] [ 0.00900714 0.99963542 -0.02545376 -0.27285884] [ 0.17927873 0.02342801 0.98351933 -0.2534649 ] [ 0. 0. 0. 1. ]] SLAMing on 269.49463044000004 meters Centerline goodness : 0.427667 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98383808 -0.01005562 -0.17877785 0.39700632] [ 0.00612276 0.99972727 -0.02253677 -0.27253316] [ 0.17895571 0.02107791 0.98363132 -0.25338231] [ 0. 0. 0. 1. ]] SLAMing on 269.52463044 meters Centerline goodness : 0.090541 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.9838887 -0.00995313 -0.17850482 0.39626469] [ 0.00602324 0.99972771 -0.02254404 -0.27153627] [ 0.1786806 0.02110564 0.98368074 -0.25333481] [ 0. 0. 0. 1. ]] SLAMing on 269.55463044000004 meters Centerline goodness : 0.461179 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98386942 -0.01001548 -0.17860752 0.39676882] [ 0.00602411 0.99972017 -0.02287556 -0.26920485] [ 0.17878665 0.02143061 0.98365444 -0.25345275] [ 0. 0. 0. 1. ]] SLAMing on 269.58463044 meters Centerline goodness : 0.461179 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98386942 -0.01001548 -0.17860752 0.39676882] [ 0.00602411 0.99972017 -0.02287556 -0.26920485] [ 0.17878665 0.02143061 0.98365444 -0.25345275] [ 0. 0. 0. 1. ]] SLAMing on 269.61463044000004 meters Centerline goodness : 0.245453 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.25 [[ 0.98382285 -0.01006518 -0.17886109 0.39768843] [ 0.00604134 0.99971658 -0.0230275 -0.26822369] [ 0.17904217 0.02157442 0.98360482 -0.25368514] [ 0. 0. 0. 1. ]] SLAMing on 269.64463044 meters Centerline goodness : 0.448889 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98376151 -0.00283105 -0.17945831 0.41608493] [-0.00150965 0.9997097 -0.02404661 -0.27153265] [ 0.17947429 0.02392705 0.98347165 -0.24937379] [ 0. 0. 0. 1. ]] SLAMing on 269.67463044000004 meters Centerline goodness : 0.087307 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98377147 -0.00294922 -0.1794018 0.41608255] [-0.00142813 0.99970453 -0.02426567 -0.27030906] [ 0.17942035 0.02412808 0.98347657 -0.24949329] [ 0. 0. 0. 1. ]] SLAMing on 269.70463044 meters Centerline goodness : 0.432254 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98380679 -0.00310239 -0.17920541 0.41528757] [-0.00132661 0.99969675 -0.02458949 -0.2683514 ] [ 0.17922735 0.02442904 0.98350434 -0.24914336] [ 0. 0. 0. 1. ]] SLAMing on 269.73463044000005 meters Centerline goodness : 0.407777 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98380586 -0.00319519 -0.17920887 0.41540499] [-0.00125323 0.99969403 -0.02470383 -0.26768973] [ 0.17923297 0.02452836 0.98350084 -0.24924345] [ 0. 0. 0. 1. ]] SLAMing on 269.76463044 meters Centerline goodness : 0.106700 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.9837895 -0.00320407 -0.17929851 0.41591095] [-0.0012381 0.99969518 -0.0246579 -0.26787671] [ 0.17932286 0.02448017 0.98348565 -0.24956155] [ 0. 0. 0. 1. ]] SLAMing on 269.79463044 meters Centerline goodness : 0.286413 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98373406 -0.00319368 -0.1796026 0.41703196] [-0.00124002 0.99969738 -0.02456845 -0.2682207 ] [ 0.17962671 0.02439153 0.98343241 -0.24986367] [ 0. 0. 0. 1. ]] SLAMing on 269.82463044 meters Centerline goodness : 0.388112 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98366322 -0.00327804 -0.17998868 0.41837242] [-0.00116006 0.99969801 -0.0245469 -0.26871977] [ 0.18001479 0.02435468 0.98336236 -0.25020214] [ 0. 0. 0. 1. ]] SLAMing on 269.85463044 meters Centerline goodness : 0.099094 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 9.83558572e-01 -3.46552975e-03 -1.80556158e-01 4.20226098e-01] [-9.90278118e-04 9.99697320e-01 -2.45822539e-02 -2.69494645e-01] [ 1.80586698e-01 2.43568874e-02 9.83257437e-01 -2.50543513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88463044 meters Centerline goodness : 0.461471 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 9.83554701e-01 -3.45660685e-03 -1.80577415e-01 4.20106480e-01] [-9.99590597e-04 9.99697350e-01 -2.45806639e-02 -2.69210145e-01] [ 1.80607729e-01 2.43569310e-02 9.83253573e-01 -2.50321836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91463044 meters Centerline goodness : 0.421129 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98353732 -0.00341598 -0.18067283 0.42024063] [-0.00104202 0.99969748 -0.02457379 -0.26884193] [ 0.18070211 0.0243575 0.98323622 -0.25022522] [ 0. 0. 0. 1. ]] SLAMing on 269.94463044 meters Centerline goodness : 0.309136 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.25 [[ 0.98349886 -0.00339958 -0.18088241 0.42092 ] [-0.00107254 0.9996963 -0.02462034 -0.26828704] [ 0.18091117 0.02440808 0.98319652 -0.25029745] [ 0. 0. 0. 1. ]] SLAMing on 269.97463044 meters Centerline goodness : 0.094035 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.26 [[ 0.98305065 -0.01007237 -0.18305727 0.40530182] [ 0.00602035 0.9997247 -0.02267754 -0.26244388] [ 0.1832353 0.02119111 0.98284066 -0.2554468 ] [ 0. 0. 0. 1. ]] SLAMing on 270.00463044 meters Centerline goodness : 0.102902 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.26 [[ 0.9830177 -0.00999045 -0.1832386 0.40607201] [ 0.00593601 0.99972557 -0.02266173 -0.26171082] [ 0.18341472 0.02118917 0.98280724 -0.25569518] [ 0. 0. 0. 1. ]] SLAMing on 270.03463044 meters Centerline goodness : 0.461323 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.26 [[ 0.98300446 -0.0099719 -0.18331066 0.40616738] [ 0.00590771 0.99972478 -0.0227038 -0.26118276] [ 0.18348661 0.02123499 0.98279283 -0.25558453] [ 0. 0. 0. 1. ]] SLAMing on 270.06463044000003 meters Centerline goodness : 0.099549 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.25 [[ 0.98299229 -0.01016377 -0.18336537 0.40579932] [ 0.00603974 0.99971641 -0.02303525 -0.25958067] [ 0.18354749 0.021536 0.98277491 -0.25499291] [ 0. 0. 0. 1. ]] SLAMing on 270.09463044 meters Centerline goodness : 0.151192 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.25 [[ 0.98298052 -0.01025847 -0.1834232 0.40585095] [ 0.00610668 0.99971253 -0.02318559 -0.25872478] [ 0.18360832 0.02167087 0.98276058 -0.2548689 ] [ 0. 0. 0. 1. ]] SLAMing on 270.12463044000003 meters Centerline goodness : 0.415481 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.25 [[ 0.98296086 -0.01029924 -0.1835262 0.40614144] [ 0.00612826 0.99971021 -0.02327958 -0.25794154] [ 0.18371278 0.02175822 0.98273913 -0.25488261] [ 0. 0. 0. 1. ]] SLAMing on 270.15463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 270.18463044000003 meters Centerline goodness : 0.102871 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.26 [[ 0.98291957 -0.01046331 -0.18373796 0.40685743] [ 0.00626094 0.99970572 -0.02343678 -0.25695909] [ 0.18392912 0.0218861 0.98269582 -0.25503698] [ 0. 0. 0. 1. ]] SLAMing on 270.21463044 meters Centerline goodness : 0.160503 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.25 [[ 0.98292662 -0.0107076 -0.18368614 0.40642995] [ 0.00648726 0.99970134 -0.02356139 -0.25687141] [ 0.18388357 0.0219675 0.98270253 -0.25474277] [ 0. 0. 0. 1. ]] SLAMing on 270.24463044000004 meters Centerline goodness : 0.107674 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.25 [[ 0.98297126 -0.0107895 -0.18344232 0.4054105 ] [ 0.00656511 0.99969945 -0.02362017 -0.25679187] [ 0.18364203 0.02201362 0.98274666 -0.25435872] [ 0. 0. 0. 1. ]] SLAMing on 270.27463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 270.30463044000004 meters Centerline goodness : 0.093304 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.25 [[ 0.98301729 -0.0111888 -0.18317155 0.40403044] [ 0.00687812 0.99968464 -0.02415197 -0.25483125] [ 0.18338401 0.02248193 0.98278424 -0.25353258] [ 0. 0. 0. 1. ]] SLAMing on 270.33463044 meters Centerline goodness : 0.335219 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.25 [[ 0.98300002 -0.01131598 -0.18325642 0.40417759] [ 0.00695552 0.9996776 -0.02441964 -0.25333826] [ 0.18347367 0.02272986 0.98276181 -0.25340152] [ 0. 0. 0. 1. ]] SLAMing on 270.36463044000004 meters Centerline goodness : 0.449501 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.25 [[ 0.98298712 -0.00768675 -0.18351358 0.40476777] [ 0.00379239 0.99976031 -0.02156263 -0.25048036] [ 0.18363534 0.02049983 0.98278066 -0.25330525] [ 0. 0. 0. 1. ]] SLAMing on 270.39463044 meters Centerline goodness : 0.405174 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.25 [[ 0.98294925 -0.00777745 -0.18371252 0.40540956] [ 0.00382891 0.99975419 -0.021838 -0.24839346] [ 0.1838372 0.02076223 0.98273741 -0.25336357] [ 0. 0. 0. 1. ]] SLAMing on 270.42463044000004 meters Centerline goodness : 0.095810 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.25 [[ 0.98292032 -0.00796363 -0.18385923 0.40590317] [ 0.00394611 0.99974561 -0.02220662 -0.24621018] [ 0.18398931 0.02110181 0.98270171 -0.2533839 ] [ 0. 0. 0. 1. ]] SLAMing on 270.45463044 meters Centerline goodness : 0.348979 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.25 [[ 0.9829139 -0.00836705 -0.18387565 0.40592793] [ 0.00422845 0.99972909 -0.02288818 -0.2424719 ] [ 0.18401734 0.02171961 0.982683 -0.25325311] [ 0. 0. 0. 1. ]] SLAMing on 270.48463044000005 meters Centerline goodness : 0.093960 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.25 [[ 0.98291757 -0.00854484 -0.18384785 0.40581278] [ 0.00435404 0.99972167 -0.02318657 -0.24081815] [ 0.18399481 0.02199001 0.9826812 -0.25317244] [ 0. 0. 0. 1. ]] SLAMing on 270.51463044 meters Centerline goodness : 0.094762 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.25 [[ 0.98291776 -0.00874705 -0.18383733 0.40583986] [ 0.00449908 0.99971344 -0.02351168 -0.23907811] [ 0.18399031 0.02228295 0.98267545 -0.2531996 ] [ 0. 0. 0. 1. ]] SLAMing on 270.54463044 meters Centerline goodness : 0.092242 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.25 [[ 0.9828733 -0.00890729 -0.18406722 0.40658398] [ 0.00461013 0.99970705 -0.02376039 -0.23765557] [ 0.18422494 0.02250488 0.98262643 -0.25328456] [ 0. 0. 0. 1. ]] SLAMing on 270.57463044 meters Centerline goodness : 0.094832 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.25 [[ 0.98281079 -0.00908126 -0.18439221 0.40780643] [ 0.00472277 0.9996993 -0.02406252 -0.23587843] [ 0.18455528 0.02277806 0.98255814 -0.25359198] [ 0. 0. 0. 1. ]] SLAMing on 270.60463044 meters Centerline goodness : 0.093374 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.25 [[ 0.98272601 -0.00919801 -0.18483772 0.40929028] [ 0.00478162 0.99969267 -0.02432493 -0.23408621] [ 0.18500466 0.02302092 0.98246797 -0.25384845] [ 0. 0. 0. 1. ]] SLAMing on 270.63463044 meters Centerline goodness : 0.092171 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.25 [[ 0.98255844 -0.01457788 -0.18538177 0.43192375] [ 0.01071141 0.99970407 -0.02184133 -0.22763125] [ 0.18564531 0.01947468 0.98242382 -0.25001775] [ 0. 0. 0. 1. ]] SLAMing on 270.66463044 meters Centerline goodness : 0.096090 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.25 [[ 0.9825816 -0.0147567 -0.18524479 0.43152717] [ 0.0108237 0.99969441 -0.02222475 -0.22522071] [ 0.18551615 0.0198326 0.98244105 -0.24987841] [ 0. 0. 0. 1. ]] SLAMing on 270.69463044 meters Centerline goodness : 0.096841 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.22, Z:-0.25 [[ 0.9825798 -0.01495056 -0.18523883 0.43129373] [ 0.01094351 0.99968389 -0.02263541 -0.22263663] [ 0.18551868 0.02021394 0.9824328 -0.24958519] [ 0. 0. 0. 1. ]] SLAMing on 270.72463044 meters Centerline goodness : 0.095288 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.22, Z:-0.25 [[ 0.98253016 -0.01509204 -0.18549045 0.43202864] [ 0.01101596 0.9996751 -0.02298567 -0.22033385] [ 0.18577708 0.02054076 0.9823772 -0.24954001] [ 0. 0. 0. 1. ]] SLAMing on 270.75463044 meters Centerline goodness : 0.107656 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.22, Z:-0.25 [[ 0.98229148 -0.01345217 -0.18687558 0.43754041] [ 0.00952839 0.99971522 -0.02187916 -0.21629239] [ 0.18711668 0.01971109 0.98213992 -0.2508257 ] [ 0. 0. 0. 1. ]] SLAMing on 270.78463044 meters Centerline goodness : 0.104093 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.25 [[ 0.98232978 -0.0063418 -0.18705074 0.45607564] [ 0.00201674 0.9997264 -0.02330366 -0.21870812] [ 0.18714735 0.02251465 0.98207381 -0.24587498] [ 0. 0. 0. 1. ]] SLAMing on 270.81463044000003 meters Centerline goodness : 0.103784 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.25 [[ 0.98232136 -0.00646413 -0.18709081 0.4558536 ] [ 0.00208974 0.99972003 -0.02356891 -0.21704597] [ 0.18719078 0.02276128 0.98205984 -0.24543653] [ 0. 0. 0. 1. ]] SLAMing on 270.84463044 meters Centerline goodness : 0.081417 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.24 [[ 9.82517330e-01 -4.47102702e-03 -1.86117454e-01 4.51579986e-01] [ 3.51933036e-04 9.99754401e-01 -2.21588494e-02 -2.13601279e-01] [ 1.86170817e-01 2.17059526e-02 9.82277598e-01 -2.44078056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87463044000003 meters Centerline goodness : 0.099812 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.24 [[ 9.82518585e-01 -4.64405424e-03 -1.86106591e-01 4.51404233e-01] [ 4.46081926e-04 9.99744661e-01 -2.25923468e-02 -2.10944665e-01] [ 1.86163991e-01 2.21143818e-02 9.82269781e-01 -2.43821138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90463044 meters Centerline goodness : 0.098463 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.24 [[ 9.82513815e-01 -4.77699394e-03 -1.86128407e-01 4.51105124e-01] [ 4.99597061e-04 9.99734856e-01 -2.30210230e-02 -2.07653286e-01] [ 1.86189027e-01 2.25254839e-02 9.82255694e-01 -2.43282486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93463044000003 meters Centerline goodness : 0.270604 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.24 [[ 0.98264951 -0.00215099 -0.18545972 0.44847776] [-0.00179801 0.99977528 -0.02112221 -0.2037374 ] [ 0.18546347 0.02108918 0.98242483 -0.24259884] [ 0. 0. 0. 1. ]] SLAMing on 270.96463044 meters Centerline goodness : 0.097596 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.20, Z:-0.24 [[ 0.98262913 0.00169425 -0.18557243 0.44873334] [-0.00514053 0.99982312 -0.0180915 -0.20117019] [ 0.18550896 0.01873117 0.98246403 -0.24249109] [ 0. 0. 0. 1. ]] SLAMing on 270.99463044000004 meters Centerline goodness : 0.099318 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.19, Z:-0.24 [[ 0.9821223 -0.00166887 -0.18823657 0.46866552] [-0.00122522 0.99988285 -0.01525732 -0.19032601] [ 0.18823998 0.01521518 0.9820052 -0.2376041 ] [ 0. 0. 0. 1. ]] SLAMing on 271.02463044 meters Centerline goodness : 0.048079 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.19, Z:-0.24 [[ 0.98215359 -0.00189694 -0.18807105 0.46829442] [-0.00107327 0.99987633 -0.0156899 -0.18789562] [ 0.18807756 0.01561175 0.98203009 -0.23764195] [ 0. 0. 0. 1. ]] SLAMing on 271.05463044000004 meters Centerline goodness : 0.115474 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.19, Z:-0.24 [[ 9.82182359e-01 -2.18491817e-03 -1.87917640e-01 4.67751776e-01] [-8.42027707e-04 9.99871213e-01 -1.60264972e-02 -1.86661323e-01] [ 1.87928456e-01 1.58991747e-02 9.82054027e-01 -2.37403698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08463044 meters Centerline goodness : 0.082888 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.19, Z:-0.24 [[ 9.82233187e-01 -2.49461826e-03 -1.87647922e-01 4.66967571e-01] [-5.71276891e-04 9.99867265e-01 -1.62826970e-02 -1.86215494e-01] [ 1.87663633e-01 1.61006043e-02 9.82101385e-01 -2.37332516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11463044000004 meters Centerline goodness : 0.129255 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.23 [[ 0.98223069 -0.01094975 -0.18735789 0.48637361] [ 0.00821176 0.99984794 -0.01538362 -0.18338945] [ 0.18749785 0.01357173 0.98217125 -0.23252645] [ 0. 0. 0. 1. ]] SLAMing on 271.14463044 meters Centerline goodness : 0.130771 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.19, Z:-0.23 [[ 0.98218515 -0.01113864 -0.18758536 0.48719289] [ 0.00842852 0.99984836 -0.01523883 -0.18508872] [ 0.18772666 0.01338629 0.98213009 -0.23268905] [ 0. 0. 0. 1. ]] SLAMing on 271.17463044000004 meters Centerline goodness : 0.127171 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.23 [[ 0.98192041 -0.02200798 -0.18801054 0.51181047] [ 0.01934897 0.99968529 -0.01596672 -0.18785112] [ 0.18830276 0.01204024 0.98203722 -0.22984425] [ 0. 0. 0. 1. ]] SLAMing on 271.20463044 meters Centerline goodness : 0.102948 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.23 [[ 0.98188409 -0.0221636 -0.18818187 0.5127101 ] [ 0.01955138 0.99968516 -0.01572649 -0.19073887] [ 0.18847118 0.01176237 0.98200828 -0.23026791] [ 0. 0. 0. 1. ]] SLAMing on 271.23463044000005 meters Centerline goodness : 0.126421 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.23 [[ 0.98187848 -0.0221069 -0.18821778 0.51285899] [ 0.01960082 0.99969286 -0.01516585 -0.19536183] [ 0.18849524 0.0112018 0.98201022 -0.23028957] [ 0. 0. 0. 1. ]] SLAMing on 271.26463044 meters Centerline goodness : 0.119357 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.23 [[ 0.9818654 -0.02188004 -0.18831252 0.51319724] [ 0.01943333 0.99970117 -0.01482951 -0.19681868] [ 0.18858072 0.01090104 0.98199719 -0.23036607] [ 0. 0. 0. 1. ]] SLAMing on 271.29463044 meters Centerline goodness : 0.166941 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.20, Z:-0.24 [[ 0.98194742 -0.0133774 -0.18868042 0.49363717] [ 0.01064855 0.99982364 -0.01546914 -0.20119899] [ 0.18885408 0.01318071 0.9819167 -0.2352273 ] [ 0. 0. 0. 1. ]] SLAMing on 271.32463044 meters Centerline goodness : 0.089543 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.20, Z:-0.24 [[ 0.98191141 -0.01337841 -0.18886769 0.49444114] [ 0.01064385 0.99982344 -0.01548563 -0.20148482] [ 0.18904152 0.01319524 0.98188044 -0.23549998] [ 0. 0. 0. 1. ]] SLAMing on 271.35463044 meters Centerline goodness : 0.154696 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:-0.24 [[ 0.98181027 -0.0044277 -0.18981302 0.4765454 ] [ 0.00140889 0.99987042 -0.01603611 -0.20506761] [ 0.18985943 0.015477 0.98168929 -0.24087896] [ 0. 0. 0. 1. ]] SLAMing on 271.38463044 meters Centerline goodness : 0.088617 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.24 [[ 0.98178893 -0.0041733 -0.18992915 0.47666771] [ 0.00118485 0.99987375 -0.01584538 -0.20495384] [ 0.1899713 0.01533178 0.98166993 -0.2406539 ] [ 0. 0. 0. 1. ]] SLAMing on 271.41463044 meters Centerline goodness : 0.125045 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.24 [[ 0.98179448 -0.00401555 -0.18990385 0.47651062] [ 0.00104489 0.99987556 -0.01574054 -0.20487173] [ 0.18994342 0.01525555 0.98167651 -0.24052614] [ 0. 0. 0. 1. ]] SLAMing on 271.44463044 meters Centerline goodness : 0.109103 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.24 [[ 9.81767224e-01 -3.95439160e-03 -1.90045997e-01 4.76421062e-01] [ 9.87851353e-04 9.99876231e-01 -1.57017887e-02 -2.04884134e-01] [ 1.90084566e-01 1.52277643e-02 9.81649618e-01 -2.40043142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47463044 meters Centerline goodness : 0.109103 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.20, Z:-0.24 [[ 9.81767224e-01 -3.95439160e-03 -1.90045997e-01 4.76421062e-01] [ 9.87851353e-04 9.99876231e-01 -1.57017887e-02 -2.04884134e-01] [ 1.90084566e-01 1.52277643e-02 9.81649618e-01 -2.40043142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50463044 meters Centerline goodness : 0.127734 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:-0.24 [[ 0.98174719 -0.0039518 -0.19014952 0.47645275] [ 0.00100534 0.99987797 -0.01558947 -0.20603642] [ 0.19018793 0.01511375 0.98163136 -0.23981978] [ 0. 0. 0. 1. ]] SLAMing on 271.53463044 meters Centerline goodness : 0.125904 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:-0.24 [[ 9.81771949e-01 -3.83100051e-03 -1.90024114e-01 4.76245349e-01] [ 9.30885913e-04 9.99881768e-01 -1.53487357e-02 -2.07207368e-01] [ 1.90060448e-01 1.48920674e-02 9.81659438e-01 -2.39993095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56463044000003 meters Centerline goodness : 0.127974 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:-0.24 [[ 9.81787923e-01 -3.73022816e-03 -1.89943570e-01 4.75992784e-01] [ 8.78802647e-04 9.99885693e-01 -1.50939774e-02 -2.08648183e-01] [ 1.89978162e-01 1.46521618e-02 9.81678976e-01 -2.39970918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59463044 meters Centerline goodness : 0.088484 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:-0.24 [[ 9.81828329e-01 -3.69013290e-03 -1.89735383e-01 4.75497694e-01] [ 8.77427531e-04 9.99888511e-01 -1.49062248e-02 -2.09979754e-01] [ 1.89769236e-01 1.44688748e-02 9.81722104e-01 -2.40085137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 271.65463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 271.68463044000003 meters Centerline goodness : 0.089758 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.22, Z:-0.24 [[ 9.81741063e-01 -3.54723130e-03 -1.90189123e-01 4.76493455e-01] [ 8.58442045e-04 9.99898551e-01 -1.42179720e-02 -2.15114858e-01] [ 1.90220263e-01 1.37951006e-02 9.81644511e-01 -2.39996358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71463044 meters Centerline goodness : 0.089146 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.22, Z:-0.24 [[ 9.81724070e-01 -3.47842048e-03 -1.90278088e-01 4.76586893e-01] [ 8.33110568e-04 9.99901920e-01 -1.39805621e-02 -2.16771743e-01] [ 1.90308056e-01 1.35665316e-02 9.81630681e-01 -2.39883483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74463044000004 meters Centerline goodness : 0.139648 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.22, Z:-0.24 [[ 9.81722906e-01 -3.34937342e-03 -1.90286411e-01 4.76629373e-01] [ 7.61848858e-04 9.99906277e-01 -1.36695785e-02 -2.18557929e-01] [ 1.90314361e-01 1.32747689e-02 9.81633447e-01 -2.39918614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 271.80463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 271.83463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 271.86463044000004 meters Centerline goodness : 0.099773 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.23, Z:-0.24 [[ 0.98174172 -0.0039595 -0.1901776 0.47548308] [ 0.00147279 0.99991159 -0.01321526 -0.22944391] [ 0.19021312 0.01269388 0.98166075 -0.2391886 ] [ 0. 0. 0. 1. ]] SLAMing on 271.89463044 meters Centerline goodness : 0.121976 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.24 [[ 0.98176042 -0.00383132 -0.19008365 0.47456506] [ 0.00135119 0.99991229 -0.01317546 -0.2291324 ] [ 0.19011745 0.01267831 0.98167949 -0.23846281] [ 0. 0. 0. 1. ]] SLAMing on 271.92463044000004 meters Centerline goodness : 0.089708 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.24 [[ 0.9817976 -0.00374988 -0.18989313 0.47374747] [ 0.00124321 0.99991054 -0.01331784 -0.22767468] [ 0.18992609 0.01283934 0.98171444 -0.23801821] [ 0. 0. 0. 1. ]] SLAMing on 271.95463044 meters Centerline goodness : 0.187754 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.24 [[ 0.98194818 -0.00101796 -0.1891474 0.47060482] [-0.00113884 0.99993558 -0.01129371 -0.22482946] [ 0.18914671 0.01130524 0.98188376 -0.23711439] [ 0. 0. 0. 1. ]] SLAMing on 271.98463044000005 meters Centerline goodness : 0.113031 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.24 [[ 0.98213769 0.00113283 -0.18816024 0.46666345] [-0.00304604 0.99994656 -0.00987914 -0.22082623] [ 0.18813899 0.01027582 0.98208866 -0.23608909] [ 0. 0. 0. 1. ]] SLAMing on 272.01463044 meters Centerline goodness : 0.089846 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.24 [[ 0.98215525 0.00115334 -0.18806842 0.46606644] [-0.00314167 0.99994228 -0.01027463 -0.21736973] [ 0.18804571 0.01068213 0.98210219 -0.2356549 ] [ 0. 0. 0. 1. ]] SLAMing on 272.04463044 meters Centerline goodness : 0.104714 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.21, Z:-0.24 [[ 0.98214833 0.00215339 -0.18809579 0.46572493] [-0.00413663 0.99993991 -0.01015186 -0.20912981] [ 0.18806262 0.01074872 0.98209822 -0.23505486] [ 0. 0. 0. 1. ]] SLAMing on 272.07463044 meters Centerline goodness : 0.090192 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.21, Z:-0.23 [[ 0.98208594 0.00197834 -0.18842319 0.4664889 ] [-0.00404243 0.99993596 -0.01057091 -0.20631331] [ 0.18839021 0.01114323 0.98203104 -0.23482846] [ 0. 0. 0. 1. ]] SLAMing on 272.10463044 meters Centerline goodness : 0.090705 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.20, Z:-0.23 [[ 0.98203447 0.00177125 -0.18869329 0.4671867 ] [-0.00391308 0.99993207 -0.0109789 -0.20367834] [ 0.18866103 0.01152003 0.9819747 -0.23470529] [ 0. 0. 0. 1. ]] SLAMing on 272.13463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 272.16463044 meters Centerline goodness : 0.256803 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.24 [[ 0.98186365 -0.00622425 -0.18948621 0.45003717] [ 0.00420094 0.99992982 -0.01107765 -0.19028347] [ 0.18954186 0.01008072 0.98182089 -0.23948109] [ 0. 0. 0. 1. ]] SLAMing on 272.19463044 meters Centerline goodness : 0.268571 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.24 [[ 0.98184511 -0.00638983 -0.18957679 0.4506043 ] [ 0.00432718 0.99992688 -0.01129221 -0.18908413] [ 0.18963508 0.01026687 0.98180096 -0.2398063 ] [ 0. 0. 0. 1. ]] SLAMing on 272.22463044 meters Centerline goodness : 0.246226 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.24 [[ 0.98180088 -0.0064912 -0.18980225 0.45152383] [ 0.00441849 0.99992592 -0.01134145 -0.18867641] [ 0.18986181 0.01029641 0.98175683 -0.24006402] [ 0. 0. 0. 1. ]] SLAMing on 272.25463044 meters Centerline goodness : 0.143126 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.24 [[ 0.98176722 -0.00654454 -0.18997448 0.45227495] [ 0.00447506 0.99992591 -0.01132043 -0.18857605] [ 0.19003449 0.01026388 0.98172376 -0.24032204] [ 0. 0. 0. 1. ]] SLAMing on 272.28463044 meters Centerline goodness : 0.137722 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.19, Z:-0.24 [[ 0.98162506 -0.00704716 -0.19068973 0.45463352] [ 0.00494037 0.99992142 -0.01152138 -0.18897999] [ 0.19075593 0.01036759 0.98158275 -0.24064681] [ 0. 0. 0. 1. ]] SLAMing on 272.31463044000003 meters Centerline goodness : 0.089338 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.25 [[ 0.98105297 -0.00725595 -0.19360377 0.41126769] [ 0.0049827 0.99991284 -0.01222613 -0.18574949] [ 0.19367561 0.01102982 0.98100362 -0.24833422] [ 0. 0. 0. 1. ]] SLAMing on 272.34463044 meters Centerline goodness : 0.111140 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.25 [[ 0.98102143 -0.00729449 -0.1937621 0.41158204] [ 0.00499915 0.99991145 -0.01233252 -0.18494953] [ 0.19383491 0.01112982 0.98097103 -0.24815604] [ 0. 0. 0. 1. ]] SLAMing on 272.37463044000003 meters Centerline goodness : 0.042481 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.25 [[ 0.98100767 -0.00735374 -0.19382947 0.41161455] [ 0.00502087 0.99990896 -0.01252417 -0.18355578] [ 0.19390393 0.01131311 0.98095529 -0.24791007] [ 0. 0. 0. 1. ]] SLAMing on 272.40463044 meters Centerline goodness : 0.142766 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.25 [[ 0.98101038 -0.00744023 -0.19381248 0.41131846] [ 0.00505535 0.99990534 -0.01279673 -0.18168449] [ 0.19388934 0.01157394 0.98095513 -0.24758829] [ 0. 0. 0. 1. ]] SLAMing on 272.43463044000003 meters Centerline goodness : 0.115895 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.25 [[ 0.98120512 -0.00437667 -0.19291799 0.40842402] [ 0.00238694 0.99994155 -0.01054508 -0.17807085] [ 0.19295286 0.0098864 0.98115822 -0.24722855] [ 0. 0. 0. 1. ]] SLAMing on 272.46463044 meters Centerline goodness : 0.094350 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.25 [[ 0.98121425 -0.00441513 -0.1928707 0.40821079] [ 0.00238447 0.99993927 -0.0107595 -0.17623879] [ 0.19290649 0.01009749 0.98116519 -0.2470529 ] [ 0. 0. 0. 1. ]] SLAMing on 272.49463044000004 meters Centerline goodness : 0.123400 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98122946 -0.00448969 -0.19279155 0.40786851] [ 0.0024119 0.99993647 -0.01101074 -0.17428301] [ 0.19282873 0.01033907 0.98117796 -0.24687027] [ 0. 0. 0. 1. ]] SLAMing on 272.52463044 meters Centerline goodness : 0.122666 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98116403 -0.00480704 -0.19311664 0.40828699] [ 0.00261232 0.9999291 -0.01161778 -0.17093521] [ 0.19315879 0.01089446 0.98110702 -0.24632303] [ 0. 0. 0. 1. ]] SLAMing on 272.55463044000004 meters Centerline goodness : 0.131859 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98109116 -0.00494579 -0.193483 0.40945615] [ 0.00269967 0.99992589 -0.01187083 -0.1694906 ] [ 0.19352737 0.01112403 0.98103181 -0.24644511] [ 0. 0. 0. 1. ]] SLAMing on 272.58463044 meters Centerline goodness : 0.161042 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98104002 -0.00504654 -0.19373955 0.41034478] [ 0.00275924 0.9999233 -0.01207405 -0.16806669] [ 0.19378562 0.01131056 0.9809787 -0.24656655] [ 0. 0. 0. 1. ]] SLAMing on 272.61463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 272.64463044 meters Centerline goodness : 0.146528 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98103174 -0.00533806 -0.19377366 0.41090498] [ 0.00297233 0.99991749 -0.01249743 -0.16574768] [ 0.19382439 0.01168442 0.98096666 -0.24697915] [ 0. 0. 0. 1. ]] SLAMing on 272.67463044000004 meters Centerline goodness : 0.087389 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.16, Z:-0.24 [[ 0.9811358 -0.01405384 -0.19280827 0.43020493] [ 0.01199044 0.99985772 -0.01186461 -0.1620027 ] [ 0.19294758 0.00932894 0.98116472 -0.24209099] [ 0. 0. 0. 1. ]] SLAMing on 272.70463044 meters Centerline goodness : 0.155253 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98130354 -0.00597673 -0.19237369 0.41109545] [ 0.00364702 0.99991569 -0.01246219 -0.16710985] [ 0.19243196 0.0115276 0.98124261 -0.24679686] [ 0. 0. 0. 1. ]] SLAMing on 272.73463044000005 meters Centerline goodness : 0.087433 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98127714 -0.00596277 -0.19250876 0.41147313] [ 0.0036736 0.99991827 -0.01224597 -0.16845015] [ 0.19256605 0.01130949 0.98121884 -0.24684373] [ 0. 0. 0. 1. ]] SLAMing on 272.76463044 meters Centerline goodness : 0.177161 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98116509 -0.00662128 -0.19305759 0.41338798] [ 0.00433222 0.99991525 -0.01227662 -0.1717901 ] [ 0.19312252 0.01120902 0.98111062 -0.24740033] [ 0. 0. 0. 1. ]] SLAMing on 272.79463044 meters Centerline goodness : 0.206546 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.25 [[ 0.98111709 -0.00674359 -0.19329711 0.41423289] [ 0.00449126 0.99991685 -0.012088 -0.17414954] [ 0.19336256 0.01099159 0.9810658 -0.24766723] [ 0. 0. 0. 1. ]] SLAMing on 272.82463044 meters Centerline goodness : 0.163483 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.26 [[ 0.98061461 -0.0072064 -0.19581385 0.37111144] [ 0.00475168 0.99990417 -0.01300283 -0.17298626] [ 0.19588879 0.01182032 0.98055488 -0.25556384] [ 0. 0. 0. 1. ]] SLAMing on 272.85463044 meters Centerline goodness : 0.134442 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.26 [[ 0.98060195 -0.00693995 -0.19588685 0.3712474 ] [ 0.00460215 0.99991269 -0.01238711 -0.17645317] [ 0.19595571 0.01124533 0.98054827 -0.25559032] [ 0. 0. 0. 1. ]] SLAMing on 272.88463044 meters Centerline goodness : 0.172646 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.26 [[ 0.98061096 -0.00674481 -0.19584856 0.37101354] [ 0.00445544 0.99991653 -0.01212768 -0.17744987] [ 0.19591402 0.01101994 0.98055916 -0.25543608] [ 0. 0. 0. 1. ]] SLAMing on 272.91463044 meters Centerline goodness : 0.209436 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.26 [[ 0.98066095 -0.00661837 -0.19560238 0.37003812] [ 0.00435515 0.99991853 -0.01199839 -0.17792933] [ 0.19566585 0.01091447 0.98060989 -0.25509234] [ 0. 0. 0. 1. ]] SLAMing on 272.94463044 meters Centerline goodness : 0.100427 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98068907 -0.00658112 -0.19546261 0.36916127] [ 0.00432508 0.99991904 -0.01196665 -0.17828159] [ 0.19552554 0.01089017 0.98063814 -0.25452807] [ 0. 0. 0. 1. ]] SLAMing on 272.97463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.00463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.03463044 meters Centerline goodness : 0.158299 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98041103 -0.00561259 -0.1968825 0.37279019] [ 0.00345057 0.99992994 -0.0113226 -0.1791405 ] [ 0.19693225 0.01042144 0.98036171 -0.2542901 ] [ 0. 0. 0. 1. ]] SLAMing on 273.06463044000003 meters Centerline goodness : 0.125658 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98039404 -0.00559564 -0.19696757 0.3729261 ] [ 0.00341761 0.99992922 -0.011396 -0.17855293] [ 0.1970174 0.01049942 0.98034377 -0.25413159] [ 0. 0. 0. 1. ]] SLAMing on 273.09463044 meters Centerline goodness : 0.140124 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98037433 -0.00546771 -0.1970692 0.37295625] [ 0.00328757 0.99992975 -0.01138823 -0.17786977] [ 0.19711762 0.01051684 0.98032344 -0.25381403] [ 0. 0. 0. 1. ]] SLAMing on 273.12463044000003 meters Centerline goodness : 0.088548 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98034646 -0.00526955 -0.19721319 0.3730291 ] [ 0.00309898 0.9999312 -0.0113132 -0.17709374] [ 0.19725924 0.01047969 0.98029535 -0.25344019] [ 0. 0. 0. 1. ]] SLAMing on 273.15463044 meters Centerline goodness : 0.171438 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98035116 -0.00514463 -0.19719316 0.37281623] [ 0.00294648 0.99993023 -0.01143896 -0.17511558] [ 0.19723825 0.01063317 0.98029792 -0.25316695] [ 0. 0. 0. 1. ]] SLAMing on 273.18463044000003 meters Centerline goodness : 0.157364 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.25 [[ 0.98033379 -0.00522337 -0.19727742 0.37295103] [ 0.00300467 0.99992885 -0.01154428 -0.17482466] [ 0.19732368 0.01072449 0.98027973 -0.25303239] [ 0. 0. 0. 1. ]] SLAMing on 273.21463044 meters Centerline goodness : 0.088400 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.25 [[ 0.98033171 -0.00524618 -0.19728714 0.37292102] [ 0.00302765 0.99992877 -0.01154516 -0.17489266] [ 0.19733365 0.01072077 0.98027776 -0.25298596] [ 0. 0. 0. 1. ]] SLAMing on 273.24463044000004 meters Centerline goodness : 0.067813 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98036075 -0.00528097 -0.19714186 0.37249903] [ 0.00309843 0.99993047 -0.01137774 -0.17605831] [ 0.19718824 0.01054346 0.98030895 -0.25299856] [ 0. 0. 0. 1. ]] SLAMing on 273.27463044 meters Centerline goodness : 0.086409 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98040524 -0.00525563 -0.19692117 0.37219406] [ 0.00310423 0.9999321 -0.01123226 -0.17699335] [ 0.19696683 0.01040088 0.98035498 -0.25329734] [ 0. 0. 0. 1. ]] SLAMing on 273.30463044000004 meters Centerline goodness : 0.088310 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98041888 -0.00530208 -0.19685197 0.37190725] [ 0.00316283 0.9999325 -0.01118008 -0.1777141 ] [ 0.19689796 0.01033856 0.98036947 -0.25320962] [ 0. 0. 0. 1. ]] SLAMing on 273.33463044 meters Centerline goodness : 0.087605 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98042397 -0.00531241 -0.19682638 0.37185264] [ 0.00319349 0.9999335 -0.01108127 -0.1785583 ] [ 0.19687216 0.01023578 0.98037574 -0.25320632] [ 0. 0. 0. 1. ]] SLAMing on 273.36463044000004 meters Centerline goodness : 0.160278 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98035478 -0.00518989 -0.19717397 0.37253003] [ 0.00311034 0.99993625 -0.01085499 -0.17961521] [ 0.19721774 0.01002847 0.98030842 -0.25295894] [ 0. 0. 0. 1. ]] SLAMing on 273.39463044 meters Centerline goodness : 0.160278 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98035478 -0.00518989 -0.19717397 0.37253003] [ 0.00311034 0.99993625 -0.01085499 -0.17961521] [ 0.19721774 0.01002847 0.98030842 -0.25295894] [ 0. 0. 0. 1. ]] SLAMing on 273.42463044000004 meters Centerline goodness : 0.087409 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98028353 -0.00501935 -0.19753231 0.37350768] [ 0.0029853 0.99993943 -0.01059377 -0.18060791] [ 0.19757352 0.0097952 0.98023913 -0.25296135] [ 0. 0. 0. 1. ]] SLAMing on 273.45463044 meters Centerline goodness : 0.152863 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98023457 -0.00480575 -0.1977804 0.37402946] [ 0.00283828 0.99994364 -0.01023006 -0.18253248] [ 0.19781842 0.0094665 0.98019297 -0.25278292] [ 0. 0. 0. 1. ]] SLAMing on 273.48463044000005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.51463044 meters Centerline goodness : 0.172644 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 0.98034145 -0.00465863 -0.1972535 0.37231525] [ 0.00274132 0.99994632 -0.00999195 -0.18402822] [ 0.19728946 0.00925479 0.98030159 -0.25246071] [ 0. 0. 0. 1. ]] SLAMing on 273.54463044 meters Centerline goodness : 0.087608 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.25 [[ 0.98037407 -0.00444059 -0.19709635 0.37191766] [ 0.00258861 0.99995006 -0.00965293 -0.1858204 ] [ 0.19712937 0.00895328 0.9803366 -0.25248202] [ 0. 0. 0. 1. ]] SLAMing on 273.57463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.60463044 meters Centerline goodness : 0.168473 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.25 [[ 0.98035396 -0.00434732 -0.19719841 0.37271648] [ 0.00253359 0.99995215 -0.00944881 -0.18736232] [ 0.19723005 0.00876355 0.98031806 -0.25300879] [ 0. 0. 0. 1. ]] SLAMing on 273.63463044 meters Centerline goodness : 0.087221 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.25 [[ 0.98030392 -0.00420531 -0.19745007 0.37351035] [ 0.00241124 0.99995361 -0.00932575 -0.18743465] [ 0.19748013 0.00866597 0.98026859 -0.25308291] [ 0. 0. 0. 1. ]] SLAMing on 273.66463044 meters Centerline goodness : 0.170269 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.25 [[ 9.80302244e-01 9.14664717e-05 -1.97503171e-01 3.73861572e-01] [-1.26278597e-03 9.99982355e-01 -5.80470206e-03 -1.87169779e-01] [ 1.97499155e-01 5.93976669e-03 9.80285062e-01 -2.53205571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69463044 meters Centerline goodness : 0.150338 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.25 [[ 9.80278442e-01 1.90656022e-04 -1.97621204e-01 3.73875222e-01] [-1.39018696e-03 9.99981444e-01 -5.93113393e-03 -1.85511915e-01] [ 1.97616406e-01 6.08889314e-03 9.80260517e-01 -2.52855501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72463044 meters Centerline goodness : 0.177581 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.25 [[ 9.80295534e-01 1.88125110e-04 -1.97536406e-01 3.73572866e-01] [-1.43169854e-03 9.99980048e-01 -6.15261942e-03 -1.83779268e-01] [ 1.97531307e-01 6.31419792e-03 9.80276244e-01 -2.52700965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.78463044 meters Centerline goodness : 0.118353 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.18, Z:-0.26 [[ 0.98027712 0.00144261 -0.1976226 0.32720073] [-0.0027805 0.99997506 -0.00649261 -0.17769985] [ 0.19760831 0.00691405 0.98025668 -0.26128555] [ 0. 0. 0. 1. ]] SLAMing on 273.81463044000003 meters Centerline goodness : 0.153489 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.18, Z:-0.26 [[ 0.98025393 -0.00673368 -0.19762818 0.34678247] [ 0.00573533 0.99996774 -0.0056236 -0.17558466] [ 0.19765967 0.0043791 0.98026092 -0.25637592] [ 0. 0. 0. 1. ]] SLAMing on 273.84463044 meters Centerline goodness : 0.152121 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.18, Z:-0.26 [[ 0.98018975 -0.00677472 -0.19794482 0.34807912] [ 0.00579685 0.99996797 -0.00551912 -0.17661914] [ 0.19797587 0.00426233 0.98019763 -0.2568542 ] [ 0. 0. 0. 1. ]] SLAMing on 273.87463044000003 meters Centerline goodness : 0.152767 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.18, Z:-0.26 [[ 0.98009912 -0.00668522 -0.19839614 0.34954241] [ 0.00575594 0.9999696 -0.0052603 -0.17799347] [ 0.19842528 0.00401366 0.9801078 -0.2570578 ] [ 0. 0. 0. 1. ]] SLAMing on 273.90463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.93463044000003 meters Centerline goodness : 0.152369 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.17, Z:-0.26 [[ 0.97970756 -0.01431848 -0.19992018 0.33114402] [ 0.01377538 0.99989668 -0.0041074 -0.1747822 ] [ 0.19995833 0.00127007 0.97980358 -0.26125369] [ 0. 0. 0. 1. ]] SLAMing on 273.96463044 meters Centerline goodness : 0.148470 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.18, Z:-0.26 [[ 0.98000222 -0.00706364 -0.19886112 0.34918934] [ 0.00613348 0.99996718 -0.00529305 -0.17924095] [ 0.19889199 0.00396749 0.98001339 -0.25626361] [ 0. 0. 0. 1. ]] SLAMing on 273.99463044000004 meters Centerline goodness : 0.163343 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.18, Z:-0.26 [[ 0.98006697 -0.00710225 -0.19854041 0.34790557] [ 0.00614612 0.99996636 -0.00543163 -0.17836335] [ 0.19857231 0.00410311 0.98007765 -0.25578819] [ 0. 0. 0. 1. ]] SLAMing on 274.02463044 meters Centerline goodness : 0.094027 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.18, Z:-0.25 [[ 0.98040761 -0.00443007 -0.19692969 0.34129091] [ 0.00382143 0.99998668 -0.00347052 -0.17528557] [ 0.19694244 0.00264997 0.98041147 -0.25392885] [ 0. 0. 0. 1. ]] SLAMing on 274.05463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 274.08463044 meters Centerline goodness : 0.112256 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.25 [[ 9.80544265e-01 -7.28013415e-04 -1.96296750e-01 3.39553400e-01] [ 6.41756104e-04 9.99999668e-01 -5.03028732e-04 -1.74136952e-01] [ 1.96297051e-01 3.67267301e-04 9.80544406e-01 -2.53820116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11463044000004 meters Centerline goodness : 0.130654 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.25 [[ 9.80514990e-01 -7.53904808e-04 -1.96442833e-01 3.40092780e-01] [ 6.34409885e-04 9.99999573e-01 -6.71218608e-04 -1.73007298e-01] [ 1.96443255e-01 5.33514631e-04 9.80515050e-01 -2.53891007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14463044 meters Centerline goodness : 0.119722 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.25 [[ 9.80463611e-01 -7.25521675e-04 -1.96699216e-01 3.40945437e-01] [ 5.84488175e-04 9.99999529e-01 -7.75051120e-04 -1.71943374e-01] [ 1.96699685e-01 6.44941054e-04 9.80463573e-01 -2.54030244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17463044000004 meters Centerline goodness : 0.151644 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.25 [[ 9.80402512e-01 -4.31227502e-05 -1.97004852e-01 3.42066586e-01] [-6.89166162e-05 9.99999840e-01 -5.61858075e-04 -1.70203640e-01] [ 1.97004845e-01 5.64423977e-04 9.80402352e-01 -2.54176106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20463044 meters Centerline goodness : 0.144145 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.25 [[ 9.80424183e-01 1.43300447e-04 -1.96896928e-01 3.41447750e-01] [-2.66265846e-04 9.99999786e-01 -5.98044159e-04 -1.68933006e-01] [ 1.96896800e-01 6.38763884e-04 9.80424011e-01 -2.53817480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23463044000005 meters Centerline goodness : 0.054885 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.25 [[ 9.80479473e-01 2.80568392e-04 -1.96621271e-01 3.40506526e-01] [-4.20082868e-04 9.99999689e-01 -6.67854109e-04 -1.67746988e-01] [ 1.96621022e-01 7.37414473e-04 9.80479286e-01 -2.53610566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26463044 meters Centerline goodness : 0.149096 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.26 [[ 0.98031381 0.00861619 -0.1972577 0.32056243] [-0.00916623 0.99995623 -0.00187556 -0.16884899] [ 0.19723291 0.00364674 0.98034988 -0.25850002] [ 0. 0. 0. 1. ]] SLAMing on 274.29463044 meters Centerline goodness : 0.049708 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.16, Z:-0.26 [[ 9.80176841e-01 1.88276458e-03 -1.98115660e-01 3.04384974e-01] [-2.02203876e-03 9.99997830e-01 -5.00692728e-04 -1.63438169e-01] [ 1.98114288e-01 8.91364960e-04 9.80178522e-01 -2.63981493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32463044 meters Centerline goodness : 0.123627 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.16, Z:-0.26 [[ 9.80091107e-01 2.08950847e-03 -1.98537293e-01 3.05942530e-01] [-2.20748148e-03 9.99997494e-01 -3.72875720e-04 -1.63383703e-01] [ 1.98536016e-01 8.03719575e-04 9.80093263e-01 -2.64372595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35463044 meters Centerline goodness : 0.121496 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.16, Z:-0.26 [[ 9.80048475e-01 2.26657019e-03 -1.98745691e-01 3.06965310e-01] [-2.35900444e-03 9.99997191e-01 -2.28306232e-04 -1.63454886e-01] [ 1.98744616e-01 6.92593143e-04 9.80051069e-01 -2.64810274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38463044 meters Centerline goodness : 0.121684 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.16, Z:-0.27 [[ 9.80035978e-01 2.36287178e-03 -1.98806182e-01 3.07415314e-01] [-2.44695407e-03 9.99996990e-01 -1.77249790e-04 -1.63355364e-01] [ 1.98805165e-01 6.60180766e-04 9.80038811e-01 -2.65086418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41463044 meters Centerline goodness : 0.091151 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:-0.27 [[ 9.79635606e-01 3.24514570e-03 -2.00757436e-01 2.63387702e-01] [-3.36680792e-03 9.99994297e-01 -2.64586584e-04 -1.61391404e-01] [ 2.00755433e-01 9.35110165e-04 9.79640945e-01 -2.73328944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44463044 meters Centerline goodness : 0.123131 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:-0.27 [[ 9.79583742e-01 3.72446258e-03 -2.01002042e-01 2.64032007e-01] [-3.83695767e-03 9.99992624e-01 -1.70079047e-04 -1.60017068e-01] [ 2.00999926e-01 9.37842995e-04 9.79590808e-01 -2.73243255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47463044 meters Centerline goodness : 0.162512 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:-0.27 [[ 9.79530229e-01 3.87899634e-03 -2.01259744e-01 2.64819541e-01] [-3.99200777e-03 9.99992020e-01 -1.55654048e-04 -1.59254344e-01] [ 2.01257534e-01 9.55898307e-04 9.79537897e-01 -2.73320845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50463044 meters Centerline goodness : 0.133732 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.16, Z:-0.27 [[ 9.79504870e-01 3.99604129e-03 -2.01380837e-01 2.65529434e-01] [-4.11545617e-03 9.99991516e-01 -1.74306410e-04 -1.58481479e-01] [ 2.01378432e-01 9.99507984e-04 9.79513006e-01 -2.73763366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53463044 meters Centerline goodness : 0.054046 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.16, Z:-0.27 [[ 9.79473804e-01 4.06771550e-03 -2.01530446e-01 2.66506622e-01] [-4.22650336e-03 9.99991004e-01 -3.57615557e-04 -1.57225481e-01] [ 2.01527178e-01 1.20204418e-03 9.79482185e-01 -2.74485491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56463044000003 meters Centerline goodness : 0.230422 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.16, Z:-0.27 [[ 9.79458227e-01 3.98862381e-03 -2.01607717e-01 2.66818126e-01] [-4.16693804e-03 9.99991212e-01 -4.60066650e-04 -1.57102237e-01] [ 2.01604111e-01 1.29070293e-03 9.79466241e-01 -2.74604108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59463044 meters Centerline goodness : 0.135919 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.16, Z:-0.27 [[ 9.79440827e-01 3.94505001e-03 -2.01693093e-01 2.66927886e-01] [-4.14266339e-03 9.99991264e-01 -5.57669638e-04 -1.56649941e-01] [ 2.01689131e-01 1.38175100e-03 9.79448613e-01 -2.74522499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62463044000003 meters Centerline goodness : 0.113844 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.16, Z:-0.27 [[ 9.79443075e-01 3.99386536e-03 -2.01681213e-01 2.66611006e-01] [-4.20757220e-03 9.99990949e-01 -6.30937520e-04 -1.55793065e-01] [ 2.01676868e-01 1.46655565e-03 9.79451015e-01 -2.74268936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65463044 meters Centerline goodness : 0.213401 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.27 [[ 9.79655336e-01 4.76853599e-03 -2.00630713e-01 2.63248237e-01] [-4.92706896e-03 9.99987820e-01 -2.90840312e-04 -1.54418273e-01] [ 2.00626883e-01 1.27344462e-03 9.79666899e-01 -2.73896545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68463044000003 meters Centerline goodness : 0.121031 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:-0.27 [[ 0.97998325 -0.00193433 -0.19907057 0.28052219] [ 0.00226464 0.99999641 0.00143157 -0.14998686] [ 0.19906709 -0.00185374 0.97998411 -0.26908213] [ 0. 0. 0. 1. ]] SLAMing on 274.71463044 meters Centerline goodness : 0.151728 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:-0.27 [[ 0.98001877 -0.00197002 -0.19889527 0.27979874] [ 0.00226037 0.99999669 0.00123274 -0.14873726] [ 0.19889219 -0.00165769 0.98001997 -0.26880924] [ 0. 0. 0. 1. ]] SLAMing on 274.74463044000004 meters Centerline goodness : 0.111455 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:-0.27 [[ 0.98005468 -0.00196522 -0.19871827 0.27919064] [ 0.00221992 0.99999698 0.00105891 -0.14746969] [ 0.19871559 -0.00147892 0.98005608 -0.2686826 ] [ 0. 0. 0. 1. ]] SLAMing on 274.77463044 meters Centerline goodness : 0.148666 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:-0.27 [[ 0.98015162 -0.00128843 -0.19824515 0.27772374] [ 0.00156723 0.99999799 0.00124947 -0.14535411] [ 0.19824314 -0.00153537 0.98015167 -0.26840012] [ 0. 0. 0. 1. ]] SLAMing on 274.80463044000004 meters Centerline goodness : 0.109212 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.15, Z:-0.26 [[ 9.80302645e-01 5.86873768e-03 -1.97413986e-01 2.96096978e-01] [-5.99844548e-03 9.99982007e-01 -5.90631064e-05 -1.47432475e-01] [ 1.97410087e-01 1.24207675e-03 9.80320210e-01 -2.63412949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83463044 meters Centerline goodness : 0.106465 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.15, Z:-0.26 [[ 9.80328193e-01 5.79021573e-03 -1.97289401e-01 2.95597682e-01] [-5.96342488e-03 9.99982178e-01 -2.83852024e-04 -1.46202666e-01] [ 1.97284241e-01 1.45478866e-03 9.80345251e-01 -2.63247307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86463044000004 meters Centerline goodness : 0.148583 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.15, Z:-0.26 [[ 9.80332502e-01 5.68665222e-03 -1.97271002e-01 2.95443194e-01] [-5.88915425e-03 9.99982562e-01 -4.39883526e-04 -1.45639892e-01] [ 1.97265061e-01 1.59299148e-03 9.80348896e-01 -2.63147543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89463044 meters Centerline goodness : 0.125072 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.14, Z:-0.26 [[ 9.80351786e-01 -1.55025055e-03 -1.97251037e-01 3.14623701e-01] [ 1.74704204e-03 9.99998135e-01 8.23661708e-04 -1.41281622e-01] [ 1.97249393e-01 -1.15208408e-03 9.80352666e-01 -2.58385394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92463044000004 meters Centerline goodness : 0.106808 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.14, Z:-0.26 [[ 9.80266856e-01 -1.51481532e-03 -1.97672953e-01 3.16157335e-01] [ 1.72469731e-03 9.99998117e-01 8.89606478e-04 -1.41563799e-01] [ 1.97671234e-01 -1.21297776e-03 9.80267623e-01 -2.58739096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95463044 meters Centerline goodness : 0.110944 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.14, Z:-0.26 [[ 9.80258203e-01 -1.54357340e-03 -1.97715638e-01 3.16463694e-01] [ 1.76068744e-03 9.99998025e-01 9.22324360e-04 -1.42297297e-01] [ 1.97713824e-01 -1.25223146e-03 9.80258984e-01 -2.58901079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98463044000005 meters Centerline goodness : 0.115008 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.14, Z:-0.26 [[ 0.98026265 -0.00154106 -0.19769362 0.31652908] [ 0.00178399 0.99999786 0.00105075 -0.14352975] [ 0.19769157 -0.0013827 0.9802633 -0.25898213] [ 0. 0. 0. 1. ]] SLAMing on 275.01463044 meters Centerline goodness : 0.247789 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.14, Z:-0.26 [[ 0.98023737 -0.00157301 -0.19781865 0.31696528] [ 0.00183721 0.99999765 0.00115206 -0.14480974] [ 0.19781637 -0.00149273 0.98023796 -0.25906346] [ 0. 0. 0. 1. ]] SLAMing on 275.04463044 meters Centerline goodness : 0.124607 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.26 [[ 0.98012876 -0.00156627 -0.19835617 0.31854527] [ 0.00187806 0.99999728 0.00138371 -0.14690146] [ 0.19835346 -0.00172874 0.98012903 -0.25913412] [ 0. 0. 0. 1. ]] SLAMing on 275.07463044 meters Centerline goodness : 0.150759 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.26 [[ 0.98006879 -0.00150047 -0.19865274 0.31937764] [ 0.00184465 0.9999971 0.00154752 -0.1480414 ] [ 0.19864984 -0.00188312 0.98006872 -0.25915095] [ 0. 0. 0. 1. ]] SLAMing on 275.10463044 meters Centerline goodness : 0.108596 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.26 [[ 0.98004584 -0.00141531 -0.19876658 0.31987999] [ 0.00179042 0.99999694 0.00170745 -0.14896635] [ 0.19876356 -0.00202926 0.98004537 -0.25934668] [ 0. 0. 0. 1. ]] SLAMing on 275.13463044 meters Centerline goodness : 0.107840 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.26 [[ 0.98002829 -0.00117082 -0.19885469 0.32052701] [ 0.00164484 0.99999619 0.00221856 -0.15244589] [ 0.19885133 -0.00250134 0.98002647 -0.25971552] [ 0. 0. 0. 1. ]] SLAMing on 275.16463044 meters Centerline goodness : 0.109372 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.26 [[ 0.98001549 -0.00105644 -0.19891839 0.32094363] [ 0.00159655 0.99999546 0.00255486 -0.15491382] [ 0.19891479 -0.00282139 0.98001273 -0.2599354 ] [ 0. 0. 0. 1. ]] SLAMing on 275.19463044 meters Centerline goodness : 0.107633 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.26 [[ 9.79992403e-01 -9.39594600e-04 -1.99032676e-01 3.21385514e-01] [ 1.54814851e-03 9.99994591e-01 2.90195696e-03 -1.57673562e-01] [ 1.99028873e-01 -3.15202791e-03 9.79988557e-01 -2.60043049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22463044 meters Centerline goodness : 0.108939 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.16, Z:-0.26 [[ 9.79973420e-01 -8.39383966e-04 -1.99126573e-01 3.21947201e-01] [ 1.51295036e-03 9.99993638e-01 3.23047045e-03 -1.60519935e-01] [ 1.99122594e-01 -3.46704379e-03 9.79968455e-01 -2.60328951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25463044 meters Centerline goodness : 0.107384 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.26 [[ 9.80008674e-01 -7.53341647e-04 -1.98953341e-01 3.21553542e-01] [ 1.52455050e-03 9.99991907e-01 3.72317026e-03 -1.67688621e-01] [ 1.98948926e-01 -3.95205356e-03 9.80001891e-01 -2.60361723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28463044 meters Centerline goodness : 0.107384 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.26 [[ 9.80008674e-01 -7.53341647e-04 -1.98953341e-01 3.21553542e-01] [ 1.52455050e-03 9.99991907e-01 3.72317026e-03 -1.67688621e-01] [ 1.98948926e-01 -3.95205356e-03 9.80001891e-01 -2.60361723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31463044000003 meters Centerline goodness : 0.106415 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.26 [[ 9.80043734e-01 -4.66166995e-04 -1.98781442e-01 3.20788527e-01] [ 1.33093686e-03 9.99990224e-01 4.21676129e-03 -1.70353509e-01] [ 1.98777533e-01 -4.39717603e-03 9.80034773e-01 -2.60055169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34463044 meters Centerline goodness : 0.104809 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.17, Z:-0.26 [[ 9.80050229e-01 -1.86688611e-04 -1.98749878e-01 3.20555491e-01] [ 1.13186414e-03 9.99988585e-01 4.64200150e-03 -1.72732970e-01] [ 1.98746743e-01 -4.77435249e-03 9.80039253e-01 -2.59848527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37463044000003 meters Centerline goodness : 0.112429 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 9.80016505e-01 4.14488433e-04 -1.98915758e-01 3.20811688e-01] [ 6.62633411e-04 9.99985478e-01 5.34836507e-03 -1.76050438e-01] [ 1.98915086e-01 -5.37329426e-03 9.80001998e-01 -2.59622203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40463044 meters Centerline goodness : 0.105030 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 9.79992735e-01 7.01815743e-04 -1.99032027e-01 3.20992913e-01] [ 4.25091436e-04 9.99984122e-01 5.61915153e-03 -1.76958220e-01] [ 1.99032810e-01 -5.59133448e-03 9.79976876e-01 -2.59507812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43463044000003 meters Centerline goodness : 0.101963 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 9.79964134e-01 1.02152255e-03 -1.99171415e-01 3.21408556e-01] [ 1.49377738e-04 9.99982797e-01 5.86374206e-03 -1.77367893e-01] [ 1.99173979e-01 -5.77600868e-03 9.79947123e-01 -2.59575373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46463044 meters Centerline goodness : 0.106437 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.27 [[ 0.97992501 0.00925874 -0.19915132 0.30265777] [-0.0084078 0.99995156 0.00511811 -0.18224217] [ 0.19918906 -0.00334094 0.97995539 -0.26504173] [ 0. 0. 0. 1. ]] SLAMing on 275.49463044000004 meters Centerline goodness : 0.168691 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.27 [[ 0.9799681 0.00975543 -0.19891544 0.30246345] [-0.00885532 0.99994613 0.00541423 -0.18266562] [ 0.19895755 -0.00354432 0.9800017 -0.26549334] [ 0. 0. 0. 1. ]] SLAMing on 275.52463044 meters Centerline goodness : 0.316832 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.27 [[ 0.97998291 0.00979781 -0.19884036 0.30206728] [-0.00890875 0.99994592 0.00536541 -0.18272416] [ 0.19888218 -0.00348659 0.98001721 -0.26542268] [ 0. 0. 0. 1. ]] SLAMing on 275.55463044000004 meters Centerline goodness : 0.212587 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 0.98009155 0.00266268 -0.19852823 0.32004832] [-0.00137375 0.99997708 0.00662991 -0.17915426] [ 0.19854134 -0.00622519 0.98007274 -0.26025334] [ 0. 0. 0. 1. ]] SLAMing on 275.58463044 meters Centerline goodness : 0.256023 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 0.98008843 0.0027821 -0.19854199 0.31992596] [-0.00145648 0.99997567 0.00682251 -0.18012984] [ 0.19855614 -0.00639749 0.98006864 -0.26010631] [ 0. 0. 0. 1. ]] SLAMing on 275.61463044000004 meters Centerline goodness : 0.340179 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 0.9800814 0.00303938 -0.19857295 0.32043486] [-0.0016426 0.99997274 0.00719846 -0.18179009] [ 0.19858941 -0.0067289 0.98005968 -0.2604942 ] [ 0. 0. 0. 1. ]] SLAMing on 275.64463044 meters Centerline goodness : 0.453089 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 0.98008827 0.00303948 -0.19853901 0.32070123] [-0.00162403 0.9999721 0.00729175 -0.18286186] [ 0.19855563 -0.00682413 0.98006586 -0.26081978] [ 0. 0. 0. 1. ]] SLAMing on 275.67463044000004 meters Centerline goodness : 0.232856 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.26 [[ 0.98008952 0.00296516 -0.19853397 0.32085089] [-0.00154265 0.99997202 0.00731938 -0.18401343] [ 0.19855012 -0.00686738 0.98006668 -0.26092879] [ 0. 0. 0. 1. ]] SLAMing on 275.70463044 meters Centerline goodness : 0.457142 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.27 [[ 0.98006221 0.01022731 -0.1984275 0.30224561] [-0.00919985 0.99993908 0.00609929 -0.19048394] [ 0.19847779 -0.00415218 0.98009659 -0.26607464] [ 0. 0. 0. 1. ]] SLAMing on 275.73463044000005 meters Centerline goodness : 0.403951 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.19, Z:-0.26 [[ 0.98025702 0.00326281 -0.19770059 0.32048384] [-0.00179615 0.99996953 0.00759746 -0.18752047] [ 0.19771936 -0.00709236 0.98023301 -0.26102868] [ 0. 0. 0. 1. ]] SLAMing on 275.76463044 meters Centerline goodness : 0.453462 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.19, Z:-0.27 [[ 0.97996687 0.00335648 -0.1991323 0.27593821] [-0.00183772 0.9999678 0.00781122 -0.19053548] [ 0.19915211 -0.00728878 0.97994148 -0.26958846] [ 0. 0. 0. 1. ]] SLAMing on 275.79463044 meters Centerline goodness : 0.290744 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.19, Z:-0.27 [[ 0.97993693 0.00358919 -0.19927553 0.27676004] [-0.0019798 0.9999638 0.00827488 -0.19334601] [ 0.19929801 -0.00771434 0.97990856 -0.26990253] [ 0. 0. 0. 1. ]] SLAMing on 275.82463044 meters Centerline goodness : 0.456329 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.9798984 0.00362206 -0.19946432 0.27761535] [-0.00197475 0.99996229 0.00845697 -0.1950334 ] [ 0.19948743 -0.00789307 0.9798686 -0.27020522] [ 0. 0. 0. 1. ]] SLAMing on 275.85463044 meters Centerline goodness : 0.451702 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97981245 0.00380856 -0.19988261 0.27950045] [-0.00208 0.99995861 0.00885718 -0.19796189] [ 0.19990807 -0.00826262 0.97977982 -0.27090192] [ 0. 0. 0. 1. ]] SLAMing on 275.88463044 meters Centerline goodness : 0.197664 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97975395 0.00396373 -0.20016617 0.28053891] [-0.0021952 0.99995658 0.00905652 -0.19889825] [ 0.20019338 -0.00843375 0.9797201 -0.27111854] [ 0. 0. 0. 1. ]] SLAMing on 275.91463044 meters Centerline goodness : 0.460218 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97972683 0.00407294 -0.20029667 0.28122523] [-0.00227459 0.99995502 0.00920773 -0.19979601] [ 0.20032516 -0.00856546 0.97969202 -0.27142778] [ 0. 0. 0. 1. ]] SLAMing on 275.94463044 meters Centerline goodness : 0.386335 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97972363 0.00409201 -0.2003119 0.28144178] [-0.00228882 0.99995476 0.0092327 -0.20021317] [ 0.20034062 -0.00858702 0.97968868 -0.27162093] [ 0. 0. 0. 1. ]] SLAMing on 275.97463044 meters Centerline goodness : 0.099132 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97971059 0.00439442 -0.20036927 0.28180814] [-0.00255004 0.99995198 0.00946203 -0.20099218] [ 0.20040123 -0.0087591 0.97967475 -0.27181725] [ 0. 0. 0. 1. ]] SLAMing on 276.00463044 meters Centerline goodness : 0.458245 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.9797048 0.00453277 -0.20039452 0.28196503] [-0.00267426 0.99995088 0.00954399 -0.20096931] [ 0.20042793 -0.00881438 0.9796688 -0.27194582] [ 0. 0. 0. 1. ]] SLAMing on 276.03463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.06463044000003 meters Centerline goodness : 0.434433 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97968343 0.00491784 -0.2004899 0.28218676] [-0.00302256 0.99994782 0.00975824 -0.20085306] [ 0.20052743 -0.008954 0.97964717 -0.27196125] [ 0. 0. 0. 1. ]] SLAMing on 276.09463044 meters Centerline goodness : 0.443337 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97961129 0.00501024 -0.20083978 0.28357648] [-0.00313046 0.99994828 0.00967614 -0.20019449] [ 0.20087787 -0.00885013 0.97957631 -0.27248408] [ 0. 0. 0. 1. ]] SLAMing on 276.12463044000003 meters Centerline goodness : 0.457608 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97959445 0.00505147 -0.20092087 0.2840805 ] [-0.00317771 0.99994841 0.00964728 -0.19993021] [ 0.20095924 -0.00881195 0.97955997 -0.27282842] [ 0. 0. 0. 1. ]] SLAMing on 276.15463044 meters Centerline goodness : 0.281500 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97957601 0.00513618 -0.20100861 0.28436949] [-0.00326084 0.99994803 0.00965965 -0.1996013 ] [ 0.20104778 -0.0088069 0.97954185 -0.27290526] [ 0. 0. 0. 1. ]] SLAMing on 276.18463044000003 meters Centerline goodness : 0.458944 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.28 [[ 0.97969422 0.01283338 -0.20008634 0.26424497] [-0.01128779 0.99989701 0.00886353 -0.20441461] [ 0.20017948 -0.00642502 0.97973818 -0.27787146] [ 0. 0. 0. 1. ]] SLAMing on 276.21463044 meters Centerline goodness : 0.459113 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.28 [[ 0.97970388 0.01279622 -0.20004142 0.26409476] [-0.01127269 0.99989815 0.0087533 -0.20382098] [ 0.20013306 -0.00632064 0.97974834 -0.27785858] [ 0. 0. 0. 1. ]] SLAMing on 276.24463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.27463044 meters Centerline goodness : 0.238540 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.28 [[ 0.97972651 0.01272403 -0.19993513 0.26395575] [-0.01125242 0.9999006 0.0084951 -0.20242465] [ 0.20002335 -0.00607312 0.97977231 -0.27804997] [ 0. 0. 0. 1. ]] SLAMing on 276.30463044000004 meters Centerline goodness : 0.094154 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.28 [[ 0.97976264 0.01282167 -0.19975176 0.26369877] [-0.01136741 0.99989989 0.00842554 -0.2010087 ] [ 0.19983979 -0.00598437 0.97981031 -0.27828961] [ 0. 0. 0. 1. ]] SLAMing on 276.33463044 meters Centerline goodness : 0.199030 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.28 [[ 0.97977752 0.0128277 -0.19967842 0.26365643] [-0.01138144 0.99990004 0.00838916 -0.20060704] [ 0.19976607 -0.00594688 0.97982557 -0.27846005] [ 0. 0. 0. 1. ]] SLAMing on 276.36463044000004 meters Centerline goodness : 0.350539 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.28 [[ 0.97979021 0.01278055 -0.19961917 0.26371279] [-0.01134387 0.99990088 0.00833923 -0.20059101] [ 0.19970596 -0.00590624 0.97983807 -0.2786599 ] [ 0. 0. 0. 1. ]] SLAMing on 276.39463044 meters Centerline goodness : 0.451238 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.27 [[ 0.97998059 0.00531512 -0.19902207 0.28187982] [-0.00356834 0.99995191 0.00913446 -0.1955799 ] [ 0.19906105 -0.00824142 0.97995244 -0.27422066] [ 0. 0. 0. 1. ]] SLAMing on 276.42463044000004 meters Centerline goodness : 0.155837 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.19, Z:-0.27 [[ 0.98005327 0.0050068 -0.19867187 0.2805711 ] [-0.00337073 0.99995758 0.00857238 -0.19282101] [ 0.19870636 -0.00773172 0.98002857 -0.27392131] [ 0. 0. 0. 1. ]] SLAMing on 276.45463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.48463044000005 meters Centerline goodness : 0.097402 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.19, Z:-0.27 [[ 0.97988409 0.0055798 -0.19948945 0.28282691] [-0.00396406 0.99995604 0.00849785 -0.18585118] [ 0.1995281 -0.00753612 0.97986313 -0.274028 ] [ 0. 0. 0. 1. ]] SLAMing on 276.51463044 meters Centerline goodness : 0.454134 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.18, Z:-0.27 [[ 0.97986344 0.00537928 -0.19959635 0.283039 ] [-0.00384719 0.99996009 0.008063 -0.18324942] [ 0.19963176 -0.00713275 0.97984503 -0.27398511] [ 0. 0. 0. 1. ]] SLAMing on 276.54463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.57463044 meters Centerline goodness : 0.089981 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.18, Z:-0.27 [[ 0.97987726 0.00490831 -0.19954065 0.28233526] [-0.00350975 0.99996674 0.00736205 -0.17923543] [ 0.19957014 -0.00651357 0.97986189 -0.27348012] [ 0. 0. 0. 1. ]] SLAMing on 276.60463044 meters Centerline goodness : 0.093279 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.18, Z:-0.27 [[ 0.97987665 0.00483817 -0.19954532 0.28239488] [-0.00344791 0.99996731 0.00731402 -0.17904043] [ 0.19957418 -0.00647882 0.9798613 -0.27348171] [ 0. 0. 0. 1. ]] SLAMing on 276.63463044 meters Centerline goodness : 0.462304 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.18, Z:-0.27 [[ 0.97985397 0.00462721 -0.19966168 0.28272233] [-0.00326683 0.99996916 0.00714231 -0.17885737] [ 0.19968857 -0.00634616 0.97983887 -0.27339136] [ 0. 0. 0. 1. ]] SLAMing on 276.66463044 meters Centerline goodness : 0.441999 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.18, Z:-0.27 [[ 0.97979256 0.0044119 -0.19996767 0.28352792] [-0.00306941 0.99997063 0.00702307 -0.17929011] [ 0.19999278 -0.00626737 0.97977733 -0.27331064] [ 0. 0. 0. 1. ]] SLAMing on 276.69463044 meters Centerline goodness : 0.414114 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.18, Z:-0.27 [[ 9.79640222e-01 1.29536532e-03 -2.00756962e-01 2.86618144e-01] [-3.71092702e-04 9.99989159e-01 4.64150252e-03 -1.81671737e-01] [ 2.00760798e-01 -4.47250311e-03 9.79630083e-01 -2.73844621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72463044 meters Centerline goodness : 0.100687 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.18, Z:-0.27 [[ 9.79543993e-01 1.37633261e-03 -2.01225427e-01 2.87736225e-01] [-3.70317371e-04 9.99987246e-01 5.03700212e-03 -1.84475958e-01] [ 2.01229793e-01 -4.85944790e-03 9.79532009e-01 -2.73538697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75463044 meters Centerline goodness : 0.274161 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:-0.27 [[ 9.79464028e-01 1.42066919e-03 -2.01613985e-01 2.88821830e-01] [-3.25197878e-04 9.99985006e-01 5.46652684e-03 -1.87913954e-01] [ 2.01618728e-01 -5.28870196e-03 9.79449804e-01 -2.73429363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78463044 meters Centerline goodness : 0.091209 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:-0.27 [[ 0.97942696 -0.00267434 -0.20178125 0.28915483] [ 0.00328336 0.99999101 0.0026836 -0.19453467] [ 0.20177226 -0.00329091 0.97942694 -0.2730696 ] [ 0. 0. 0. 1. ]] SLAMing on 276.81463044000003 meters Centerline goodness : 0.099521 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.20, Z:-0.28 [[ 9.79989856e-01 1.34936374e-03 -1.99042865e-01 2.71022343e-01] [-1.31422984e-03 9.99999089e-01 3.08629980e-04 -2.03319796e-01] [ 1.99043100e-01 -4.08661766e-05 9.79990736e-01 -2.78896557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84463044 meters Centerline goodness : 0.093369 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:-0.28 [[ 9.79980930e-01 1.65145627e-03 -1.99084531e-01 2.71195886e-01] [-1.50383476e-03 9.99998471e-01 8.92708039e-04 -2.06370380e-01] [ 1.99085701e-01 -5.75446616e-04 9.79981914e-01 -2.78858977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87463044000003 meters Centerline goodness : 0.456827 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:-0.28 [[ 0.97999867 0.00203061 -0.19899369 0.27089145] [-0.00176943 0.99999732 0.00149037 -0.20898254] [ 0.19899618 -0.00110846 0.97999964 -0.27874386] [ 0. 0. 0. 1. ]] SLAMing on 276.90463044 meters Centerline goodness : 0.095141 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:-0.28 [[ 0.98003175 0.00244246 -0.19882606 0.2700102 ] [-0.00204367 0.99999547 0.00221092 -0.21369807] [ 0.19883056 -0.00176044 0.9800323 -0.27821515] [ 0. 0. 0. 1. ]] SLAMing on 276.93463044000003 meters Centerline goodness : 0.396985 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.98000095 0.00253878 -0.19897664 0.27018156] [-0.00209325 0.99999481 0.00244944 -0.2157436 ] [ 0.19898182 -0.00198395 0.98000117 -0.27795694] [ 0. 0. 0. 1. ]] SLAMing on 276.96463044 meters Centerline goodness : 0.452031 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.9799598 0.00275494 -0.19917629 0.27081134] [-0.00224624 0.99999361 0.00277994 -0.21772128] [ 0.19918268 -0.00227683 0.97995973 -0.27801959] [ 0. 0. 0. 1. ]] SLAMing on 276.99463044000004 meters Centerline goodness : 0.094171 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97993758 0.00303106 -0.19928157 0.27136632] [-0.00245775 0.9999921 0.00312416 -0.21917289] [ 0.19928947 -0.0025717 0.97993729 -0.27832058] [ 0. 0. 0. 1. ]] SLAMing on 277.02463044 meters Centerline goodness : 0.460323 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97995878 0.00360959 -0.19916768 0.27162248] [-0.0029048 0.99998844 0.00383075 -0.22244693] [ 0.19917921 -0.00317543 0.97995794 -0.27879073] [ 0. 0. 0. 1. ]] SLAMing on 277.05463044000004 meters Centerline goodness : 0.081425 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97996154 0.0036474 -0.19915339 0.27172985] [-0.00291894 0.99998793 0.00395123 -0.22381452] [ 0.1991654 -0.00329074 0.97996036 -0.27891088] [ 0. 0. 0. 1. ]] SLAMing on 277.08463044 meters Centerline goodness : 0.195849 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97993404 0.0037549 -0.19928666 0.27211277] [-0.00299892 0.99998712 0.00409514 -0.22497377] [ 0.19929947 -0.00341533 0.97993268 -0.27891753] [ 0. 0. 0. 1. ]] SLAMing on 277.11463044000004 meters Centerline goodness : 0.382482 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.23, Z:-0.28 [[ 0.97993688 0.003925 -0.19926945 0.27218911] [-0.00314009 0.99998602 0.00425485 -0.22546798] [ 0.19928336 -0.00354376 0.9799355 -0.27904371] [ 0. 0. 0. 1. ]] SLAMing on 277.14463044 meters Centerline goodness : 0.179740 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.23, Z:-0.28 [[ 0.97993016 0.00414457 -0.19929801 0.27248783] [-0.00333139 0.9999847 0.00441542 -0.22558533] [ 0.19931326 -0.00366287 0.97992898 -0.27926222] [ 0. 0. 0. 1. ]] SLAMing on 277.17463044000004 meters Centerline goodness : 0.093594 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97989017 0.00452373 -0.19948634 0.27364781] [-0.00371234 0.99998325 0.00444126 -0.22443331] [ 0.19950309 -0.00361138 0.97989054 -0.27996553] [ 0. 0. 0. 1. ]] SLAMing on 277.20463044 meters Centerline goodness : 0.093594 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97989017 0.00452373 -0.19948634 0.27364781] [-0.00371234 0.99998325 0.00444126 -0.22443331] [ 0.19950309 -0.00361138 0.97989054 -0.27996553] [ 0. 0. 0. 1. ]] SLAMing on 277.23463044 meters Centerline goodness : 0.094288 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97984127 0.00441565 -0.1997288 0.27441394] [-0.00366221 0.99998472 0.0041416 -0.22305436] [ 0.19974404 -0.00332666 0.97984246 -0.28009966] [ 0. 0. 0. 1. ]] SLAMing on 277.26463044 meters Centerline goodness : 0.108916 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97982057 0.00438447 -0.19983098 0.2748104 ] [-0.00366547 0.99998541 0.00396785 -0.22189051] [ 0.19984546 -0.0031553 0.97982235 -0.28027712] [ 0. 0. 0. 1. ]] SLAMing on 277.29463044 meters Centerline goodness : 0.085384 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97979953 0.00450903 -0.19993135 0.27499593] [-0.00380533 0.99998514 0.00390388 -0.22038675] [ 0.19994599 -0.00306422 0.97980213 -0.28025528] [ 0. 0. 0. 1. ]] SLAMing on 277.32463044 meters Centerline goodness : 0.150173 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97982773 0.00462486 -0.19979049 0.274355 ] [-0.00392698 0.99998473 0.00388918 -0.21874091] [ 0.19980542 -0.00302615 0.97983092 -0.28002558] [ 0. 0. 0. 1. ]] SLAMing on 277.35463044 meters Centerline goodness : 0.101821 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97981483 0.00445956 -0.19985749 0.27432946] [-0.00378323 0.99998575 0.00376582 -0.21876969] [ 0.19987143 -0.0029337 0.97981774 -0.27973973] [ 0. 0. 0. 1. ]] SLAMing on 277.38463044 meters Centerline goodness : 0.097261 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97979065 0.00430524 -0.19997937 0.27407803] [-0.00363476 0.99998648 0.00371974 -0.21928663] [ 0.19999268 -0.00291769 0.97979305 -0.27910913] [ 0. 0. 0. 1. ]] SLAMing on 277.41463044 meters Centerline goodness : 0.092277 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:-0.28 [[ 0.97979997 0.00426498 -0.19993456 0.27350431] [-0.00357665 0.99998637 0.00380387 -0.22007452] [ 0.19994806 -0.00301193 0.97980187 -0.27856863] [ 0. 0. 0. 1. ]] SLAMing on 277.44463044 meters Centerline goodness : 0.095168 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:-0.27 [[ 0.98018077 -0.00328551 -0.19807791 0.29021218] [ 0.00439372 0.99997706 0.00515556 -0.21719288] [ 0.19805642 -0.00592368 0.98017272 -0.27291789] [ 0. 0. 0. 1. ]] SLAMing on 277.47463044 meters Centerline goodness : 0.094229 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:-0.27 [[ 0.98021639 -0.00330635 -0.19790122 0.28960979] [ 0.00443632 0.99997629 0.00526665 -0.21824705] [ 0.19787912 -0.00604041 0.98020782 -0.27265878] [ 0. 0. 0. 1. ]] SLAMing on 277.50463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.53463044 meters Centerline goodness : 0.234425 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:-0.27 [[ 0.98008551 -0.00336126 -0.19854748 0.29210135] [ 0.00448354 0.99997641 0.00520313 -0.21839914] [ 0.19852531 -0.00598971 0.98007746 -0.27337234] [ 0. 0. 0. 1. ]] SLAMing on 277.56463044000003 meters Centerline goodness : 0.341289 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:-0.27 [[ 0.98000233 -0.00327056 -0.19895913 0.29346565] [ 0.00439188 0.99997686 0.0051949 -0.21771481] [ 0.19893754 -0.00596482 0.97999402 -0.27361737] [ 0. 0. 0. 1. ]] SLAMing on 277.59463044 meters Centerline goodness : 0.092824 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.27 [[ 0.97993801 0.00443382 -0.1992532 0.31334106] [-0.00369524 0.99998486 0.00407845 -0.21949401] [ 0.19926827 -0.00326034 0.97993955 -0.26850403] [ 0. 0. 0. 1. ]] SLAMing on 277.62463044000003 meters Centerline goodness : 0.296658 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.27 [[ 0.97997127 0.00443774 -0.19908945 0.31291877] [-0.00369552 0.99998477 0.0040995 -0.21981804] [ 0.19910461 -0.00328165 0.97997275 -0.26850231] [ 0. 0. 0. 1. ]] SLAMing on 277.65463044 meters Centerline goodness : 0.102213 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.27 [[ 0.98004883 0.00430233 -0.19871029 0.31164085] [-0.00356669 0.9999854 0.00405987 -0.2207385 ] [ 0.19872486 -0.00327013 0.98004986 -0.26819783] [ 0. 0. 0. 1. ]] SLAMing on 277.68463044000003 meters Centerline goodness : 0.098132 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.27 [[ 0.98007667 0.00432338 -0.19857246 0.31158029] [-0.00356928 0.999985 0.00415538 -0.22150963] [ 0.19858745 -0.00336383 0.9800774 -0.2685047 ] [ 0. 0. 0. 1. ]] SLAMing on 277.71463044 meters Centerline goodness : 0.476686 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.27 [[ 0.98006311 0.00431587 -0.19863957 0.3118461 ] [-0.00354833 0.9999848 0.0042198 -0.22223897] [ 0.19865476 -0.00343083 0.98006353 -0.26853936] [ 0. 0. 0. 1. ]] SLAMing on 277.74463044000004 meters Centerline goodness : 0.095845 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.27 [[ 0.98007362 0.00433415 -0.19858728 0.31181443] [-0.00354596 0.99998436 0.00432448 -0.22313666] [ 0.19860291 -0.00353413 0.98007367 -0.26861173] [ 0. 0. 0. 1. ]] SLAMing on 277.77463044 meters Centerline goodness : 0.096691 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.98012108 0.00442653 -0.19835088 0.31081538] [-0.00357653 0.99998282 0.00464339 -0.22526294] [ 0.19836803 -0.00384167 0.98012008 -0.26814023] [ 0. 0. 0. 1. ]] SLAMing on 277.80463044000004 meters Centerline goodness : 0.056938 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.98011263 0.00455978 -0.19838963 0.31070224] [-0.00366438 0.99998138 0.00488021 -0.22645361] [ 0.19840819 -0.00405618 0.98011109 -0.26786388] [ 0. 0. 0. 1. ]] SLAMing on 277.83463044 meters Centerline goodness : 0.105998 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.98009746 0.00468667 -0.19846162 0.31118948] [-0.00374936 0.99997997 0.00509841 -0.227613 ] [ 0.19848154 -0.00425283 0.9800954 -0.26812053] [ 0. 0. 0. 1. ]] SLAMing on 277.86463044000004 meters Centerline goodness : 0.104364 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.98002668 0.00464639 -0.19881175 0.31298085] [-0.00367828 0.99997951 0.00523856 -0.22980484] [ 0.19883201 -0.00440264 0.9800237 -0.26881308] [ 0. 0. 0. 1. ]] SLAMing on 277.89463044 meters Centerline goodness : 0.109976 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.98000508 0.00459182 -0.19891946 0.31327567] [-0.00361879 0.99997965 0.00525486 -0.23073227] [ 0.19893954 -0.00442994 0.98000175 -0.26880909] [ 0. 0. 0. 1. ]] SLAMing on 277.92463044000004 meters Centerline goodness : 0.111274 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.97998867 0.00466454 -0.19899859 0.31347245] [-0.0036731 0.99997894 0.00535101 -0.23133025] [ 0.19901936 -0.00451298 0.97998517 -0.26874685] [ 0. 0. 0. 1. ]] SLAMing on 277.95463044 meters Centerline goodness : 0.098493 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.97997446 0.00484085 -0.19906436 0.31340826] [-0.0038111 0.9999773 0.00555581 -0.23186914] [ 0.19908673 -0.0046859 0.97997067 -0.26851533] [ 0. 0. 0. 1. ]] SLAMing on 277.98463044 meters Centerline goodness : 0.109360 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.97997758 0.00505061 -0.19904379 0.31335822] [-0.00398077 0.9999754 0.00577469 -0.23230404] [ 0.19906806 -0.00486672 0.97997358 -0.2684709 ] [ 0. 0. 0. 1. ]] SLAMing on 278.01463044 meters Centerline goodness : 0.119182 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.97997262 0.00528879 -0.19906205 0.3136218 ] [-0.00417019 0.99997307 0.00603822 -0.23318649] [ 0.19908862 -0.00508716 0.97996829 -0.26866159] [ 0. 0. 0. 1. ]] SLAMing on 278.04463044 meters Centerline goodness : 0.119708 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.97995935 0.00526597 -0.19912793 0.31393779] [-0.00414051 0.99997302 0.00606793 -0.23380954] [ 0.19915451 -0.00512183 0.97995472 -0.26878852] [ 0. 0. 0. 1. ]] SLAMing on 278.07463044 meters Centerline goodness : 0.112481 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.27 [[ 0.97992374 0.00525123 -0.19930349 0.31441333] [-0.00411114 0.99997274 0.00613377 -0.23467412] [ 0.19933027 -0.00519127 0.97991862 -0.26873392] [ 0. 0. 0. 1. ]] SLAMing on 278.10463044 meters Centerline goodness : 0.106190 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 0.97989878 0.005336 -0.19942393 0.31476049] [-0.00415887 0.99997137 0.00632105 -0.23586783] [ 0.19945195 -0.00536462 0.97989292 -0.26870676] [ 0. 0. 0. 1. ]] SLAMing on 278.13463044 meters Centerline goodness : 0.113208 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 0.9800943 0.00278699 -0.19851297 0.3110156 ] [-0.00192872 0.99998794 0.00451673 -0.23968799] [ 0.19852316 -0.00404394 0.98008785 -0.26779595] [ 0. 0. 0. 1. ]] SLAMing on 278.16463044 meters Centerline goodness : 0.122600 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.80299473e-01 6.97829801e-04 -1.97515711e-01 3.06968668e-01] [-1.10488559e-04 9.99995540e-01 2.98464770e-03 -2.42365915e-01] [ 1.97516913e-01 -2.90402534e-03 9.80295178e-01 -2.66857411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19463044 meters Centerline goodness : 0.111183 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.80330266e-01 6.82256050e-04 -1.97362875e-01 3.06474897e-01] [-4.52248881e-05 9.99994775e-01 3.23220442e-03 -2.44616071e-01] [ 1.97364049e-01 -3.15970211e-03 9.80325175e-01 -2.66650029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22463044 meters Centerline goodness : 0.114665 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.27 [[ 9.80304004e-01 7.45848050e-04 -1.97493048e-01 3.06800894e-01] [-5.18329081e-05 9.99993806e-01 3.51927032e-03 -2.46756030e-01] [ 1.97494450e-01 -3.43971814e-03 9.80297970e-01 -2.66549600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25463044 meters Centerline goodness : 0.105847 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.27 [[ 9.80130258e-01 1.02786393e-03 -1.98352264e-01 3.09596461e-01] [-2.11348338e-04 9.99991418e-01 4.13761954e-03 -2.50307341e-01] [ 1.98354815e-01 -4.01348469e-03 9.80122063e-01 -2.66866841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28463044 meters Centerline goodness : 0.114455 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.27 [[ 9.80064613e-01 1.09344527e-03 -1.98676016e-01 3.10704166e-01] [-2.44334307e-04 9.99990732e-01 4.29831310e-03 -2.51489410e-01] [ 1.98678875e-01 -4.16408120e-03 9.80055797e-01 -2.67049575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31463044000003 meters Centerline goodness : 0.120293 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.27 [[ 9.80017417e-01 1.03489011e-03 -1.98909004e-01 3.11448945e-01] [-1.79779096e-04 9.99990665e-01 4.31701825e-03 -2.52394911e-01] [ 1.98911615e-01 -4.19499339e-03 9.80008455e-01 -2.67097654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34463044 meters Centerline goodness : 0.083523 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.27 [[ 9.80003733e-01 1.02026667e-03 -1.98976488e-01 3.11489606e-01] [-1.55455662e-04 9.99990475e-01 4.36187126e-03 -2.53145188e-01] [ 1.98979043e-01 -4.24371809e-03 9.79994557e-01 -2.66945534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37463044000003 meters Centerline goodness : 0.115452 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:-0.26 [[ 0.98022857 0.00853316 -0.19768441 0.32977224] [-0.00808084 0.99996256 0.00309466 -0.25595625] [ 0.19770342 -0.00143602 0.98026083 -0.26211199] [ 0. 0. 0. 1. ]] SLAMing on 278.40463044 meters Centerline goodness : 0.122798 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:-0.26 [[ 0.98037437 0.00880753 -0.19694803 0.3274238 ] [-0.00828485 0.99995963 0.00347768 -0.25718085] [ 0.19697071 -0.00177774 0.98040776 -0.26167824] [ 0. 0. 0. 1. ]] SLAMing on 278.43463044000003 meters Centerline goodness : 0.120387 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:-0.26 [[ 0.98038798 0.00874627 -0.19688298 0.32736936] [-0.00822051 0.99996013 0.0034875 -0.25802324] [ 0.19690563 -0.00180062 0.98042079 -0.26175325] [ 0. 0. 0. 1. ]] SLAMing on 278.46463044 meters Centerline goodness : 0.121945 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:-0.26 [[ 0.98033708 0.00859046 -0.19714313 0.32814805] [-0.00807892 0.99996159 0.00339888 -0.25878014] [ 0.19716475 -0.00173934 0.98036883 -0.26182069] [ 0. 0. 0. 1. ]] SLAMing on 278.49463044000004 meters Centerline goodness : 0.121609 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:-0.26 [[ 0.98026885 0.00845896 -0.19748781 0.32923565] [-0.00795686 0.99996278 0.00333584 -0.25939516] [ 0.19750867 -0.00169863 0.98029967 -0.26193764] [ 0. 0. 0. 1. ]] SLAMing on 278.52463044 meters Centerline goodness : 0.126980 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:-0.26 [[ 0.9801422 0.00861504 -0.19810868 0.33089791] [-0.00805506 0.99996096 0.00363234 -0.26091445] [ 0.19813224 -0.00196443 0.98017333 -0.26190885] [ 0. 0. 0. 1. ]] SLAMing on 278.55463044000004 meters Centerline goodness : 0.120813 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:-0.26 [[ 0.98011955 0.00874648 -0.19821495 0.33126949] [-0.00813387 0.9999593 0.00390465 -0.26234012] [ 0.19824103 -0.00221477 0.9801508 -0.26196186] [ 0. 0. 0. 1. ]] SLAMing on 278.58463044 meters Centerline goodness : 0.115974 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.26, Z:-0.26 [[ 9.80269017e-01 1.38388016e-03 -1.97663198e-01 3.50157045e-01] [-4.22483136e-04 9.99987877e-01 4.90590188e-03 -2.59734586e-01] [ 1.97667591e-01 -4.72559424e-03 9.80257717e-01 -2.57316851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61463044000004 meters Centerline goodness : 0.120968 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.27, Z:-0.26 [[ 9.80423603e-01 1.20984715e-05 -1.96899867e-01 3.48158633e-01] [ 8.40739453e-04 9.99990625e-01 4.24773858e-03 -2.65684194e-01] [ 1.96898073e-01 -4.33012465e-03 9.80414402e-01 -2.57188324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64463044 meters Centerline goodness : 0.114485 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.27, Z:-0.26 [[ 9.80407008e-01 1.13438435e-04 -1.96982449e-01 3.48374295e-01] [ 7.94280212e-04 9.99989428e-01 4.52910970e-03 -2.67514709e-01] [ 1.96980881e-01 -4.59683015e-03 9.80396553e-01 -2.57130447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67463044000004 meters Centerline goodness : 0.113712 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.27, Z:-0.26 [[ 9.80376312e-01 3.25152956e-04 -1.97134932e-01 3.48651592e-01] [ 6.56283176e-04 9.99987715e-01 4.91314974e-03 -2.69353416e-01] [ 1.97134108e-01 -4.94611196e-03 9.80364055e-01 -2.56952326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70463044 meters Centerline goodness : 0.160028 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.27, Z:-0.26 [[ 9.80345597e-01 4.75236808e-04 -1.97287314e-01 3.49157178e-01] [ 5.62075776e-04 9.99986312e-01 5.20184900e-03 -2.70858104e-01] [ 1.97287085e-01 -5.21050019e-03 9.80331911e-01 -2.56988319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73463044 meters Centerline goodness : 0.128114 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.27, Z:-0.26 [[ 9.80339794e-01 5.46670365e-04 -1.97315962e-01 3.49548679e-01] [ 5.28120354e-04 9.99985311e-01 5.39439245e-03 -2.72263475e-01] [ 1.97316012e-01 -5.39254416e-03 9.80325105e-01 -2.57228214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 278.79463044 meters Centerline goodness : 0.136085 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.28, Z:-0.26 [[ 9.80335773e-01 8.45234852e-04 -1.97334890e-01 3.49698885e-01] [ 3.39621509e-04 9.99982119e-01 5.97037277e-03 -2.75998986e-01] [ 1.97336408e-01 -5.91998918e-03 9.80317957e-01 -2.57234186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82463044 meters Centerline goodness : 0.116681 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.28, Z:-0.26 [[ 9.80347119e-01 9.97854813e-04 -1.97277799e-01 3.49478317e-01] [ 2.30925323e-04 9.99980719e-01 6.20557688e-03 -2.77047779e-01] [ 1.97280187e-01 -6.12917586e-03 9.80327986e-01 -2.57164367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 278.88463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 278.91463044 meters Centerline goodness : 0.065899 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.28, Z:-0.26 [[ 0.9801259 -0.00153089 -0.19837053 0.35492127] [ 0.00247447 0.99998677 0.00450884 -0.28359558] [ 0.19836101 -0.0049101 0.98011673 -0.25910317] [ 0. 0. 0. 1. ]] SLAMing on 278.94463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 278.97463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.00463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.03463044 meters Centerline goodness : 0.152311 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.29, Z:-0.25 [[ 0.98030612 0.00546464 -0.19740831 0.37282816] [-0.00492939 0.99998272 0.00320268 -0.29252793] [ 0.1974224 -0.00216651 0.98031612 -0.25368931] [ 0. 0. 0. 1. ]] SLAMing on 279.06463044000003 meters Centerline goodness : 0.057977 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.30, Z:-0.26 [[ 9.80359472e-01 1.24224566e-02 -1.96827308e-01 3.54527588e-01] [-1.21618078e-02 9.99922834e-01 2.53295419e-03 -3.00466670e-01] [ 1.96843585e-01 -8.94297482e-05 9.80434901e-01 -2.58921137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09463044 meters Centerline goodness : 0.057977 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.30, Z:-0.26 [[ 9.80359472e-01 1.24224566e-02 -1.96827308e-01 3.54527588e-01] [-1.21618078e-02 9.99922834e-01 2.53295419e-03 -3.00466670e-01] [ 1.96843585e-01 -8.94297482e-05 9.80434901e-01 -2.58921137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12463044000003 meters Centerline goodness : 0.145555 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.30, Z:-0.26 [[ 9.80355041e-01 1.25041452e-02 -1.96844201e-01 3.55011226e-01] [-1.22128719e-02 9.99921792e-01 2.69358559e-03 -3.01474345e-01] [ 1.96862487e-01 -2.36637205e-04 9.80431081e-01 -2.59316927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15463044 meters Centerline goodness : 0.068045 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.30, Z:-0.26 [[ 9.80342443e-01 1.25113310e-02 -1.96906478e-01 3.55179498e-01] [-1.22021748e-02 9.99921677e-01 2.78325655e-03 -3.02410937e-01] [ 1.96925878e-01 -3.25857267e-04 9.80418325e-01 -2.59278353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18463044000003 meters Centerline goodness : 0.141847 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.30, Z:-0.26 [[ 9.80356545e-01 1.24718599e-02 -1.96838758e-01 3.54978308e-01] [-1.21572378e-02 9.99922159e-01 2.80667009e-03 -3.03222393e-01] [ 1.96858441e-01 -3.58521798e-04 9.80431857e-01 -2.59235047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21463044 meters Centerline goodness : 0.135826 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.30, Z:-0.26 [[ 9.80332399e-01 1.26080423e-02 -1.96950311e-01 3.55307434e-01] [-1.22496854e-02 9.99920356e-01 3.03769318e-03 -3.04480721e-01] [ 1.96972924e-01 -5.65369697e-04 9.80408766e-01 -2.59235354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.27463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.30463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.33463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.36463044000004 meters Centerline goodness : 0.123881 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.30, Z:-0.26 [[ 9.80524238e-01 1.30732120e-02 -1.95962523e-01 3.52474631e-01] [-1.26650400e-02 9.99914231e-01 3.33590306e-03 -3.03992214e-01] [ 1.95989327e-01 -7.89060612e-04 9.80605711e-01 -2.58913562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.42463044000004 meters Centerline goodness : 0.130818 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.30, Z:-0.26 [[ 0.98042018 0.0048163 -0.19685802 0.33495086] [-0.00409892 0.99998339 0.00405139 -0.29946556] [ 0.19687427 -0.00316516 0.98042364 -0.2644083 ] [ 0. 0. 0. 1. ]] SLAMing on 279.45463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.48463044 meters Centerline goodness : 0.147252 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98028447 0.00462351 -0.19753729 0.33717666] [-0.00398088 0.99998541 0.00365018 -0.29671412] [ 0.19755128 -0.00279184 0.98028858 -0.26485156] [ 0. 0. 0. 1. ]] SLAMing on 279.51463044 meters Centerline goodness : 0.139268 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.9802607 0.00453567 -0.19765724 0.33721778] [-0.00391757 0.99998614 0.00351802 -0.29596944] [ 0.19767046 -0.00267424 0.98026488 -0.26455095] [ 0. 0. 0. 1. ]] SLAMing on 279.54463044 meters Centerline goodness : 0.143811 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98028453 0.00439461 -0.19754222 0.33677843] [-0.00380253 0.99998707 0.00337644 -0.29566883] [ 0.1975545 -0.00255871 0.98028857 -0.26439282] [ 0. 0. 0. 1. ]] SLAMing on 279.57463044 meters Centerline goodness : 0.111759 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98028742 0.00424344 -0.19753118 0.33652078] [-0.00367114 0.99998794 0.00326336 -0.29552197] [ 0.19754265 -0.00247386 0.98029117 -0.26411586] [ 0. 0. 0. 1. ]] SLAMing on 279.60463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.63463044 meters Centerline goodness : 0.123849 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.9802817 0.00380071 -0.19756857 0.33671239] [-0.0032853 0.99999029 0.00293647 -0.29513178] [ 0.19757781 -0.0022295 0.98028467 -0.26411537] [ 0. 0. 0. 1. ]] SLAMing on 279.66463044 meters Centerline goodness : 0.173879 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.9802459 0.00356134 -0.1977506 0.3370405 ] [-0.00307599 0.99999146 0.00276145 -0.29527256] [ 0.19775874 -0.00209862 0.98024848 -0.26388687] [ 0. 0. 0. 1. ]] SLAMing on 279.69463044 meters Centerline goodness : 0.166311 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98021859 0.0033746 -0.19788917 0.33712946] [-0.0029035 0.99999222 0.00267073 -0.29568307] [ 0.19789664 -0.00204333 0.98022076 -0.26354543] [ 0. 0. 0. 1. ]] SLAMing on 279.72463044 meters Centerline goodness : 0.139538 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98020221 0.00330374 -0.19797149 0.33720429] [-0.00283613 0.99999248 0.00264552 -0.29585565] [ 0.19797874 -0.00203167 0.98020421 -0.26336386] [ 0. 0. 0. 1. ]] SLAMing on 279.75463044 meters Centerline goodness : 0.145844 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.9801789 0.00341841 -0.19808492 0.3378344 ] [-0.00292332 0.99999183 0.00279175 -0.2955478 ] [ 0.19809284 -0.00215735 0.98018089 -0.26363666] [ 0. 0. 0. 1. ]] SLAMing on 279.78463044 meters Centerline goodness : 0.123623 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98016905 0.00338755 -0.19813421 0.33808905] [-0.00289321 0.99999194 0.00278441 -0.29549332] [ 0.19814205 -0.00215595 0.98017095 -0.26370762] [ 0. 0. 0. 1. ]] SLAMing on 279.81463044000003 meters Centerline goodness : 0.137912 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.9801668 0.00326055 -0.19814744 0.33799111] [-0.0027754 0.99999243 0.00272613 -0.29588652] [ 0.19815482 -0.00212213 0.98016844 -0.26354629] [ 0. 0. 0. 1. ]] SLAMing on 279.84463044 meters Centerline goodness : 0.094951 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98018132 0.00316343 -0.19807717 0.3375561 ] [-0.00268136 0.99999275 0.00270191 -0.29637901] [ 0.19808428 -0.00211725 0.98018271 -0.26327371] [ 0. 0. 0. 1. ]] SLAMing on 279.87463044000003 meters Centerline goodness : 0.145914 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98021273 0.00316873 -0.19792159 0.33688325] [-0.00266851 0.99999254 0.00279403 -0.29701319] [ 0.19792896 -0.00221059 0.98021387 -0.26297395] [ 0. 0. 0. 1. ]] SLAMing on 279.90463044 meters Centerline goodness : 0.125631 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98025114 0.00307132 -0.1977328 0.33646952] [-0.00257858 0.9999929 0.00274938 -0.29712569] [ 0.19773984 -0.00218521 0.9802521 -0.26297192] [ 0. 0. 0. 1. ]] SLAMing on 279.93463044000003 meters Centerline goodness : 0.123013 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.30, Z:-0.26 [[ 0.98017035 0.00296314 -0.19813455 0.33761459] [-0.00250795 0.99999361 0.00254826 -0.29627197] [ 0.19814083 -0.00200081 0.98017152 -0.26300992] [ 0. 0. 0. 1. ]] SLAMing on 279.96463044 meters Centerline goodness : 0.123804 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.29, Z:-0.26 [[ 0.98006301 0.00288088 -0.19866606 0.33950081] [-0.00247779 0.99999434 0.00227752 -0.29442664] [ 0.19867149 -0.00173986 0.98006459 -0.26343892] [ 0. 0. 0. 1. ]] SLAMing on 279.99463044000004 meters Centerline goodness : 0.122975 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.29, Z:-0.26 [[ 0.97996001 0.00293844 -0.19917263 0.34125714] [-0.00258787 0.99999461 0.00202046 -0.29175283] [ 0.19917749 -0.00146454 0.97996234 -0.26380642] [ 0. 0. 0. 1. ]] SLAMing on 280.02463044 meters Centerline goodness : 0.128508 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.29, Z:-0.26 [[ 0.97997686 0.00319012 -0.19908584 0.3410618 ] [-0.00287425 0.99999411 0.00187561 -0.28892464] [ 0.19909065 -0.00126584 0.97998026 -0.26392108] [ 0. 0. 0. 1. ]] SLAMing on 280.05463044000004 meters Centerline goodness : 0.129227 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.28, Z:-0.26 [[ 0.98018646 0.00446007 -0.19802679 0.33784207] [-0.00410284 0.99998913 0.00221422 -0.28157447] [ 0.19803451 -0.00135787 0.98019411 -0.26378289] [ 0. 0. 0. 1. ]] SLAMing on 280.08463044 meters Centerline goodness : 0.118815 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.28, Z:-0.26 [[ 9.80199092e-01 4.19638175e-03 -1.97970022e-01 3.37465423e-01] [-3.94050478e-03 9.99990814e-01 1.68643712e-03 -2.78864025e-01] [ 1.97975280e-01 -8.72942319e-04 9.80206624e-01 -2.63635874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11463044000004 meters Centerline goodness : 0.100246 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.28, Z:-0.26 [[ 9.80182812e-01 3.96648992e-03 -1.98055349e-01 3.37758236e-01] [-3.79587139e-03 9.99992025e-01 1.24111973e-03 -2.76503577e-01] [ 1.98058693e-01 -4.64731599e-04 9.80190052e-01 -2.63738863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14463044 meters Centerline goodness : 0.127853 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.27, Z:-0.26 [[ 9.80130722e-01 3.70072077e-03 -1.98318111e-01 3.38701563e-01] [-3.64728113e-03 9.99993147e-01 6.34753534e-04 -2.72517663e-01] [ 1.98319101e-01 1.01180466e-04 9.80137503e-01 -2.64044098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17463044000004 meters Centerline goodness : 0.128190 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.27, Z:-0.26 [[ 9.80095870e-01 3.44572675e-03 -1.98494870e-01 3.39277325e-01] [-3.45982259e-03 9.99993977e-01 2.75816520e-04 -2.70877075e-01] [ 1.98494625e-01 4.16430404e-04 9.80101888e-01 -2.64112580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20463044 meters Centerline goodness : 0.180793 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.27, Z:-0.26 [[ 9.80090103e-01 3.18619826e-03 -1.98527677e-01 3.39329344e-01] [-3.26912980e-03 9.99994652e-01 -8.99649958e-05 -2.69296808e-01] [ 1.98526328e-01 7.37186545e-04 9.80095278e-01 -2.64072549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23463044 meters Centerline goodness : 0.118086 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.27, Z:-0.26 [[ 9.80093933e-01 2.97989849e-03 -1.98511974e-01 3.39135102e-01] [-3.13390740e-03 9.99994983e-01 -4.61635070e-04 -2.67336704e-01] [ 1.98509602e-01 1.07456387e-03 9.80098354e-01 -2.63950139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26463044 meters Centerline goodness : 0.115512 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.26, Z:-0.26 [[ 9.80084470e-01 2.86421187e-03 -1.98560388e-01 3.39165900e-01] [-3.08332197e-03 9.99994931e-01 -7.94310640e-04 -2.64881755e-01] [ 1.98557106e-01 1.39071713e-03 9.80088333e-01 -2.63885759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29463044 meters Centerline goodness : 0.123306 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.26, Z:-0.26 [[ 9.79957203e-01 6.02287332e-03 -1.99117064e-01 3.41722899e-01] [-5.88890133e-03 9.99981860e-01 1.26504876e-03 -2.58572950e-01] [ 1.99121071e-01 -6.71129020e-05 9.79974895e-01 -2.64601218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32463044 meters Centerline goodness : 0.108922 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.26, Z:-0.26 [[ 9.79949502e-01 5.84445199e-03 -1.99160277e-01 3.41909587e-01] [-5.81526209e-03 9.99982824e-01 7.31513412e-04 -2.55016887e-01] [ 1.99161131e-01 4.41323004e-04 9.79966657e-01 -2.64764252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35463044 meters Centerline goodness : 0.120811 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.25, Z:-0.26 [[ 9.79965481e-01 5.68844179e-03 -1.99086158e-01 3.41578724e-01] [-5.75834616e-03 9.99983395e-01 2.27875530e-04 -2.51363012e-01] [ 1.99084148e-01 9.23096860e-04 9.79981964e-01 -2.64693779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38463044 meters Centerline goodness : 0.162021 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.25, Z:-0.26 [[ 9.79995882e-01 5.48088310e-03 -1.98942282e-01 3.40871522e-01] [-5.65584558e-03 9.99983957e-01 -3.11196798e-04 -2.47844389e-01] [ 1.98937385e-01 1.43015841e-03 9.80011159e-01 -2.64449507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41463044 meters Centerline goodness : 0.123247 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.24, Z:-0.26 [[ 9.80009939e-01 5.29696574e-03 -1.98878007e-01 3.40420236e-01] [-5.56504412e-03 9.99984204e-01 -7.89008686e-04 -2.44737109e-01] [ 1.98870686e-01 1.88000124e-03 9.80023936e-01 -2.64236195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44463044 meters Centerline goodness : 0.123685 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.24, Z:-0.26 [[ 0.9800703 0.00494786 -0.19858932 0.33925033] [-0.00538814 0.99998408 -0.00167672 -0.23838152] [ 0.19857786 0.00271333 0.98008136 -0.26399474] [ 0. 0. 0. 1. ]] SLAMing on 280.47463044 meters Centerline goodness : 0.108239 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.24, Z:-0.26 [[ 0.9801045 0.00468607 -0.19842683 0.33843862] [-0.00521388 0.99998412 -0.00213759 -0.23592719] [ 0.19841366 0.00312963 0.98011337 -0.26371436] [ 0. 0. 0. 1. ]] SLAMing on 280.50463044 meters Centerline goodness : 0.106241 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.23, Z:-0.26 [[ 0.98016835 0.00451697 -0.19811512 0.33718734] [-0.00509987 0.99998404 -0.00243207 -0.2341286 ] [ 0.19810097 0.0033942 0.98017574 -0.26333794] [ 0. 0. 0. 1. ]] SLAMing on 280.53463044 meters Centerline goodness : 0.105768 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.23, Z:-0.26 [[ 0.9802227 0.00443709 -0.19784783 0.33612188] [-0.00504145 0.99998404 -0.00255107 -0.23317187] [ 0.19783335 0.00349806 0.98022943 -0.2629921 ] [ 0. 0. 0. 1. ]] SLAMing on 280.56463044000003 meters Centerline goodness : 0.107598 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.23, Z:-0.26 [[ 0.9802029 0.00430985 -0.19794874 0.33620765] [-0.00493323 0.9999843 -0.00265618 -0.23286662] [ 0.19793419 0.00358013 0.98020877 -0.26276697] [ 0. 0. 0. 1. ]] SLAMing on 280.59463044 meters Centerline goodness : 0.130101 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.23, Z:-0.26 [[ 0.98012514 0.00408694 -0.1983381 0.337413 ] [-0.00473499 0.99998489 -0.00279321 -0.23301981] [ 0.19832369 0.00367683 0.98012968 -0.26285245] [ 0. 0. 0. 1. ]] SLAMing on 280.62463044000003 meters Centerline goodness : 0.104748 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.23, Z:-0.26 [[ 9.80049341e-01 2.02628481e-04 -1.98754241e-01 3.39448610e-01] [-1.41235335e-03 9.99981332e-01 -5.94478520e-03 -2.33649992e-01] [ 1.98749326e-01 6.10689404e-03 9.80031332e-01 -2.63636276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65463044 meters Centerline goodness : 0.108365 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.23, Z:-0.26 [[ 9.80049260e-01 1.53114821e-04 -1.98754685e-01 3.39542238e-01] [-1.34860099e-03 9.99981806e-01 -5.87952615e-03 -2.34355861e-01] [ 1.98750168e-01 6.03026601e-03 9.80031635e-01 -2.63690783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68463044000003 meters Centerline goodness : 0.114456 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.23, Z:-0.26 [[ 9.80060230e-01 6.50365836e-05 -1.98700631e-01 3.39548716e-01] [-1.26092403e-03 9.99981847e-01 -5.89200995e-03 -2.34689321e-01] [ 1.98696641e-01 6.02507103e-03 9.80042521e-01 -2.63761667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71463044 meters Centerline goodness : 0.109297 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.27 [[ 0.98011953 0.00705163 -0.19828258 0.32129686] [-0.00862816 0.99993766 -0.00708807 -0.24047881] [ 0.19822024 0.00865797 0.98011927 -0.26897261] [ 0. 0. 0. 1. ]] SLAMing on 280.74463044000004 meters Centerline goodness : 0.111008 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.27 [[ 0.98008932 0.0069495 -0.19843546 0.32198119] [-0.00854595 0.99993763 -0.00718989 -0.24031465] [ 0.19837312 0.00874256 0.98008758 -0.26920166] [ 0. 0. 0. 1. ]] SLAMing on 280.77463044 meters Centerline goodness : 0.155464 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.27 [[ 0.97997829 0.00677939 -0.19898894 0.32385445] [-0.0084368 0.99993641 -0.00748245 -0.23898107] [ 0.19892556 0.00901147 0.97997317 -0.26959356] [ 0. 0. 0. 1. ]] SLAMing on 280.80463044000004 meters Centerline goodness : 0.107431 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.27 [[ 0.97993524 0.00669295 -0.19920373 0.32470775] [-0.00837636 0.99993597 -0.0076091 -0.23825111] [ 0.19914005 0.00912502 0.97992856 -0.26984504] [ 0. 0. 0. 1. ]] SLAMing on 280.83463044 meters Centerline goodness : 0.111417 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.28 [[ 9.80065074e-01 -9.52849090e-04 -1.98674465e-01 3.05941760e-01] [-3.64148421e-04 9.99978204e-01 -6.59227883e-03 -2.34565114e-01] [ 1.98676416e-01 6.53320923e-03 9.80043366e-01 -2.75195308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86463044000004 meters Centerline goodness : 0.104181 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.28 [[ 9.80077339e-01 -1.05908111e-03 -1.98613415e-01 3.05739973e-01] [-2.64599414e-04 9.99977934e-01 -6.63794856e-03 -2.34795176e-01] [ 1.98616062e-01 6.55825596e-03 9.80055432e-01 -2.75079947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89463044 meters Centerline goodness : 0.108184 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.27 [[ 9.80121124e-01 -1.12903865e-03 -1.98396843e-01 3.04985291e-01] [-1.89703597e-04 9.99978018e-01 -6.62785916e-03 -2.35286488e-01] [ 1.98399965e-01 6.53374137e-03 9.80099364e-01 -2.74900617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92463044000004 meters Centerline goodness : 0.109101 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.27 [[ 9.80121690e-01 -1.20720091e-03 -1.98393590e-01 3.04910677e-01] [-9.88011312e-05 9.99978394e-01 -6.57285332e-03 -2.36088420e-01] [ 1.98397238e-01 6.46179761e-03 9.80100393e-01 -2.74810761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95463044 meters Centerline goodness : 0.112038 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.79963896e-01 -1.61471951e-03 -1.99168661e-01 3.07049564e-01] [ 3.12282450e-04 9.99978365e-01 -6.57060724e-03 -2.38196589e-01] [ 1.99174962e-01 6.37676099e-03 9.79943198e-01 -2.74694228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98463044 meters Centerline goodness : 0.112038 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.79963896e-01 -1.61471951e-03 -1.99168661e-01 3.07049564e-01] [ 3.12282450e-04 9.99978365e-01 -6.57060724e-03 -2.38196589e-01] [ 1.99174962e-01 6.37676099e-03 9.79943198e-01 -2.74694228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01463044 meters Centerline goodness : 0.195835 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.79871509e-01 -1.78646583e-03 -1.99621226e-01 3.08322948e-01] [ 4.85113225e-04 9.99978314e-01 -6.56783092e-03 -2.39477827e-01] [ 1.99628630e-01 6.33879150e-03 9.79851126e-01 -2.74669555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04463044 meters Centerline goodness : 0.120945 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.79826498e-01 -1.91717061e-03 -1.99840835e-01 3.08920312e-01] [ 6.31381213e-04 9.99978691e-01 -6.49759955e-03 -2.41000970e-01] [ 1.99849033e-01 6.24034446e-03 9.79806829e-01 -2.74615190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07463044 meters Centerline goodness : 0.111954 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.79875266e-01 -1.95721559e-03 -1.99601184e-01 3.07707810e-01] [ 7.35112845e-04 9.99980530e-01 -6.19664955e-03 -2.43180652e-01] [ 1.99609426e-01 5.92521423e-03 9.79857627e-01 -2.73950368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10463044 meters Centerline goodness : 0.118302 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.79917988e-01 -1.87999655e-03 -1.99392082e-01 3.06712093e-01] [ 6.94430788e-04 9.99981665e-01 -6.01566945e-03 -2.43974955e-01] [ 1.99399736e-01 5.75639871e-03 9.79901326e-01 -2.73491969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13463044 meters Centerline goodness : 0.121496 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.27 [[ 9.79935172e-01 -1.85481554e-03 -1.99307848e-01 3.06270858e-01] [ 6.89776903e-04 9.99982270e-01 -5.91469939e-03 -2.44604894e-01] [ 1.99315285e-01 5.65854401e-03 9.79919077e-01 -2.73215224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16463044 meters Centerline goodness : 0.118134 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.27 [[ 9.79893291e-01 -1.90078223e-03 -1.99513221e-01 3.06745056e-01] [ 7.44315211e-04 9.99982487e-01 -5.87128736e-03 -2.45301265e-01] [ 1.99520887e-01 5.60473437e-03 9.79877545e-01 -2.73073684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 281.22463044 meters Centerline goodness : 0.123852 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.25, Z:-0.27 [[ 9.79853993e-01 -2.05270087e-03 -1.99704628e-01 3.07257697e-01] [ 9.28082631e-04 9.99983182e-01 -5.72485922e-03 -2.47381269e-01] [ 1.99713021e-01 5.42418377e-03 9.79839419e-01 -2.73014685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25463044 meters Centerline goodness : 0.108776 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.25, Z:-0.27 [[ 0.98011459 -0.00346253 -0.1984021 0.30296523] [ 0.00223057 0.99997682 -0.00643257 -0.25215327] [ 0.19841978 0.00586211 0.9800996 -0.27239507] [ 0. 0. 0. 1. ]] SLAMing on 281.28463044 meters Centerline goodness : 0.159726 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.25, Z:-0.27 [[ 0.98019806 -0.00353168 -0.19798811 0.30156839] [ 0.00234717 0.99997792 -0.00621709 -0.25434298] [ 0.1980057 0.00562927 0.9801847 -0.27205858] [ 0. 0. 0. 1. ]] SLAMing on 281.31463044000003 meters Centerline goodness : 0.132614 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.27 [[ 9.80532238e-01 8.77316391e-04 -1.96356209e-01 3.22798982e-01] [-2.78586751e-03 9.99951525e-01 -9.44385233e-03 -2.56986341e-01] [ 1.96338405e-01 9.80702405e-03 9.80487151e-01 -2.68129542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 281.37463044000003 meters Centerline goodness : 0.113340 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.26, Z:-0.28 [[ 9.79996824e-01 -7.68647106e-04 -1.99011642e-01 2.80405145e-01] [-1.26394305e-03 9.99948334e-01 -1.00861816e-02 -2.63166939e-01] [ 1.99009113e-01 1.01359653e-02 9.79945220e-01 -2.76906537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40463044 meters Centerline goodness : 0.126550 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.27, Z:-0.28 [[ 9.79940924e-01 -6.09552401e-04 -1.99287265e-01 2.81367713e-01] [-1.36252830e-03 9.99951458e-01 -9.75837599e-03 -2.65021096e-01] [ 1.99283539e-01 9.83416653e-03 9.79892525e-01 -2.77098437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43463044000003 meters Centerline goodness : 0.109905 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.27, Z:-0.28 [[ 9.79922609e-01 -3.87079070e-04 -1.99377857e-01 2.81739383e-01] [-1.47003804e-03 9.99956907e-01 -9.16644373e-03 -2.69220036e-01] [ 1.99372813e-01 9.27549850e-03 9.79879812e-01 -2.77194855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46463044 meters Centerline goodness : 0.125295 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.27, Z:-0.28 [[ 9.79915594e-01 -3.41802017e-04 -1.99412416e-01 2.81838871e-01] [-1.46731712e-03 9.99959100e-01 -8.92439395e-03 -2.71391898e-01] [ 1.99407311e-01 9.03775405e-03 9.79875014e-01 -2.77185770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49463044000004 meters Centerline goodness : 0.124177 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.27, Z:-0.28 [[ 9.79918194e-01 -3.25248926e-04 -1.99399669e-01 2.81837234e-01] [-1.44602257e-03 9.99960783e-01 -8.73732641e-03 -2.73192115e-01] [ 1.99394691e-01 8.85020153e-03 9.79879294e-01 -2.77219848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52463044 meters Centerline goodness : 0.126539 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.28, Z:-0.28 [[ 9.79846484e-01 -1.92228924e-04 -1.99751925e-01 2.83308091e-01] [-1.50785703e-03 9.99963928e-01 -8.35882008e-03 -2.76179457e-01] [ 1.99746326e-01 8.49155781e-03 9.79810848e-01 -2.77662633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55463044000004 meters Centerline goodness : 0.112973 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.28, Z:-0.28 [[ 9.79782709e-01 -7.40116940e-06 -2.00064598e-01 2.84387546e-01] [-1.64559084e-03 9.99965873e-01 -8.09599687e-03 -2.77376371e-01] [ 2.00057831e-01 8.26154221e-03 9.79749259e-01 -2.77882907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58463044 meters Centerline goodness : 0.113428 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79713703e-01 1.31178828e-04 -2.00402203e-01 2.85547576e-01] [-1.74553999e-03 9.99967437e-01 -7.87892980e-03 -2.78409351e-01] [ 2.00394644e-01 8.06890555e-03 9.79682030e-01 -2.78122957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61463044000004 meters Centerline goodness : 0.126318 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79640094e-01 1.87431516e-04 -2.00761677e-01 2.86422128e-01] [-1.78556984e-03 9.99968146e-01 -7.77932465e-03 -2.79215644e-01] [ 2.00753824e-01 7.97941232e-03 9.79609224e-01 -2.77987496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64463044 meters Centerline goodness : 0.118706 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79597902e-01 1.81656241e-04 -2.00967454e-01 2.86776252e-01] [-1.77418685e-03 9.99968439e-01 -7.74423509e-03 -2.79877804e-01] [ 2.00959705e-01 7.94279026e-03 9.79567307e-01 -2.77755105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67463044000004 meters Centerline goodness : 0.126747 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79592999e-01 2.22038384e-04 -2.00991309e-01 2.86890419e-01] [-1.79725839e-03 9.99969086e-01 -7.65480968e-03 -2.80644606e-01] [ 2.00983396e-01 7.85983129e-03 9.79563116e-01 -2.77848295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70463044 meters Centerline goodness : 0.135656 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79542829e-01 4.36224138e-04 -2.01235324e-01 2.87839360e-01] [-1.96196067e-03 9.99970825e-01 -7.38246676e-03 -2.81929514e-01] [ 2.01226233e-01 7.62625817e-03 9.79515106e-01 -2.78057821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73463044 meters Centerline goodness : 0.113513 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79506127e-01 4.40231762e-04 -2.01413885e-01 2.88189166e-01] [-1.96041692e-03 9.99971080e-01 -7.34815950e-03 -2.82472752e-01] [ 2.01404825e-01 7.59242244e-03 9.79478663e-01 -2.77909879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76463044 meters Centerline goodness : 0.108480 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79514894e-01 4.74492911e-04 -2.01371167e-01 2.87783988e-01] [-1.98189239e-03 9.99971506e-01 -7.28412982e-03 -2.83076207e-01] [ 2.01361973e-01 7.53400963e-03 9.79487925e-01 -2.77598258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79463044 meters Centerline goodness : 0.117151 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79549769e-01 4.87005110e-04 -2.01201424e-01 2.86902299e-01] [-1.98945964e-03 9.99971629e-01 -7.26527383e-03 -2.83436389e-01] [ 2.01192177e-01 7.51697942e-03 9.79522947e-01 -2.77170200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82463044 meters Centerline goodness : 0.140494 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79563483e-01 6.68994748e-04 -2.01134121e-01 2.86476966e-01] [-2.15090212e-03 9.99972130e-01 -7.14930446e-03 -2.83568469e-01] [ 2.01123733e-01 7.43581739e-03 9.79537622e-01 -2.76888121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85463044 meters Centerline goodness : 0.106457 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79511189e-01 7.15593674e-04 -2.01388479e-01 2.87332213e-01] [-2.20527183e-03 9.99971844e-01 -7.17277829e-03 -2.83157580e-01] [ 2.01377675e-01 7.46993292e-03 9.79485187e-01 -2.77036007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88463044 meters Centerline goodness : 0.465191 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79492992e-01 7.61090703e-04 -2.01476795e-01 2.87668105e-01] [-2.26414465e-03 9.99971301e-01 -7.22983984e-03 -2.82488406e-01] [ 2.01465511e-01 7.53775006e-03 9.79466605e-01 -2.77150850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91463044 meters Centerline goodness : 0.105973 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.28, Z:-0.28 [[ 9.79492806e-01 8.16848404e-04 -2.01477481e-01 2.87635590e-01] [-2.33929242e-03 9.99970484e-01 -7.31841490e-03 -2.81515032e-01] [ 2.01465556e-01 7.63964949e-03 9.79465806e-01 -2.77113212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94463044 meters Centerline goodness : 0.145835 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.28, Z:-0.27 [[ 0.97978602 0.00869444 -0.19985935 0.30629897] [-0.01060855 0.99990753 -0.00850831 -0.28268758] [ 0.19976689 0.01045654 0.97978766 -0.27224167] [ 0. 0. 0. 1. ]] SLAMing on 281.97463044 meters Centerline goodness : 0.133319 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.28, Z:-0.27 [[ 0.97986455 0.00884712 -0.19946727 0.30499468] [-0.01075966 0.99990593 -0.00850624 -0.28180881] [ 0.19937325 0.01048116 0.97986757 -0.27197756] [ 0. 0. 0. 1. ]] SLAMing on 282.00463044 meters Centerline goodness : 0.159393 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.28, Z:-0.27 [[ 0.98000894 0.0089757 -0.1987509 0.30246159] [-0.01090112 0.99990364 -0.00859545 -0.28054725] [ 0.1986546 0.01059022 0.98001235 -0.27137595] [ 0. 0. 0. 1. ]] SLAMing on 282.03463044 meters Centerline goodness : 0.125531 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.28, Z:-0.27 [[ 0.97998426 0.0088861 -0.19887655 0.30269603] [-0.01084212 0.99990295 -0.00874852 -0.27993619] [ 0.19877951 0.01072966 0.9799855 -0.27127307] [ 0. 0. 0. 1. ]] SLAMing on 282.06463044000003 meters Centerline goodness : 0.120006 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.28, Z:-0.27 [[ 0.97991647 0.00878953 -0.19921458 0.30394799] [-0.0107754 0.99990246 -0.00888653 -0.27932023] [ 0.19911704 0.01085468 0.9799156 -0.27156357] [ 0. 0. 0. 1. ]] SLAMing on 282.09463044 meters Centerline goodness : 0.118534 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.28, Z:-0.27 [[ 0.97983839 0.0087348 -0.19960066 0.30521445] [-0.01073972 0.99990215 -0.00896415 -0.27903631] [ 0.19950283 0.01092708 0.97983632 -0.27176328] [ 0. 0. 0. 1. ]] SLAMing on 282.12463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.15463044 meters Centerline goodness : 0.125233 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.28, Z:-0.27 [[ 0.97977784 0.00849837 -0.19990788 0.30587073] [-0.01056185 0.99990136 -0.00925793 -0.27800819] [ 0.19980948 0.01118211 0.97977096 -0.27158493] [ 0. 0. 0. 1. ]] SLAMing on 282.18463044000003 meters Centerline goodness : 0.155366 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.28, Z:-0.27 [[ 0.97977379 0.00836257 -0.19993344 0.3059155 ] [-0.01046316 0.99990059 -0.00945209 -0.27718811] [ 0.19983452 0.01135284 0.97976389 -0.27156675] [ 0. 0. 0. 1. ]] SLAMing on 282.21463044 meters Centerline goodness : 0.114547 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.28, Z:-0.27 [[ 0.97973791 0.00827404 -0.20011287 0.30630396] [-0.01040524 0.99989977 -0.00960058 -0.2763537 ] [ 0.20001338 0.01148827 0.97972581 -0.27142525] [ 0. 0. 0. 1. ]] SLAMing on 282.24463044000004 meters Centerline goodness : 0.106526 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.28, Z:-0.27 [[ 0.97970337 0.00808675 -0.20028959 0.30684204] [-0.01027239 0.99989847 -0.00987553 -0.275136 ] [ 0.20018939 0.01173254 0.97968697 -0.27143737] [ 0. 0. 0. 1. ]] SLAMing on 282.27463044 meters Centerline goodness : 0.115498 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.27, Z:-0.27 [[ 0.97966595 0.00790574 -0.20047972 0.30732667] [-0.01014872 0.99989686 -0.01016275 -0.27385346] [ 0.20037869 0.01199071 0.97964514 -0.27136343] [ 0. 0. 0. 1. ]] SLAMing on 282.30463044000004 meters Centerline goodness : 0.115690 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.27, Z:-0.27 [[ 0.97966978 0.007657 -0.20047066 0.3070156 ] [-0.00999857 0.99989308 -0.0106705 -0.27088996] [ 0.20036752 0.01245799 0.97964159 -0.271079 ] [ 0. 0. 0. 1. ]] SLAMing on 282.33463044 meters Centerline goodness : 0.103151 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.26, Z:-0.28 [[ 9.79828328e-01 -1.92912670e-05 -1.99841054e-01 2.87872063e-01] [-2.00555708e-03 9.99948687e-01 -9.92985110e-03 -2.64605776e-01] [ 1.99830991e-01 1.01303420e-02 9.79778011e-01 -2.76243819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36463044000004 meters Centerline goodness : 0.107034 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.26, Z:-0.28 [[ 9.79799367e-01 -2.23373074e-04 -1.99982877e-01 2.88323334e-01] [-1.88150092e-03 9.99944821e-01 -1.03351556e-02 -2.62317755e-01] [ 1.99974150e-01 1.05026469e-02 9.79744882e-01 -2.76274828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39463044 meters Centerline goodness : 0.112825 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.26, Z:-0.28 [[ 9.79775565e-01 -4.02361323e-04 -2.00099176e-01 2.88778945e-01] [-1.78426543e-03 9.99940655e-01 -1.07472562e-02 -2.59857716e-01] [ 2.00091625e-01 1.08869291e-02 9.79716702e-01 -2.76416874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42463044000004 meters Centerline goodness : 0.106282 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.26, Z:-0.28 [[ 9.79753380e-01 -5.61705050e-04 -2.00207390e-01 2.89310082e-01] [-1.69897881e-03 9.99936731e-01 -1.11197181e-02 -2.57550537e-01] [ 2.00200969e-01 1.12347295e-02 9.79690437e-01 -2.76626977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45463044 meters Centerline goodness : 0.096900 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.25, Z:-0.28 [[ 9.79724031e-01 -6.39612349e-04 -2.00350725e-01 2.89317038e-01] [-1.71686402e-03 9.99931385e-01 -1.15877864e-02 -2.52880007e-01] [ 2.00344390e-01 1.16968077e-02 9.79655710e-01 -2.76253685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48463044 meters Centerline goodness : 0.466163 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.25, Z:-0.28 [[ 9.79711036e-01 -7.74397044e-04 -2.00413787e-01 2.89219412e-01] [-1.64482979e-03 9.99927788e-01 -1.19043657e-02 -2.50828097e-01] [ 2.00408534e-01 1.19924850e-02 9.79639015e-01 -2.75981675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51463044 meters Centerline goodness : 0.103879 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.25, Z:-0.28 [[ 9.79675155e-01 -9.59486842e-04 -2.00588311e-01 2.89399466e-01] [-1.51988439e-03 9.99924347e-01 -1.22061311e-02 -2.49298014e-01] [ 2.00584848e-01 1.22629144e-02 9.79599581e-01 -2.75623314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54463044 meters Centerline goodness : 0.091497 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79259543e-01 -1.96243804e-03 -2.02600338e-01 2.45068750e-01] [-6.35794012e-04 9.99918404e-01 -1.27585437e-02 -2.50132202e-01] [ 2.02608844e-01 1.26227378e-02 9.79178392e-01 -2.83700961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57463044 meters Centerline goodness : 0.090668 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.25, Z:-0.28 [[ 9.79246290e-01 -2.09269914e-03 -2.02663082e-01 2.44989504e-01] [-5.32244303e-04 9.99916690e-01 -1.28968879e-02 -2.49591422e-01] [ 2.02673187e-01 1.27370959e-02 9.79163595e-01 -2.83438317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60463044 meters Centerline goodness : 0.449829 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79219931e-01 -2.14251455e-03 -2.02789882e-01 2.45248966e-01] [-4.80691604e-04 9.99916864e-01 -1.28854517e-02 -2.49758078e-01] [ 2.02800630e-01 1.27151705e-02 9.79137492e-01 -2.83339914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63463044 meters Centerline goodness : 0.104329 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79173212e-01 -2.34849272e-03 -2.03013065e-01 2.45995269e-01] [-2.72479070e-04 9.99916994e-01 -1.28814468e-02 -2.50857650e-01] [ 2.03026466e-01 1.26684844e-02 9.79091295e-01 -2.83337876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66463044 meters Centerline goodness : 0.101550 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79153289e-01 -2.48756112e-03 -2.03107481e-01 2.46490887e-01] [-1.32491643e-04 9.99916973e-01 -1.28852182e-02 -2.51935880e-01] [ 2.03122671e-01 1.26435138e-02 9.79071663e-01 -2.83534978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69463044 meters Centerline goodness : 0.352624 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79102833e-01 -2.60041288e-03 -2.03349158e-01 2.47085708e-01] [-1.30324441e-05 9.99917440e-01 -1.28496145e-02 -2.53163284e-01] [ 2.03365784e-01 1.25837441e-02 9.79021965e-01 -2.83402946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72463044 meters Centerline goodness : 0.088787 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79073233e-01 -2.57473476e-03 -2.03491952e-01 2.47369880e-01] [-5.91551181e-06 9.99919603e-01 -1.26802041e-02 -2.54628766e-01] [ 2.03508240e-01 1.24160522e-02 9.78994504e-01 -2.83247621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75463044 meters Centerline goodness : 0.319046 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.26, Z:-0.28 [[ 9.79010246e-01 -2.25204646e-03 -2.03798594e-01 2.47381683e-01] [-2.15874070e-04 9.99926932e-01 -1.20865644e-02 -2.57700600e-01] [ 2.03810923e-01 1.18768652e-02 9.78938225e-01 -2.82386655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78463044 meters Centerline goodness : 0.096477 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.26, Z:-0.28 [[ 9.79012107e-01 -2.11345504e-03 -2.03791138e-01 2.46935988e-01] [-3.08064702e-04 9.99929740e-01 -1.18499050e-02 -2.59006410e-01] [ 2.03801863e-01 1.16639813e-02 9.78942670e-01 -2.81909333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81463044000003 meters Centerline goodness : 0.101576 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.26, Z:-0.28 [[ 9.79041549e-01 -2.04927276e-03 -2.03650302e-01 2.46084157e-01] [-3.41105497e-04 9.99931473e-01 -1.17018672e-02 -2.60111690e-01] [ 2.03660326e-01 1.15260804e-02 9.78973759e-01 -2.81421915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84463044 meters Centerline goodness : 0.102491 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.26, Z:-0.28 [[ 9.79060676e-01 -1.95162256e-03 -2.03559286e-01 2.45308487e-01] [-4.23071830e-04 9.99932376e-01 -1.16216932e-02 -2.60456888e-01] [ 2.03568202e-01 1.14644630e-02 9.78993643e-01 -2.80843568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87463044000003 meters Centerline goodness : 0.096696 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.26, Z:-0.28 [[ 0.97929086 0.00639809 -0.20235728 0.26423033] [-0.00915535 0.99987753 -0.01269259 -0.26122406] [ 0.20225129 0.01428239 0.97922951 -0.2755727 ] [ 0. 0. 0. 1. ]] SLAMing on 282.90463044 meters Centerline goodness : 0.096696 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.26, Z:-0.28 [[ 0.97929086 0.00639809 -0.20235728 0.26423033] [-0.00915535 0.99987753 -0.01269259 -0.26122406] [ 0.20225129 0.01428239 0.97922951 -0.2755727 ] [ 0. 0. 0. 1. ]] SLAMing on 282.93463044000003 meters Centerline goodness : 0.093975 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.26, Z:-0.28 [[ 9.79309176e-01 -4.82820274e-04 -2.02369227e-01 2.46323203e-01] [-1.83960438e-03 9.99934597e-01 -1.12879324e-02 -2.55966405e-01] [ 2.02361441e-01 1.14266551e-02 9.79244238e-01 -2.80627925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96463044 meters Centerline goodness : 0.527917 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79252718e-01 -3.92817552e-04 -2.02642446e-01 2.47266090e-01] [-1.96717612e-03 9.99932574e-01 -1.14445600e-02 -2.54330568e-01] [ 2.02633278e-01 1.16057498e-02 9.79185918e-01 -2.80802526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99463044000004 meters Centerline goodness : 0.140548 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79210814e-01 -3.11134774e-04 -2.02844976e-01 2.47826286e-01] [-2.07379284e-03 9.99931207e-01 -1.15447461e-02 -2.53169576e-01] [ 2.02834614e-01 1.17253987e-02 9.79142806e-01 -2.80786607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02463044 meters Centerline goodness : 0.115060 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.25, Z:-0.28 [[ 9.79162975e-01 -2.25532744e-04 -2.03075890e-01 2.48882012e-01] [-2.17974351e-03 9.99930104e-01 -1.16204889e-02 -2.52386102e-01] [ 2.03064317e-01 1.18210058e-02 9.79094044e-01 -2.81171441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05463044000004 meters Centerline goodness : 0.125304 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.26, Z:-0.29 [[ 9.78691968e-01 -9.59191402e-04 -2.05331713e-01 2.04896231e-01] [-1.47646374e-03 9.99930363e-01 -1.17085071e-02 -2.56124274e-01] [ 2.05328645e-01 1.17621866e-02 9.78622398e-01 -2.89332447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08463044 meters Centerline goodness : 0.414185 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.26, Z:-0.29 [[ 0.97863154 -0.00101762 -0.20561925 0.20537311] [-0.00141385 0.99993081 -0.01167783 -0.25687718] [ 0.2056169 0.01171901 0.97856239 -0.28897497] [ 0. 0. 0. 1. ]] SLAMing on 283.11463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 283.14463044 meters Centerline goodness : 0.111185 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.26, Z:-0.29 [[ 0.97837655 -0.00129987 -0.20682756 0.2089922 ] [-0.00117968 0.99992892 -0.0118647 -0.25713496] [ 0.20682828 0.01185213 0.97830547 -0.28910939] [ 0. 0. 0. 1. ]] SLAMing on 283.17463044000004 meters Centerline goodness : 0.439305 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.26, Z:-0.29 [[ 0.97839322 -0.00126433 -0.20674892 0.20903005] [-0.00122674 0.9999282 -0.01192014 -0.25630694] [ 0.20674915 0.01191621 0.97832142 -0.2893353 ] [ 0. 0. 0. 1. ]] SLAMing on 283.20463044 meters Centerline goodness : 0.097241 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 0.97842738 -0.00124539 -0.20658728 0.20881445] [-0.0012766 0.99992629 -0.01207412 -0.25482273] [ 0.20658709 0.01207738 0.97835367 -0.28953644] [ 0. 0. 0. 1. ]] SLAMing on 283.23463044 meters Centerline goodness : 0.121806 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 0.9784118 -0.0012751 -0.20666089 0.2089785 ] [-0.00130108 0.99992314 -0.01232934 -0.25281615] [ 0.20666073 0.01233205 0.97833494 -0.28949777] [ 0. 0. 0. 1. ]] SLAMing on 283.26463044 meters Centerline goodness : 0.135262 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 0.97838816 -0.00135378 -0.20677226 0.20941507] [-0.00129203 0.99991902 -0.01266019 -0.25033569] [ 0.20677266 0.01265373 0.97830719 -0.28957347] [ 0. 0. 0. 1. ]] SLAMing on 283.29463044 meters Centerline goodness : 0.109588 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 0.97835855 -0.0014667 -0.20691159 0.20958337] [-0.00124164 0.99991526 -0.01295887 -0.24837771] [ 0.20691306 0.01293533 0.97827382 -0.28937992] [ 0. 0. 0. 1. ]] SLAMing on 283.32463044 meters Centerline goodness : 0.108866 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 0.97835607 -0.00148995 -0.20692311 0.20947549] [-0.00125096 0.99991322 -0.01311457 -0.24701644] [ 0.2069247 0.01308957 0.9782693 -0.28925362] [ 0. 0. 0. 1. ]] SLAMing on 283.35463044 meters Centerline goodness : 0.105805 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 0.97829618 -0.00171087 -0.2072044 0.20944826] [-0.00106243 0.99991135 -0.01327233 -0.24674307] [ 0.20720874 0.01320441 0.97820764 -0.28840325] [ 0. 0. 0. 1. ]] SLAMing on 283.38463044 meters Centerline goodness : 0.244735 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 9.78257685e-01 -1.82466217e-03 -2.07385083e-01 2.09690809e-01] [-9.36606086e-04 9.99912230e-01 -1.32157245e-02 -2.47853373e-01] [ 2.07390995e-01 1.31226222e-02 9.78170114e-01 -2.88106063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41463044 meters Centerline goodness : 0.149946 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 9.78229713e-01 -1.94618212e-03 -2.07515883e-01 2.10012499e-01] [-7.91336965e-04 9.99913773e-01 -1.31080262e-02 -2.49438833e-01] [ 2.07523501e-01 1.29868757e-02 9.78143823e-01 -2.87932962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44463044 meters Centerline goodness : 0.112617 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:-0.29 [[ 9.78178468e-01 -1.96805783e-03 -2.07757098e-01 2.10747306e-01] [-7.30934716e-04 9.99916350e-01 -1.29135313e-02 -2.51225845e-01] [ 2.07765134e-01 1.27835952e-02 9.78095204e-01 -2.87872385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47463044 meters Centerline goodness : 0.102226 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.26, Z:-0.29 [[ 0.97821565 0.00252062 -0.20757598 0.19015702] [-0.00594166 0.99985658 -0.01585912 -0.2569871 ] [ 0.20750624 0.01674699 0.97809033 -0.29261515] [ 0. 0. 0. 1. ]] SLAMing on 283.50463044 meters Centerline goodness : 0.105676 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.26, Z:-0.29 [[ 0.97818069 0.00252221 -0.20774065 0.19047301] [-0.00590167 0.99986012 -0.01564954 -0.25893991] [ 0.20767212 0.01653409 0.97805875 -0.29240242] [ 0. 0. 0. 1. ]] SLAMing on 283.53463044 meters Centerline goodness : 0.103668 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.26, Z:-0.29 [[ 0.97820096 0.00272254 -0.20764267 0.18965029] [-0.00599524 0.99986751 -0.01513357 -0.26261962] [ 0.20757396 0.01604854 0.97808767 -0.2917823 ] [ 0. 0. 0. 1. ]] SLAMing on 283.56463044000003 meters Centerline goodness : 0.097683 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.26, Z:-0.29 [[ 0.9781723 0.00292578 -0.20777486 0.18985934] [-0.00613534 0.99987158 -0.01480456 -0.2642135 ] [ 0.20770486 0.01575618 0.97806464 -0.29155867] [ 0. 0. 0. 1. ]] SLAMing on 283.59463044 meters Centerline goodness : 0.092411 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97811517 0.0032537 -0.20803876 0.19122979] [-0.00636625 0.99987757 -0.01429361 -0.26719826] [ 0.20796678 0.01530522 0.97801614 -0.29209729] [ 0. 0. 0. 1. ]] SLAMing on 283.62463044000003 meters Centerline goodness : 0.101538 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.27, Z:-0.30 [[ 0.97787076 -0.00437924 -0.20916404 0.17241614] [ 0.00168774 0.99991349 -0.01304468 -0.26612983] [ 0.20920307 0.01240299 0.97779356 -0.29690456] [ 0. 0. 0. 1. ]] SLAMing on 283.65463044 meters Centerline goodness : 0.102198 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97795543 0.00322669 -0.20878879 0.19163503] [-0.00635992 0.99987699 -0.01433709 -0.26917765] [ 0.20871685 0.01534892 0.97785566 -0.29161966] [ 0. 0. 0. 1. ]] SLAMing on 283.68463044000003 meters Centerline goodness : 0.101488 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97795748 0.00345703 -0.20877553 0.19147405] [-0.00654975 0.9998788 -0.0141241 -0.26976857] [ 0.2087014 0.0151802 0.97786159 -0.29148956] [ 0. 0. 0. 1. ]] SLAMing on 283.71463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 283.74463044000004 meters Centerline goodness : 0.084984 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97800838 0.00408122 -0.20852565 0.19062315] [-0.00707484 0.99988232 -0.01361227 -0.27043204] [ 0.20844556 0.0147882 0.97792216 -0.29132125] [ 0. 0. 0. 1. ]] SLAMing on 283.77463044 meters Centerline goodness : 0.100110 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.9780316 0.0041182 -0.20841602 0.19034904] [-0.00711531 0.99988175 -0.01363273 -0.27048288] [ 0.20833523 0.01481618 0.97794525 -0.29127625] [ 0. 0. 0. 1. ]] SLAMing on 283.80463044000004 meters Centerline goodness : 0.102881 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97803029 0.00404944 -0.20842351 0.19016559] [-0.00705878 0.99988128 -0.01369681 -0.27055975] [ 0.20834331 0.01486711 0.97794276 -0.29108777] [ 0. 0. 0. 1. ]] SLAMing on 283.83463044 meters Centerline goodness : 0.102659 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97802701 0.00403545 -0.20843917 0.18991277] [-0.00705389 0.99988072 -0.01373985 -0.27034473] [ 0.20835886 0.01490825 0.97793882 -0.29080634] [ 0. 0. 0. 1. ]] SLAMing on 283.86463044000004 meters Centerline goodness : 0.085105 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97803223 0.00412915 -0.20841284 0.18949104] [-0.00714053 0.99988067 -0.01369883 -0.26996931] [ 0.20833141 0.01488608 0.977945 -0.29046239] [ 0. 0. 0. 1. ]] SLAMing on 283.89463044 meters Centerline goodness : 0.281888 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.9780814 0.00397809 -0.20818489 0.18856227] [-0.00701802 0.99987924 -0.01386547 -0.26969083] [ 0.20810459 0.0150226 0.97799121 -0.29007347] [ 0. 0. 0. 1. ]] SLAMing on 283.92463044000004 meters Centerline goodness : 0.080803 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97808 0.00377536 -0.20819527 0.18835304] [-0.00685186 0.99987771 -0.01405782 -0.26968173] [ 0.20811673 0.01517619 0.97798625 -0.2898094 ] [ 0. 0. 0. 1. ]] SLAMing on 283.95463044 meters Centerline goodness : 0.195436 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97806364 0.00366008 -0.20827416 0.18848541] [-0.00675685 0.99987692 -0.01415921 -0.2696957 ] [ 0.2081967 0.01525589 0.97796799 -0.28969529] [ 0. 0. 0. 1. ]] SLAMing on 283.98463044 meters Centerline goodness : 0.086753 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97802123 0.00366097 -0.20847321 0.18890347] [-0.00676819 0.99987636 -0.01419327 -0.26945687] [ 0.20839547 0.01529231 0.97792509 -0.28953998] [ 0. 0. 0. 1. ]] SLAMing on 284.01463044 meters Centerline goodness : 0.095761 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97797094 0.00377537 -0.20870693 0.18949026] [-0.00685891 0.99987773 -0.01405278 -0.26981192] [ 0.20862836 0.01517472 0.97787726 -0.28946949] [ 0. 0. 0. 1. ]] SLAMing on 284.04463044 meters Centerline goodness : 0.077895 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97795041 0.00384263 -0.2088019 0.18957389] [-0.00691351 0.99987838 -0.01397934 -0.27020864] [ 0.20872279 0.01511466 0.97785804 -0.28923271] [ 0. 0. 0. 1. ]] SLAMing on 284.07463044 meters Centerline goodness : 0.102492 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97795568 0.00380945 -0.20877781 0.18946465] [-0.00689706 0.99987732 -0.01406295 -0.2699559 ] [ 0.20869863 0.01519289 0.97786198 -0.28919042] [ 0. 0. 0. 1. ]] SLAMing on 284.10463044 meters Centerline goodness : 0.100875 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97794134 0.00381642 -0.20884484 0.18958385] [-0.00692131 0.9998761 -0.01413822 -0.26951069] [ 0.20876501 0.01527183 0.97784658 -0.2891429 ] [ 0. 0. 0. 1. ]] SLAMing on 284.13463044 meters Centerline goodness : 0.104333 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97791868 0.00387119 -0.20894994 0.18985665] [-0.00698859 0.99987499 -0.01418315 -0.26871737] [ 0.20886892 0.01533024 0.97782348 -0.28911863] [ 0. 0. 0. 1. ]] SLAMing on 284.16463044 meters Centerline goodness : 0.085072 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97770468 0.00660442 -0.2098808 0.19405624] [-0.00935593 0.99988278 -0.01211968 -0.26682673] [ 0.20977615 0.0138131 0.97765186 -0.29012179] [ 0. 0. 0. 1. ]] SLAMing on 284.19463044 meters Centerline goodness : 0.166326 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.27, Z:-0.29 [[ 0.97768223 0.0065364 -0.20998747 0.19436833] [-0.00933772 0.99988011 -0.01235173 -0.26531923] [ 0.20988156 0.01403687 0.97762605 -0.2901423 ] [ 0. 0. 0. 1. ]] SLAMing on 284.22463044 meters Centerline goodness : 0.099178 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.26, Z:-0.29 [[ 0.97766565 0.00636706 -0.21006984 0.19471536] [-0.00923443 0.99987707 -0.01267155 -0.26377819] [ 0.20996334 0.01432841 0.97760426 -0.29026982] [ 0. 0. 0. 1. ]] SLAMing on 284.25463044 meters Centerline goodness : 0.100741 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.26, Z:-0.29 [[ 0.97764441 0.00621323 -0.21017327 0.19499503] [-0.00914278 0.99987409 -0.01296994 -0.26217875] [ 0.21006622 0.01460155 0.97757812 -0.2902783 ] [ 0. 0. 0. 1. ]] SLAMing on 284.28463044 meters Centerline goodness : 0.196842 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.26, Z:-0.30 [[ 9.77737579e-01 -7.47268383e-04 -2.09830096e-01 1.76301662e-01] [-1.68765637e-03 9.99933309e-01 -1.14249750e-02 -2.56508186e-01] [ 2.09824639e-01 1.15247485e-02 9.77671111e-01 -2.96007074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31463044000003 meters Centerline goodness : 0.139522 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.25, Z:-0.30 [[ 9.77753481e-01 -7.85234164e-04 -2.09755845e-01 1.75994471e-01] [-1.68737199e-03 9.99931192e-01 -1.16088015e-02 -2.54851182e-01] [ 2.09750528e-01 1.17044822e-02 9.77684878e-01 -2.95890211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34463044 meters Centerline goodness : 0.101772 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.25, Z:-0.30 [[ 9.77770008e-01 -9.80137384e-04 -2.09677970e-01 1.75392016e-01] [-1.56455657e-03 9.99927133e-01 -1.19699864e-02 -2.52895288e-01] [ 2.09674424e-01 1.20319468e-02 9.77697227e-01 -2.95520248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37463044000003 meters Centerline goodness : 0.101628 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.25, Z:-0.30 [[ 0.97782358 -0.00100598 -0.20942788 0.17429672] [-0.00165545 0.9999201 -0.01253241 -0.24593498] [ 0.20942376 0.01260118 0.97774378 -0.29520138] [ 0. 0. 0. 1. ]] SLAMing on 284.40463044 meters Centerline goodness : 0.092704 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:-0.30 [[ 0.97781489 -0.00115217 -0.2094677 0.17446849] [-0.00160951 0.99991403 -0.01301333 -0.24220754] [ 0.20946468 0.01306177 0.97772897 -0.29528214] [ 0. 0. 0. 1. ]] SLAMing on 284.43463044000003 meters Centerline goodness : 0.430802 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:-0.30 [[ 0.97782226 -0.00138402 -0.2094319 0.17436069] [-0.00148383 0.99990729 -0.01353573 -0.23886732] [ 0.20943122 0.0135463 0.97772955 -0.29532143] [ 0. 0. 0. 1. ]] SLAMing on 284.46463044 meters Centerline goodness : 0.118222 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:-0.30 [[ 0.97784316 -0.00166097 -0.20933226 0.17395092] [-0.00130483 0.99990074 -0.01402899 -0.23613455] [ 0.20933478 0.01399129 0.97774393 -0.29517994] [ 0. 0. 0. 1. ]] SLAMing on 284.49463044000004 meters Centerline goodness : 0.137672 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 0.97782711 -0.00195773 -0.20940465 0.17370221] [-0.00109764 0.99989465 -0.01447353 -0.23403555] [ 0.20941092 0.01438246 0.97772195 -0.29474611] [ 0. 0. 0. 1. ]] SLAMing on 284.52463044 meters Centerline goodness : 0.101310 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 9.77751955e-01 -2.67021139e-03 -2.09747429e-01 1.74062841e-01] [-5.34366977e-04 9.99884025e-01 -1.52201154e-02 -2.31476512e-01] [ 2.09763744e-01 1.49935797e-02 9.77637133e-01 -2.94129325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55463044000004 meters Centerline goodness : 0.083636 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 9.77679388e-01 -2.91190322e-03 -2.10082209e-01 1.74904278e-01] [-3.39721435e-04 9.99880737e-01 -1.54401203e-02 -2.30868959e-01] [ 2.10102114e-01 1.51668568e-02 9.77561798e-01 -2.93982100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58463044 meters Centerline goodness : 0.102034 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.23, Z:-0.29 [[ 9.77637813e-01 -3.07640419e-03 -2.10273258e-01 1.75442075e-01] [-1.93972836e-04 9.99879374e-01 -1.55305925e-02 -2.30870743e-01] [ 2.10295672e-01 1.52240817e-02 9.77519288e-01 -2.93947323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61463044000004 meters Centerline goodness : 0.099018 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.23, Z:-0.29 [[ 9.77632416e-01 -3.24050775e-03 -2.10295881e-01 1.75258354e-01] [-4.00714342e-05 9.99878410e-01 -1.55936904e-02 -2.31074509e-01] [ 2.10320843e-01 1.52533241e-02 9.77513416e-01 -2.93632683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64463044 meters Centerline goodness : 0.106905 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 9.77657103e-01 -3.33318548e-03 -2.10179634e-01 1.74631414e-01] [ 5.20323788e-05 9.99878080e-01 -1.56147825e-02 -2.31187392e-01] [ 2.10206056e-01 1.52549669e-02 9.77538081e-01 -2.93281773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67463044000004 meters Centerline goodness : 0.101049 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 9.77765780e-01 -3.66845401e-03 -2.09667885e-01 1.72823987e-01] [ 3.75209875e-04 9.99875976e-01 -1.57445746e-02 -2.31565573e-01] [ 2.09699639e-01 1.53158368e-02 9.77645890e-01 -2.92703679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70463044 meters Centerline goodness : 0.096990 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 9.77706516e-01 -3.82223231e-03 -2.09941322e-01 1.73465453e-01] [ 5.21061388e-04 9.99875395e-01 -1.57773177e-02 -2.32290980e-01] [ 2.09975466e-01 1.53161940e-02 9.77586680e-01 -2.92543384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73463044 meters Centerline goodness : 0.289518 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 9.77599312e-01 -3.92897054e-03 -2.10437992e-01 1.74946881e-01] [ 6.36429704e-04 9.99876363e-01 -1.57115714e-02 -2.33370235e-01] [ 2.10473705e-01 1.52256924e-02 9.77480945e-01 -2.92607765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76463044 meters Centerline goodness : 0.433562 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.24, Z:-0.29 [[ 9.77427356e-01 -4.14604635e-03 -2.11231089e-01 1.77111346e-01] [ 8.68771904e-04 9.99877848e-01 -1.56055555e-02 -2.35345759e-01] [ 2.11269988e-01 1.50697852e-02 9.77311564e-01 -2.92475771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79463044 meters Centerline goodness : 0.433562 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.24, Z:-0.29 [[ 9.77427356e-01 -4.14604635e-03 -2.11231089e-01 1.77111346e-01] [ 8.68771904e-04 9.99877848e-01 -1.56055555e-02 -2.35345759e-01] [ 2.11269988e-01 1.50697852e-02 9.77311564e-01 -2.92475771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82463044 meters Centerline goodness : 0.105254 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.24, Z:-0.29 [[ 9.77398015e-01 -4.13361107e-03 -2.11367058e-01 1.77341275e-01] [ 8.76091967e-04 9.99879438e-01 -1.55029937e-02 -2.36191192e-01] [ 2.11405659e-01 1.49674183e-02 9.77283799e-01 -2.92283552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85463044 meters Centerline goodness : 0.099959 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.97744555 0.0029276 -0.21116728 0.1960695 ] [-0.0066548 0.99983433 -0.01694197 -0.2391716 ] [ 0.2110827 0.01796513 0.9773031 -0.2868069 ] [ 0. 0. 0. 1. ]] SLAMing on 284.88463044 meters Centerline goodness : 0.103727 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.97742449 0.00290461 -0.21126506 0.19623696] [-0.00663464 0.99983434 -0.01694899 -0.23939573] [ 0.21118083 0.01796803 0.97728185 -0.28670082] [ 0. 0. 0. 1. ]] SLAMing on 284.91463044 meters Centerline goodness : 0.102608 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.9774216 0.00296401 -0.21127762 0.1961507 ] [-0.00668579 0.99983477 -0.01690343 -0.23946548] [ 0.21119261 0.01793434 0.97727992 -0.28659175] [ 0. 0. 0. 1. ]] SLAMing on 284.94463044 meters Centerline goodness : 0.107640 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.97742626 0.00307895 -0.21125439 0.19592014] [-0.00678019 0.99983591 -0.01679816 -0.23966181] [ 0.211168 0.01785131 0.97728676 -0.28644254] [ 0. 0. 0. 1. ]] SLAMing on 284.97463044 meters Centerline goodness : 0.113158 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.97746523 0.003278 -0.21107101 0.19511657] [-0.00692092 0.99983954 -0.01652281 -0.24085919] [ 0.21098297 0.01761127 0.97733107 -0.28611197] [ 0. 0. 0. 1. ]] SLAMing on 285.00463044 meters Centerline goodness : 0.116495 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.97744808 0.00330757 -0.21114996 0.19520567] [-0.00692965 0.99984123 -0.01641645 -0.24179638] [ 0.21106214 0.01750942 0.97731581 -0.28593284] [ 0. 0. 0. 1. ]] SLAMing on 285.03463044 meters Centerline goodness : 0.115351 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.97740738 0.00330085 -0.2113384 0.19546428] [-0.00691416 0.99984225 -0.01636058 -0.24261607] [ 0.21125106 0.01745218 0.97727602 -0.28570219] [ 0. 0. 0. 1. ]] SLAMing on 285.06463044000003 meters Centerline goodness : 0.106780 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.29 [[ 0.97729308 0.00344075 -0.21186408 0.19672674] [-0.00700987 0.99984585 -0.01609747 -0.24438415] [ 0.21177604 0.01721709 0.97716656 -0.28552452] [ 0. 0. 0. 1. ]] SLAMing on 285.09463044 meters Centerline goodness : 0.113788 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:-0.29 [[ 0.97726642 0.00351788 -0.21198579 0.19719015] [-0.00706606 0.9998473 -0.0159826 -0.24504273] [ 0.2118972 0.01711717 0.97714205 -0.28563902] [ 0. 0. 0. 1. ]] SLAMing on 285.12463044000003 meters Centerline goodness : 0.134148 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:-0.29 [[ 0.97727136 0.00360297 -0.21196156 0.19713187] [-0.00711955 0.99984935 -0.01582979 -0.24604183] [ 0.21187259 0.01697907 0.97714979 -0.28563614] [ 0. 0. 0. 1. ]] SLAMing on 285.15463044 meters Centerline goodness : 0.120910 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:-0.29 [[ 0.97730439 0.00362577 -0.21180883 0.19625439] [-0.00711811 0.99985097 -0.015728 -0.24699207] [ 0.21172024 0.01687872 0.97718455 -0.28516516] [ 0. 0. 0. 1. ]] SLAMing on 285.18463044000003 meters Centerline goodness : 0.125359 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:-0.28 [[ 0.97735904 0.0036832 -0.21155551 0.19510274] [-0.00714757 0.99985256 -0.01561335 -0.24794329] [ 0.21146681 0.01677196 0.97724127 -0.28471415] [ 0. 0. 0. 1. ]] SLAMing on 285.21463044 meters Centerline goodness : 0.110713 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:-0.28 [[ 0.97739988 0.00404476 -0.21136016 0.19419984] [-0.00743081 0.99985643 -0.0152285 -0.24918014] [ 0.21126822 0.01645491 0.97728961 -0.28439967] [ 0. 0. 0. 1. ]] SLAMing on 285.24463044000004 meters Centerline goodness : 0.113303 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:-0.28 [[ 0.97736712 0.00412117 -0.21151013 0.19463103] [-0.00749148 0.99985738 -0.01513564 -0.2497664 ] [ 0.21141759 0.0163776 0.9772586 -0.28444302] [ 0. 0. 0. 1. ]] SLAMing on 285.27463044 meters Centerline goodness : 0.114186 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:-0.28 [[ 0.97736953 0.0041268 -0.21149886 0.19448245] [-0.00747386 0.99985913 -0.01502847 -0.25093399] [ 0.21140704 0.01626908 0.9772627 -0.28431168] [ 0. 0. 0. 1. ]] SLAMing on 285.30463044000004 meters Centerline goodness : 0.114468 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:-0.28 [[ 0.97740864 0.00422093 -0.2113162 0.19350591] [-0.00750025 0.99986353 -0.01471944 -0.25327053] [ 0.21122523 0.01597183 0.97730691 -0.2838349 ] [ 0. 0. 0. 1. ]] SLAMing on 285.33463044 meters Centerline goodness : 0.102884 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.26, Z:-0.28 [[ 0.97747274 0.0042856 -0.21101821 0.19209248] [-0.00748019 0.99986915 -0.01434302 -0.25612552] [ 0.21092913 0.01559836 0.97737689 -0.28322362] [ 0. 0. 0. 1. ]] SLAMing on 285.36463044000004 meters Centerline goodness : 0.109277 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.26, Z:-0.28 [[ 0.97779872 -0.0042507 -0.20950321 0.21098964] [ 0.00144174 0.99990704 -0.01355862 -0.25963828] [ 0.20954137 0.01295556 0.97771395 -0.27816488] [ 0. 0. 0. 1. ]] SLAMing on 285.39463044 meters Centerline goodness : 0.176143 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.26, Z:-0.28 [[ 0.97775667 -0.00431853 -0.20969799 0.21159237] [ 0.00159475 0.99991218 -0.01315644 -0.26410747] [ 0.2097364 0.01252938 0.97767769 -0.27814034] [ 0. 0. 0. 1. ]] SLAMing on 285.42463044000004 meters Centerline goodness : 0.114911 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.27, Z:-0.28 [[ 0.97768743 -0.00433879 -0.21002015 0.21257867] [ 0.00169841 0.99991726 -0.01275076 -0.26805568] [ 0.21005809 0.01210955 0.97761391 -0.27818074] [ 0. 0. 0. 1. ]] SLAMing on 285.45463044 meters Centerline goodness : 0.115984 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.28, Z:-0.28 [[ 0.97772367 -0.00506692 -0.20983505 0.2121497 ] [ 0.00249494 0.99991851 -0.01252002 -0.2768107 ] [ 0.20988139 0.01171759 0.97765664 -0.27812336] [ 0. 0. 0. 1. ]] SLAMing on 285.48463044 meters Centerline goodness : 0.095901 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.28, Z:-0.28 [[ 0.97773742 -0.00483343 -0.20977647 0.2119984 ] [ 0.00236431 0.99992497 -0.01201944 -0.27960183] [ 0.20981882 0.01125588 0.97767549 -0.27806604] [ 0. 0. 0. 1. ]] SLAMing on 285.51463044 meters Centerline goodness : 0.125335 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.28, Z:-0.28 [[ 0.97774685 -0.00471538 -0.20973521 0.21186 ] [ 0.00231315 0.99992891 -0.01169746 -0.28168303] [ 0.20977545 0.01095201 0.97768825 -0.27797858] [ 0. 0. 0. 1. ]] SLAMing on 285.54463044 meters Centerline goodness : 0.123088 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.28, Z:-0.28 [[ 0.97776802 -0.00459459 -0.20963917 0.21181878] [ 0.00224396 0.99993194 -0.01144922 -0.28326702] [ 0.2096775 0.01072426 0.97771179 -0.27818603] [ 0. 0. 0. 1. ]] SLAMing on 285.57463044 meters Centerline goodness : 0.087075 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.29, Z:-0.28 [[ 0.97769457 -0.00429031 -0.20998792 0.21352712] [ 0.00202566 0.99993746 -0.01099858 -0.28545336] [ 0.21002197 0.01032789 0.97764212 -0.27890764] [ 0. 0. 0. 1. ]] SLAMing on 285.60463044 meters Centerline goodness : 0.085720 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.29, Z:-0.28 [[ 0.97766867 -0.00415651 -0.21011116 0.21432134] [ 0.00194179 0.99994038 -0.01074594 -0.28680793] [ 0.2101433 0.01009797 0.97761845 -0.27933397] [ 0. 0. 0. 1. ]] SLAMing on 285.63463044 meters Centerline goodness : 0.117240 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.29, Z:-0.28 [[ 0.97760999 -0.00412399 -0.21038466 0.21496999] [ 0.00194357 0.99994225 -0.01056969 -0.28829178] [ 0.2104161 0.00992413 0.97756155 -0.27922736] [ 0. 0. 0. 1. ]] SLAMing on 285.66463044 meters Centerline goodness : 0.102974 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.29, Z:-0.28 [[ 0.977555 -0.00416063 -0.2106393 0.21558794] [ 0.00201895 0.99994407 -0.01038155 -0.29039406] [ 0.21067072 0.00972327 0.97750873 -0.27914403] [ 0. 0. 0. 1. ]] SLAMing on 285.69463044 meters Centerline goodness : 0.116393 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.29, Z:-0.28 [[ 0.97753775 -0.00829265 -0.21059717 0.21559211] [ 0.00557965 0.99989366 -0.01347337 -0.29372768] [ 0.21068651 0.01199567 0.97748008 -0.27914636] [ 0. 0. 0. 1. ]] SLAMing on 285.72463044 meters Centerline goodness : 0.100135 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.30, Z:-0.28 [[ 0.97752749 -0.00826172 -0.21064605 0.2155138 ] [ 0.00561898 0.99989786 -0.01314133 -0.29641525] [ 0.2107331 0.01166239 0.97747407 -0.27890495] [ 0. 0. 0. 1. ]] SLAMing on 285.75463044 meters Centerline goodness : 0.103855 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.30, Z:-0.28 [[ 9.77970910e-01 -2.26646900e-03 -2.08728923e-01 1.98575056e-01] [-6.40834651e-04 9.99903741e-01 -1.38599311e-02 -3.04876974e-01] [ 2.08740244e-01 1.36883701e-02 9.77875319e-01 -2.84740921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78463044 meters Centerline goodness : 0.107824 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.31, Z:-0.28 [[ 9.77952595e-01 -2.10737874e-03 -2.08816380e-01 1.98691887e-01] [-7.26952846e-04 9.99908665e-01 -1.34956447e-02 -3.06837774e-01] [ 2.08825749e-01 1.33499005e-02 9.77861742e-01 -2.84651245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81463044000003 meters Centerline goodness : 0.119258 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.31, Z:-0.28 [[ 9.77936206e-01 -2.05080397e-03 -2.08893683e-01 1.98795321e-01] [-7.34819757e-04 9.99911857e-01 -1.32566481e-02 -3.08441786e-01] [ 2.08902457e-01 1.31176554e-02 9.77848501e-01 -2.84491846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84463044 meters Centerline goodness : 0.221671 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.31, Z:-0.28 [[ 9.77924201e-01 -2.10023726e-03 -2.08949384e-01 1.98700123e-01] [-6.62567224e-04 9.99913296e-01 -1.31514897e-02 -3.09778335e-01] [ 2.08958889e-01 1.29996031e-02 9.77838020e-01 -2.84275598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87463044000003 meters Centerline goodness : 0.125188 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.31, Z:-0.28 [[ 9.77880718e-01 -2.33287544e-03 -2.09150326e-01 1.98845454e-01] [-3.77857003e-04 9.99916465e-01 -1.29197965e-02 -3.13020175e-01] [ 2.09162995e-01 1.27130488e-02 9.77798149e-01 -2.83874510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90463044 meters Centerline goodness : 0.118978 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.32, Z:-0.28 [[ 9.77897469e-01 -2.26165210e-03 -2.09072776e-01 1.98502641e-01] [-3.83884296e-04 9.99920389e-01 -1.26122185e-02 -3.15008776e-01] [ 2.09084656e-01 1.24137163e-02 9.77818749e-01 -2.83764373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93463044000003 meters Centerline goodness : 0.116631 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.32, Z:-0.28 [[ 9.77931460e-01 -2.29291638e-03 -2.08913385e-01 1.97625978e-01] [-2.96945345e-04 9.99923511e-01 -1.23646132e-02 -3.17097133e-01] [ 2.08925756e-01 1.21537801e-02 9.77855978e-01 -2.83294077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96463044 meters Centerline goodness : 0.212253 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.32, Z:-0.28 [[ 0.97819606 -0.00468096 -0.20763084 0.19265737] [ 0.00185903 0.99990327 -0.01378417 -0.32187521] [ 0.20767527 0.01309763 0.97811013 -0.28242341] [ 0. 0. 0. 1. ]] SLAMing on 285.99463044000004 meters Centerline goodness : 0.111393 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 0.97798149 0.00136544 -0.2086872 0.20757909] [-0.00449991 0.99988408 -0.01454592 -0.32905613] [ 0.20864315 0.01516471 0.97787426 -0.27761536] [ 0. 0. 0. 1. ]] SLAMing on 286.02463044 meters Centerline goodness : 0.093323 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 0.97800085 0.00142071 -0.20859608 0.20733465] [-0.00452355 0.9998861 -0.01439857 -0.32964023] [ 0.20855187 0.01502541 0.97789588 -0.27766889] [ 0. 0. 0. 1. ]] SLAMing on 286.05463044000004 meters Centerline goodness : 0.090640 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 0.97804072 0.00152207 -0.20840835 0.20671737] [-0.00460327 0.99988715 -0.0143002 -0.32950155] [ 0.20836307 0.01494554 0.97793735 -0.27755991] [ 0. 0. 0. 1. ]] SLAMing on 286.08463044 meters Centerline goodness : 0.114704 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 0.97809916 0.00156301 -0.20813359 0.20599513] [-0.00462938 0.9998878 -0.01424642 -0.32947992] [ 0.20808797 0.01489795 0.97799665 -0.27758044] [ 0. 0. 0. 1. ]] SLAMing on 286.11463044000004 meters Centerline goodness : 0.112707 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 0.97812556 0.00145954 -0.20801022 0.20561473] [-0.00453526 0.99988732 -0.01431024 -0.32957833] [ 0.2079659 0.0149406 0.97802197 -0.2775184 ] [ 0. 0. 0. 1. ]] SLAMing on 286.14463044 meters Centerline goodness : 0.092883 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.33, Z:-0.27 [[ 9.78281443e-01 -8.28087713e-06 -2.07281015e-01 2.48465798e-01] [-3.38599098e-03 9.99865931e-01 -1.60204344e-02 -3.28145658e-01] [ 2.07253358e-01 1.63743453e-02 9.78150258e-01 -2.68132949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17463044000004 meters Centerline goodness : 0.096974 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.33, Z:-0.27 [[ 9.78240429e-01 -7.97989503e-05 -2.07474472e-01 2.49120698e-01] [-3.31815490e-03 9.99866011e-01 -1.60296421e-02 -3.28409205e-01] [ 2.07447952e-01 1.63692764e-02 9.78109091e-01 -2.68285467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20463044 meters Centerline goodness : 0.103417 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.32, Z:-0.26 [[ 0.97809363 -0.00712108 -0.20804358 0.26861221] [ 0.00408073 0.99987857 -0.01503954 -0.32422281] [ 0.20812542 0.01386111 0.97800393 -0.26270372] [ 0. 0. 0. 1. ]] SLAMing on 286.23463044 meters Centerline goodness : 0.090986 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.33, Z:-0.27 [[ 9.78337951e-01 -8.52974994e-04 -2.07012380e-01 2.48911712e-01] [-2.71145577e-03 9.99852931e-01 -1.69341062e-02 -3.29297247e-01] [ 2.06996379e-01 1.71285837e-02 9.78191755e-01 -2.67364597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26463044 meters Centerline goodness : 0.085638 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.32, Z:-0.26 [[ 0.97843616 -0.00767217 -0.20640692 0.26661462] [ 0.00453778 0.99986716 -0.01565462 -0.32389573] [ 0.2064996 0.01438042 0.978341 -0.26176194] [ 0. 0. 0. 1. ]] SLAMing on 286.29463044 meters Centerline goodness : 0.094967 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.32, Z:-0.26 [[ 0.97845342 -0.00761595 -0.20632716 0.26631847] [ 0.00447863 0.99986721 -0.01566835 -0.32305501] [ 0.20641909 0.01440668 0.97835761 -0.26170368] [ 0. 0. 0. 1. ]] SLAMing on 286.32463044 meters Centerline goodness : 0.095237 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.33, Z:-0.26 [[ 9.78254416e-01 -8.47937950e-04 -2.07406793e-01 2.81704783e-01] [-2.54262637e-03 9.99867471e-01 -1.60802884e-02 -3.26214993e-01] [ 2.07392941e-01 1.62579711e-02 9.78122613e-01 -2.57508956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35463044 meters Centerline goodness : 0.099991 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.32, Z:-0.26 [[ 0.97825466 -0.00102308 -0.20740487 0.28201331] [-0.0024335 0.99986238 -0.01641008 -0.32434506] [ 0.20739312 0.01655795 0.97811754 -0.25780805] [ 0. 0. 0. 1. ]] SLAMing on 286.38463044 meters Centerline goodness : 0.169305 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.32, Z:-0.25 [[ 0.97797117 -0.00789304 -0.20859074 0.30069735] [ 0.00467969 0.99986273 -0.01589405 -0.31567019] [ 0.20868756 0.01456778 0.97787386 -0.25188944] [ 0. 0. 0. 1. ]] SLAMing on 286.41463044 meters Centerline goodness : 0.108515 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.31, Z:-0.25 [[ 0.97800442 -0.00790107 -0.20843448 0.30011582] [ 0.00467781 0.99986181 -0.01595253 -0.31470157] [ 0.20853172 0.01462663 0.97790622 -0.25181978] [ 0. 0. 0. 1. ]] SLAMing on 286.44463044 meters Centerline goodness : 0.165834 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.31, Z:-0.25 [[ 0.97804239 -0.00792803 -0.20825522 0.29964979] [ 0.00471938 0.99986246 -0.01589962 -0.31458 ] [ 0.20835262 0.01456767 0.97794528 -0.25199735] [ 0. 0. 0. 1. ]] SLAMing on 286.47463044 meters Centerline goodness : 0.099818 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.31, Z:-0.25 [[ 0.97805901 -0.00797451 -0.20817535 0.29968979] [ 0.00477731 0.99986287 -0.01585645 -0.31467468] [ 0.20827325 0.01451403 0.97796298 -0.25237123] [ 0. 0. 0. 1. ]] SLAMing on 286.50463044 meters Centerline goodness : 0.103203 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.32, Z:-0.25 [[ 0.97800865 -0.00866653 -0.20838419 0.30059587] [ 0.00541977 0.99985495 -0.01614658 -0.31527378] [ 0.2084939 0.0146621 0.97791376 -0.25305765] [ 0. 0. 0. 1. ]] SLAMing on 286.53463044 meters Centerline goodness : 0.102479 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.32, Z:-0.25 [[ 0.97801568 -0.00881771 -0.20834484 0.30056506] [ 0.00558093 0.99985451 -0.01611839 -0.31599936] [ 0.20845666 0.01460128 0.97792261 -0.25330105] [ 0. 0. 0. 1. ]] SLAMing on 286.56463044000003 meters Centerline goodness : 0.112999 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.32, Z:-0.25 [[ 0.97803837 -0.00888587 -0.20823541 0.30020147] [ 0.00568857 0.99985664 -0.0159481 -0.31710802] [ 0.20834727 0.01441329 0.97794871 -0.25343798] [ 0. 0. 0. 1. ]] SLAMing on 286.59463044 meters Centerline goodness : 0.104009 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.32, Z:-0.25 [[ 0.97808815 -0.0088622 -0.2080025 0.29966248] [ 0.00572341 0.99986057 -0.01568716 -0.31825336] [ 0.20811252 0.01415295 0.97800249 -0.25378428] [ 0. 0. 0. 1. ]] SLAMing on 286.62463044000003 meters Centerline goodness : 0.168692 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.32, Z:-0.25 [[ 0.97813114 -0.0089213 -0.20779771 0.29915533] [ 0.0058329 0.99986331 -0.01547055 -0.31967682] [ 0.20790732 0.01392017 0.97804947 -0.25407283] [ 0. 0. 0. 1. ]] SLAMing on 286.65463044 meters Centerline goodness : 0.102834 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.32, Z:-0.25 [[ 0.97818663 -0.00907175 -0.2075298 0.29833583] [ 0.00606132 0.99986705 -0.01513731 -0.32204193] [ 0.20763953 0.01354921 0.97811157 -0.25439061] [ 0. 0. 0. 1. ]] SLAMing on 286.68463044000003 meters Centerline goodness : 0.100819 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.33, Z:-0.26 [[ 0.97856857 -0.00124097 -0.20591749 0.28038939] [-0.00213535 0.99986692 -0.01617344 -0.32703612] [ 0.20591016 0.01626652 0.97843569 -0.26006559] [ 0. 0. 0. 1. ]] SLAMing on 286.71463044 meters Centerline goodness : 0.100819 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.33, Z:-0.26 [[ 0.97856857 -0.00124097 -0.20591749 0.28038939] [-0.00213535 0.99986692 -0.01617344 -0.32703612] [ 0.20591016 0.01626652 0.97843569 -0.26006559] [ 0. 0. 0. 1. ]] SLAMing on 286.74463044000004 meters Centerline goodness : 0.104254 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.33, Z:-0.26 [[ 0.97855084 -0.001229 -0.20600179 0.28064096] [-0.00214039 0.99986757 -0.01613245 -0.32713024] [ 0.20599434 0.01622734 0.97841862 -0.26011074] [ 0. 0. 0. 1. ]] SLAMing on 286.77463044 meters Centerline goodness : 0.102212 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.33, Z:-0.27 [[ 0.97807299 -0.00173027 -0.20825522 0.23764129] [-0.00166361 0.99986867 -0.01612044 -0.32524883] [ 0.20825576 0.01611342 0.97794166 -0.26913365] [ 0. 0. 0. 1. ]] SLAMing on 286.80463044000004 meters Centerline goodness : 0.104731 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.32, Z:-0.27 [[ 0.97805316 -0.00175392 -0.2083481 0.2382395 ] [-0.00165633 0.99986752 -0.01619246 -0.32454107] [ 0.2083489 0.01618218 0.97792069 -0.26944496] [ 0. 0. 0. 1. ]] SLAMing on 286.83463044 meters Centerline goodness : 0.105522 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.32, Z:-0.27 [[ 0.97805618 -0.00177376 -0.20833378 0.2384254 ] [-0.00167429 0.99986455 -0.01637311 -0.32278849] [ 0.2083346 0.01636264 0.97792073 -0.26959477] [ 0. 0. 0. 1. ]] SLAMing on 286.86463044000004 meters Centerline goodness : 0.103733 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.32, Z:-0.27 [[ 0.97810723 -0.00902818 -0.2079056 0.22033429] [ 0.00602389 0.99986816 -0.01507886 -0.31667539] [ 0.20801433 0.01349634 0.97803266 -0.27482253] [ 0. 0. 0. 1. ]] SLAMing on 286.89463044 meters Centerline goodness : 0.098073 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.32, Z:-0.27 [[ 0.97812843 -0.00901997 -0.2078062 0.22004373] [ 0.00601383 0.999868 -0.01509332 -0.31624209] [ 0.20791492 0.01351349 0.97805356 -0.27481228] [ 0. 0. 0. 1. ]] SLAMing on 286.92463044000004 meters Centerline goodness : 0.098857 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.32, Z:-0.27 [[ 0.97809236 -0.00932288 -0.20796256 0.2205809 ] [ 0.00630767 0.99986523 -0.01515728 -0.31739044] [ 0.20807584 0.01351346 0.97801934 -0.27495047] [ 0. 0. 0. 1. ]] SLAMing on 286.95463044 meters Centerline goodness : 0.127845 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.32, Z:-0.28 [[ 0.97809214 -0.00937956 -0.20796103 0.2207394 ] [ 0.00639426 0.99986671 -0.01502272 -0.3188334 ] [ 0.20807422 0.01336385 0.97802174 -0.27514976] [ 0. 0. 0. 1. ]] SLAMing on 286.98463044 meters Centerline goodness : 0.191840 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.32, Z:-0.28 [[ 9.78465192e-01 -2.97845581e-03 -2.06390397e-01 2.03520583e-01] [-3.14957785e-04 9.99873179e-01 -1.59225107e-02 -3.24992062e-01] [ 2.06411647e-01 1.56446268e-02 9.78340165e-01 -2.81317266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01463044 meters Centerline goodness : 0.101522 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.33, Z:-0.28 [[ 9.78454694e-01 -2.91540623e-03 -2.06441061e-01 2.03910592e-01] [-3.31244298e-04 9.99876842e-01 -1.56904576e-02 -3.26433081e-01] [ 2.06461381e-01 1.54207843e-02 9.78333224e-01 -2.81639965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04463044 meters Centerline goodness : 0.197067 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.33, Z:-0.28 [[ 9.78421075e-01 -2.87066978e-03 -2.06600966e-01 2.04711524e-01] [-3.29371356e-04 9.99880542e-01 -1.54529323e-02 -3.27920724e-01] [ 2.06620646e-01 1.51875230e-02 9.78303249e-01 -2.81974608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07463044 meters Centerline goodness : 0.160735 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.33, Z:-0.28 [[ 9.78412730e-01 -2.80479665e-03 -2.06641386e-01 2.04828795e-01] [-3.73375106e-04 9.99882273e-01 -1.53395284e-02 -3.28389061e-01] [ 2.06660083e-01 1.50855446e-02 9.78296497e-01 -2.81986008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10463044 meters Centerline goodness : 0.169366 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 9.78390688e-01 -2.68765597e-03 -2.06747279e-01 2.05038975e-01] [-4.60984662e-04 9.99884675e-01 -1.51797360e-02 -3.28848551e-01] [ 2.06764233e-01 1.49470197e-02 9.78276617e-01 -2.81911725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13463044 meters Centerline goodness : 0.201992 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 9.78382529e-01 -2.54193874e-03 -2.06787728e-01 2.05350742e-01] [-5.63035381e-04 9.99888009e-01 -1.49550366e-02 -3.29747933e-01] [ 2.06802585e-01 1.47481754e-02 9.78271528e-01 -2.82147898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16463044 meters Centerline goodness : 0.102823 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 9.78382332e-01 -2.42598489e-03 -2.06790057e-01 2.05598798e-01] [-6.45747703e-04 9.99890479e-01 -1.47855626e-02 -3.30466179e-01] [ 2.06803279e-01 1.45994674e-02 9.78273612e-01 -2.82401578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19463044 meters Centerline goodness : 0.097412 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 9.78394121e-01 -2.39940418e-03 -2.06734579e-01 2.05411370e-01] [-6.65180266e-04 9.99890948e-01 -1.47529794e-02 -3.30634542e-01] [ 2.06747433e-01 1.45717440e-02 9.78285829e-01 -2.82398487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22463044 meters Centerline goodness : 0.126755 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.33, Z:-0.28 [[ 9.78432070e-01 -2.51456252e-03 -2.06553532e-01 2.04749881e-01] [-5.96175581e-04 9.99887367e-01 -1.49965802e-02 -3.29380592e-01] [ 2.06567977e-01 1.47962771e-02 9.78320367e-01 -2.82188268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25463044 meters Centerline goodness : 0.100024 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.33, Z:-0.28 [[ 9.78419017e-01 -2.48959592e-03 -2.06615657e-01 2.05029707e-01] [-6.31509759e-04 9.99886716e-01 -1.50385266e-02 -3.28590976e-01] [ 2.06629690e-01 1.48444602e-02 9.78306605e-01 -2.82264305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28463044 meters Centerline goodness : 0.388088 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.32, Z:-0.29 [[ 0.97832776 -0.00968695 -0.20683559 0.18822445] [ 0.00704647 0.99988406 -0.01349898 -0.32232858] [ 0.20694238 0.01174896 0.97828258 -0.28795712] [ 0. 0. 0. 1. ]] SLAMing on 287.31463044000003 meters Centerline goodness : 0.275909 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.32, Z:-0.29 [[ 0.97827069 -0.0098164 -0.20709922 0.18945529] [ 0.00710824 0.99987928 -0.01381671 -0.31997664] [ 0.20720985 0.01204437 0.97822237 -0.28837731] [ 0. 0. 0. 1. ]] SLAMing on 287.34463044 meters Centerline goodness : 0.459664 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.32, Z:-0.29 [[ 0.97827798 -0.00997294 -0.20705732 0.18953484] [ 0.00720433 0.99987434 -0.01412093 -0.31810468] [ 0.20717213 0.01232248 0.9782269 -0.28852965] [ 0. 0. 0. 1. ]] SLAMing on 287.37463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 287.40463044 meters Centerline goodness : 0.269134 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.31, Z:-0.29 [[ 0.97834851 -0.01019778 -0.20671286 0.18837763] [ 0.00733268 0.99986621 -0.01462176 -0.31457655] [ 0.20683431 0.01278942 0.97829239 -0.28827911] [ 0. 0. 0. 1. ]] SLAMing on 287.43463044000003 meters Centerline goodness : 0.213681 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.31, Z:-0.29 [[ 0.97835629 -0.01031927 -0.20666999 0.18834547] [ 0.00742153 0.99986306 -0.01479148 -0.31336975] [ 0.20679433 0.01293753 0.97829889 -0.28836117] [ 0. 0. 0. 1. ]] SLAMing on 287.46463044 meters Centerline goodness : 0.105166 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.32, Z:-0.29 [[ 9.78449289e-01 -3.03560552e-03 -2.06464947e-01 1.69177911e-01] [-2.26634905e-04 9.99875542e-01 -1.57749706e-02 -3.16155618e-01] [ 2.06487137e-01 1.54818009e-02 9.78326825e-01 -2.93798450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49463044000004 meters Centerline goodness : 0.312759 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.31, Z:-0.29 [[ 9.78442352e-01 -3.47529538e-03 -2.06490885e-01 1.69677431e-01] [ 1.34587955e-04 9.99868919e-01 -1.61903189e-02 -3.14878420e-01] [ 2.06520084e-01 1.58135026e-02 9.78314565e-01 -2.94201800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52463044 meters Centerline goodness : 0.099332 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97834127 -0.01105252 -0.20670319 0.15142688] [ 0.00814171 0.99985543 -0.01492748 -0.30884348] [ 0.2068383 0.01292125 0.97828981 -0.29949738] [ 0. 0. 0. 1. ]] SLAMing on 287.55463044000004 meters Centerline goodness : 0.460805 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97835858 -0.01104018 -0.20662187 0.15151772] [ 0.00812726 0.99985534 -0.01494135 -0.30825739] [ 0.20675694 0.01293872 0.97830678 -0.29979235] [ 0. 0. 0. 1. ]] SLAMing on 287.58463044 meters Centerline goodness : 0.271683 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97837113 -0.01101212 -0.20656396 0.15149009] [ 0.00809921 0.99985556 -0.01494206 -0.30774777] [ 0.20669867 0.01294587 0.978319 -0.29993211] [ 0. 0. 0. 1. ]] SLAMing on 287.61463044000004 meters Centerline goodness : 0.092601 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97833712 -0.01119387 -0.2067152 0.15195253] [ 0.00824841 0.99985189 -0.01510524 -0.30731242] [ 0.20685367 0.01307294 0.97828455 -0.30001477] [ 0. 0. 0. 1. ]] SLAMing on 287.64463044 meters Centerline goodness : 0.103678 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97828975 -0.01118941 -0.2069395 0.15279019] [ 0.00824356 0.99985212 -0.0150922 -0.30716355] [ 0.20707777 0.01305863 0.97823733 -0.3002569 ] [ 0. 0. 0. 1. ]] SLAMing on 287.67463044000004 meters Centerline goodness : 0.359561 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97823912 -0.01110513 -0.20718323 0.15378209] [ 0.00817063 0.9998539 -0.01501415 -0.30706411] [ 0.2073197 0.01299461 0.97818694 -0.30057645] [ 0. 0. 0. 1. ]] SLAMing on 287.70463044 meters Centerline goodness : 0.437574 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97821501 -0.01106699 -0.20729912 0.15439125] [ 0.00813567 0.99985458 -0.01498773 -0.30680044] [ 0.20743484 0.01297471 0.97816279 -0.30085577] [ 0. 0. 0. 1. ]] SLAMing on 287.73463044 meters Centerline goodness : 0.324962 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97821709 -0.01100771 -0.20729244 0.15446046] [ 0.00809014 0.999856 -0.01491713 -0.30697698] [ 0.20742679 0.01291516 0.97816529 -0.30095396] [ 0. 0. 0. 1. ]] SLAMing on 287.76463044 meters Centerline goodness : 0.097149 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97831541 -0.01111255 -0.2068223 0.15314865] [ 0.00816442 0.99985262 -0.01510247 -0.30630953] [ 0.20695964 0.0130864 0.97826196 -0.30088132] [ 0. 0. 0. 1. ]] SLAMing on 287.79463044 meters Centerline goodness : 0.344803 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.31, Z:-0.30 [[ 0.97834425 -0.01111963 -0.20668546 0.1527855 ] [ 0.00815639 0.99985146 -0.01518357 -0.3056291 ] [ 0.20682359 0.01316895 0.97828962 -0.30086915] [ 0. 0. 0. 1. ]] SLAMing on 287.82463044 meters Centerline goodness : 0.104117 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.30, Z:-0.30 [[ 0.97833494 -0.01114674 -0.20672806 0.15307733] [ 0.00815851 0.99984964 -0.01530177 -0.30476421] [ 0.20686754 0.01328366 0.97827878 -0.30104031] [ 0. 0. 0. 1. ]] SLAMing on 287.85463044 meters Centerline goodness : 0.424292 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.30, Z:-0.30 [[ 0.97831202 -0.01115757 -0.20683594 0.15364312] [ 0.00814365 0.99984798 -0.01541724 -0.30370209] [ 0.20697651 0.01339848 0.97825416 -0.30128192] [ 0. 0. 0. 1. ]] SLAMing on 287.88463044 meters Centerline goodness : 0.364072 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.30, Z:-0.30 [[ 0.97830476 -0.00784055 -0.20702252 0.15433679] [ 0.00529927 0.99990369 -0.01282711 -0.30158899] [ 0.20710315 0.01145176 0.97825208 -0.30148522] [ 0. 0. 0. 1. ]] SLAMing on 287.91463044 meters Centerline goodness : 0.330616 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.30, Z:-0.30 [[ 0.97828687 -0.00797417 -0.20710194 0.15442931] [ 0.00536931 0.99989929 -0.01313674 -0.29984933] [ 0.20718584 0.0117395 0.97823117 -0.30133769] [ 0. 0. 0. 1. ]] SLAMing on 287.94463044 meters Centerline goodness : 0.090452 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.30, Z:-0.30 [[ 0.97829 -0.00805426 -0.20708403 0.15437074] [ 0.0054035 0.99989611 -0.01336287 -0.29833317] [ 0.20717015 0.01195378 0.97823189 -0.30132379] [ 0. 0. 0. 1. ]] SLAMing on 287.97463044 meters Centerline goodness : 0.130898 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.30, Z:-0.30 [[ 0.97829739 -0.00816629 -0.20704477 0.1541971 ] [ 0.00546674 0.99989247 -0.01360724 -0.29679988] [ 0.20713363 0.01218007 0.97823684 -0.30124286] [ 0. 0. 0. 1. ]] SLAMing on 288.00463044 meters Centerline goodness : 0.094067 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.29, Z:-0.30 [[ 0.97830794 -0.00819354 -0.20699383 0.15399537] [ 0.00546013 0.99989024 -0.01377311 -0.29487245] [ 0.20708396 0.01234413 0.97824529 -0.30117415] [ 0. 0. 0. 1. ]] SLAMing on 288.03463044 meters Centerline goodness : 0.095408 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.29, Z:-0.30 [[ 0.97828649 -0.0082122 -0.20709443 0.15435641] [ 0.00547274 0.99988983 -0.01379752 -0.29452143] [ 0.20718492 0.01236455 0.97822366 -0.30128008] [ 0. 0. 0. 1. ]] SLAMing on 288.06463044000003 meters Centerline goodness : 0.094954 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.29, Z:-0.30 [[ 0.97826235 -0.00824359 -0.20720718 0.15477531] [ 0.00550269 0.99988962 -0.01380071 -0.29448163] [ 0.20729808 0.01236051 0.97819974 -0.30141009] [ 0. 0. 0. 1. ]] SLAMing on 288.09463044 meters Centerline goodness : 0.272813 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.29, Z:-0.30 [[ 0.97823935 -0.00832069 -0.20731267 0.15512842] [ 0.00557351 0.9998888 -0.01383191 -0.29438935] [ 0.20740471 0.01237546 0.97817694 -0.30149131] [ 0. 0. 0. 1. ]] SLAMing on 288.12463044000003 meters Centerline goodness : 0.158640 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.29, Z:-0.30 [[ 0.97827535 -0.00833444 -0.20714218 0.15448612] [ 0.00557731 0.99988796 -0.01389076 -0.29353206] [ 0.20723474 0.01243369 0.97821223 -0.30131494] [ 0. 0. 0. 1. ]] SLAMing on 288.15463044 meters Centerline goodness : 0.159914 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.29, Z:-0.30 [[ 0.97830332 -0.00827364 -0.20701249 0.15418622] [ 0.00550711 0.99988771 -0.01393676 -0.29241622] [ 0.20710455 0.01249434 0.97823903 -0.30133492] [ 0. 0. 0. 1. ]] SLAMing on 288.18463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 288.21463044 meters Centerline goodness : 0.147333 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.29, Z:-0.30 [[ 0.97849468 -0.00537957 -0.20620188 0.15128737] [ 0.0029677 0.99992354 -0.01200417 -0.28707684] [ 0.20625069 0.01113407 0.97843584 -0.30081251] [ 0. 0. 0. 1. ]] SLAMing on 288.24463044000004 meters Centerline goodness : 0.109420 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.30 [[ 9.78503850e-01 -1.43297889e-03 -2.06223575e-01 1.51354544e-01] [-5.20790311e-04 9.99955500e-01 -9.41943934e-03 -2.80020178e-01] [ 2.06227896e-01 9.32435689e-03 9.78459560e-01 -3.00651055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27463044 meters Centerline goodness : 0.109833 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.27, Z:-0.30 [[ 9.78512532e-01 8.01397670e-04 -2.06185797e-01 1.50931508e-01] [-2.52797884e-03 9.99963913e-01 -8.11059853e-03 -2.74041947e-01] [ 2.06171857e-01 8.45755563e-03 9.78479246e-01 -3.00363097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30463044000004 meters Centerline goodness : 0.114759 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.27, Z:-0.30 [[ 9.78416010e-01 7.40375845e-04 -2.06643568e-01 1.52028380e-01] [-2.58461479e-03 9.99959205e-01 -8.65491663e-03 -2.68738658e-01] [ 2.06628730e-01 9.00220302e-03 9.78378009e-01 -3.00109867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33463044 meters Centerline goodness : 0.111796 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.26, Z:-0.30 [[ 9.78362134e-01 5.04471349e-04 -2.06899203e-01 1.52620208e-01] [-2.48754060e-03 9.99953430e-01 -9.32467423e-03 -2.63675302e-01] [ 2.06884864e-01 9.63757835e-03 9.78317827e-01 -2.99887868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36463044000004 meters Centerline goodness : 0.109386 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.25, Z:-0.30 [[ 0.97842209 0.00107019 -0.20661332 0.15131652] [-0.00312978 0.99994862 -0.00964174 -0.25407715] [ 0.20659239 0.01008034 0.97837517 -0.29930363] [ 0. 0. 0. 1. ]] SLAMing on 288.39463044 meters Centerline goodness : 0.111727 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.25, Z:-0.30 [[ 9.78438005e-01 7.06852815e-04 -2.06539513e-01 1.50861105e-01] [-2.88300008e-03 9.99943460e-01 -1.02354458e-02 -2.51086605e-01] [ 2.06520600e-01 1.06102026e-02 9.78384723e-01 -2.98992297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42463044000004 meters Centerline goodness : 0.098321 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:-0.29 [[ 0.97833172 -0.00669445 -0.20693532 0.16887272] [ 0.00486029 0.99994428 -0.00937059 -0.2445915 ] [ 0.20698652 0.00816178 0.97830975 -0.29294807] [ 0. 0. 0. 1. ]] SLAMing on 288.45463044 meters Centerline goodness : 0.112461 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:-0.29 [[ 0.97829206 -0.00706421 -0.20711047 0.16925989] [ 0.00512092 0.99993771 -0.00991748 -0.24188355] [ 0.20716762 0.0086416 0.97826729 -0.29280633] [ 0. 0. 0. 1. ]] SLAMing on 288.48463044 meters Centerline goodness : 0.126925 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:-0.29 [[ 0.97823397 -0.00736719 -0.20737414 0.16995712] [ 0.00531892 0.99993143 -0.01043302 -0.23898425] [ 0.20743678 0.00910292 0.97820607 -0.29274996] [ 0. 0. 0. 1. ]] SLAMing on 288.51463044 meters Centerline goodness : 0.108926 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:-0.29 [[ 0.97816896 -0.00763101 -0.20767103 0.17069928] [ 0.00548167 0.99992531 -0.01092322 -0.23583906] [ 0.20773888 0.00954637 0.97813773 -0.29260126] [ 0. 0. 0. 1. ]] SLAMing on 288.54463044 meters Centerline goodness : 0.104635 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.23, Z:-0.29 [[ 0.97815981 -0.00736235 -0.20772383 0.17038696] [ 0.0051276 0.99992307 -0.01129466 -0.22699712] [ 0.20779101 0.00998286 0.9781223 -0.29206691] [ 0. 0. 0. 1. ]] SLAMing on 288.57463044 meters Centerline goodness : 0.100932 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.22, Z:-0.29 [[ 0.97816242 -0.00766848 -0.20770042 0.17019039] [ 0.00532196 0.99991558 -0.01185405 -0.22373361] [ 0.20777379 0.01048982 0.97812066 -0.29188555] [ 0. 0. 0. 1. ]] SLAMing on 288.60463044 meters Centerline goodness : 0.100932 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.22, Z:-0.29 [[ 0.97816242 -0.00766848 -0.20770042 0.17019039] [ 0.00532196 0.99991558 -0.01185405 -0.22373361] [ 0.20777379 0.01048982 0.97812066 -0.29188555] [ 0. 0. 0. 1. ]] SLAMing on 288.63463044 meters Centerline goodness : 0.091063 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.22, Z:-0.29 [[ 0.97815574 -0.0078559 -0.20772491 0.16998719] [ 0.00542853 0.99991019 -0.01225293 -0.22108046] [ 0.20780251 0.01085763 0.97811054 -0.29155782] [ 0. 0. 0. 1. ]] SLAMing on 288.66463044 meters Centerline goodness : 0.089358 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.22, Z:-0.29 [[ 0.97814334 -0.00804806 -0.20777594 0.1700789 ] [ 0.00554487 0.9999049 -0.01262715 -0.21864416] [ 0.2078578 0.01119907 0.97809494 -0.29146606] [ 0. 0. 0. 1. ]] SLAMing on 288.69463044 meters Centerline goodness : 0.277104 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:-0.29 [[ 0.97763159 -0.01569129 -0.20973855 0.19095259] [ 0.01340277 0.99983418 -0.01232828 -0.21021621] [ 0.20989722 0.00924144 0.97767978 -0.28582371] [ 0. 0. 0. 1. ]] SLAMing on 288.72463044 meters Centerline goodness : 0.096667 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.21, Z:-0.29 [[ 0.97759375 -0.0078143 -0.21035541 0.17199014] [ 0.00509513 0.99989636 -0.01346541 -0.21111746] [ 0.21043883 0.01209191 0.97753224 -0.29111179] [ 0. 0. 0. 1. ]] SLAMing on 288.75463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 288.78463044 meters Centerline goodness : 0.223375 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.21, Z:-0.29 [[ 0.97753384 -0.00824317 -0.21061728 0.17257141] [ 0.00537973 0.9998852 -0.0141648 -0.20692808] [ 0.21070987 0.01271351 0.97746597 -0.29086989] [ 0. 0. 0. 1. ]] SLAMing on 288.81463044000003 meters Centerline goodness : 0.085453 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.20, Z:-0.29 [[ 0.97752483 -0.00841286 -0.21065241 0.17248272] [ 0.00547163 0.9998793 -0.01454147 -0.20433455] [ 0.21074932 0.01306203 0.97745287 -0.2906072 ] [ 0. 0. 0. 1. ]] SLAMing on 288.84463044 meters Centerline goodness : 0.121781 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.20, Z:-0.29 [[ 0.97753264 -0.00855509 -0.21061041 0.17214461] [ 0.00553148 0.99987307 -0.01494134 -0.20142209] [ 0.2107115 0.01344066 0.97745589 -0.29032618] [ 0. 0. 0. 1. ]] SLAMing on 288.87463044000003 meters Centerline goodness : 0.090645 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:-0.29 [[ 9.77787391e-01 -9.85053857e-04 -2.09596871e-01 1.91350630e-01] [-2.45387491e-03 9.99866623e-01 -1.61466648e-02 -1.98927213e-01] [ 2.09584821e-01 1.63023298e-02 9.77654559e-01 -2.85336559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90463044 meters Centerline goodness : 0.098866 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:-0.29 [[ 0.97778202 -0.00118937 -0.20962085 0.1914039 ] [-0.00233905 0.99985975 -0.01658366 -0.1962565 ] [ 0.20961117 0.01670552 0.9776421 -0.28522338] [ 0. 0. 0. 1. ]] SLAMing on 288.93463044000003 meters Centerline goodness : 0.141810 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.29 [[ 0.97776569 -0.00137795 -0.20969587 0.19159627] [-0.00223485 0.99985315 -0.01699087 -0.19375221] [ 0.20968849 0.01708173 0.97761902 -0.28512216] [ 0. 0. 0. 1. ]] SLAMing on 288.96463044 meters Centerline goodness : 0.119782 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.28 [[ 0.97773173 -0.00161493 -0.20985245 0.19192671] [-0.00208997 0.99984587 -0.01743181 -0.19125126] [ 0.20984826 0.01748221 0.97757766 -0.28493027] [ 0. 0. 0. 1. ]] SLAMing on 288.99463044000004 meters Centerline goodness : 0.114355 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.28 [[ 0.97766553 -0.00203467 -0.210157 0.192413 ] [-0.00184605 0.99983142 -0.01826801 -0.18565192] [ 0.21015874 0.01824796 0.97749696 -0.28442741] [ 0. 0. 0. 1. ]] SLAMing on 289.02463044 meters Centerline goodness : 0.117086 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:-0.28 [[ 0.97760931 -0.00220962 -0.21041662 0.19299872] [-0.00176578 0.99982352 -0.01870324 -0.18269291] [ 0.21042081 0.01865601 0.97743288 -0.28422611] [ 0. 0. 0. 1. ]] SLAMing on 289.05463044000004 meters Centerline goodness : 0.090898 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.18, Z:-0.28 [[ 0.97752756 -0.00718409 -0.2106852 0.21331667] [ 0.00396382 0.99986884 -0.01570307 -0.17831844] [ 0.21077038 0.01451506 0.97742783 -0.27916514] [ 0. 0. 0. 1. ]] SLAMing on 289.08463044 meters Centerline goodness : 0.145910 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.18, Z:-0.28 [[ 0.97751744 -0.00735386 -0.21072631 0.21334794] [ 0.0040435 0.99986163 -0.01613586 -0.17521842] [ 0.21081581 0.01492101 0.97741192 -0.27900482] [ 0. 0. 0. 1. ]] SLAMing on 289.11463044000004 meters Centerline goodness : 0.091195 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.17, Z:-0.28 [[ 0.97750174 -0.00764509 -0.21078874 0.21340869] [ 0.00422224 0.99985191 -0.01668354 -0.17210853] [ 0.21088507 0.01541819 0.97738926 -0.27879348] [ 0. 0. 0. 1. ]] SLAMing on 289.14463044 meters Centerline goodness : 0.119675 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.17, Z:-0.28 [[ 0.97748959 -0.00830434 -0.21082014 0.21353057] [ 0.00467399 0.99983219 -0.01771262 -0.16721755] [ 0.21093186 0.01632853 0.97736438 -0.27870958] [ 0. 0. 0. 1. ]] SLAMing on 289.17463044000004 meters Centerline goodness : 0.110282 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.17, Z:-0.28 [[ 0.97745613 -0.00849067 -0.21096781 0.21393413] [ 0.00481159 0.99982738 -0.01794625 -0.16603403] [ 0.21108377 0.01652658 0.97732825 -0.27864524] [ 0. 0. 0. 1. ]] SLAMing on 289.20463044 meters Centerline goodness : 0.124024 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.17, Z:-0.28 [[ 0.97738098 -0.00857258 -0.21131241 0.21487 ] [ 0.00486825 0.99982534 -0.0180441 -0.16513282] [ 0.21143019 0.01660724 0.977252 -0.27854809] [ 0. 0. 0. 1. ]] SLAMing on 289.23463044 meters Centerline goodness : 0.127637 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97724665 -0.0088903 -0.21191968 0.21696726] [ 0.00512308 0.99981907 -0.01831908 -0.16385907] [ 0.2120442 0.01681658 0.97711538 -0.27892079] [ 0. 0. 0. 1. ]] SLAMing on 289.26463044 meters Centerline goodness : 0.129521 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.9771847 -0.00905545 -0.21219817 0.21786367] [ 0.00527113 0.99981694 -0.01839283 -0.16396429] [ 0.21232588 0.01685467 0.97705355 -0.27906029] [ 0. 0. 0. 1. ]] SLAMing on 289.29463044 meters Centerline goodness : 0.120874 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.9771433 -0.00914488 -0.21238489 0.21839583] [ 0.0053534 0.999816 -0.0184201 -0.16392987] [ 0.21251426 0.01686209 0.97701247 -0.27907805] [ 0. 0. 0. 1. ]] SLAMing on 289.32463044 meters Centerline goodness : 0.135820 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97714561 -0.0091265 -0.21237504 0.21820056] [ 0.00534511 0.99981692 -0.01837261 -0.16384265] [ 0.21250383 0.01681754 0.9770155 -0.27890964] [ 0. 0. 0. 1. ]] SLAMing on 289.35463044 meters Centerline goodness : 0.120435 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97713683 -0.00907089 -0.21241783 0.21800168] [ 0.00529693 0.99981798 -0.01832902 -0.16363995] [ 0.21254542 0.0167848 0.97700702 -0.2785511 ] [ 0. 0. 0. 1. ]] SLAMing on 289.38463044 meters Centerline goodness : 0.269403 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97714709 -0.00908899 -0.21236986 0.21756807] [ 0.00530319 0.99981684 -0.01838929 -0.1630995 ] [ 0.21249811 0.01684281 0.97701631 -0.27822804] [ 0. 0. 0. 1. ]] SLAMing on 289.41463044 meters Centerline goodness : 0.217084 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97716482 -0.00911849 -0.21228697 0.21716055] [ 0.00529884 0.9998138 -0.01855487 -0.161734 ] [ 0.21241664 0.01700629 0.9770312 -0.27794462] [ 0. 0. 0. 1. ]] SLAMing on 289.44463044 meters Centerline goodness : 0.087506 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97717468 -0.00907274 -0.21224357 0.2167457 ] [ 0.00523887 0.99981293 -0.01861894 -0.1608138 ] [ 0.21237279 0.01708204 0.97703941 -0.27761062] [ 0. 0. 0. 1. ]] SLAMing on 289.47463044 meters Centerline goodness : 0.121853 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97719008 -0.00900807 -0.21217538 0.21642695] [ 0.00516339 0.99981242 -0.01866739 -0.15981791] [ 0.21230374 0.01714604 0.97705329 -0.2774212 ] [ 0. 0. 0. 1. ]] SLAMing on 289.50463044 meters Centerline goodness : 0.113826 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97719444 -0.00904549 -0.21215371 0.21627536] [ 0.00517236 0.99980981 -0.01880412 -0.15883705] [ 0.21228345 0.01727794 0.97705538 -0.27726845] [ 0. 0. 0. 1. ]] SLAMing on 289.53463044 meters Centerline goodness : 0.115736 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97716009 -0.00911126 -0.21230907 0.21651975] [ 0.00520911 0.99980721 -0.01893167 -0.15817846] [ 0.21244063 0.01739333 0.97701917 -0.27705486] [ 0. 0. 0. 1. ]] SLAMing on 289.56463044000003 meters Centerline goodness : 0.119364 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97710636 -0.00918758 -0.21255294 0.21680014] [ 0.0052343 0.99980284 -0.01915428 -0.1567425 ] [ 0.21268701 0.0176032 0.9769618 -0.27661532] [ 0. 0. 0. 1. ]] SLAMing on 289.59463044 meters Centerline goodness : 0.119782 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.28 [[ 0.97711906 -0.00920345 -0.21249387 0.21637401] [ 0.00522605 0.99980062 -0.0192718 -0.15569798] [ 0.21262887 0.01772034 0.97697234 -0.27631758] [ 0. 0. 0. 1. ]] SLAMing on 289.62463044000003 meters Centerline goodness : 0.225763 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:-0.28 [[ 0.97714998 -0.0092637 -0.21234901 0.21545835] [ 0.00522173 0.99979451 -0.01958749 -0.15313069] [ 0.21248683 0.01803108 0.97699756 -0.27571291] [ 0. 0. 0. 1. ]] SLAMing on 289.65463044 meters Centerline goodness : 0.120716 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:-0.28 [[ 0.97718173 -0.00609056 -0.21231761 0.21560675] [ 0.00253596 0.9998521 -0.01701018 -0.15182326] [ 0.21238981 0.01608361 0.97705265 -0.27590576] [ 0. 0. 0. 1. ]] SLAMing on 289.68463044000003 meters Centerline goodness : 0.173224 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:-0.28 [[ 0.9771304 -0.00625834 -0.21254886 0.2161576 ] [ 0.00261 0.99984449 -0.01744095 -0.14899932] [ 0.21262496 0.01648733 0.97699478 -0.27571595] [ 0. 0. 0. 1. ]] SLAMing on 289.71463044 meters Centerline goodness : 0.139496 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:-0.28 [[ 9.77160075e-01 -2.73838050e-03 -2.12486914e-01 2.16384057e-01] [-3.90015280e-04 9.99892175e-01 -1.46794574e-02 -1.46853298e-01] [ 2.12504200e-01 1.44270528e-02 9.77053645e-01 -2.76047456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74463044000004 meters Centerline goodness : 0.090757 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:-0.28 [[ 9.77132645e-01 8.97995401e-04 -2.12628754e-01 2.17029982e-01] [-3.49563150e-03 9.99923781e-01 -1.18411487e-02 -1.44608604e-01] [ 2.12601915e-01 1.23136447e-02 9.77061308e-01 -2.76220088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77463044 meters Centerline goodness : 0.112638 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:-0.28 [[ 9.77053106e-01 7.89899363e-04 -2.12994374e-01 2.17981133e-01] [-3.48146659e-03 9.99918758e-01 -1.22620260e-02 -1.41197631e-01] [ 2.12967384e-01 1.27221834e-02 9.76976478e-01 -2.76050125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80463044000004 meters Centerline goodness : 0.102573 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:-0.28 [[ 9.76952753e-01 4.90310212e-04 -2.13455096e-01 2.19092240e-01] [-3.34062423e-03 9.99910010e-01 -1.29927371e-02 -1.34909382e-01] [ 2.13429517e-01 1.34063635e-02 9.76866475e-01 -2.75740487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83463044 meters Centerline goodness : 0.134097 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:-0.28 [[ 9.76902337e-01 3.10939350e-04 -2.13686049e-01 2.19478602e-01] [-3.23804313e-03 9.99905665e-01 -1.33482831e-02 -1.32690811e-01] [ 2.13661740e-01 1.37318936e-02 9.76811187e-01 -2.75413002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86463044000004 meters Centerline goodness : 0.126183 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:-0.28 [[ 9.76848573e-01 1.18246084e-04 -2.13931885e-01 2.20048967e-01] [-3.12415543e-03 9.99901095e-01 -1.37127403e-02 -1.30459118e-01] [ 2.13909105e-01 1.40636273e-02 9.76752327e-01 -2.75260266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89463044 meters Centerline goodness : 0.104469 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:-0.28 [[ 9.76810527e-01 1.08230051e-05 -2.14105570e-01 2.20447131e-01] [-3.07623724e-03 9.99897485e-01 -1.39841249e-02 -1.28395907e-01] [ 2.14083469e-01 1.43184799e-02 9.76710422e-01 -2.75108440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92463044000004 meters Centerline goodness : 0.287608 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:-0.27 [[ 0.97666336 -0.00736397 -0.21464961 0.23871657] [ 0.0047624 0.99990884 -0.0126347 -0.12280274] [ 0.21472308 0.0113176 0.9766094 -0.26900305] [ 0. 0. 0. 1. ]] SLAMing on 289.95463044 meters Centerline goodness : 0.239739 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:-0.27 [[ 0.97665699 -0.00743404 -0.21467617 0.23849273] [ 0.00476968 0.99990507 -0.01292641 -0.12057101] [ 0.21475188 0.01160073 0.97659974 -0.26863949] [ 0. 0. 0. 1. ]] SLAMing on 289.98463044 meters Centerline goodness : 0.105699 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:-0.27 [[ 0.97684802 -0.00508685 -0.21387397 0.23514133] [ 0.00266629 0.99992911 -0.01160461 -0.11413679] [ 0.21391784 0.01076569 0.97679233 -0.26774163] [ 0. 0. 0. 1. ]] SLAMing on 290.01463044 meters Centerline goodness : 0.294011 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:-0.27 [[ 0.97682503 -0.0051675 -0.21397701 0.23489732] [ 0.00266201 0.99992451 -0.01199563 -0.11107435] [ 0.21402284 0.01114802 0.97676504 -0.2671817 ] [ 0. 0. 0. 1. ]] SLAMing on 290.04463044 meters Centerline goodness : 0.298016 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:-0.27 [[ 0.976821 -0.00520533 -0.21399449 0.23453317] [ 0.00260544 0.99991936 -0.0124296 -0.10800555] [ 0.21404193 0.01158394 0.97675578 -0.26679188] [ 0. 0. 0. 1. ]] SLAMing on 290.07463044 meters Centerline goodness : 0.091575 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:-0.27 [[ 0.97677711 -0.00527966 -0.21419293 0.2345611 ] [ 0.00259279 0.99991442 -0.01282318 -0.10514253] [ 0.2142423 0.01197003 0.9767072 -0.26628983] [ 0. 0. 0. 1. ]] SLAMing on 290.10463044 meters Centerline goodness : 0.296412 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:-0.27 [[ 9.76891009e-01 -1.51051958e-03 -2.13732716e-01 2.33071114e-01] [-6.74525290e-04 9.99948260e-01 -1.01499628e-02 -1.00900788e-01] [ 2.13736990e-01 1.00595755e-02 9.76839446e-01 -2.65966534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13463044 meters Centerline goodness : 0.145874 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:-0.27 [[ 9.76920708e-01 -1.58350925e-03 -2.13596404e-01 2.32600387e-01] [-6.68947764e-04 9.99944936e-01 -1.04726996e-02 -9.85359381e-02] [ 2.13601226e-01 1.03738820e-02 9.76865855e-01 -2.65786190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16463044 meters Centerline goodness : 0.109937 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:-0.27 [[ 9.76945580e-01 -1.67764429e-03 -2.13481893e-01 2.32358503e-01] [-6.45012061e-04 9.99941365e-01 -1.08097580e-02 -9.61921566e-02] [ 2.13487510e-01 1.06982437e-02 9.76887215e-01 -2.65793769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19463044 meters Centerline goodness : 0.108451 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:-0.27 [[ 9.76941017e-01 -1.77864322e-03 -2.13501956e-01 2.32385367e-01] [-6.09061728e-04 9.99938016e-01 -1.11172300e-02 -9.41700948e-02] [ 2.13508496e-01 1.09909139e-02 9.76879379e-01 -2.65728251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22463044 meters Centerline goodness : 0.160871 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:-0.27 [[ 9.76909921e-01 -1.82651419e-03 -2.13643794e-01 2.32904028e-01] [-6.18370056e-04 9.99935096e-01 -1.13763543e-02 -9.21862779e-02] [ 2.13650706e-01 1.12457843e-02 9.76845386e-01 -2.65771929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25463044 meters Centerline goodness : 0.110940 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:-0.27 [[ 9.76750137e-01 6.22877208e-04 -2.14379996e-01 2.36759265e-01] [-2.76331791e-03 9.99949283e-01 -9.68479131e-03 -8.85760858e-02] [ 2.14363091e-01 1.00520213e-02 9.76702320e-01 -2.66914541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28463044 meters Centerline goodness : 0.174520 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:-0.27 [[ 9.76691603e-01 7.60914671e-04 -2.14646065e-01 2.37417660e-01] [-2.92549155e-03 9.99948023e-01 -9.76690586e-03 -8.71028575e-02] [ 2.14627476e-01 1.01672002e-02 9.76643064e-01 -2.66792129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31463044000003 meters Centerline goodness : 0.113200 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:-0.27 [[ 9.76660423e-01 7.71862434e-04 -2.14787855e-01 2.37649706e-01] [-2.97788462e-03 9.99946090e-01 -9.94730934e-03 -8.56475179e-02] [ 2.14768598e-01 1.03547568e-02 9.76610070e-01 -2.66579730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34463044 meters Centerline goodness : 0.092932 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.27 [[ 9.76623327e-01 7.86459947e-04 -2.14956411e-01 2.38051205e-01] [-3.02591591e-03 9.99944523e-01 -1.00893188e-02 -8.44876735e-02] [ 2.14936551e-01 1.05039041e-02 9.76571527e-01 -2.66518080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37463044000003 meters Centerline goodness : 0.149903 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.27 [[ 0.97646501 0.00129942 -0.21567197 0.23982939] [-0.00349342 0.99994596 -0.00979196 -0.08418639] [ 0.21564759 0.01031494 0.97641678 -0.26631448] [ 0. 0. 0. 1. ]] SLAMing on 290.40463044 meters Centerline goodness : 0.112896 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.26 [[ 0.97641629 -0.00426964 -0.21585413 0.26064882] [ 0.00285223 0.99997228 -0.00687758 -0.08300882] [ 0.21587751 0.00609971 0.9764014 -0.2618121 ] [ 0. 0. 0. 1. ]] SLAMing on 290.43463044000003 meters Centerline goodness : 0.276652 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.26 [[ 0.97637523 -0.00408656 -0.21604331 0.26114 ] [ 0.00271436 0.99997422 -0.0066478 -0.08392292] [ 0.21606491 0.00590432 0.97636115 -0.26176185] [ 0. 0. 0. 1. ]] SLAMing on 290.46463044 meters Centerline goodness : 0.112938 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.26 [[ 0.97633313 -0.00395087 -0.216236 0.26164059] [ 0.00261753 0.99997576 -0.00645217 -0.08497761] [ 0.21625625 0.00573346 0.97631981 -0.26171133] [ 0. 0. 0. 1. ]] SLAMing on 290.49463044000004 meters Centerline goodness : 0.138728 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.9763047 -0.00382818 -0.21636653 0.261942 ] [ 0.00252295 0.99997692 -0.00630838 -0.08572865] [ 0.21638569 0.00561302 0.97629183 -0.26162268] [ 0. 0. 0. 1. ]] SLAMing on 290.52463044 meters Centerline goodness : 0.138728 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.9763047 -0.00382818 -0.21636653 0.261942 ] [ 0.00252295 0.99997692 -0.00630838 -0.08572865] [ 0.21638569 0.00561302 0.97629183 -0.26162268] [ 0. 0. 0. 1. ]] SLAMing on 290.55463044000004 meters Centerline goodness : 0.117232 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.97628351 -0.00369507 -0.21646445 0.26183489] [ 0.00241928 0.99997811 -0.00615842 -0.08634162] [ 0.21648247 0.00548868 0.97627108 -0.26126272] [ 0. 0. 0. 1. ]] SLAMing on 290.58463044 meters Centerline goodness : 0.153656 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.97628628 -0.00328777 -0.21645853 0.2611503 ] [ 0.00208252 0.99998104 -0.0057959 -0.0873338 ] [ 0.21647348 0.00520768 0.97627461 -0.26061739] [ 0. 0. 0. 1. ]] SLAMing on 290.61463044000004 meters Centerline goodness : 0.092753 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.97628833 -0.00313177 -0.21645157 0.26101091] [ 0.00195685 0.99998217 -0.0056422 -0.08790052] [ 0.21646538 0.00508485 0.97627705 -0.26047297] [ 0. 0. 0. 1. ]] SLAMing on 290.64463044 meters Centerline goodness : 0.169800 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.97627218 -0.00297694 -0.21652662 0.26118247] [ 0.00183237 0.99998327 -0.00548661 -0.08861636] [ 0.21653933 0.00495967 0.9762613 -0.26039611] [ 0. 0. 0. 1. ]] SLAMing on 290.67463044000004 meters Centerline goodness : 0.090462 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.97629681 -0.00288432 -0.21641679 0.26083503] [ 0.00176691 0.99998409 -0.00535654 -0.08945197] [ 0.2164288 0.00484719 0.97628637 -0.26038843] [ 0. 0. 0. 1. ]] SLAMing on 290.70463044 meters Centerline goodness : 0.153508 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.97642717 -0.00256396 -0.21583191 0.25893203] [ 0.00154271 0.9999868 -0.00490002 -0.09172498] [ 0.21584162 0.00445154 0.97641824 -0.26007374] [ 0. 0. 0. 1. ]] SLAMing on 290.73463044 meters Centerline goodness : 0.254929 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.26 [[ 0.97647474 -0.00242563 -0.21561819 0.25817021] [ 0.00145548 0.99998809 -0.00465804 -0.09328748] [ 0.21562692 0.00423463 0.97646664 -0.25990645] [ 0. 0. 0. 1. ]] SLAMing on 290.76463044 meters Centerline goodness : 0.297322 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.26 [[ 0.97647358 -0.00234023 -0.21562436 0.25800916] [ 0.00142469 0.9999893 -0.0044013 -0.09538548] [ 0.21563236 0.00399056 0.97646647 -0.25970258] [ 0. 0. 0. 1. ]] SLAMing on 290.79463044 meters Centerline goodness : 0.249833 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.26 [[ 0.97644891 -0.00226172 -0.21573691 0.25846763] [ 0.00140835 0.99999057 -0.00410927 -0.09774667] [ 0.21574417 0.00370866 0.97644288 -0.259815 ] [ 0. 0. 0. 1. ]] SLAMing on 290.82463044 meters Centerline goodness : 0.278233 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.26 [[ 0.97638616 -0.00206209 -0.21602271 0.25955542] [ 0.00129192 0.9999923 -0.00370635 -0.10035034] [ 0.21602869 0.00333975 0.9763813 -0.26007573] [ 0. 0. 0. 1. ]] SLAMing on 290.85463044 meters Centerline goodness : 0.089659 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.26 [[ 0.97632594 -0.00169223 -0.21629794 0.26063704] [ 0.00107698 0.99999503 -0.00296228 -0.10554757] [ 0.21630188 0.0026592 0.97632291 -0.26033088] [ 0. 0. 0. 1. ]] SLAMing on 290.88463044 meters Centerline goodness : 0.102260 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.26 [[ 9.76308808e-01 -1.46837080e-03 -2.16376883e-01 2.60558567e-01] [ 9.33747567e-04 9.99996254e-01 -2.57300742e-03 -1.07934197e-01] [ 2.16379851e-01 2.31000842e-03 9.76306522e-01 -2.60011212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91463044 meters Centerline goodness : 0.298238 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.26 [[ 9.76309378e-01 -1.28901404e-03 -2.16375454e-01 2.60351976e-01] [ 8.14571683e-04 9.99997065e-01 -2.28184978e-03 -1.09645394e-01] [ 2.16377760e-01 2.05153802e-03 9.76307562e-01 -2.59818950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94463044 meters Centerline goodness : 0.106379 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.26 [[ 9.76288794e-01 -6.39272819e-04 -2.16471201e-01 2.60499590e-01] [ 3.12616652e-04 9.99998760e-01 -1.54324404e-03 -1.12777523e-01] [ 2.16471920e-01 1.43897936e-03 9.76287784e-01 -2.59666033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97463044 meters Centerline goodness : 0.109945 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.26 [[ 9.76264191e-01 -3.50008459e-04 -2.16582795e-01 2.60941614e-01] [ 8.84209658e-05 9.99999255e-01 -1.21748348e-03 -1.14202045e-01] [ 2.16583060e-01 1.16943506e-03 9.76263494e-01 -2.59762378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00463044 meters Centerline goodness : 0.102343 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.26 [[ 9.76234493e-01 -1.27983576e-04 -2.16716864e-01 2.61345194e-01] [-8.51238411e-05 9.99999522e-01 -9.74009779e-04 -1.15381672e-01] [ 2.16716885e-01 9.69309714e-04 9.76234015e-01 -2.59816400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03463044 meters Centerline goodness : 0.305088 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.26 [[ 9.76194574e-01 1.26572793e-04 -2.16896606e-01 2.62029079e-01] [-2.84866642e-04 9.99999715e-01 -6.98547182e-04 -1.16480404e-01] [ 2.16896456e-01 7.43704577e-04 9.76194332e-01 -2.60036601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06463044000003 meters Centerline goodness : 0.102195 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.26 [[ 9.76138877e-01 4.03350508e-04 -2.17146795e-01 2.62951600e-01] [-4.92937743e-04 9.99999814e-01 -3.58399311e-04 -1.18040987e-01] [ 2.17146610e-01 4.56887352e-04 9.76138894e-01 -2.60242588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09463044 meters Centerline goodness : 0.094205 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.26 [[ 9.76113127e-01 6.05454702e-04 -2.17262047e-01 2.63351510e-01] [-6.39706846e-04 9.99999792e-01 -8.73216193e-05 -1.19507440e-01] [ 2.17261949e-01 2.24219798e-04 9.76113311e-01 -2.60349753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12463044000003 meters Centerline goodness : 0.245051 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.26 [[ 9.76097195e-01 9.18712930e-04 -2.17332514e-01 2.63269702e-01] [-8.67473512e-04 9.99999569e-01 3.31170291e-04 -1.21885756e-01] [ 2.17332725e-01 -1.34724193e-04 9.76097571e-01 -2.60088160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15463044 meters Centerline goodness : 0.093001 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:-0.27 [[ 9.75764057e-01 2.17292259e-03 -2.18814496e-01 2.18184413e-01] [-2.08255659e-03 9.99997624e-01 6.43620810e-04 -1.24207468e-01] [ 2.18815374e-01 -1.72328483e-04 9.75766264e-01 -2.68984549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18463044000003 meters Centerline goodness : 0.091730 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:-0.27 [[ 9.75790209e-01 2.47101951e-03 -2.18694676e-01 2.17991541e-01] [-2.32394375e-03 9.99996867e-01 9.29744652e-04 -1.24811242e-01] [ 2.18696288e-01 -3.99001603e-04 9.75792895e-01 -2.69104406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21463044 meters Centerline goodness : 0.291912 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:-0.27 [[ 9.75811798e-01 2.66435759e-03 -2.18596059e-01 2.18104314e-01] [-2.49382184e-03 9.99996333e-01 1.05604397e-03 -1.24812634e-01] [ 2.18598071e-01 -4.85360543e-04 9.75814864e-01 -2.69491033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24463044000004 meters Centerline goodness : 0.090610 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:-0.27 [[ 9.75825497e-01 2.74965106e-03 -2.18533838e-01 2.18242037e-01] [-2.57947736e-03 9.99996107e-01 1.06400266e-03 -1.24626130e-01] [ 2.18535913e-01 -4.74577839e-04 9.75828791e-01 -2.69830351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27463044 meters Centerline goodness : 0.296135 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:-0.27 [[ 9.75705678e-01 2.98734081e-03 -2.19065073e-01 2.19901776e-01] [-2.85520066e-03 9.99995501e-01 9.19780923e-04 -1.22960427e-01] [ 2.19066835e-01 -2.71960728e-04 9.75709817e-01 -2.70065628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30463044000004 meters Centerline goodness : 0.092058 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.75079822e-01 4.24286771e-03 -2.21813746e-01 1.78194048e-01] [-4.08674580e-03 9.99990973e-01 1.16280456e-03 -1.22916694e-01] [ 2.21816678e-01 -2.27330871e-04 9.75088360e-01 -2.79551792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33463044 meters Centerline goodness : 0.100925 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74981424e-01 4.35383857e-03 -2.22243711e-01 1.79526427e-01] [-4.21166914e-03 9.99990511e-01 1.11363368e-03 -1.21788842e-01] [ 2.22246450e-01 -1.49755169e-04 9.74990509e-01 -2.79734119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36463044000004 meters Centerline goodness : 0.092478 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74946145e-01 4.26522044e-03 -2.22400138e-01 1.80138942e-01] [-4.16452361e-03 9.99990904e-01 9.21741351e-04 -1.20818578e-01] [ 2.22402046e-01 2.75424481e-05 9.74955039e-01 -2.79956361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39463044 meters Centerline goodness : 0.097371 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74922228e-01 4.07752936e-03 -2.22508479e-01 1.80267266e-01] [-4.03475402e-03 9.99991651e-01 6.46824511e-04 -1.19881878e-01] [ 2.22509259e-01 2.67163388e-04 9.74930540e-01 -2.79845981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42463044000004 meters Centerline goodness : 0.094787 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74962669e-01 3.94067979e-03 -2.22333680e-01 1.79443016e-01] [-3.96707540e-03 9.99992077e-01 3.27877241e-04 -1.18042792e-01] [ 2.22333210e-01 5.62346401e-04 9.74970578e-01 -2.79567910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45463044 meters Centerline goodness : 0.065217 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74966518e-01 3.94250826e-03 -2.22316769e-01 1.79371923e-01] [-3.98743324e-03 9.99992020e-01 2.46778038e-04 -1.17090822e-01] [ 2.22315968e-01 6.45872951e-04 9.74974458e-01 -2.79540560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48463044 meters Centerline goodness : 0.099064 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74975251e-01 3.87970215e-03 -2.22279572e-01 1.79283685e-01] [-3.95513010e-03 9.99992173e-01 1.05802866e-04 -1.16179079e-01] [ 2.22278243e-01 7.75989451e-04 9.74982964e-01 -2.79585918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51463044 meters Centerline goodness : 0.301174 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74983277e-01 3.67268183e-03 -2.22247880e-01 1.79066888e-01] [-3.80293128e-03 9.99992756e-01 -1.58108046e-04 -1.15360843e-01] [ 2.22245689e-01 9.99346116e-04 9.74990182e-01 -2.79474363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54463044 meters Centerline goodness : 0.090641 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 9.74987352e-01 3.50855301e-03 -2.22232658e-01 1.78623468e-01] [-3.68525544e-03 9.99993137e-01 -3.80450424e-04 -1.14568174e-01] [ 2.22229798e-01 1.18991846e-03 9.74993590e-01 -2.79111345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57463044 meters Centerline goodness : 0.302980 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 9.74993587e-01 3.37561268e-03 -2.22207359e-01 1.78094392e-01] [-3.60008774e-03 9.99993337e-01 -6.05165716e-04 -1.13399593e-01] [ 2.22203836e-01 1.38999868e-03 9.74999243e-01 -2.78716727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60463044 meters Centerline goodness : 0.265537 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 9.74938820e-01 3.39705903e-03 -2.22447200e-01 1.78318754e-01] [-3.69110765e-03 9.99992777e-01 -9.06146035e-04 -1.10430177e-01] [ 2.22442515e-01 1.70451351e-03 9.74944317e-01 -2.78356056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63463044 meters Centerline goodness : 0.302617 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 0.97490781 0.00329096 -0.22258468 0.1784859 ] [-0.00364727 0.99999264 -0.00118977 -0.10872522] [ 0.22257913 0.00197174 0.97491263 -0.27820072] [ 0. 0. 0. 1. ]] SLAMing on 291.66463044 meters Centerline goodness : 0.305569 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 0.97490775 0.00313333 -0.22258719 0.17834601] [-0.00355456 0.99999257 -0.00149182 -0.10717824] [ 0.22258086 0.00224559 0.97491165 -0.2781119 ] [ 0. 0. 0. 1. ]] SLAMing on 291.69463044 meters Centerline goodness : 0.298196 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.28 [[ 0.97492673 0.00337461 -0.2225005 0.17794954] [-0.00382017 0.99999147 -0.00157216 -0.10474667] [ 0.2224933 0.00238274 0.97493131 -0.27801753] [ 0. 0. 0. 1. ]] SLAMing on 291.72463044 meters Centerline goodness : 0.304242 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.28 [[ 0.97489482 0.00335477 -0.22264061 0.1782346 ] [-0.00382452 0.99999128 -0.00167878 -0.10385757] [ 0.22263304 0.00248813 0.97489914 -0.27794898] [ 0. 0. 0. 1. ]] SLAMing on 291.75463044 meters Centerline goodness : 0.089504 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.28 [[ 0.97484659 0.00325936 -0.22285308 0.17870489] [-0.00375638 0.99999131 -0.00180637 -0.10345932] [ 0.22284526 0.00259806 0.97485037 -0.27780819] [ 0. 0. 0. 1. ]] SLAMing on 291.78463044 meters Centerline goodness : 0.099747 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.28 [[ 0.97483843 0.00316358 -0.22289016 0.17865321] [-0.00367488 0.99999148 -0.00187925 -0.10362362] [ 0.22288231 0.00265106 0.97484175 -0.27764349] [ 0. 0. 0. 1. ]] SLAMing on 291.81463044000003 meters Centerline goodness : 0.068123 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.28 [[ 0.97485354 0.00318805 -0.22282373 0.17801154] [-0.00368257 0.99999159 -0.00180383 -0.1041185 ] [ 0.22281611 0.00257904 0.97485708 -0.27721581] [ 0. 0. 0. 1. ]] SLAMing on 291.84463044 meters Centerline goodness : 0.306823 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 0.97495638 0.00341375 -0.22236996 0.17587189] [-0.00381699 0.99999176 -0.00138363 -0.10580947] [ 0.22236341 0.00219776 0.97496138 -0.27624661] [ 0. 0. 0. 1. ]] SLAMing on 291.87463044000003 meters Centerline goodness : 0.304046 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 0.97496786 0.00353132 -0.22231781 0.1756837 ] [-0.00388377 0.9999918 -0.00114816 -0.10714663] [ 0.22231193 0.00198285 0.97497358 -0.27615215] [ 0. 0. 0. 1. ]] SLAMing on 291.90463044 meters Centerline goodness : 0.096983 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 0.9749594 0.00350948 -0.22235523 0.17593444] [-0.00383864 0.99999208 -0.00104814 -0.10856074] [ 0.22234979 0.00187544 0.97496515 -0.2762433 ] [ 0. 0. 0. 1. ]] SLAMing on 291.93463044000003 meters Centerline goodness : 0.307687 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 9.74913074e-01 3.48943610e-03 -2.22558580e-01 1.76389648e-01] [-3.78856282e-03 9.99992403e-01 -9.17106133e-04 -1.10284101e-01] [ 2.22553689e-01 1.73727592e-03 9.74918888e-01 -2.76108036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96463044 meters Centerline goodness : 0.107895 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.28 [[ 9.74877946e-01 3.55245988e-03 -2.22711406e-01 1.76785112e-01] [-3.80305152e-03 9.99992526e-01 -6.96316957e-04 -1.12121754e-01] [ 2.22707268e-01 1.52580700e-03 9.74884170e-01 -2.76049868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99463044000004 meters Centerline goodness : 0.269744 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74830741e-01 3.87728760e-03 -2.22912525e-01 1.76862916e-01] [-3.96519836e-03 9.99992137e-01 5.32040908e-05 -1.18007486e-01] [ 2.22910979e-01 8.32027397e-04 9.74838450e-01 -2.75541453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02463044 meters Centerline goodness : 0.306039 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74815558e-01 4.13230462e-03 -2.22974329e-01 1.76882275e-01] [-4.10532927e-03 9.99991402e-01 5.84507881e-04 -1.21262825e-01] [ 2.22974827e-01 3.45595662e-04 9.74824142e-01 -2.75311827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05463044000004 meters Centerline goodness : 0.266453 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.28 [[ 9.74799635e-01 4.28802522e-03 -2.23040992e-01 1.76901975e-01] [-4.16891048e-03 9.99990805e-01 1.00489768e-03 -1.24375458e-01] [ 2.23043250e-01 -4.97359668e-05 9.74808548e-01 -2.75117629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08463044 meters Centerline goodness : 0.318022 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:-0.27 [[ 9.74985534e-01 2.26638484e-03 -2.22256769e-01 1.73559575e-01] [-2.36425662e-03 9.99997190e-01 -1.74291775e-04 -1.31045937e-01] [ 2.22255750e-01 6.95403997e-04 9.74988153e-01 -2.74279640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11463044000004 meters Centerline goodness : 0.275898 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:-0.27 [[ 9.74983127e-01 2.44017009e-03 -2.22265488e-01 1.73912487e-01] [-2.45771713e-03 9.99996960e-01 1.97646258e-04 -1.33700651e-01] [ 2.22265294e-01 3.53563928e-04 9.74986161e-01 -2.74545448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14463044 meters Centerline goodness : 0.243997 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:-0.27 [[ 9.74956087e-01 2.68890943e-03 -2.22381199e-01 1.74346689e-01] [-2.61070578e-03 9.99996384e-01 6.45631085e-04 -1.36466971e-01] [ 2.22382131e-01 -4.88900745e-05 9.74959582e-01 -2.74598604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17463044000004 meters Centerline goodness : 0.313295 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:-0.27 [[ 9.74925015e-01 2.93605544e-03 -2.22514259e-01 1.74861250e-01] [-2.75853200e-03 9.99995581e-01 1.10860587e-03 -1.39477104e-01] [ 2.22516531e-01 -4.66994892e-04 9.74928805e-01 -2.74682840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20463044 meters Centerline goodness : 0.489545 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:-0.27 [[ 9.74886250e-01 3.19153216e-03 -2.22680521e-01 1.75270191e-01] [-2.91098543e-03 9.99994502e-01 1.58808209e-03 -1.42324125e-01] [ 2.22684365e-01 -8.99979636e-04 9.74890180e-01 -2.74586674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23463044 meters Centerline goodness : 0.548281 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.15, Z:-0.27 [[ 0.97480147 0.0035721 -0.22304558 0.17630837] [-0.00310772 0.99999221 0.00243295 -0.15031771] [ 0.22305253 -0.00167848 0.97480498 -0.27450598] [ 0. 0. 0. 1. ]] SLAMing on 292.26463044 meters Centerline goodness : 0.103992 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.15, Z:-0.27 [[ 0.97477271 0.00384034 -0.2231668 0.17686921] [-0.00324991 0.99999018 0.00301291 -0.15433178] [ 0.22317618 -0.00221163 0.97477562 -0.27463873] [ 0. 0. 0. 1. ]] SLAMing on 292.29463044 meters Centerline goodness : 0.310570 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.16, Z:-0.27 [[ 0.97477425 0.00406799 -0.22315604 0.17686183] [-0.0033595 0.99998804 0.00355442 -0.15853453] [ 0.22316783 -0.00271506 0.97477625 -0.27459498] [ 0. 0. 0. 1. ]] SLAMing on 292.32463044 meters Centerline goodness : 0.312959 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.16, Z:-0.27 [[ 0.97480678 0.00434664 -0.22300864 0.17644003] [-0.00350925 0.99998523 0.00415115 -0.16257876] [ 0.22302339 -0.00326398 0.97480763 -0.27451435] [ 0. 0. 0. 1. ]] SLAMing on 292.35463044 meters Centerline goodness : 0.309896 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.17, Z:-0.27 [[ 0.97481707 0.00466492 -0.22295723 0.1761121 ] [-0.00369494 0.99998181 0.00476746 -0.16644339] [ 0.22297541 -0.00382359 0.97481657 -0.27427275] [ 0. 0. 0. 1. ]] SLAMing on 292.38463044 meters Centerline goodness : 0.473355 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.27 [[ 0.97479579 0.00501642 -0.2230426 0.17657045] [-0.00385527 0.99997666 0.00564106 -0.17532552] [ 0.22306569 -0.00463899 0.97479238 -0.27429422] [ 0. 0. 0. 1. ]] SLAMing on 292.41463044 meters Centerline goodness : 0.473355 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.27 [[ 0.97479579 0.00501642 -0.2230426 0.17657045] [-0.00385527 0.99997666 0.00564106 -0.17532552] [ 0.22306569 -0.00463899 0.97479238 -0.27429422] [ 0. 0. 0. 1. ]] SLAMing on 292.44463044 meters Centerline goodness : 0.095992 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.27 [[ 0.97475161 0.0053166 -0.22322864 0.17724719] [-0.00403855 0.99997274 0.00618146 -0.17863216] [ 0.22325542 -0.00512386 0.97474651 -0.2743751 ] [ 0. 0. 0. 1. ]] SLAMing on 292.47463044 meters Centerline goodness : 0.091111 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.27 [[ 0.97469986 0.00557825 -0.22344812 0.17803522] [-0.00419276 0.99996894 0.00667445 -0.1819612 ] [ 0.22347841 -0.00556872 0.97469297 -0.27445519] [ 0. 0. 0. 1. ]] SLAMing on 292.50463044 meters Centerline goodness : 0.297506 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:-0.27 [[ 0.97468328 0.00612504 -0.22350613 0.17825097] [-0.00455161 0.99996111 0.00755423 -0.1876975 ] [ 0.2235437 -0.00634567 0.97467325 -0.2743769 ] [ 0. 0. 0. 1. ]] SLAMing on 292.53463044 meters Centerline goodness : 0.110279 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:-0.27 [[ 0.97471611 0.00636454 -0.2233562 0.17780605] [-0.00470389 0.99995721 0.00796624 -0.1900034 ] [ 0.22339734 -0.00671418 0.97470434 -0.27429922] [ 0. 0. 0. 1. ]] SLAMing on 292.56463044000003 meters Centerline goodness : 0.093375 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:-0.27 [[ 0.9747232 0.00655635 -0.22331973 0.1774316 ] [-0.00482322 0.99995388 0.00830532 -0.19210638] [ 0.22336388 -0.00701827 0.97470986 -0.27399217] [ 0. 0. 0. 1. ]] SLAMing on 292.59463044 meters Centerline goodness : 0.310606 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:-0.27 [[ 0.97474049 0.00666119 -0.22324115 0.17697934] [-0.00487606 0.99995159 0.00854671 -0.19392355] [ 0.22328728 -0.00724228 0.97472578 -0.27373891] [ 0. 0. 0. 1. ]] SLAMing on 292.62463044000003 meters Centerline goodness : 0.104844 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:-0.27 [[ 0.97472479 0.00680181 -0.22330542 0.17699725] [-0.00496364 0.99994903 0.00879189 -0.19545428] [ 0.22335384 -0.00746126 0.97470887 -0.2735549 ] [ 0. 0. 0. 1. ]] SLAMing on 292.65463044 meters Centerline goodness : 0.306075 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:-0.27 [[ 0.97465641 0.00719344 -0.22359144 0.17764345] [-0.00521375 0.99994182 0.00944314 -0.19917034] [ 0.22364636 -0.00803806 0.97463721 -0.27326122] [ 0. 0. 0. 1. ]] SLAMing on 292.68463044000003 meters Centerline goodness : 0.308016 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:-0.27 [[ 0.97462839 0.00733315 -0.223709 0.17808828] [-0.00528618 0.99993852 0.00974763 -0.20122514] [ 0.22376673 -0.00831775 0.97460724 -0.27329016] [ 0. 0. 0. 1. ]] SLAMing on 292.71463044 meters Centerline goodness : 0.311069 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.20, Z:-0.27 [[ 0.97461399 0.00739452 -0.22376972 0.17833139] [-0.0052863 0.99993584 0.01001901 -0.20356229] [ 0.22382944 -0.00858176 0.97459055 -0.27327788] [ 0. 0. 0. 1. ]] SLAMing on 292.74463044000004 meters Centerline goodness : 0.087988 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.21, Z:-0.27 [[ 0.97461672 0.00741389 -0.22375722 0.1782503 ] [-0.00525203 0.99993362 0.01025521 -0.20581623] [ 0.22381839 -0.00881972 0.97459096 -0.27314818] [ 0. 0. 0. 1. ]] SLAMing on 292.77463044 meters Centerline goodness : 0.054447 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.21, Z:-0.27 [[ 0.97464551 0.00745742 -0.2236303 0.17788574] [-0.00524278 0.99993118 0.01049525 -0.20790646] [ 0.22369317 -0.00905671 0.97461754 -0.27307949] [ 0. 0. 0. 1. ]] SLAMing on 292.80463044000004 meters Centerline goodness : 0.092934 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.21, Z:-0.27 [[ 0.97461754 0.00774252 -0.22374249 0.17820711] [-0.00538266 0.99992329 0.01115519 -0.21204715] [ 0.22381169 -0.00966771 0.97458446 -0.27293388] [ 0. 0. 0. 1. ]] SLAMing on 292.83463044 meters Centerline goodness : 0.305766 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.21, Z:-0.27 [[ 0.9745658 0.00784891 -0.22396405 0.17889672] [-0.00542995 0.99992011 0.01141448 -0.2138572 ] [ 0.22403575 -0.00990805 0.97453056 -0.27293112] [ 0. 0. 0. 1. ]] SLAMing on 292.86463044000004 meters Centerline goodness : 0.307281 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.22, Z:-0.27 [[ 0.97454476 0.00790846 -0.22405347 0.17937807] [-0.00544161 0.99991762 0.01162544 -0.21570405] [ 0.22412696 -0.0101103 0.97450751 -0.27309741] [ 0. 0. 0. 1. ]] SLAMing on 292.89463044 meters Centerline goodness : 0.246400 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.22, Z:-0.27 [[ 0.97450506 0.00792934 -0.22422535 0.17982345] [-0.0054276 0.99991598 0.01177141 -0.21720549] [ 0.22429985 -0.01025429 0.97446623 -0.27305798] [ 0. 0. 0. 1. ]] SLAMing on 292.92463044000004 meters Centerline goodness : 0.088337 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.22, Z:-0.27 [[ 0.97447196 0.00799917 -0.22436667 0.18018785] [-0.00546259 0.99991399 0.01192396 -0.21837957] [ 0.22444275 -0.01039395 0.97443184 -0.27300851] [ 0. 0. 0. 1. ]] SLAMing on 292.95463044 meters Centerline goodness : 0.088930 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.22, Z:-0.27 [[ 0.97446931 0.00815534 -0.22437257 0.18038134] [-0.00556365 0.99991033 0.01218064 -0.21986129] [ 0.22445179 -0.01062133 0.97442731 -0.27311493] [ 0. 0. 0. 1. ]] SLAMing on 292.98463044 meters Centerline goodness : 0.097907 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.22, Z:-0.27 [[ 0.97442174 0.00816544 -0.22457871 0.18112228] [-0.00556574 0.99991001 0.01220654 -0.2201935 ] [ 0.22465817 -0.01064437 0.9743795 -0.2732494 ] [ 0. 0. 0. 1. ]] SLAMing on 293.01463044 meters Centerline goodness : 0.130421 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74127270e-01 5.79576769e-04 -2.25999393e-01 1.63025704e-01] [ 2.48348969e-03 9.99908880e-01 1.32688807e-02 -2.17638247e-01] [ 2.25986490e-01 -1.34868457e-02 9.74037069e-01 -2.78702315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04463044 meters Centerline goodness : 0.135188 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74070568e-01 5.93608616e-04 -2.26243620e-01 1.63789051e-01] [ 2.47049413e-03 9.99909030e-01 1.32599993e-02 -2.17668315e-01] [ 2.26230910e-01 -1.34751086e-02 9.73980491e-01 -2.78814339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07463044 meters Centerline goodness : 0.087725 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74042222e-01 6.48592688e-04 -2.26365478e-01 1.63953662e-01] [ 2.42420253e-03 9.99908662e-01 1.32962371e-02 -2.17623595e-01] [ 2.26353427e-01 -1.34998520e-02 9.73951683e-01 -2.78627864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10463044 meters Centerline goodness : 0.227961 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74067266e-01 7.05047043e-04 -2.26257517e-01 1.63198250e-01] [ 2.37437165e-03 9.99908228e-01 1.33378112e-02 -2.17741963e-01] [ 2.26246157e-01 -1.35291447e-02 9.73976200e-01 -2.78218626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13463044 meters Centerline goodness : 0.285825 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74198155e-01 8.33369768e-04 -2.25692846e-01 1.61088680e-01] [ 2.25795591e-03 9.99907149e-01 1.34385689e-02 -2.17843254e-01] [ 2.25683090e-01 -1.36014335e-02 9.74105818e-01 -2.77686553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16463044 meters Centerline goodness : 0.302076 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74227996e-01 7.94173754e-04 -2.25564139e-01 1.60632597e-01] [ 2.28629846e-03 9.99907666e-01 1.33951984e-02 -2.17852354e-01] [ 2.25553950e-01 -1.35656843e-02 9.74136227e-01 -2.77590811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19463044 meters Centerline goodness : 0.089841 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74240408e-01 8.21976442e-04 -2.25510424e-01 1.60574800e-01] [ 2.26125474e-03 9.99907477e-01 1.34135978e-02 -2.18036423e-01] [ 2.25500584e-01 -1.35780055e-02 9.74148410e-01 -2.77633134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22463044 meters Centerline goodness : 0.088870 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 9.74257803e-01 7.86915344e-04 -2.25435386e-01 1.60286597e-01] [ 2.27917536e-03 9.99908418e-01 1.33401757e-02 -2.17670373e-01] [ 2.25425238e-01 -1.35105770e-02 9.74166786e-01 -2.77582598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25463044 meters Centerline goodness : 0.088772 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 0.97436457 0.00109046 -0.22497219 0.1589592 ] [ 0.00198366 0.99990774 0.01343794 -0.21664261] [ 0.22496609 -0.01353972 0.97427252 -0.27759275] [ 0. 0. 0. 1. ]] SLAMing on 293.28463044 meters Centerline goodness : 0.095669 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.22, Z:-0.28 [[ 0.97435942 0.00111775 -0.22499439 0.15890551] [ 0.00192788 0.99990948 0.01331629 -0.2155307 ] [ 0.22498891 -0.01340862 0.97426906 -0.27755199] [ 0. 0. 0. 1. ]] SLAMing on 293.31463044000003 meters Centerline goodness : 0.087485 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 0.97434897 0.00107783 -0.22503982 0.15930239] [ 0.00192518 0.99991202 0.01312447 -0.21423395] [ 0.22503417 -0.01322106 0.97426117 -0.27783954] [ 0. 0. 0. 1. ]] SLAMing on 293.34463044 meters Centerline goodness : 0.505403 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 0.97433268 0.00104193 -0.2251105 0.15968487] [ 0.00192327 0.99991426 0.01295252 -0.21304796] [ 0.2251047 -0.01305301 0.97424714 -0.27807449] [ 0. 0. 0. 1. ]] SLAMing on 293.37463044000003 meters Centerline goodness : 0.255219 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 0.97434149 0.00100333 -0.22507254 0.15988947] [ 0.00193243 0.99991592 0.01282291 -0.21220578] [ 0.22506648 -0.01292882 0.97425763 -0.27842559] [ 0. 0. 0. 1. ]] SLAMing on 293.40463044 meters Centerline goodness : 0.402481 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74389128e-01 9.82226368e-04 -2.24866320e-01 1.59627833e-01] [ 1.92469016e-03 9.99917401e-01 1.27077386e-02 -2.11334465e-01] [ 2.24860228e-01 -1.28150803e-02 9.74306754e-01 -2.78740645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43463044000003 meters Centerline goodness : 0.100446 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74397812e-01 9.65141774e-04 -2.24828761e-01 1.59516220e-01] [ 1.92479050e-03 9.99918330e-01 1.26343916e-02 -2.10760332e-01] [ 2.24822593e-01 -1.27436718e-02 9.74316376e-01 -2.78737066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46463044 meters Centerline goodness : 0.088968 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74385507e-01 8.95408589e-04 -2.24882372e-01 1.59699008e-01] [ 1.97366055e-03 9.99919511e-01 1.25329644e-02 -2.10292673e-01] [ 2.24875494e-01 -1.26557803e-02 9.74305313e-01 -2.78792735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49463044000004 meters Centerline goodness : 0.094985 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74363042e-01 8.35240916e-04 -2.24979919e-01 1.60102365e-01] [ 2.01045482e-03 9.99920857e-01 1.24192759e-02 -2.09571159e-01] [ 2.24972486e-01 -1.25531954e-02 9.74284249e-01 -2.78925885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52463044 meters Centerline goodness : 0.089636 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74326927e-01 7.80417315e-04 -2.25136471e-01 1.60704460e-01] [ 2.04724222e-03 9.99921936e-01 1.23260332e-02 -2.09088070e-01] [ 2.25128515e-01 -1.24704949e-02 9.74249269e-01 -2.79092771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55463044000004 meters Centerline goodness : 0.091270 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74258320e-01 6.81898336e-04 -2.25433496e-01 1.61970661e-01] [ 2.15335880e-03 9.99921654e-01 1.23307880e-02 -2.09600319e-01] [ 2.25424243e-01 -1.24988120e-02 9.74180523e-01 -2.79415373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58463044 meters Centerline goodness : 0.084539 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74230732e-01 6.64978678e-04 -2.25552741e-01 1.62293589e-01] [ 2.20147628e-03 9.99919987e-01 1.24568263e-02 -2.10829596e-01] [ 2.25542977e-01 -1.26323720e-02 9.74151317e-01 -2.79313038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61463044000004 meters Centerline goodness : 0.086396 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74216756e-01 6.67345194e-04 -2.25613092e-01 1.62156279e-01] [ 2.23489839e-03 9.99918016e-01 1.26081599e-02 -2.12210820e-01] [ 2.25603009e-01 -1.27873030e-02 9.74135395e-01 -2.78943552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64463044 meters Centerline goodness : 0.088507 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.28 [[ 9.74189846e-01 6.30137450e-04 -2.25729365e-01 1.62538346e-01] [ 2.29751264e-03 9.99916626e-01 1.27068022e-02 -2.13439840e-01] [ 2.25718552e-01 -1.28974537e-02 9.74107176e-01 -2.78937732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67463044000004 meters Centerline goodness : 0.089779 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.28 [[ 0.97411404 0.0075262 -0.22593183 0.14554903] [-0.00510931 0.99992332 0.01128028 -0.21947583] [ 0.2259994 -0.00983393 0.9740778 -0.28476109] [ 0. 0. 0. 1. ]] SLAMing on 293.70463044 meters Centerline goodness : 0.446594 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.97408848 0.00753174 -0.22604182 0.14632893] [-0.00514208 0.99992452 0.01115868 -0.21854655] [ 0.2261088 -0.00970721 0.97405368 -0.28517535] [ 0. 0. 0. 1. ]] SLAMing on 293.73463044 meters Centerline goodness : 0.368029 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.9741223 0.00751697 -0.22589652 0.14589945] [-0.00515833 0.99992587 0.0110297 -0.2175919 ] [ 0.22596268 -0.00957902 0.97408886 -0.28518668] [ 0. 0. 0. 1. ]] SLAMing on 293.76463044 meters Centerline goodness : 0.083185 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.97416325 0.00749487 -0.2257206 0.14539358] [-0.00516473 0.99992713 0.01091186 -0.21668298] [ 0.22578594 -0.00946415 0.97413097 -0.2852246 ] [ 0. 0. 0. 1. ]] SLAMing on 293.79463044 meters Centerline goodness : 0.084241 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.29 [[ 0.97419478 0.00740979 -0.22558727 0.14490684] [-0.00512154 0.99992935 0.01072703 -0.21569685] [ 0.22565082 -0.00929486 0.9741639 -0.28517226] [ 0. 0. 0. 1. ]] SLAMing on 293.82463044 meters Centerline goodness : 0.094651 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97423801 0.00726293 -0.22540532 0.14455885] [-0.00503197 0.99993252 0.01047047 -0.21456427] [ 0.22546616 -0.0090665 0.97420881 -0.28536423] [ 0. 0. 0. 1. ]] SLAMing on 293.85463044 meters Centerline goodness : 0.248112 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97429103 0.00720457 -0.22517787 0.14382342] [-0.00497375 0.99993279 0.01047261 -0.21498886] [ 0.22523819 -0.00908339 0.97426139 -0.28526515] [ 0. 0. 0. 1. ]] SLAMing on 293.88463044 meters Centerline goodness : 0.095831 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.28 [[ 0.97435501 0.00712613 -0.22490337 0.142847 ] [-0.00488534 0.99993275 0.01051825 -0.21588812] [ 0.2249632 -0.00914978 0.9743243 -0.28499039] [ 0. 0. 0. 1. ]] SLAMing on 293.91463044 meters Centerline goodness : 0.095478 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.28 [[ 0.97445174 0.00700573 -0.22448768 0.14166709] [-0.00475584 0.99993292 0.01056153 -0.21707665] [ 0.22454661 -0.00922407 0.97441969 -0.284902 ] [ 0. 0. 0. 1. ]] SLAMing on 293.94463044 meters Centerline goodness : 0.088930 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.28 [[ 0.97451452 0.00687757 -0.22421898 0.1409015 ] [-0.00462533 0.99993345 0.01056851 -0.21795176] [ 0.22427674 -0.00926208 0.97448148 -0.2848221 ] [ 0. 0. 0. 1. ]] SLAMing on 293.97463044 meters Centerline goodness : 0.091408 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.29 [[ 0.97455562 0.00689931 -0.22403962 0.14071098] [-0.0046318 0.99993261 0.01064497 -0.21839751] [ 0.22409797 -0.00933641 0.9745219 -0.28509507] [ 0. 0. 0. 1. ]] SLAMing on 294.00463044 meters Centerline goodness : 0.421040 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.29 [[ 0.97451594 0.00695267 -0.22421047 0.14144854] [-0.0046883 0.99993251 0.01063006 -0.2178006 ] [ 0.22426924 -0.009308 0.97448277 -0.28535449] [ 0. 0. 0. 1. ]] SLAMing on 294.03463044 meters Centerline goodness : 0.123921 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.29 [[ 0.97445219 0.00700636 -0.22448572 0.14262589] [-0.00475271 0.99993276 0.01057797 -0.21696889] [ 0.22454474 -0.00924081 0.97441996 -0.28578616] [ 0. 0. 0. 1. ]] SLAMing on 294.06463044000003 meters Centerline goodness : 0.089130 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.29 [[ 0.97439837 0.00701788 -0.22471886 0.14356828] [-0.00478848 0.99993378 0.01046433 -0.21594879] [ 0.22477742 -0.00912037 0.97436745 -0.28611411] [ 0. 0. 0. 1. ]] SLAMing on 294.09463044 meters Centerline goodness : 0.377577 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.9743721 0.00693285 -0.22483536 0.14404717] [-0.00474776 0.99993612 0.01025782 -0.21480335] [ 0.22489211 -0.00892747 0.97434277 -0.28629006] [ 0. 0. 0. 1. ]] SLAMing on 294.12463044000003 meters Centerline goodness : 0.175581 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97438274 0.00685461 -0.22479167 0.14383673] [-0.00470985 0.99993814 0.01007597 -0.21382773] [ 0.22484684 -0.00875912 0.97435475 -0.28628569] [ 0. 0. 0. 1. ]] SLAMing on 294.15463044 meters Centerline goodness : 0.195026 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.9744332 0.00674345 -0.2245762 0.14351958] [-0.00466744 0.99994134 0.00977371 -0.21176978] [ 0.22462894 -0.00847563 0.97440751 -0.28664356] [ 0. 0. 0. 1. ]] SLAMing on 294.18463044000003 meters Centerline goodness : 0.095694 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97441926 0.00668171 -0.22463853 0.14379404] [-0.00463699 0.99994289 0.00962859 -0.21077853] [ 0.22469004 -0.00834063 0.97439459 -0.28679136] [ 0. 0. 0. 1. ]] SLAMing on 294.21463044 meters Centerline goodness : 0.278724 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97441669 0.00661474 -0.22465164 0.1442281 ] [-0.00459766 0.9999443 0.00950064 -0.21002284] [ 0.22470197 -0.00822471 0.97439283 -0.28721027] [ 0. 0. 0. 1. ]] SLAMing on 294.24463044000004 meters Centerline goodness : 0.080365 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97436812 0.00650659 -0.22486534 0.14487501] [-0.00452209 0.99994616 0.0093392 -0.20936642] [ 0.224914 -0.00808296 0.97434509 -0.28731532] [ 0. 0. 0. 1. ]] SLAMing on 294.27463044 meters Centerline goodness : 0.088704 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:-0.29 [[ 0.97427422 0.00625454 -0.22527899 0.14623293] [-0.0043191 0.99994942 0.00908311 -0.20862024] [ 0.2253244 -0.00787644 0.97425196 -0.28750255] [ 0. 0. 0. 1. ]] SLAMing on 294.30463044000004 meters Centerline goodness : 0.309614 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:-0.29 [[ 0.97424334 0.00617296 -0.22541474 0.14650282] [-0.00425724 0.99995058 0.00898374 -0.20819286] [ 0.22545906 -0.00779271 0.97422148 -0.28741088] [ 0. 0. 0. 1. ]] SLAMing on 294.33463044 meters Centerline goodness : 0.311005 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:-0.29 [[ 0.97424049 0.00610511 -0.22542893 0.14658453] [-0.00420973 0.99995164 0.0088876 -0.20764993] [ 0.22547229 -0.00770967 0.97421907 -0.28747523] [ 0. 0. 0. 1. ]] SLAMing on 294.36463044000004 meters Centerline goodness : 0.311005 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:-0.29 [[ 0.97424049 0.00610511 -0.22542893 0.14658453] [-0.00420973 0.99995164 0.0088876 -0.20764993] [ 0.22547229 -0.00770967 0.97421907 -0.28747523] [ 0. 0. 0. 1. ]] SLAMing on 294.39463044 meters Centerline goodness : 0.285563 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:-0.29 [[ 0.97424194 0.00601324 -0.22542512 0.14646845] [-0.00414853 0.99995316 0.00874475 -0.20705908] [ 0.22546714 -0.00758432 0.97422125 -0.28738443] [ 0. 0. 0. 1. ]] SLAMing on 294.42463044000004 meters Centerline goodness : 0.305751 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:-0.29 [[ 0.97425911 0.00591213 -0.22535359 0.14620927] [-0.00407351 0.99995452 0.00862294 -0.20677681] [ 0.22539432 -0.007483 0.97423889 -0.28735016] [ 0. 0. 0. 1. ]] SLAMing on 294.45463044 meters Centerline goodness : 0.380350 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:-0.29 [[ 0.97428083 0.00575629 -0.22526369 0.14566151] [-0.00395761 0.99995659 0.00843555 -0.20622171] [ 0.22530247 -0.00732709 0.97426132 -0.28710401] [ 0. 0. 0. 1. ]] SLAMing on 294.48463044 meters Centerline goodness : 0.165169 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97438351 0.00571756 -0.22482011 0.14438055] [-0.00394862 0.99995762 0.00831707 -0.20514836] [ 0.22485813 -0.00721628 0.97436479 -0.28708442] [ 0. 0. 0. 1. ]] SLAMing on 294.51463044 meters Centerline goodness : 0.443769 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97440575 0.00566022 -0.22472518 0.14434275] [-0.00389971 0.99995814 0.00827716 -0.20519829] [ 0.22476262 -0.00718895 0.97438703 -0.28730519] [ 0. 0. 0. 1. ]] SLAMing on 294.54463044 meters Centerline goodness : 0.273151 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97439204 0.00554258 -0.22478752 0.14476401] [-0.0037943 0.99995911 0.00820875 -0.20547689] [ 0.22482382 -0.00714563 0.97437323 -0.28749174] [ 0. 0. 0. 1. ]] SLAMing on 294.57463044 meters Centerline goodness : 0.475573 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97438025 0.00540545 -0.22484195 0.14479319] [-0.00363397 0.99995902 0.00829189 -0.20721645] [ 0.22487756 -0.00726238 0.97435996 -0.2873515 ] [ 0. 0. 0. 1. ]] SLAMing on 294.60463044 meters Centerline goodness : 0.125509 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97440108 0.00547592 -0.22474998 0.14443868] [-0.00366616 0.99995742 0.00846889 -0.20830124] [ 0.22478679 -0.00742813 0.97437966 -0.28721832] [ 0. 0. 0. 1. ]] SLAMing on 294.63463044 meters Centerline goodness : 0.093471 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97444259 0.00554214 -0.22456829 0.1440104 ] [-0.00368891 0.9999556 0.00867111 -0.20966335] [ 0.22460638 -0.00762109 0.97441977 -0.28728045] [ 0. 0. 0. 1. ]] SLAMing on 294.66463044 meters Centerline goodness : 0.092613 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.9745035 0.00552286 -0.22430433 0.14345437] [-0.00364132 0.99995464 0.00880115 -0.21110479] [ 0.22434276 -0.00775999 0.9744794 -0.28736487] [ 0. 0. 0. 1. ]] SLAMing on 294.69463044 meters Centerline goodness : 0.096229 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97453413 0.00549925 -0.22417177 0.14320997] [-0.00358368 0.99995352 0.00895104 -0.21273388] [ 0.22421057 -0.00791974 0.97450854 -0.28746688] [ 0. 0. 0. 1. ]] SLAMing on 294.72463044 meters Centerline goodness : 0.096291 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.29 [[ 0.97452081 0.00560611 -0.22422702 0.14339391] [-0.00362689 0.99995075 0.00923773 -0.21471454] [ 0.22426776 -0.00818912 0.97449315 -0.28743864] [ 0. 0. 0. 1. ]] SLAMing on 294.75463044 meters Centerline goodness : 0.128526 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.97441161 0.00592027 -0.22469304 0.14558353] [-0.00378359 0.99994345 0.00993875 -0.21923976] [ 0.22473917 -0.00883428 0.97437891 -0.28814074] [ 0. 0. 0. 1. ]] SLAMing on 294.78463044 meters Centerline goodness : 0.309224 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.97435677 0.00601515 -0.2249282 0.1466485 ] [-0.00381685 0.99994062 0.01020689 -0.22127498] [ 0.22497624 -0.00908664 0.97432188 -0.28844875] [ 0. 0. 0. 1. ]] SLAMing on 294.81463044000003 meters Centerline goodness : 0.320073 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.97429262 0.00602459 -0.22520568 0.14755396] [-0.00379958 0.99993961 0.010312 -0.22258723] [ 0.2252542 -0.00919122 0.97425667 -0.28854466] [ 0. 0. 0. 1. ]] SLAMing on 294.84463044 meters Centerline goodness : 0.308755 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.97424295 0.00621064 -0.2254154 0.14858726] [-0.00395044 0.99993732 0.01047646 -0.22348506] [ 0.22546634 -0.00931613 0.97420642 -0.28896007] [ 0. 0. 0. 1. ]] SLAMing on 294.87463044000003 meters Centerline goodness : 0.101641 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:-0.29 [[ 0.97419543 0.00642242 -0.22561476 0.14941512] [-0.00413971 0.99993536 0.01058936 -0.22329138] [ 0.22566819 -0.00938212 0.97415904 -0.28926537] [ 0. 0. 0. 1. ]] SLAMing on 294.90463044 meters Centerline goodness : 0.306771 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:-0.30 [[ 0.97365352 0.00736819 -0.22791341 0.1070338 ] [-0.00492692 0.99992426 0.01127846 -0.22604359] [ 0.22797925 -0.0098584 0.97361608 -0.29929671] [ 0. 0. 0. 1. ]] SLAMing on 294.93463044000003 meters Centerline goodness : 0.174916 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:-0.30 [[ 0.97362545 0.00740621 -0.22803208 0.10750558] [-0.00498521 0.99992495 0.01119112 -0.2252918 ] [ 0.22809785 -0.00975917 0.9735893 -0.29946722] [ 0. 0. 0. 1. ]] SLAMing on 294.96463044 meters Centerline goodness : 0.095702 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.30 [[ 0.97361722 0.00733593 -0.22806951 0.10757588] [-0.0049544 0.99992708 0.01101287 -0.22445811] [ 0.22813366 -0.00959237 0.97358257 -0.29948362] [ 0. 0. 0. 1. ]] SLAMing on 294.99463044000004 meters Centerline goodness : 0.107808 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.30 [[ 0.9736092 0.00749195 -0.22809867 0.10743611] [-0.00514137 0.9999274 0.01089756 -0.22297303] [ 0.22816375 -0.00943723 0.97357703 -0.29937983] [ 0. 0. 0. 1. ]] SLAMing on 295.02463044 meters Centerline goodness : 0.096266 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.30 [[ 0.97357483 0.00746572 -0.22824618 0.10769867] [-0.00514525 0.99992887 0.01075988 -0.22206328] [ 0.22831028 -0.00930117 0.97354399 -0.29928842] [ 0. 0. 0. 1. ]] SLAMing on 295.05463044000004 meters Centerline goodness : 0.095661 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.30 [[ 0.97355422 0.00735858 -0.22833755 0.10794502] [-0.00508387 0.99993144 0.01054867 -0.22110007] [ 0.22839952 -0.00910886 0.97352488 -0.29931046] [ 0. 0. 0. 1. ]] SLAMing on 295.08463044 meters Centerline goodness : 0.081261 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.30 [[ 0.973553 0.00724601 -0.22834636 0.10801668] [-0.00503027 0.99993447 0.01028395 -0.21970539] [ 0.22840591 -0.00886333 0.97352564 -0.29943373] [ 0. 0. 0. 1. ]] SLAMing on 295.11463044000004 meters Centerline goodness : 0.094784 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.30 [[ 0.97355203 0.00709329 -0.22835527 0.10791313] [-0.00495238 0.99993826 0.009947 -0.21786895] [ 0.22841173 -0.00855302 0.97352705 -0.29938142] [ 0. 0. 0. 1. ]] SLAMing on 295.14463044 meters Centerline goodness : 0.094779 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:-0.30 [[ 0.97351044 0.00789912 -0.2285061 0.10834472] [-0.00574619 0.99993263 0.01008555 -0.21171598] [ 0.22857037 -0.00850535 0.97349024 -0.2995296 ] [ 0. 0. 0. 1. ]] SLAMing on 295.17463044000004 meters Centerline goodness : 0.095305 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:-0.30 [[ 0.97348186 0.00780197 -0.22863115 0.10863784] [-0.0057377 0.99993657 0.00969216 -0.20897759] [ 0.22869227 -0.00812333 0.97346487 -0.299572 ] [ 0. 0. 0. 1. ]] SLAMing on 295.20463044 meters Centerline goodness : 0.094362 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:-0.30 [[ 0.97346677 0.0075673 -0.22870326 0.10874721] [-0.00561761 0.99994213 0.0091748 -0.20604675] [ 0.22875945 -0.0076466 0.97345295 -0.29960272] [ 0. 0. 0. 1. ]] SLAMing on 295.23463044 meters Centerline goodness : 0.095389 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.30 [[ 0.97348908 0.00734951 -0.22861537 0.10844252] [-0.00549845 0.99994675 0.00873276 -0.2035783 ] [ 0.22866738 -0.00724421 0.97347766 -0.29963849] [ 0. 0. 0. 1. ]] SLAMing on 295.26463044 meters Centerline goodness : 0.083517 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.30 [[ 0.97359217 0.00717513 -0.22818151 0.10716069] [-0.0054591 0.99995188 0.00815077 -0.19872617] [ 0.22822901 -0.00668986 0.97358449 -0.29967293] [ 0. 0. 0. 1. ]] SLAMing on 295.29463044 meters Centerline goodness : 0.082083 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.30 [[ 0.97362618 0.00699164 -0.22804205 0.10658013] [-0.00535358 0.99995524 0.0078009 -0.1966125 ] [ 0.22808638 -0.00637432 0.97362003 -0.29950043] [ 0. 0. 0. 1. ]] SLAMing on 295.32463044 meters Centerline goodness : 0.086694 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.30 [[ 0.97363839 0.0067174 -0.22799816 0.10613767] [-0.00516187 0.99995916 0.00741819 -0.19481785] [ 0.22803868 -0.00604574 0.9736333 -0.29916838] [ 0. 0. 0. 1. ]] SLAMing on 295.35463044 meters Centerline goodness : 0.081532 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.30 [[ 0.97363529 0.00644563 -0.22801923 0.10602602] [-0.00496277 0.99996265 0.00707597 -0.19338336] [ 0.22805633 -0.00575781 0.97363092 -0.29901938] [ 0. 0. 0. 1. ]] SLAMing on 295.38463044 meters Centerline goodness : 0.080147 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.30 [[ 0.97359381 0.00622454 -0.22820243 0.10626625] [-0.00480154 0.99996542 0.00679036 -0.19216976] [ 0.22823681 -0.00551533 0.97359003 -0.29875059] [ 0. 0. 0. 1. ]] SLAMing on 295.41463044 meters Centerline goodness : 0.093537 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.19, Z:-0.29 [[ 9.73554283e-01 3.12043526e-04 -2.28455599e-01 1.28162339e-01] [ 1.77363266e-03 9.99958607e-01 8.92408980e-03 -1.85474585e-01] [ 2.28448927e-01 -9.09328216e-03 9.73513431e-01 -2.94064888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44463044 meters Centerline goodness : 0.081817 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.18, Z:-0.29 [[ 9.73513140e-01 1.12128286e-04 -2.28631041e-01 1.28877898e-01] [ 1.93658979e-03 9.99959961e-01 8.73643140e-03 -1.84995706e-01] [ 2.28622866e-01 -8.94779531e-03 9.73473945e-01 -2.94213006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47463044 meters Centerline goodness : 0.080800 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.30 [[ 0.97325866 0.00486706 -0.22966041 0.10911191] [-0.00371491 0.99997825 0.00544883 -0.18815195] [ 0.22968193 -0.00444995 0.97325557 -0.29904823] [ 0. 0. 0. 1. ]] SLAMing on 295.50463044 meters Centerline goodness : 0.091414 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.30 [[ 0.97313748 0.00452976 -0.23018022 0.11009324] [-0.00343291 0.99998077 0.00516544 -0.18757678] [ 0.23019919 -0.0042365 0.97313431 -0.29854911] [ 0. 0. 0. 1. ]] SLAMing on 295.53463044 meters Centerline goodness : 0.093522 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.30 [[ 0.97312296 0.00451434 -0.23024189 0.11012659] [-0.00342804 0.99998103 0.00511788 -0.18694163] [ 0.23026063 -0.00419104 0.97311997 -0.29839021] [ 0. 0. 0. 1. ]] SLAMing on 295.56463044000003 meters Centerline goodness : 0.080616 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.30 [[ 0.97311744 0.00442788 -0.2302669 0.1101973 ] [-0.00337584 0.99998199 0.00496257 -0.18600148] [ 0.23028472 -0.00405182 0.97311486 -0.298397 ] [ 0. 0. 0. 1. ]] SLAMing on 295.59463044 meters Centerline goodness : 0.128100 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.30 [[ 0.97310019 0.00423518 -0.23034342 0.11051946] [-0.00324222 0.99998375 0.00468911 -0.18493565] [ 0.23035954 -0.00381615 0.9730981 -0.29852073] [ 0. 0. 0. 1. ]] SLAMing on 295.62463044000003 meters Centerline goodness : 0.078275 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.30 [[ 0.97305512 0.00410768 -0.23053604 0.11094096] [-0.00316025 0.99998498 0.00447877 -0.18392416] [ 0.23055097 -0.00362954 0.97305348 -0.29840562] [ 0. 0. 0. 1. ]] SLAMing on 295.65463044 meters Centerline goodness : 0.080827 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.30 [[ 0.97304949 0.00400485 -0.2305616 0.11105902] [-0.00309789 0.99998598 0.00429554 -0.18297563] [ 0.23057557 -0.00346551 0.97304825 -0.29846581] [ 0. 0. 0. 1. ]] SLAMing on 295.68463044000003 meters Centerline goodness : 0.094983 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.30 [[ 0.97304351 0.00390406 -0.23058856 0.11100718] [-0.00303354 0.99998687 0.0041296 -0.18204824] [ 0.23060165 -0.00331878 0.97304258 -0.29833746] [ 0. 0. 0. 1. ]] SLAMing on 295.71463044 meters Centerline goodness : 0.107981 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.30 [[ 0.97303539 0.00369575 -0.23062628 0.11113312] [-0.00284826 0.99998791 0.00400757 -0.18242806] [ 0.2306383 -0.00324262 0.97303415 -0.29831946] [ 0. 0. 0. 1. ]] SLAMing on 295.74463044000004 meters Centerline goodness : 0.081699 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.30 [[ 0.9729885 0.0035628 -0.23082611 0.11157134] [-0.00270806 0.99998825 0.00401968 -0.18340737] [ 0.23083772 -0.00328601 0.97298672 -0.29815812] [ 0. 0. 0. 1. ]] SLAMing on 295.77463044 meters Centerline goodness : 0.099864 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.30 [[ 0.97294876 0.0035784 -0.23099329 0.11185463] [-0.00268093 0.99998759 0.00419901 -0.1847288 ] [ 0.23100545 -0.00346614 0.97294628 -0.29789519] [ 0. 0. 0. 1. ]] SLAMing on 295.80463044000004 meters Centerline goodness : 0.093517 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:-0.31 [[ 0.97241395 0.00314674 -0.23324067 0.06906573] [-0.00222059 0.99998857 0.00423327 -0.18950918] [ 0.23325133 -0.00359856 0.97240983 -0.307592 ] [ 0. 0. 0. 1. ]] SLAMing on 295.83463044 meters Centerline goodness : 0.310451 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.30 [[ 0.97253237 -0.00462934 -0.23272161 0.08831892] [ 0.00605002 0.99996717 0.00539123 -0.18774684] [ 0.23268902 -0.00665112 0.97252845 -0.30211188] [ 0. 0. 0. 1. ]] SLAMing on 295.86463044000004 meters Centerline goodness : 0.090035 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.30 [[ 0.9724923 -0.00463404 -0.23288894 0.08881493] [ 0.00607811 0.99996649 0.00548342 -0.1888182 ] [ 0.23285573 -0.0067481 0.97248788 -0.30206796] [ 0. 0. 0. 1. ]] SLAMing on 295.89463044 meters Centerline goodness : 0.091647 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.30 [[ 0.97249519 -0.00463915 -0.23287674 0.08890058] [ 0.00609834 0.99996602 0.00554635 -0.18966712] [ 0.2328431 -0.00681396 0.97249044 -0.30214736] [ 0. 0. 0. 1. ]] SLAMing on 295.92463044000004 meters Centerline goodness : 0.079936 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.30 [[ 0.97249553 -0.00439126 -0.23288015 0.0885727 ] [ 0.00594158 0.99996461 0.00595607 -0.19180878] [ 0.23284576 -0.00717593 0.9724872 -0.30175389] [ 0. 0. 0. 1. ]] SLAMing on 295.95463044 meters Centerline goodness : 0.092034 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.30 [[ 0.97246852 -0.00427379 -0.2329951 0.08868489] [ 0.00587264 0.99996373 0.00616891 -0.19299096] [ 0.23296028 -0.00736737 0.97245834 -0.30150867] [ 0. 0. 0. 1. ]] SLAMing on 295.98463044 meters Centerline goodness : 0.279917 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.30 [[ 0.97240711 -0.00422136 -0.23325219 0.08930864] [ 0.00586389 0.99996265 0.00634888 -0.19441171] [ 0.23321668 -0.00754146 0.97239555 -0.30134442] [ 0. 0. 0. 1. ]] SLAMing on 296.01463044 meters Centerline goodness : 0.092512 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.97234007 -0.00422907 -0.23353136 0.09012972] [ 0.00590941 0.99996144 0.00649613 -0.1960801 ] [ 0.23349488 -0.00769647 0.97232757 -0.30130027] [ 0. 0. 0. 1. ]] SLAMing on 296.04463044 meters Centerline goodness : 0.092734 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.972313 -0.00422969 -0.23364405 0.09060967] [ 0.00595033 0.99996012 0.00665994 -0.19786848] [ 0.23360656 -0.00786581 0.97229939 -0.30135822] [ 0. 0. 0. 1. ]] SLAMing on 296.07463044 meters Centerline goodness : 0.092089 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.9722463 -0.00399608 -0.23392555 0.09125544] [ 0.00583804 0.99995717 0.00718219 -0.20126049] [ 0.23388683 -0.00834853 0.97222798 -0.30108612] [ 0. 0. 0. 1. ]] SLAMing on 296.10463044 meters Centerline goodness : 0.092476 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.97223579 -0.00384489 -0.23397175 0.0913162 ] [ 0.00575305 0.99995552 0.00747356 -0.20292695] [ 0.23393261 -0.00861211 0.97221467 -0.30098442] [ 0. 0. 0. 1. ]] SLAMing on 296.13463044 meters Centerline goodness : 0.090197 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.97221352 -0.00377051 -0.23406549 0.09145709] [ 0.00571263 0.99995465 0.00761991 -0.20398247] [ 0.23402614 -0.00874531 0.97219097 -0.30083672] [ 0. 0. 0. 1. ]] SLAMing on 296.16463044 meters Centerline goodness : 0.158193 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.97217548 -0.00371495 -0.23422432 0.09201252] [ 0.00568042 0.99995409 0.00771731 -0.20470465] [ 0.23418489 -0.00883307 0.97215195 -0.30092771] [ 0. 0. 0. 1. ]] SLAMing on 296.19463044 meters Centerline goodness : 0.091005 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.97200235 -0.00345363 -0.23494575 0.09413353] [ 0.00541811 0.99995555 0.00771642 -0.20365766] [ 0.23490865 -0.00877334 0.97197786 -0.30108154] [ 0. 0. 0. 1. ]] SLAMing on 296.22463044 meters Centerline goodness : 0.091005 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.30 [[ 0.97200235 -0.00345363 -0.23494575 0.09413353] [ 0.00541811 0.99995555 0.00771642 -0.20365766] [ 0.23490865 -0.00877334 0.97197786 -0.30108154] [ 0. 0. 0. 1. ]] SLAMing on 296.25463044 meters Centerline goodness : 0.168290 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 0.9718021 0.00436186 -0.23575762 0.07594038] [-0.00287989 0.99997387 0.00662998 -0.20712942] [ 0.23578038 -0.00576407 0.97178927 -0.30668497] [ 0. 0. 0. 1. ]] SLAMing on 296.28463044 meters Centerline goodness : 0.081572 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.30 [[ 0.97185848 0.011913 -0.23526407 0.0954401 ] [-0.01096586 0.99992565 0.00533377 -0.20681865] [ 0.23531012 -0.0026038 0.97191685 -0.30105716] [ 0. 0. 0. 1. ]] SLAMing on 296.31463044000003 meters Centerline goodness : 0.160203 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 0.972098 0.00454891 -0.23453101 0.07504604] [-0.00321003 0.9999763 0.00609017 -0.20144895] [ 0.23455316 -0.00516739 0.97208956 -0.30672918] [ 0. 0. 0. 1. ]] SLAMing on 296.34463044 meters Centerline goodness : 0.081307 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:-0.31 [[ 0.97218926 0.00453984 -0.23415257 0.07372168] [-0.00324864 0.99997732 0.00589976 -0.19959659] [ 0.23417405 -0.00497501 0.97218196 -0.30654096] [ 0. 0. 0. 1. ]] SLAMing on 296.37463044000003 meters Centerline goodness : 0.093679 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:-0.31 [[ 0.97233516 0.00446041 -0.23354753 0.07154869] [-0.00326692 0.99997956 0.00549684 -0.19643885] [ 0.23356727 -0.00458179 0.97232985 -0.30616068] [ 0. 0. 0. 1. ]] SLAMing on 296.40463044 meters Centerline goodness : 0.095689 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:-0.31 [[ 0.97231417 0.00431354 -0.23363764 0.07179853] [-0.00317508 0.99998119 0.00524863 -0.19508577] [ 0.23365589 -0.0043615 0.97230957 -0.30614937] [ 0. 0. 0. 1. ]] SLAMing on 296.43463044000003 meters Centerline goodness : 0.111870 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:-0.31 [[ 0.9722461 0.00416697 -0.2339234 0.07257994] [-0.00308531 0.99998279 0.00498973 -0.19371165] [ 0.23394017 -0.00412952 0.97224223 -0.30614445] [ 0. 0. 0. 1. ]] SLAMing on 296.46463044 meters Centerline goodness : 0.094900 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:-0.31 [[ 0.97216842 0.00405365 -0.23424802 0.07371704] [-0.0030243 0.99998413 0.00475334 -0.19225438] [ 0.23426357 -0.00391261 0.97216525 -0.30634419] [ 0. 0. 0. 1. ]] SLAMing on 296.49463044000004 meters Centerline goodness : 0.094415 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:-0.31 [[ 0.9721331 0.00391288 -0.23439696 0.07414286] [-0.00293881 0.99998553 0.00450481 -0.19089076] [ 0.23441119 -0.00369042 0.97213053 -0.30635704] [ 0. 0. 0. 1. ]] SLAMing on 296.52463044 meters Centerline goodness : 0.171126 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:-0.31 [[ 0.97214449 0.00380016 -0.23435157 0.07371522] [-0.0028782 0.99998672 0.00427597 -0.1891227 ] [ 0.23436471 -0.00348235 0.97214251 -0.30604765] [ 0. 0. 0. 1. ]] SLAMing on 296.55463044000004 meters Centerline goodness : 0.094585 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:-0.31 [[ 0.97215397 0.00372554 -0.23431344 0.07348627] [-0.00281845 0.99998718 0.00420602 -0.18886978] [ 0.23432611 -0.0034285 0.972152 -0.30590193] [ 0. 0. 0. 1. ]] SLAMing on 296.58463044 meters Centerline goodness : 0.081879 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:-0.31 [[ 0.97212374 0.00364485 -0.23444007 0.07366212] [-0.00274417 0.99998755 0.00416794 -0.18904011] [ 0.23445234 -0.00340841 0.97212164 -0.30570131] [ 0. 0. 0. 1. ]] SLAMing on 296.61463044000004 meters Centerline goodness : 0.097718 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.30 [[ 0.97216922 -0.00462706 -0.23423406 0.09378486] [ 0.00588313 0.99997182 0.004664 -0.18599386] [ 0.23420588 -0.00591223 0.97216904 -0.30027375] [ 0. 0. 0. 1. ]] SLAMing on 296.64463044 meters Centerline goodness : 0.093514 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:-0.31 [[ 9.72449988e-01 1.56713763e-03 -2.33106340e-01 7.69795390e-02] [-8.23915254e-04 9.99994263e-01 3.28567752e-03 -1.93682958e-01] [ 2.33110152e-01 -3.00309720e-03 9.72445700e-01 -3.06172310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67463044000004 meters Centerline goodness : 0.093705 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72459461e-01 1.57124264e-03 -2.33066789e-01 7.67587131e-02] [-7.80714209e-04 9.99993626e-01 3.48406440e-03 -1.95229577e-01] [ 2.33070778e-01 -3.20615284e-03 9.72454489e-01 -3.05925753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70463044 meters Centerline goodness : 0.092562 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72446866e-01 1.57495199e-03 -2.33119310e-01 7.69907151e-02] [-7.47343692e-04 9.99993102e-01 3.63843344e-03 -1.96606944e-01] [ 2.33123433e-01 -3.36396294e-03 9.72441334e-01 -3.05933522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73463044 meters Centerline goodness : 0.081540 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72401518e-01 1.55518152e-03 -2.33308529e-01 7.77166795e-02] [-6.92513162e-04 9.99992618e-01 3.77941257e-03 -1.98140699e-01] [ 2.33312684e-01 -3.51353730e-03 9.72395417e-01 -3.06045810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76463044 meters Centerline goodness : 0.261375 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72336467e-01 1.54479593e-03 -2.33579555e-01 7.86062287e-02] [-6.47681619e-04 9.99992117e-01 3.91737753e-03 -1.99680557e-01] [ 2.33583766e-01 -3.65772384e-03 9.72329803e-01 -3.06068137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79463044 meters Centerline goodness : 0.302196 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72322756e-01 1.73221942e-03 -2.33635311e-01 7.87689266e-02] [-7.43430572e-04 9.99990392e-01 4.32018735e-03 -2.02139432e-01] [ 2.33640550e-01 -4.02692483e-03 9.72314701e-01 -3.05971166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82463044 meters Centerline goodness : 0.165484 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72328021e-01 1.87781924e-03 -2.33612271e-01 7.82980251e-02] [-8.34844779e-04 9.99989239e-01 4.56335646e-03 -2.03370992e-01] [ 2.33618326e-01 -4.24204937e-03 9.72319126e-01 -3.05543340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85463044 meters Centerline goodness : 0.157896 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72338005e-01 1.95048578e-03 -2.33570116e-01 7.80040271e-02] [-8.81088079e-04 9.99988648e-01 4.68274038e-03 -2.04061111e-01] [ 2.33576598e-01 -4.34741059e-03 9.72328686e-01 -3.05353103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88463044 meters Centerline goodness : 0.246714 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72348242e-01 1.93074121e-03 -2.33527659e-01 7.80235730e-02] [-8.60054818e-04 9.99988648e-01 4.68658191e-03 -2.04604018e-01] [ 2.33534057e-01 -4.35614309e-03 9.72338865e-01 -3.05473803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91463044 meters Centerline goodness : 0.090653 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 9.72238117e-01 1.93655925e-03 -2.33985670e-01 7.97441044e-02] [-8.64923741e-04 9.99988663e-01 4.68244686e-03 -2.05352070e-01] [ 2.33992085e-01 -4.35007356e-03 9.72228770e-01 -3.05890815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94463044 meters Centerline goodness : 0.117726 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 9.72181992e-01 2.03670470e-03 -2.34217902e-01 8.05845785e-02] [-9.50627153e-04 9.99988268e-01 4.74984275e-03 -2.05398141e-01] [ 2.34224828e-01 -4.39505770e-03 9.72172523e-01 -3.06058113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97463044 meters Centerline goodness : 0.245821 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 0.97217384 0.00214278 -0.2342508 0.08083907] [-0.00103569 0.99998771 0.00484901 -0.20572763] [ 0.23425831 -0.00447147 0.97216411 -0.30621277] [ 0. 0. 0. 1. ]] SLAMing on 297.00463044 meters Centerline goodness : 0.095669 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 0.97216452 0.00214352 -0.23428947 0.08067265] [-0.00103437 0.99998767 0.00485686 -0.20592136] [ 0.23429699 -0.00447932 0.97215475 -0.30595974] [ 0. 0. 0. 1. ]] SLAMing on 297.03463044 meters Centerline goodness : 0.153420 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 0.97224264 0.00224679 -0.23396409 0.07938159] [-0.00112529 0.99998723 0.00492685 -0.20598203] [ 0.23397217 -0.00452682 0.97223276 -0.30556841] [ 0. 0. 0. 1. ]] SLAMing on 297.06463044000003 meters Centerline goodness : 0.095112 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 0.97226615 0.00223313 -0.2338665 0.07920437] [-0.00112608 0.99998752 0.0048671 -0.20560023] [ 0.23387445 -0.00446876 0.97225654 -0.30570232] [ 0. 0. 0. 1. ]] SLAMing on 297.09463044 meters Centerline goodness : 0.096374 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.31 [[ 0.97226656 0.00221289 -0.23386501 0.07944033] [-0.00112483 0.99998792 0.0047858 -0.20503351] [ 0.23387278 -0.00439001 0.9722573 -0.3059387 ] [ 0. 0. 0. 1. ]] SLAMing on 297.12463044000003 meters Centerline goodness : 0.079295 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 0.97222348 0.00216281 -0.2340445 0.0800529 ] [-0.0011048 0.99998857 0.00465155 -0.2040791 ] [ 0.23405189 -0.00426377 0.97221476 -0.30604131] [ 0. 0. 0. 1. ]] SLAMing on 297.15463044 meters Centerline goodness : 0.097341 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 0.97217247 0.00209433 -0.23425691 0.08056044] [-0.00107609 0.99998941 0.00447441 -0.2030064 ] [ 0.2342638 -0.00409782 0.97216443 -0.30597512] [ 0. 0. 0. 1. ]] SLAMing on 297.18463044000003 meters Centerline goodness : 0.083373 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 0.97214464 0.00204482 -0.23437281 0.08078859] [-0.00106999 0.99999024 0.00428639 -0.201654 ] [ 0.23437928 -0.00391622 0.97213734 -0.30591657] [ 0. 0. 0. 1. ]] SLAMing on 297.21463044 meters Centerline goodness : 0.123044 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 0.97206001 0.00192292 -0.23472461 0.08138138] [-0.0010433 0.99999196 0.00387157 -0.19870972] [ 0.23473016 -0.00351851 0.9720542 -0.30559552] [ 0. 0. 0. 1. ]] SLAMing on 297.24463044000004 meters Centerline goodness : 0.142157 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72062446e-01 1.81188900e-03 -2.34715398e-01 8.13411496e-02] [-9.82487186e-04 9.99992854e-01 3.65053662e-03 -1.97424371e-01] [ 2.34720336e-01 -3.31794468e-03 9.72057280e-01 -3.05591040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27463044 meters Centerline goodness : 0.094510 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.31 [[ 9.72082816e-01 1.64224089e-03 -2.34632271e-01 8.10027288e-02] [-8.82838294e-04 9.99994027e-01 3.34156570e-03 -1.95655874e-01] [ 2.34636357e-01 -3.04113624e-03 9.72078460e-01 -3.05499504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30463044000004 meters Centerline goodness : 0.101630 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:-0.31 [[ 9.72128327e-01 1.48250861e-03 -2.34444703e-01 8.03017504e-02] [-7.88310523e-04 9.99995024e-01 3.05471709e-03 -1.94046910e-01] [ 2.34448065e-01 -2.78476178e-03 9.72124658e-01 -3.05396431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33463044 meters Centerline goodness : 0.080746 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:-0.30 [[ 9.72207167e-01 1.33998773e-03 -2.34118409e-01 7.88901005e-02] [-7.28415007e-04 9.99996093e-01 2.69868658e-03 -1.91201632e-01] [ 2.34121111e-01 -2.45314707e-03 9.72204345e-01 -3.04939468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36463044000004 meters Centerline goodness : 0.240015 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:-0.30 [[ 9.72158794e-01 1.13740152e-03 -2.34320263e-01 7.94556557e-02] [-5.92506373e-04 9.99996955e-01 2.39581403e-03 -1.89731584e-01] [ 2.34322274e-01 -2.19027543e-03 9.72156507e-01 -3.04899799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39463044 meters Centerline goodness : 0.501810 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:-0.30 [[ 9.72082201e-01 9.55026650e-04 -2.34638622e-01 8.02273982e-02] [-4.63845922e-04 9.99997584e-01 2.14852940e-03 -1.88596177e-01] [ 2.34640107e-01 -1.97971102e-03 9.72080296e-01 -3.04756726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42463044000004 meters Centerline goodness : 0.092278 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:-0.31 [[ 9.71674180e-01 3.16898369e-04 -2.36324329e-01 3.66876420e-02] [ 6.96938132e-05 9.99998673e-01 1.62749908e-03 -1.90553513e-01] [ 2.36324531e-01 -1.59786918e-03 9.71672868e-01 -3.14879293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45463044 meters Centerline goodness : 0.093452 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:-0.31 [[ 9.71673905e-01 1.46961547e-04 -2.36325623e-01 3.63526558e-02] [ 2.02886288e-04 9.99998919e-01 1.45604482e-03 -1.89890844e-01] [ 2.36325582e-01 -1.46274799e-03 9.71672825e-01 -3.14524352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48463044 meters Centerline goodness : 0.254147 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:-0.31 [[ 9.71681325e-01 -2.78838937e-04 -2.36294996e-01 3.57337549e-02] [ 5.78752158e-04 9.99999113e-01 1.19987295e-03 -1.89594092e-01] [ 2.36294452e-01 -1.30265037e-03 9.71680624e-01 -3.13932962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51463044 meters Centerline goodness : 0.466141 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:-0.31 [[ 9.71621729e-01 -4.11240821e-04 -2.36539735e-01 3.64052656e-02] [ 7.02661805e-04 9.99999095e-01 1.14771850e-03 -1.89886682e-01] [ 2.36539049e-01 -1.28135567e-03 9.71621138e-01 -3.13841803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54463044 meters Centerline goodness : 0.105570 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:-0.31 [[ 9.71568277e-01 -5.11711897e-04 -2.36758995e-01 3.70994251e-02] [ 8.10504320e-04 9.99998993e-01 1.16468185e-03 -1.90614062e-01] [ 2.36758161e-01 -1.32346213e-03 9.71567713e-01 -3.13844385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57463044 meters Centerline goodness : 0.093135 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:-0.31 [[ 9.71511863e-01 -6.24198116e-04 -2.36990104e-01 3.76778201e-02] [ 9.37584622e-04 9.99998829e-01 1.20965894e-03 -1.91673069e-01] [ 2.36989072e-01 -1.39739629e-03 9.71511311e-01 -3.13697225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60463044 meters Centerline goodness : 0.285608 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:-0.31 [[ 9.71480907e-01 -7.08868261e-04 -2.37116732e-01 3.78342871e-02] [ 1.04929670e-03 9.99998592e-01 1.30950038e-03 -1.93178324e-01] [ 2.37115470e-01 -1.52096042e-03 9.71480283e-01 -3.13448286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63463044 meters Centerline goodness : 0.279647 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:-0.31 [[ 9.71641498e-01 -2.75744725e-03 -2.36442795e-01 3.44673900e-02] [ 2.85396287e-03 9.99995925e-01 6.59472269e-05 -1.97403421e-01] [ 2.36441650e-01 -7.38876021e-04 9.71645409e-01 -3.12324506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66463044 meters Centerline goodness : 0.296216 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:-0.31 [[ 9.71640941e-01 -2.62963672e-03 -2.36446541e-01 3.45414046e-02] [ 2.80341376e-03 9.99995991e-01 3.98759953e-04 -1.99465410e-01] [ 2.36444544e-01 -1.05030898e-03 9.71644418e-01 -3.12278749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69463044 meters Centerline goodness : 0.289209 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:-0.31 [[ 9.71640083e-01 -2.56320491e-03 -2.36450798e-01 3.47799937e-02] [ 2.79965158e-03 9.99995860e-01 6.64237123e-04 -2.01526994e-01] [ 2.36448116e-01 -1.30737926e-03 9.71643237e-01 -3.12430614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72463044 meters Centerline goodness : 0.150960 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.20, Z:-0.31 [[ 9.71628627e-01 -2.47363401e-03 -2.36498822e-01 3.50104306e-02] [ 2.77306729e-03 9.99995719e-01 9.33485144e-04 -2.03602523e-01] [ 2.36495501e-01 -1.56282804e-03 9.71631327e-01 -3.12442120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75463044 meters Centerline goodness : 0.471626 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:-0.31 [[ 0.9716169 -0.0022231 -0.23654948 0.03523229] [ 0.00266234 0.99999527 0.00153746 -0.20835026] [ 0.23654494 -0.00212359 0.97161823 -0.31235728] [ 0. 0. 0. 1. ]] SLAMing on 297.78463044 meters Centerline goodness : 0.298321 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:-0.31 [[ 0.9715867 -0.00204127 -0.23667512 0.03531122] [ 0.00256052 0.99999494 0.00188662 -0.21057659] [ 0.23667008 -0.00243902 0.97158701 -0.31205796] [ 0. 0. 0. 1. ]] SLAMing on 297.81463044000003 meters Centerline goodness : 0.088471 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:-0.31 [[ 0.97159749 -0.00182502 -0.23663259 0.03512303] [ 0.00243364 0.99999444 0.00227994 -0.21291088] [ 0.23662711 -0.00279106 0.97159653 -0.31192362] [ 0. 0. 0. 1. ]] SLAMing on 297.84463044 meters Centerline goodness : 0.092020 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.31 [[ 0.9716044 -0.00167869 -0.2366053 0.0347267 ] [ 0.00236594 0.99999377 0.00262073 -0.21530569] [ 0.23659943 -0.00310611 0.97160232 -0.31157694] [ 0. 0. 0. 1. ]] SLAMing on 297.87463044000003 meters Centerline goodness : 0.473425 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.31 [[ 0.97159918 -0.00157542 -0.23662744 0.03466118] [ 0.0023218 0.99999317 0.00287563 -0.21725126] [ 0.23662129 -0.00334337 0.9715962 -0.31141092] [ 0. 0. 0. 1. ]] SLAMing on 297.90463044 meters Centerline goodness : 0.089645 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.31 [[ 0.97159903 -0.00121676 -0.23663019 0.0348086 ] [ 0.00208713 0.99999195 0.00342773 -0.22071589] [ 0.23662412 -0.00382425 0.97159374 -0.31143086] [ 0. 0. 0. 1. ]] SLAMing on 297.93463044000003 meters Centerline goodness : 0.349552 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.31 [[ 0.97162485 -0.00106851 -0.23652484 0.03457992] [ 0.00198363 0.99999144 0.0036311 -0.22185405] [ 0.23651894 -0.00399725 0.97161866 -0.31147507] [ 0. 0. 0. 1. ]] SLAMing on 297.96463044 meters Centerline goodness : 0.097999 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.31 [[ 9.71624592e-01 -9.52963756e-04 -2.36526414e-01 3.45596124e-02] [ 1.89993918e-03 9.99991067e-01 3.77578289e-03 -2.22752633e-01] [ 2.36520703e-01 -4.11802931e-03 9.71617723e-01 -3.11422096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99463044000004 meters Centerline goodness : 0.093005 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.31 [[ 9.71627465e-01 -8.46749168e-04 -2.36515015e-01 3.45354329e-02] [ 1.81625914e-03 9.99990818e-01 3.88130060e-03 -2.23296829e-01] [ 2.36509557e-01 -4.20075082e-03 9.71620082e-01 -3.11421892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02463044 meters Centerline goodness : 0.237255 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.31 [[ 9.71635353e-01 -6.86370564e-04 -2.36483128e-01 3.44506337e-02] [ 1.68150753e-03 9.99990561e-01 4.00640875e-03 -2.23531249e-01] [ 2.36478146e-01 -4.29041654e-03 9.71627335e-01 -3.11419070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05463044000004 meters Centerline goodness : 0.245722 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.32 [[ 0.97168502 0.00693219 -0.23617825 0.01618687] [-0.00638318 0.99997486 0.00308911 -0.2285541 ] [ 0.23619372 -0.00149408 0.97170484 -0.3175008 ] [ 0. 0. 0. 1. ]] SLAMing on 298.08463044 meters Centerline goodness : 0.294803 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.32 [[ 0.9716186 0.00715568 -0.2364447 0.01747226] [-0.00664081 0.99997353 0.00297388 -0.22670574] [ 0.23645972 -0.00131929 0.9716404 -0.31805264] [ 0. 0. 0. 1. ]] SLAMing on 298.11463044000004 meters Centerline goodness : 0.429106 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.32 [[ 0.9715912 0.00709386 -0.23655912 0.01806756] [-0.00663252 0.99997423 0.00274597 -0.22536237] [ 0.2365725 -0.00109898 0.97161322 -0.31832664] [ 0. 0. 0. 1. ]] SLAMing on 298.14463044 meters Centerline goodness : 0.278513 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71558339e-01 7.02849224e-03 -2.36695993e-01 1.84317170e-02] [-6.62089912e-03 9.99974914e-01 2.51684093e-03 -2.23951243e-01] [ 2.36707745e-01 -8.78117498e-04 9.71580502e-01 -3.18390488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17463044000004 meters Centerline goodness : 0.278513 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71558339e-01 7.02849224e-03 -2.36695993e-01 1.84317170e-02] [-6.62089912e-03 9.99974914e-01 2.51684093e-03 -2.23951243e-01] [ 2.36707745e-01 -8.78117498e-04 9.71580502e-01 -3.18390488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20463044 meters Centerline goodness : 0.093121 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71559098e-01 6.97290204e-03 -2.36694524e-01 1.83107121e-02] [-6.60877602e-03 9.99975443e-01 2.33175795e-03 -2.22620416e-01] [ 2.36704970e-01 -7.01179561e-04 9.71581322e-01 -3.18299473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23463044 meters Centerline goodness : 0.417503 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71555898e-01 6.98208281e-03 -2.36707386e-01 1.80089015e-02] [-6.63974877e-03 9.99975440e-01 2.24337845e-03 -2.21646024e-01] [ 2.36717236e-01 -6.07889987e-04 9.71578397e-01 -3.18039743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26463044 meters Centerline goodness : 0.230198 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71597891e-01 6.88565955e-03 -2.36537791e-01 1.73244390e-02] [-6.56983810e-03 9.99976164e-01 2.12335876e-03 -2.21188637e-01] [ 2.36546774e-01 -5.09035901e-04 9.71619969e-01 -3.17855447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29463044 meters Centerline goodness : 0.092936 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71606056e-01 6.69251246e-03 -2.36509793e-01 1.68168333e-02] [-6.38603333e-03 9.99977483e-01 2.06187280e-03 -2.21674700e-01] [ 2.36518267e-01 -4.92968678e-04 9.71626917e-01 -3.17414314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32463044 meters Centerline goodness : 0.123938 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71584406e-01 6.59276717e-03 -2.36601514e-01 1.72655242e-02] [-6.29257695e-03 9.99978153e-01 2.02388181e-03 -2.21949850e-01] [ 2.36609688e-01 -4.77538774e-04 9.71604666e-01 -3.17541691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35463044 meters Centerline goodness : 0.291856 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71524698e-01 6.48443686e-03 -2.36849559e-01 1.79600464e-02] [-6.19113350e-03 9.99978870e-01 1.98210523e-03 -2.22177090e-01] [ 2.36857408e-01 -4.59296943e-04 9.71544316e-01 -3.17496001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38463044 meters Centerline goodness : 0.088761 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71484693e-01 6.37618952e-03 -2.37016530e-01 1.81552862e-02] [-6.06677446e-03 9.99979527e-01 2.03479672e-03 -2.23160642e-01] [ 2.37024652e-01 -5.38848030e-04 9.71503486e-01 -3.17139610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41463044 meters Centerline goodness : 0.194028 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:-0.32 [[ 9.71476466e-01 6.38007165e-03 -2.37050145e-01 1.80042898e-02] [-6.04100491e-03 9.99979427e-01 2.15670105e-03 -2.24137406e-01] [ 2.37059028e-01 -6.63163222e-04 9.71495022e-01 -3.16900840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44463044 meters Centerline goodness : 0.115823 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.32 [[ 9.71482136e-01 6.36991345e-03 -2.37027180e-01 1.78148330e-02] [-5.98952748e-03 9.99979360e-01 2.32489382e-03 -2.25638964e-01] [ 2.37037097e-01 -8.38912004e-04 9.71500237e-01 -3.16746744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47463044 meters Centerline goodness : 0.355075 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:-0.32 [[ 0.97149353 0.00632265 -0.23698174 0.01745743] [-0.00588755 0.99997943 0.00254365 -0.22782853] [ 0.23699295 -0.00107589 0.97151077 -0.31648764] [ 0. 0. 0. 1. ]] SLAMing on 298.50463044 meters Centerline goodness : 0.127088 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.23, Z:-0.32 [[ 0.97158448 -0.00216964 -0.2366831 -0.00408798] [ 0.00300221 0.99999051 0.0031573 -0.22814543] [ 0.236674 -0.00377816 0.97158177 -0.32207524] [ 0. 0. 0. 1. ]] SLAMing on 298.53463044 meters Centerline goodness : 0.089165 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.23, Z:-0.32 [[ 0.971612 -0.00211533 -0.23657059 -0.00449708] [ 0.00304644 0.99998899 0.00357037 -0.23132093] [ 0.23656043 -0.00418971 0.97160774 -0.32184296] [ 0. 0. 0. 1. ]] SLAMing on 298.56463044000003 meters Centerline goodness : 0.471665 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.24, Z:-0.32 [[ 0.97182048 -0.00364586 -0.235694 -0.00662092] [ 0.00452837 0.99998462 0.00320313 -0.2402237 ] [ 0.2356787 -0.00418017 0.97182204 -0.32182217] [ 0. 0. 0. 1. ]] SLAMing on 298.59463044 meters Centerline goodness : 0.090024 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.24, Z:-0.32 [[ 0.97184455 -0.00342284 -0.23559807 -0.00662026] [ 0.0044455 0.99998286 0.00380968 -0.24467283] [ 0.23558099 -0.00474977 0.97184311 -0.32193091] [ 0. 0. 0. 1. ]] SLAMing on 298.62463044000003 meters Centerline goodness : 0.123744 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.25, Z:-0.32 [[ 0.97183811 -0.00332341 -0.23562606 -0.00635243] [ 0.00446148 0.99998082 0.00429702 -0.24933212] [ 0.23560726 -0.00522725 0.97183429 -0.3219586 ] [ 0. 0. 0. 1. ]] SLAMing on 298.65463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 298.68463044000003 meters Centerline goodness : 0.445783 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:-0.32 [[ 0.97178807 -0.00489782 -0.23580491 -0.00550106] [ 0.00602035 0.99997371 0.0040407 -0.26277769] [ 0.23577892 -0.00534633 0.97179201 -0.3219121 ] [ 0. 0. 0. 1. ]] SLAMing on 298.71463044 meters Centerline goodness : 0.459081 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.32 [[ 0.97178737 -0.00449282 -0.23581586 -0.00535742] [ 0.00575013 0.99997268 0.00464435 -0.26587174] [ 0.23578855 -0.00586929 0.97178666 -0.32193179] [ 0. 0. 0. 1. ]] SLAMing on 298.74463044000004 meters Centerline goodness : 0.091014 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.27, Z:-0.32 [[ 0.97179221 -0.00412578 -0.23580263 -0.00523526] [ 0.00549655 0.9999716 0.00515619 -0.26843621] [ 0.23577466 -0.00630685 0.97178729 -0.3220297 ] [ 0. 0. 0. 1. ]] SLAMing on 298.77463044 meters Centerline goodness : 0.090595 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.27, Z:-0.32 [[ 0.97178296 -0.0038264 -0.23584577 -0.00484031] [ 0.00529051 0.99997046 0.00557539 -0.27063521] [ 0.23581747 -0.00666582 0.9717745 -0.32226676] [ 0. 0. 0. 1. ]] SLAMing on 298.80463044000004 meters Centerline goodness : 0.090297 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.28, Z:-0.32 [[ 0.97161618 0.00349183 -0.23653713 0.01354402] [-0.00249542 0.99998671 0.00451172 -0.27596208] [ 0.23654974 -0.0037934 0.97161198 -0.31596924] [ 0. 0. 0. 1. ]] SLAMing on 298.83463044 meters Centerline goodness : 0.117697 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.28, Z:-0.32 [[ 0.97179108 0.01042082 -0.23561304 -0.00375551] [-0.00984163 0.99994497 0.0036341 -0.28425208] [ 0.23563794 -0.00121277 0.97184016 -0.32243271] [ 0. 0. 0. 1. ]] SLAMing on 298.86463044000004 meters Centerline goodness : 0.102312 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.32 [[ 0.97185326 0.01094837 -0.23533247 -0.00436738] [-0.01017731 0.99993813 0.00449085 -0.28994344] [ 0.23536707 -0.0019694 0.97190455 -0.32250944] [ 0. 0. 0. 1. ]] SLAMing on 298.89463044 meters Centerline goodness : 0.102781 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.29, Z:-0.32 [[ 0.97186345 0.01114998 -0.23528091 -0.0043293 ] [-0.01028136 0.99993505 0.00491827 -0.2929088 ] [ 0.23532046 -0.00236088 0.97191497 -0.32262438] [ 0. 0. 0. 1. ]] SLAMing on 298.92463044000004 meters Centerline goodness : 0.102753 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.30, Z:-0.32 [[ 9.71798815e-01 7.96620864e-03 -2.35676903e-01 -2.71038745e-03] [-7.54260211e-03 9.99967912e-01 2.69886958e-03 -2.97832014e-01] [ 2.35690840e-01 -8.45141160e-04 9.71827718e-01 -3.22998123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95463044 meters Centerline goodness : 0.102606 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.30, Z:-0.32 [[ 0.9717619 0.00824726 -0.2358194 -0.0018445 ] [-0.00770875 0.99996515 0.00320544 -0.30073566] [ 0.23583762 -0.00129705 0.97179161 -0.32341585] [ 0. 0. 0. 1. ]] SLAMing on 298.98463044 meters Centerline goodness : 0.105487 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.30, Z:-0.32 [[ 9.71725579e-01 8.47497810e-03 -2.35960958e-01 -9.94210394e-04] [-7.84140738e-03 9.99962691e-01 3.62333579e-03 -3.03248307e-01] [ 2.35982863e-01 -1.67062207e-03 9.71755781e-01 -3.23774126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01463044 meters Centerline goodness : 0.100717 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:-0.32 [[ 9.71713589e-01 8.64250532e-03 -2.36004254e-01 -5.23644689e-04] [-7.93570575e-03 9.99960732e-01 3.94455954e-03 -3.05567086e-01] [ 2.36029078e-01 -1.96012179e-03 9.71744016e-01 -3.24062669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04463044 meters Centerline goodness : 0.102761 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:-0.32 [[ 9.71728090e-01 8.72053717e-03 -2.35941669e-01 -2.66079317e-04] [-7.96647584e-03 9.99959659e-01 4.14906373e-03 -3.07394516e-01] [ 2.35968334e-01 -2.15213816e-03 9.71758362e-01 -3.24400457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07463044 meters Centerline goodness : 0.122902 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:-0.32 [[ 9.71740288e-01 9.04632566e-03 -2.35879156e-01 -6.82685224e-05] [-8.18157185e-03 9.99955744e-01 4.64459148e-03 -3.10396576e-01] [ 2.35910733e-01 -2.58347440e-03 9.71771296e-01 -3.24753993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10463044 meters Centerline goodness : 0.085080 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:-0.32 [[ 9.71749039e-01 9.26484712e-03 -2.35834620e-01 -7.16565041e-05] [-8.32590013e-03 9.99952954e-01 4.97690200e-03 -3.12101660e-01] [ 2.35869635e-01 -2.87276424e-03 9.71780460e-01 -3.24839503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13463044 meters Centerline goodness : 0.085653 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.31, Z:-0.32 [[ 9.71750169e-01 9.45634907e-03 -2.35822364e-01 7.74625275e-06] [-8.42675112e-03 9.99950057e-01 5.37345123e-03 -3.14680822e-01] [ 2.35861399e-01 -3.23443577e-03 9.71781323e-01 -3.24927265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16463044 meters Centerline goodness : 0.098989 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.32, Z:-0.33 [[ 9.71832268e-01 5.80246766e-03 -2.35602153e-01 -2.92065472e-04] [-5.36829989e-03 9.99982505e-01 2.48418395e-03 -3.16510641e-01] [ 2.35612446e-01 -1.14942711e-03 9.71846415e-01 -3.25256350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19463044 meters Centerline goodness : 0.086686 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.32, Z:-0.33 [[ 9.71805020e-01 5.92616868e-03 -2.35711440e-01 1.57553801e-04] [-5.40438470e-03 9.99981307e-01 2.85963942e-03 -3.19540806e-01] [ 2.35723981e-01 -1.50513664e-03 9.71818882e-01 -3.25326341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22463044 meters Centerline goodness : 0.105529 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.33, Z:-0.33 [[ 0.97163421 0.00430651 -0.23644962 0.00417402] [-0.00394456 0.99999021 0.00200379 -0.32577998] [ 0.23645594 -0.00101426 0.97164168 -0.32661997] [ 0. 0. 0. 1. ]] SLAMing on 299.25463044 meters Centerline goodness : 0.104290 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.33, Z:-0.33 [[ 0.97160521 0.00450886 -0.23656497 0.00482337] [-0.00403601 0.99998877 0.00248307 -0.32906274] [ 0.23657351 -0.00145779 0.9716125 -0.32683917] [ 0. 0. 0. 1. ]] SLAMing on 299.28463044 meters Centerline goodness : 0.109096 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.33, Z:-0.33 [[ 0.97155869 0.00460705 -0.23675407 0.00545502] [-0.00404461 0.99998773 0.00286125 -0.33231081] [ 0.23676435 -0.0018223 0.9715654 -0.32685856] [ 0. 0. 0. 1. ]] SLAMing on 299.31463044000003 meters Centerline goodness : 0.089436 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.34, Z:-0.33 [[ 0.97148621 0.0047963 -0.23704755 0.00619621] [-0.0041273 0.99998598 0.00331837 -0.335519 ] [ 0.23706014 -0.00224539 0.97149238 -0.32671696] [ 0. 0. 0. 1. ]] SLAMing on 299.34463044 meters Centerline goodness : 0.096618 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.34, Z:-0.33 [[ 0.97142991 0.00500793 -0.23727377 0.00682164] [-0.00423038 0.99998388 0.00378606 -0.33862198] [ 0.23728891 -0.00267413 0.97143544 -0.32661788] [ 0. 0. 0. 1. ]] SLAMing on 299.37463044000003 meters Centerline goodness : 0.084424 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.34, Z:-0.33 [[ 0.97138035 0.00528964 -0.2374705 0.0072825 ] [-0.00439528 0.99998111 0.0042955 -0.34172676] [ 0.23748874 -0.00312882 0.97138525 -0.32646767] [ 0. 0. 0. 1. ]] SLAMing on 299.40463044 meters Centerline goodness : 0.085821 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.35, Z:-0.33 [[ 0.9714207 0.00552477 -0.23730003 0.00658363] [-0.00446129 0.99997746 0.00501835 -0.34963626] [ 0.2373224 -0.00381627 0.97142345 -0.32618852] [ 0. 0. 0. 1. ]] SLAMing on 299.43463044000003 meters Centerline goodness : 0.084621 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.35, Z:-0.33 [[ 0.97146437 0.00574449 -0.23711596 0.00610088] [-0.00456187 0.99997427 0.0055359 -0.35332844] [ 0.23714166 -0.00429623 0.97146558 -0.32613476] [ 0. 0. 0. 1. ]] SLAMing on 299.46463044 meters Centerline goodness : 0.123579 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.36, Z:-0.33 [[ 0.97168127 0.00344012 -0.23627034 0.00318216] [-0.00257337 0.99998878 0.00397671 -0.35772844] [ 0.23628137 -0.00325608 0.97167922 -0.32585909] [ 0. 0. 0. 1. ]] SLAMing on 299.49463044000004 meters Centerline goodness : 0.049494 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.36, Z:-0.33 [[ 0.97166296 0.0036403 -0.23634265 0.00342704] [-0.00266124 0.99998651 0.0044614 -0.36126005] [ 0.2363557 -0.00370601 0.97165953 -0.32582643] [ 0. 0. 0. 1. ]] SLAMing on 299.52463044 meters Centerline goodness : 0.085584 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.37, Z:-0.33 [[ 0.97154403 0.00398377 -0.23682553 0.00474515] [-0.00282477 0.99998232 0.00523301 -0.36811423] [ 0.23684219 -0.00441512 0.9715381 -0.32566288] [ 0. 0. 0. 1. ]] SLAMing on 299.55463044000004 meters Centerline goodness : 0.085346 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.37, Z:-0.33 [[ 0.97148148 0.00425821 -0.2370772 0.00538329] [-0.00299132 0.99997926 0.00570323 -0.37066279] [ 0.23709657 -0.00483141 0.97147407 -0.32552643] [ 0. 0. 0. 1. ]] SLAMing on 299.58463044 meters Centerline goodness : 0.114597 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.37, Z:-0.33 [[ 0.97144566 0.00446889 -0.23722008 0.00575572] [-0.00311146 0.99997658 0.00609636 -0.37328471] [ 0.23724177 -0.00518418 0.97143681 -0.32547204] [ 0. 0. 0. 1. ]] SLAMing on 299.61463044000004 meters Centerline goodness : 0.114462 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.38, Z:-0.33 [[ 0.97143477 0.00462262 -0.2372617 0.00574628] [-0.00319688 0.99997445 0.00639355 -0.37544362] [ 0.23728519 -0.00545242 0.97142473 -0.32526635] [ 0. 0. 0. 1. ]] SLAMing on 299.64463044 meters Centerline goodness : 0.088526 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.38, Z:-0.33 [[ 0.97147495 0.00472453 -0.23709513 0.00525615] [-0.00324888 0.99997285 0.00661421 -0.37724611] [ 0.23711994 -0.00565525 0.97146392 -0.32520577] [ 0. 0. 0. 1. ]] SLAMing on 299.67463044000004 meters Centerline goodness : 0.083785 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.33 [[ 0.97211882 0.0105641 -0.23425072 -0.01165083] [-0.009313 0.99993585 0.00644642 -0.38723143] [ 0.23430379 -0.00408511 0.97215485 -0.33121861] [ 0. 0. 0. 1. ]] SLAMing on 299.70463044 meters Centerline goodness : 0.098525 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.33 [[ 0.97213094 0.01079309 -0.23418999 -0.01174609] [-0.00946485 0.99993212 0.00679484 -0.38892307] [ 0.23424743 -0.00438891 0.97216711 -0.33121418] [ 0. 0. 0. 1. ]] SLAMing on 299.73463044 meters Centerline goodness : 0.096364 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.33 [[ 0.97214266 0.01101121 -0.23413115 -0.01187245] [-0.00959334 0.9999281 0.00719395 -0.3913046 ] [ 0.23419353 -0.00474745 0.97217841 -0.33118273] [ 0. 0. 0. 1. ]] SLAMing on 299.76463044 meters Centerline goodness : 0.098411 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.33 [[ 0.97235085 0.00792666 -0.23339021 -0.01378594] [-0.00698799 0.99996383 0.00484848 -0.39415171] [ 0.2334202 -0.0030835 0.97237107 -0.33144246] [ 0. 0. 0. 1. ]] SLAMing on 299.79463044 meters Centerline goodness : 0.077070 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.33 [[ 0.97238171 0.00395284 -0.23336277 -0.01339312] [-0.00354356 0.99999136 0.00217307 -0.39993957] [ 0.23336935 -0.00128611 0.97238732 -0.33173694] [ 0. 0. 0. 1. ]] SLAMing on 299.82463044 meters Centerline goodness : 0.133145 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.33 [[ 0.97230396 0.00400169 -0.23368567 -0.01246017] [-0.00348661 0.9999905 0.00261723 -0.40389708] [ 0.23369392 -0.00172997 0.97230867 -0.33166642] [ 0. 0. 0. 1. ]] SLAMing on 299.85463044 meters Centerline goodness : 0.097187 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.33 [[ 9.72089597e-01 2.29259561e-03 -2.34598720e-01 -8.49135970e-03] [-2.00184032e-03 9.99996905e-01 1.47750319e-03 -4.08094579e-01] [ 2.34601381e-01 -9.66636305e-04 9.72091178e-01 -3.32476363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88463044 meters Centerline goodness : 0.097535 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.33 [[ 0.97195354 0.00231293 -0.23516159 -0.00670456] [-0.00195136 0.99999653 0.00177021 -0.41111561] [ 0.23516487 -0.00126168 0.97195468 -0.33253976] [ 0. 0. 0. 1. ]] SLAMing on 299.91463044 meters Centerline goodness : 0.099227 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.42, Z:-0.34 [[ 9.72444933e-01 6.93430288e-03 -2.33029544e-01 -1.88410448e-02] [-6.97093078e-03 9.99975481e-01 6.66381347e-04 -4.18601797e-01] [ 2.33028451e-01 9.76413659e-04 9.72469428e-01 -3.39477262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94463044 meters Centerline goodness : 0.295626 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.43, Z:-0.33 [[ 9.72171664e-01 1.44198760e-02 -2.33825409e-01 -1.03667791e-03] [-1.47088760e-02 9.99891690e-01 5.07907697e-04 -4.26487854e-01] [ 2.33807407e-01 2.94553549e-03 9.72278468e-01 -3.34757368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97463044 meters Centerline goodness : 0.085139 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.43, Z:-0.33 [[ 0.97223722 0.0149749 -0.23351773 -0.00150631] [-0.01511412 0.99988506 0.00119337 -0.42871655] [ 0.23350876 0.00236918 0.97235181 -0.33497415] [ 0. 0. 0. 1. ]] SLAMing on 300.00463044 meters Centerline goodness : 0.097213 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.43, Z:-0.33 [[ 0.97220109 0.0150209 -0.23366517 -0.00139494] [-0.01514951 0.99988447 0.00124449 -0.4293582 ] [ 0.23365686 0.00233002 0.97231633 -0.33460957] [ 0. 0. 0. 1. ]] SLAMing on 300.03463044 meters Centerline goodness : 0.097213 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.43, Z:-0.33 [[ 0.97220109 0.0150209 -0.23366517 -0.00139494] [-0.01514951 0.99988447 0.00124449 -0.4293582 ] [ 0.23365686 0.00233002 0.97231633 -0.33460957] [ 0. 0. 0. 1. ]] SLAMing on 300.06463044000003 meters Centerline goodness : 0.098279 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.43, Z:-0.33 [[ 0.97216198 0.01502244 -0.23382775 -0.00107589] [-0.01514637 0.99988449 0.00126584 -0.43001992] [ 0.23381975 0.00231104 0.97227721 -0.33440337] [ 0. 0. 0. 1. ]] SLAMing on 300.09463044 meters Centerline goodness : 0.084245 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.43, Z:-0.33 [[ 9.72013998e-01 1.51679057e-02 -2.34432768e-01 5.16085858e-04] [-1.52225227e-02 9.99882888e-01 1.57667475e-03 -4.32406271e-01] [ 2.34429228e-01 2.03610820e-03 9.72131057e-01 -3.34197415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12463044000003 meters Centerline goodness : 0.098165 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.43, Z:-0.33 [[ 0.97195396 0.01529163 -0.23467353 0.00142477] [-0.01529161 0.99988142 0.00181989 -0.43382832] [ 0.23467353 0.00181969 0.97207254 -0.33437141] [ 0. 0. 0. 1. ]] SLAMing on 300.15463044 meters Centerline goodness : 0.084280 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.44, Z:-0.33 [[ 0.97192325 0.01546102 -0.23478957 0.00189871] [-0.0153799 0.99987935 0.00217672 -0.43582351] [ 0.2347949 0.00149544 0.97204378 -0.33453065] [ 0. 0. 0. 1. ]] SLAMing on 300.18463044000003 meters Centerline goodness : 0.083656 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.44, Z:-0.33 [[ 0.97196364 0.0155593 -0.23461585 0.0012217 ] [-0.01539344 0.99987829 0.00253839 -0.43787866] [ 0.2346268 0.00114432 0.97208485 -0.3344048 ] [ 0. 0. 0. 1. ]] SLAMing on 300.21463044 meters Centerline goodness : 0.179976 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.44, Z:-0.33 [[ 9.72032256e-01 1.55919684e-02 -2.34329219e-01 8.31442111e-06] [-1.53129193e-02 9.99878219e-01 3.01037175e-03 -4.40598266e-01] [ 2.34347620e-01 6.62085988e-04 9.72152640e-01 -3.34234212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24463044000004 meters Centerline goodness : 0.107950 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.45, Z:-0.33 [[ 0.97224517 0.01372575 -0.23356141 -0.00273907] [-0.01358599 0.99990527 0.00220728 -0.44713317] [ 0.23356958 0.00102714 0.97233955 -0.33409161] [ 0. 0. 0. 1. ]] SLAMing on 300.27463044 meters Centerline goodness : 0.108765 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.45, Z:-0.33 [[ 9.72194257e-01 1.38454697e-02 -2.33766186e-01 -2.36545765e-03] [-1.36241342e-02 9.99903906e-01 2.56168020e-03 -4.49527505e-01] [ 2.33779190e-01 6.94411115e-04 9.72289467e-01 -3.33918032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30463044000004 meters Centerline goodness : 0.084883 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.45, Z:-0.33 [[ 9.72147052e-01 1.39293520e-02 -2.33957436e-01 -2.06736532e-03] [-1.36442392e-02 9.99902888e-01 2.83723567e-03 -4.51583556e-01] [ 2.33974237e-01 4.33960939e-04 9.72242700e-01 -3.33678066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33463044 meters Centerline goodness : 0.084135 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.45, Z:-0.33 [[ 9.72096791e-01 1.41348171e-02 -2.34153873e-01 -1.92399519e-03] [-1.37684341e-02 9.99900092e-01 3.19941052e-03 -4.53793876e-01] [ 2.34175703e-01 1.13795475e-04 9.72194285e-01 -3.33259001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36463044000004 meters Centerline goodness : 0.074814 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.46, Z:-0.34 [[ 0.97259479 0.02024466 -0.23162366 -0.01908041] [-0.02020465 0.99979263 0.00254515 -0.46428766] [ 0.23162716 0.00220448 0.97280214 -0.33932501] [ 0. 0. 0. 1. ]] SLAMing on 300.39463044 meters Centerline goodness : 0.100632 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.47, Z:-0.34 [[ 0.97265076 0.02036154 -0.23137828 -0.01974068] [-0.02025118 0.99979086 0.00285231 -0.46595672] [ 0.23138796 0.00191138 0.97285968 -0.33934754] [ 0. 0. 0. 1. ]] SLAMing on 300.42463044000004 meters Centerline goodness : 0.070576 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.47, Z:-0.34 [[ 0.97273384 0.02042981 -0.23102274 -0.02078366] [-0.02023059 0.99979012 0.00323148 -0.46892517] [ 0.23104028 0.00153035 0.97294298 -0.33928441] [ 0. 0. 0. 1. ]] SLAMing on 300.45463044 meters Centerline goodness : 0.084385 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.47, Z:-0.34 [[ 0.97271753 0.02045045 -0.23108954 -0.02046237] [-0.02022262 0.99978987 0.00335479 -0.47003965] [ 0.23110959 0.00140997 0.9729267 -0.33938507] [ 0. 0. 0. 1. ]] SLAMing on 300.48463044 meters Centerline goodness : 0.132217 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.47, Z:-0.34 [[ 0.97267521 0.02062198 -0.2312524 -0.02015404] [-0.02033447 0.99978665 0.00362699 -0.47150268] [ 0.23127786 0.00117451 0.97288703 -0.33923476] [ 0. 0. 0. 1. ]] SLAMing on 300.51463044 meters Centerline goodness : 0.116092 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.47, Z:-0.34 [[ 9.72623495e-01 2.08921550e-02 -2.31445575e-01 -1.96519872e-02] [-2.05161372e-02 9.99781393e-01 4.03166383e-03 -4.73343177e-01] [ 2.31479210e-01 8.27078220e-04 9.72839499e-01 -3.39167348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54463044 meters Centerline goodness : 0.082664 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.34 [[ 9.72502478e-01 2.10161336e-02 -2.31942347e-01 -1.86228027e-02] [-2.05537404e-02 9.99779022e-01 4.41025985e-03 -4.76832496e-01] [ 2.31983779e-01 4.78294155e-04 9.72719537e-01 -3.38769698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57463044 meters Centerline goodness : 0.166964 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.34 [[ 9.72456318e-01 2.09783541e-02 -2.32139222e-01 -1.80488919e-02] [-2.04886673e-02 9.99779865e-01 4.52057180e-03 -4.78242874e-01] [ 2.32182954e-01 3.60164686e-04 9.72672065e-01 -3.38844241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60463044 meters Centerline goodness : 0.109934 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.34 [[ 9.72403204e-01 2.11649739e-02 -2.32344685e-01 -1.74261442e-02] [-2.06056183e-02 9.99775993e-01 4.83447063e-03 -4.79870813e-01] [ 2.32394959e-01 8.65511436e-05 9.72621496e-01 -3.38858509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63463044 meters Centerline goodness : 0.121784 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.34 [[ 9.72401713e-01 2.13490991e-02 -2.32334079e-01 -1.73650595e-02] [-2.07135165e-02 9.99772058e-01 5.17519328e-03 -4.81353495e-01] [ 2.32391606e-01 -2.19911031e-04 9.72622277e-01 -3.38985054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66463044 meters Centerline goodness : 0.108306 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.34 [[ 9.72435243e-01 2.15574635e-02 -2.32174445e-01 -1.78186913e-02] [-2.08465330e-02 9.99767474e-01 5.51545380e-03 -4.82903552e-01] [ 2.32239358e-01 -5.23389414e-04 9.72658525e-01 -3.38874622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69463044 meters Centerline goodness : 0.109504 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.34 [[ 9.72374823e-01 2.14461574e-02 -2.32437659e-01 -1.72608964e-02] [-2.07764362e-02 9.99769942e-01 5.32934314e-03 -4.82862016e-01] [ 2.32498479e-01 -3.52892901e-04 9.72596696e-01 -3.38596771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72463044 meters Centerline goodness : 0.106418 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.34 [[ 9.72277491e-01 2.13764342e-02 -2.32850873e-01 -1.61533661e-02] [-2.07685548e-02 9.99771494e-01 5.06225816e-03 -4.82115824e-01] [ 2.32905878e-01 -8.59435509e-05 9.72499277e-01 -3.38377497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75463044 meters Centerline goodness : 0.092103 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.49, Z:-0.33 [[ 0.97181178 0.02913433 -0.23395096 0.00164244] [-0.02875415 0.99957383 0.00503652 -0.48780646] [ 0.23399799 0.00183251 0.97223535 -0.33351814] [ 0. 0. 0. 1. ]] SLAMing on 300.78463044 meters Centerline goodness : 0.103173 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97180883 0.03018835 -0.23382954 -0.0299013 ] [-0.03001122 0.99954024 0.00431641 -0.48812303] [ 0.23385234 0.00282279 0.97226803 -0.34224854] [ 0. 0. 0. 1. ]] SLAMing on 300.81463044000003 meters Centerline goodness : 0.095291 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.9717797 0.03026355 -0.23394088 -0.02938807] [-0.03008742 0.99953792 0.00432254 -0.48769405] [ 0.2339636 0.00283812 0.97224121 -0.34229773] [ 0. 0. 0. 1. ]] SLAMing on 300.84463044 meters Centerline goodness : 0.102237 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97168964 0.03026776 -0.23431413 -0.02801224] [-0.03011955 0.99953743 0.00421188 -0.48731331] [ 0.23433323 0.00296479 0.97215181 -0.34250626] [ 0. 0. 0. 1. ]] SLAMing on 300.87463044000003 meters Centerline goodness : 0.096378 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97166345 0.03029685 -0.23441893 -0.02749211] [-0.03015131 0.9995365 0.00420563 -0.48726119] [ 0.23443769 0.00298158 0.97212658 -0.34269651] [ 0. 0. 0. 1. ]] SLAMing on 300.90463044 meters Centerline goodness : 0.103375 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97166776 0.03033927 -0.2343956 -0.0272957 ] [-0.03018269 0.99953534 0.00425618 -0.48733101] [ 0.23441581 0.0029391 0.97213198 -0.34292525] [ 0. 0. 0. 1. ]] SLAMing on 300.93463044000003 meters Centerline goodness : 0.096327 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97170939 0.03034665 -0.23422199 -0.02767038] [-0.03016908 0.99953538 0.00434192 -0.48781107] [ 0.23424493 0.00284718 0.97217345 -0.34308659] [ 0. 0. 0. 1. ]] SLAMing on 300.96463044 meters Centerline goodness : 0.095325 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97176192 0.03009832 -0.23403601 -0.02844745] [-0.02996592 0.99954242 0.00412248 -0.48741845] [ 0.234053 0.00300704 0.97221919 -0.34288653] [ 0. 0. 0. 1. ]] SLAMing on 300.99463044000004 meters Centerline goodness : 0.299464 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97183335 0.02993333 -0.23376043 -0.02950076] [-0.02982809 0.99954709 0.00398631 -0.48720931] [ 0.23377388 0.0030986 0.97228605 -0.34269146] [ 0. 0. 0. 1. ]] SLAMing on 301.02463044 meters Centerline goodness : 0.094008 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.49, Z:-0.34 [[ 0.97187828 0.02988675 -0.23357952 -0.03010585] [-0.02978237 0.9995485 0.00397474 -0.48700233] [ 0.23359285 0.00309359 0.97232958 -0.34264818] [ 0. 0. 0. 1. ]] SLAMing on 301.05463044000004 meters Centerline goodness : 0.096148 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.48, Z:-0.35 [[ 9.72171022e-01 2.19748483e-02 -2.33239386e-01 -4.70042751e-02] [-2.15307402e-02 9.99758282e-01 4.45025533e-03 -4.81364022e-01] [ 2.33280801e-01 6.95407349e-04 9.72409165e-01 -3.47596126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08463044 meters Centerline goodness : 0.095712 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.48, Z:-0.35 [[ 9.72147428e-01 2.17014240e-02 -2.33363292e-01 -4.63538805e-02] [-2.12879832e-02 9.99764179e-01 4.29051268e-03 -4.81813819e-01] [ 2.33401370e-01 7.96822972e-04 9.72380155e-01 -3.47927559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11463044000004 meters Centerline goodness : 0.084325 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.48, Z:-0.35 [[ 9.72184138e-01 2.14617117e-02 -2.33232494e-01 -4.68331149e-02] [-2.10508016e-02 9.99769369e-01 4.25115093e-03 -4.82637964e-01] [ 2.33269940e-01 7.76829444e-04 9.72411709e-01 -3.47933732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14463044 meters Centerline goodness : 0.086791 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.48, Z:-0.35 [[ 9.72304445e-01 2.12160721e-02 -2.32752970e-01 -4.83223465e-02] [-2.07412086e-02 9.99774806e-01 4.48769827e-03 -4.84533287e-01] [ 2.32795767e-01 4.64168922e-04 9.72525535e-01 -3.48131903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17463044000004 meters Centerline goodness : 0.299155 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.49, Z:-0.35 [[ 9.72368163e-01 2.11503408e-02 -2.32492622e-01 -4.92906038e-02] [-2.05779004e-02 9.99776306e-01 4.88752909e-03 -4.87210875e-01] [ 2.32543987e-01 3.17323197e-05 9.72585879e-01 -3.48178723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20463044 meters Centerline goodness : 0.126994 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.49, Z:-0.35 [[ 9.72423123e-01 2.09544900e-02 -2.32280387e-01 -5.01865638e-02] [-2.03023141e-02 9.99780373e-01 5.19823556e-03 -4.89890247e-01] [ 2.32338299e-01 -3.39055074e-04 9.72634978e-01 -3.48219165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23463044 meters Centerline goodness : 0.117144 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.50, Z:-0.35 [[ 9.72520910e-01 1.73295777e-02 -2.32169692e-01 -5.01386655e-02] [-1.70797932e-02 9.99849367e-01 3.08615335e-03 -4.95620675e-01] [ 2.32188201e-01 9.64061662e-04 9.72670401e-01 -3.49116463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26463044 meters Centerline goodness : 0.107913 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.50, Z:-0.35 [[ 9.72489121e-01 1.74365681e-02 -2.32294801e-01 -4.98172825e-02] [-1.70984595e-02 9.99847793e-01 3.46907578e-03 -4.97699523e-01] [ 2.32319933e-01 5.98244791e-04 9.72639240e-01 -3.49254172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29463044 meters Centerline goodness : 0.298120 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.51, Z:-0.35 [[ 0.97202664 0.02394445 -0.23364689 -0.03663745] [-0.02373767 0.99971138 0.00369742 -0.50621572] [ 0.23366799 0.00195224 0.97231449 -0.34539362] [ 0. 0. 0. 1. ]] SLAMing on 301.32463044 meters Centerline goodness : 0.105541 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.51, Z:-0.34 [[ 0.97156027 0.03155692 -0.2346802 -0.01965435] [-0.03155881 0.99949487 0.00374848 -0.51398901] [ 0.23467994 0.00376436 0.97206541 -0.34095409] [ 0. 0. 0. 1. ]] SLAMing on 301.35463044 meters Centerline goodness : 0.117396 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.52, Z:-0.34 [[ 0.97131322 0.03191125 -0.23565293 -0.01707725] [-0.03185 0.99948438 0.0040673 -0.51593952] [ 0.23566122 0.00355492 0.97182877 -0.34062504] [ 0. 0. 0. 1. ]] SLAMing on 301.38463044 meters Centerline goodness : 0.297193 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.52, Z:-0.34 [[ 0.97122718 0.0319567 -0.23600112 -0.01624399] [-0.03186689 0.99948331 0.00419574 -0.51706499] [ 0.23601326 0.00344561 0.97174373 -0.34048556] [ 0. 0. 0. 1. ]] SLAMing on 301.41463044 meters Centerline goodness : 0.103614 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.52, Z:-0.34 [[ 0.97119622 0.03212631 -0.23610549 -0.016012 ] [-0.03193771 0.99947916 0.00462417 -0.51925273] [ 0.23613107 0.00304969 0.97171643 -0.34055241] [ 0. 0. 0. 1. ]] SLAMing on 301.44463044 meters Centerline goodness : 0.304072 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.52, Z:-0.34 [[ 0.97119663 0.03227689 -0.23608325 -0.01633706] [-0.03195827 0.9994758 0.00517699 -0.52223932] [ 0.23612659 0.00251693 0.97171904 -0.34053713] [ 0. 0. 0. 1. ]] SLAMing on 301.47463044 meters Centerline goodness : 0.103113 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.53, Z:-0.34 [[ 0.97119826 0.0321816 -0.23608959 -0.01662706] [-0.03177082 0.9994798 0.00554491 -0.52508042] [ 0.23614522 0.00211555 0.97171547 -0.34050169] [ 0. 0. 0. 1. ]] SLAMing on 301.50463044 meters Centerline goodness : 0.112955 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.54, Z:-0.34 [[ 9.70826190e-01 3.66725020e-02 -2.36963366e-01 -6.53057370e-04] [-3.68031215e-02 9.99315027e-01 3.87379758e-03 -5.37561249e-01] [ 2.36943114e-01 4.96020738e-03 9.71510863e-01 -3.36403450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53463044 meters Centerline goodness : 0.275193 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.54, Z:-0.34 [[ 0.97094633 0.02831265 -0.23761652 -0.01919556] [-0.02783021 0.99959816 0.00538527 -0.53740614] [ 0.23767351 0.00138411 0.97134411 -0.34163351] [ 0. 0. 0. 1. ]] SLAMing on 301.56463044000003 meters Centerline goodness : 0.115710 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.54, Z:-0.35 [[ 0.97106227 0.02046153 -0.23794828 -0.0365619 ] [-0.01929106 0.99978765 0.00724681 -0.53617528] [ 0.23804603 -0.00244683 0.97125079 -0.34697947] [ 0. 0. 0. 1. ]] SLAMing on 301.59463044 meters Centerline goodness : 0.286129 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.54, Z:-0.34 [[ 9.70552770e-01 2.93352452e-02 -2.39095720e-01 -1.79892486e-02] [-2.83589900e-02 9.99569493e-01 7.52301160e-03 -5.42512537e-01] [ 2.39213477e-01 -5.20966624e-04 9.70966859e-01 -3.41601973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62463044000003 meters Centerline goodness : 0.306251 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.54, Z:-0.34 [[ 9.70408742e-01 2.96291856e-02 -2.39643454e-01 -1.67302527e-02] [-2.86593829e-02 9.99560862e-01 7.53143294e-03 -5.42123019e-01] [ 2.39761367e-01 -4.40534856e-04 9.70831753e-01 -3.41009338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65463044 meters Centerline goodness : 0.103881 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.55, Z:-0.34 [[ 0.97003525 0.03814311 -0.23995151 0.00130376] [-0.03745955 0.99927067 0.00741068 -0.54698592] [ 0.24005917 0.00179985 0.97075659 -0.33597835] [ 0. 0. 0. 1. ]] SLAMing on 301.68463044000003 meters Centerline goodness : 0.103289 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.55, Z:-0.34 [[ 0.96998012 0.03812429 -0.24017726 0.00151793] [-0.03751658 0.99927076 0.0071037 -0.54592187] [ 0.24027293 0.00212019 0.97070306 -0.33525462] [ 0. 0. 0. 1. ]] SLAMing on 301.71463044 meters Centerline goodness : 0.103931 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.54, Z:-0.34 [[ 9.70412517e-01 3.07036279e-02 -2.39492868e-01 -1.33754235e-02] [-2.99142907e-02 9.99528436e-01 6.93109188e-03 -5.38299779e-01] [ 2.39592741e-01 4.38240944e-04 9.70873383e-01 -3.39048007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74463044000004 meters Centerline goodness : 0.096844 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.54, Z:-0.34 [[ 9.70363962e-01 3.05827596e-02 -2.39704976e-01 -1.31263057e-02] [-2.98658673e-02 9.99531970e-01 6.62349456e-03 -5.37374997e-01] [ 2.39795352e-01 7.31796589e-04 9.70823184e-01 -3.38545208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77463044 meters Centerline goodness : 0.273705 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.54, Z:-0.34 [[ 0.97028525 0.03047396 -0.24003723 -0.0124404 ] [-0.02982678 0.99953504 0.00632946 -0.53641158] [ 0.24011851 0.00101816 0.97074305 -0.33809907] [ 0. 0. 0. 1. ]] SLAMing on 301.80463044000004 meters Centerline goodness : 0.094971 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.54, Z:-0.34 [[ 9.70246486e-01 3.05613212e-02 -2.40182768e-01 -1.21593158e-02] [-2.99036276e-02 9.99532404e-01 6.38322747e-03 -5.36497866e-01] [ 2.40265539e-01 9.89032014e-04 9.70706697e-01 -3.37927750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83463044 meters Centerline goodness : 0.303523 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.54, Z:-0.34 [[ 9.70268887e-01 3.05904285e-02 -2.40088551e-01 -1.22019847e-02] [-2.99265981e-02 9.99531538e-01 6.41118020e-03 -5.36279414e-01] [ 2.40172199e-01 9.64464894e-04 9.70729821e-01 -3.38101069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86463044000004 meters Centerline goodness : 0.305472 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.54, Z:-0.34 [[ 0.97027612 0.03046482 -0.24007531 -0.01237757] [-0.02983105 0.99953526 0.00627433 -0.53604726] [ 0.24015488 0.00107387 0.97073399 -0.33793453] [ 0. 0. 0. 1. ]] SLAMing on 301.89463044 meters Centerline goodness : 0.080318 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.54, Z:-0.34 [[ 0.97022955 0.03036298 -0.24027631 -0.0120726 ] [-0.02977711 0.99953814 0.00606936 -0.53558978] [ 0.24034962 0.00126606 0.97068556 -0.33758929] [ 0. 0. 0. 1. ]] SLAMing on 301.92463044000004 meters Centerline goodness : 0.094188 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.53, Z:-0.34 [[ 0.97002949 0.03043263 -0.24107392 -0.0106031 ] [-0.0298972 0.99953569 0.00587926 -0.53482795] [ 0.24114091 0.00150438 0.97048895 -0.3366611 ] [ 0. 0. 0. 1. ]] SLAMing on 301.95463044 meters Centerline goodness : 0.095638 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.53, Z:-0.34 [[ 0.9699414 0.03048688 -0.24142128 -0.00980522] [-0.02995801 0.99953397 0.00586178 -0.53488807] [ 0.24148747 0.00154692 0.9704027 -0.3364567 ] [ 0. 0. 0. 1. ]] SLAMing on 301.98463044 meters Centerline goodness : 0.095638 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.53, Z:-0.34 [[ 0.9699414 0.03048688 -0.24142128 -0.00980522] [-0.02995801 0.99953397 0.00586178 -0.53488807] [ 0.24148747 0.00154692 0.9704027 -0.3364567 ] [ 0. 0. 0. 1. ]] SLAMing on 302.01463044 meters Centerline goodness : 0.090121 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.54, Z:-0.33 [[ 0.96957545 0.03816655 -0.24179901 0.0070209 ] [-0.0379341 0.99926445 0.0056183 -0.54077022] [ 0.24183558 0.00372507 0.97031009 -0.33191749] [ 0. 0. 0. 1. ]] SLAMing on 302.04463044 meters Centerline goodness : 0.089679 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.54, Z:-0.33 [[ 0.96959997 0.03789772 -0.24174297 0.00678874] [-0.03772316 0.9992739 0.00535208 -0.54032062] [ 0.24177027 0.00392993 0.97032556 -0.33182281] [ 0. 0. 0. 1. ]] SLAMing on 302.07463044 meters Centerline goodness : 0.102983 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.54, Z:-0.33 [[ 0.96967968 0.03768995 -0.24145557 0.00606408] [-0.03753959 0.99928148 0.00522453 -0.54054544] [ 0.24147899 0.00399802 0.97039781 -0.33192929] [ 0. 0. 0. 1. ]] SLAMing on 302.10463044 meters Centerline goodness : 0.125285 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.54, Z:-0.33 [[ 0.96972047 0.03751063 -0.24131961 0.00557428] [-0.03737743 0.99928805 0.00513121 -0.54082032] [ 0.24134028 0.00404406 0.97043213 -0.33193875] [ 0. 0. 0. 1. ]] SLAMing on 302.13463044 meters Centerline goodness : 0.108797 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.54, Z:-0.33 [[ 0.96961883 0.03725892 -0.24176664 0.00627201] [-0.03712429 0.99929757 0.00511377 -0.54217138] [ 0.24178735 0.00401701 0.97032095 -0.3316098 ] [ 0. 0. 0. 1. ]] SLAMing on 302.16463044 meters Centerline goodness : 0.129273 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.54, Z:-0.33 [[ 0.96953771 0.03725568 -0.24209221 0.00693172] [-0.03708264 0.99929829 0.00527285 -0.54333458] [ 0.24211877 0.00386519 0.97023892 -0.33146277] [ 0. 0. 0. 1. ]] SLAMing on 302.19463044 meters Centerline goodness : 0.131920 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.55, Z:-0.33 [[ 0.96970511 0.03567601 -0.24165932 0.00492059] [-0.03558379 0.99935542 0.00474732 -0.54920692] [ 0.24167291 0.00399566 0.97034954 -0.33160763] [ 0. 0. 0. 1. ]] SLAMing on 302.22463044 meters Centerline goodness : 0.105222 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.56, Z:-0.33 [[ 0.96946736 0.04311769 -0.2413999 0.02019217] [-0.04331903 0.99905127 0.00447554 -0.55760412] [ 0.24136385 0.00611832 0.9704154 -0.32739621] [ 0. 0. 0. 1. ]] SLAMing on 302.25463044 meters Centerline goodness : 0.105101 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.56, Z:-0.33 [[ 0.96951105 0.04301291 -0.24124307 0.01972788] [-0.04317102 0.99905696 0.00463253 -0.55909236] [ 0.24121482 0.00592342 0.97045367 -0.32758356] [ 0. 0. 0. 1. ]] SLAMing on 302.28463044 meters Centerline goodness : 0.106030 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.56, Z:-0.33 [[ 0.96968529 0.04029199 -0.24101242 0.01957414] [-0.04083884 0.99916202 0.0027277 -0.56212901] [ 0.24092036 0.00719765 0.9705182 -0.32827887] [ 0. 0. 0. 1. ]] SLAMing on 302.31463044000003 meters Centerline goodness : 0.089063 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.56, Z:-0.33 [[ 0.96962209 0.04033796 -0.24125891 0.02034485] [-0.04084729 0.99916122 0.00289188 -0.56326794] [ 0.24117319 0.00705074 0.97045648 -0.32840534] [ 0. 0. 0. 1. ]] SLAMing on 302.34463044 meters Centerline goodness : 0.101606 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.56, Z:-0.33 [[ 9.69758423e-01 2.75696943e-02 -2.42504666e-01 2.10207435e-02] [-2.69164562e-02 9.99619637e-01 6.00709127e-03 -5.59307585e-01] [ 2.42578040e-01 7.01938866e-04 9.70131642e-01 -3.28162527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37463044000003 meters Centerline goodness : 0.276368 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.56, Z:-0.33 [[ 9.69730958e-01 2.77072780e-02 -2.42598796e-01 2.15083641e-02] [-2.69934868e-02 9.99615968e-01 6.26638635e-03 -5.60924241e-01] [ 2.42679255e-01 4.71878547e-04 9.70106467e-01 -3.28305850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40463044 meters Centerline goodness : 0.102216 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.56, Z:-0.33 [[ 9.69769589e-01 2.77901501e-02 -2.42434839e-01 2.06454177e-02] [-2.70417644e-02 9.99613723e-01 6.41465016e-03 -5.61851294e-01] [ 2.42519456e-01 3.35133150e-04 9.70146484e-01 -3.27934745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43463044000003 meters Centerline goodness : 0.288746 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.57, Z:-0.32 [[ 0.96953489 0.03517572 -0.24241446 0.03557088] [-0.03478962 0.99937739 0.00587453 -0.56890481] [ 0.24247017 0.00273795 0.970155 -0.32324023] [ 0. 0. 0. 1. ]] SLAMing on 302.46463044 meters Centerline goodness : 0.089201 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.57, Z:-0.32 [[ 0.96950303 0.03516605 -0.24254323 0.03597394] [-0.03476412 0.9993779 0.00593812 -0.56954945] [ 0.24260116 0.00267478 0.97012243 -0.32331158] [ 0. 0. 0. 1. ]] SLAMing on 302.49463044000004 meters Centerline goodness : 0.100049 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.57, Z:-0.32 [[ 0.9693796 0.0352668 -0.2430215 0.0374207 ] [-0.03484369 0.99937452 0.0060405 -0.5700962 ] [ 0.24308252 0.00261222 0.9700021 -0.32336841] [ 0. 0. 0. 1. ]] SLAMing on 302.52463044 meters Centerline goodness : 0.091732 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.57, Z:-0.33 [[ 9.69396520e-01 2.68401657e-02 -2.44028673e-01 2.04657397e-02] [-2.57968477e-02 9.99639289e-01 7.47088356e-03 -5.67394736e-01] [ 2.44141169e-01 -9.47078011e-04 9.69739239e-01 -3.29341772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55463044000004 meters Centerline goodness : 0.269969 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.57, Z:-0.32 [[ 0.96912141 0.03491158 -0.24410013 0.03737798] [-0.03413079 0.99938976 0.00742889 -0.57398515] [ 0.24421052 0.00113183 0.96972158 -0.32471309] [ 0. 0. 0. 1. ]] SLAMing on 302.58463044 meters Centerline goodness : 0.290821 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.57, Z:-0.32 [[ 0.96917175 0.03475086 -0.24392315 0.03665257] [-0.03399456 0.99939528 0.0073108 -0.57411046] [ 0.2440297 0.00120664 0.96976701 -0.32451877] [ 0. 0. 0. 1. ]] SLAMing on 302.61463044000004 meters Centerline goodness : 0.101654 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.57, Z:-0.33 [[ 0.96939904 0.02577283 -0.2441337 0.0173817 ] [-0.02453649 0.99966608 0.00810447 -0.57091129] [ 0.24426105 -0.00186628 0.96970772 -0.33013589] [ 0. 0. 0. 1. ]] SLAMing on 302.64463044 meters Centerline goodness : 0.292539 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.58, Z:-0.33 [[ 9.69058613e-01 3.35942257e-02 -2.44533907e-01 3.45957576e-02] [-3.26827568e-02 9.99435454e-01 7.78523217e-03 -5.76215059e-01] [ 2.44657395e-01 4.47695932e-04 9.69609488e-01 -3.25634143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67463044000004 meters Centerline goodness : 0.093095 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.57, Z:-0.33 [[ 0.96895216 0.02569581 -0.2459094 0.01827058] [-0.02406325 0.99966394 0.00964188 -0.57373371] [ 0.24607452 -0.00342514 0.96924486 -0.33151988] [ 0. 0. 0. 1. ]] SLAMing on 302.70463044 meters Centerline goodness : 0.101028 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.57, Z:-0.33 [[ 0.96887905 0.02587281 -0.24617878 0.01889261] [-0.02418395 0.99965869 0.00988166 -0.57479417] [ 0.24635042 -0.00362056 0.96917406 -0.33139597] [ 0. 0. 0. 1. ]] SLAMing on 302.73463044 meters Centerline goodness : 0.291843 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.57, Z:-0.34 [[ 9.68933794e-01 1.73507228e-02 -2.46710875e-01 9.16128439e-04] [-1.50561758e-02 9.99824099e-01 1.11840765e-02 -5.72712860e-01] [ 2.46861530e-01 -7.12210732e-03 9.69024592e-01 -3.36978289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76463044 meters Centerline goodness : 0.102894 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.57, Z:-0.34 [[ 9.69139554e-01 1.38975391e-02 -2.46120667e-01 -2.26583011e-04] [-1.22164982e-02 9.99890463e-01 8.35575997e-03 -5.73243920e-01] [ 2.46209832e-01 -5.09116482e-03 9.69203177e-01 -3.37499900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79463044 meters Centerline goodness : 0.089885 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.58, Z:-0.33 [[ 0.96893863 0.02144505 -0.24636973 0.01594378] [-0.0200811 0.99976597 0.00804758 -0.58032927] [ 0.24648465 -0.00285024 0.9691425 -0.33293279] [ 0. 0. 0. 1. ]] SLAMing on 302.82463044 meters Centerline goodness : 0.103136 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.59, Z:-0.33 [[ 9.68768676e-01 2.84856874e-02 -2.46324619e-01 3.11531222e-02] [-2.74755671e-02 9.99594058e-01 7.53743200e-03 -5.89272279e-01] [ 2.46439334e-01 -5.34119409e-04 9.69158072e-01 -3.28325980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85463044 meters Centerline goodness : 0.105680 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.59, Z:-0.33 [[ 9.68849520e-01 2.84206591e-02 -2.46013971e-01 3.00733586e-02] [-2.73864062e-02 9.99595840e-01 7.62503900e-03 -5.89976547e-01] [ 2.46131251e-01 -6.50076844e-04 9.69236289e-01 -3.28286981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88463044 meters Centerline goodness : 0.101036 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.59, Z:-0.33 [[ 9.68861053e-01 2.84684127e-02 -2.45963025e-01 2.95514048e-02] [-2.74036897e-02 9.99594396e-01 7.75115719e-03 -5.90768890e-01] [ 2.46083925e-01 -7.69499880e-04 9.69248219e-01 -3.27931234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91463044 meters Centerline goodness : 0.271299 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.59, Z:-0.33 [[ 9.68878222e-01 2.85596170e-02 -2.45884808e-01 2.93553127e-02] [-2.74621522e-02 9.99591691e-01 7.89180390e-03 -5.91415120e-01] [ 2.46009798e-01 -8.93670910e-04 9.69266929e-01 -3.27911419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94463044 meters Centerline goodness : 0.102004 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.60, Z:-0.33 [[ 0.96888199 0.03584767 -0.24491353 0.01368506] [-0.03531451 0.99935466 0.00656944 -0.59791445] [ 0.24499097 0.00228399 0.96952267 -0.33332492] [ 0. 0. 0. 1. ]] SLAMing on 302.97463044 meters Centerline goodness : 0.096811 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.60, Z:-0.33 [[ 0.96889716 0.03579521 -0.24486118 0.01379784] [-0.03525818 0.99935659 0.00657769 -0.59811048] [ 0.24493908 0.00226026 0.96953584 -0.33356419] [ 0. 0. 0. 1. ]] SLAMing on 303.00463044 meters Centerline goodness : 0.287532 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.59, Z:-0.33 [[ 9.69058384e-01 2.93651736e-02 -2.45078631e-01 3.19369739e-02] [-2.84300017e-02 9.99568738e-01 7.35346861e-03 -5.94767420e-01] [ 2.45188874e-01 -1.58354504e-04 9.69475317e-01 -3.27377300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03463044 meters Centerline goodness : 0.288738 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.59, Z:-0.33 [[ 0.96930288 0.02103335 -0.24496841 0.0142215 ] [-0.01947604 0.99977179 0.00877814 -0.59181554] [ 0.24509714 -0.00373766 0.96949132 -0.33338588] [ 0. 0. 0. 1. ]] SLAMing on 303.06463044000003 meters Centerline goodness : 0.105911 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.59, Z:-0.33 [[ 0.96927573 0.02097468 -0.24508084 0.01450845] [-0.01940617 0.99977284 0.00881334 -0.59254566] [ 0.24521003 -0.00378648 0.96946259 -0.33331228] [ 0. 0. 0. 1. ]] SLAMing on 303.09463044 meters Centerline goodness : 0.105037 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.59, Z:-0.33 [[ 0.96924431 0.02092514 -0.24520932 0.0150267 ] [-0.01934213 0.99977364 0.00886243 -0.59328345] [ 0.24533927 -0.00384699 0.96942965 -0.33342269] [ 0. 0. 0. 1. ]] SLAMing on 303.12463044000003 meters Centerline goodness : 0.136901 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.59, Z:-0.33 [[ 0.96929212 0.01722116 -0.24530843 0.01668294] [-0.0162568 0.99985011 0.00595571 -0.59404337] [ 0.24537422 -0.00178489 0.96942679 -0.33446715] [ 0. 0. 0. 1. ]] SLAMing on 303.15463044 meters Centerline goodness : 0.105069 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.60, Z:-0.33 [[ 0.96920237 0.0171817 -0.24566554 0.01766102] [-0.01618024 0.99985052 0.00609451 -0.59550396] [ 0.24573353 -0.00193189 0.96933549 -0.33436044] [ 0. 0. 0. 1. ]] SLAMing on 303.18463044000003 meters Centerline goodness : 0.120667 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.60, Z:-0.33 [[ 0.96913468 0.01718576 -0.24593215 0.01861417] [-0.01614027 0.9998501 0.00626631 -0.59706991] [ 0.24600298 -0.00210349 0.96926679 -0.33449032] [ 0. 0. 0. 1. ]] SLAMing on 303.21463044 meters Centerline goodness : 0.128869 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.60, Z:-0.33 [[ 0.96905913 0.01715549 -0.24623179 0.01930103] [-0.01607189 0.99985029 0.00640985 -0.59845418] [ 0.24630489 -0.00225411 0.96918977 -0.33427779] [ 0. 0. 0. 1. ]] SLAMing on 303.24463044000004 meters Centerline goodness : 0.122425 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.60, Z:-0.33 [[ 9.69244479e-01 1.35411274e-02 -2.45727040e-01 1.82383048e-02] [-1.30770599e-02 9.99908295e-01 3.52023722e-03 -5.99164770e-01] [ 2.45752173e-01 -1.98583273e-04 9.69332672e-01 -3.34629220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27463044 meters Centerline goodness : 0.094203 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.60, Z:-0.34 [[ 9.69438691e-01 9.83218266e-03 -2.45136601e-01 1.70934442e-02] [-1.00087146e-02 9.99949773e-01 5.25640206e-04 -5.99685191e-01] [ 2.45129457e-01 1.94392632e-03 9.69488407e-01 -3.35043668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30463044000004 meters Centerline goodness : 0.285326 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.60, Z:-0.34 [[ 0.9695586 0.0057882 -0.24479097 0.01654739] [-0.00660027 0.9999751 -0.00249722 -0.60177699] [ 0.24477042 0.00403689 0.96957266 -0.33530579] [ 0. 0. 0. 1. ]] SLAMing on 303.33463044 meters Centerline goodness : 0.107292 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.60, Z:-0.34 [[ 0.96949685 0.00575047 -0.2450363 0.01711483] [-0.00651855 0.99997605 -0.00232365 -0.60359688] [ 0.24501707 0.00385006 0.96951112 -0.33518648] [ 0. 0. 0. 1. ]] SLAMing on 303.36463044000004 meters Centerline goodness : 0.105759 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.61, Z:-0.34 [[ 0.96943797 0.00579339 -0.24526813 0.01781169] [-0.00649385 0.99997682 -0.00204727 -0.60575558] [ 0.24525059 0.00357743 0.96945312 -0.33519741] [ 0. 0. 0. 1. ]] SLAMing on 303.39463044 meters Centerline goodness : 0.093098 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.61, Z:-0.33 [[ 0.96938795 0.00580026 -0.2454656 0.01803574] [-0.00643721 0.99997767 -0.00179261 -0.60789553] [ 0.24544972 0.00331785 0.96940364 -0.33489544] [ 0. 0. 0. 1. ]] SLAMing on 303.42463044000004 meters Centerline goodness : 0.125950 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.61, Z:-0.33 [[ 0.96941925 0.00574691 -0.24534323 0.01742616] [-0.00633124 0.99997869 -0.00159303 -0.60991782] [ 0.24532885 0.00309764 0.96943497 -0.33465042] [ 0. 0. 0. 1. ]] SLAMing on 303.45463044 meters Centerline goodness : 0.090854 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.61, Z:-0.33 [[ 0.96946061 0.00570478 -0.24518073 0.01637097] [-0.00623264 0.99997963 -0.0013771 -0.61208021] [ 0.24516788 0.00286316 0.96947641 -0.33413867] [ 0. 0. 0. 1. ]] SLAMing on 303.48463044 meters Centerline goodness : 0.159397 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.61, Z:-0.33 [[ 9.69862035e-01 -1.96027635e-03 -2.43646858e-01 3.41216623e-02] [ 1.81076600e-03 9.99998010e-01 -8.37602643e-04 -6.12289376e-01] [ 2.43648015e-01 3.71171557e-04 9.69863654e-01 -3.28198573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51463044 meters Centerline goodness : 0.154530 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.61, Z:-0.33 [[ 9.69875559e-01 -2.00524414e-03 -2.43592651e-01 3.38690009e-02] [ 1.87963342e-03 9.99997954e-01 -7.48091216e-04 -6.13329896e-01] [ 2.43593653e-01 2.67690498e-04 9.69877343e-01 -3.28099537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54463044 meters Centerline goodness : 0.087205 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.62, Z:-0.32 [[ 0.97003051 0.00408428 -0.2429488 0.05413951] [-0.00508109 0.99998105 -0.00347652 -0.6152155 ] [ 0.24293 0.00460678 0.97003288 -0.32341078] [ 0. 0. 0. 1. ]] SLAMing on 303.57463044 meters Centerline goodness : 0.237341 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.61, Z:-0.32 [[ 0.97003379 0.00396994 -0.24293763 0.05495456] [-0.0050067 0.9999808 -0.00365034 -0.61416935] [ 0.24291848 0.00475727 0.97003504 -0.32410715] [ 0. 0. 0. 1. ]] SLAMing on 303.60463044 meters Centerline goodness : 0.261908 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.61, Z:-0.32 [[ 0.97003062 0.00387081 -0.24295186 0.05532079] [-0.00492951 0.99998082 -0.00374988 -0.61373652] [ 0.24293268 0.00483513 0.9700311 -0.32438139] [ 0. 0. 0. 1. ]] SLAMing on 303.63463044 meters Centerline goodness : 0.168294 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.61, Z:-0.32 [[ 0.97003906 0.00379986 -0.24291931 0.05538094] [-0.00487543 0.99998079 -0.00382664 -0.61338194] [ 0.24290011 0.00489633 0.97003895 -0.32452321] [ 0. 0. 0. 1. ]] SLAMing on 303.66463044 meters Centerline goodness : 0.098746 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.61, Z:-0.32 [[ 0.97003825 0.00374284 -0.2429234 0.05552449] [-0.00482238 0.99998096 -0.00384945 -0.61337428] [ 0.24290436 0.00490559 0.97003784 -0.32460915] [ 0. 0. 0. 1. ]] SLAMing on 303.69463044 meters Centerline goodness : 0.257129 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.61, Z:-0.32 [[ 0.96999995 0.00364751 -0.24307775 0.05607457] [-0.00472962 0.99998133 -0.00386826 -0.61371778] [ 0.2430591 0.00490187 0.9699991 -0.32470412] [ 0. 0. 0. 1. ]] SLAMing on 303.72463044 meters Centerline goodness : 0.173490 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.61, Z:-0.32 [[ 0.96990662 0.00344336 -0.24345284 0.05741243] [-0.00453513 0.99998202 -0.00392418 -0.61422592] [ 0.24343495 0.00491018 0.9699048 -0.32490563] [ 0. 0. 0. 1. ]] SLAMing on 303.75463044 meters Centerline goodness : 0.092854 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.96970463 0.00271901 -0.24426529 0.06031109] [-0.0038623 0.99998371 -0.00420168 -0.6162489 ] [ 0.24424988 0.00501781 0.96969934 -0.32541715] [ 0. 0. 0. 1. ]] SLAMing on 303.78463044 meters Centerline goodness : 0.097454 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.96962558 0.00262364 -0.24457995 0.0613015 ] [-0.00373503 0.9999847 -0.00408039 -0.61770271] [ 0.24456551 0.00486996 0.96962054 -0.32550833] [ 0. 0. 0. 1. ]] SLAMing on 303.81463044000003 meters Centerline goodness : 0.158123 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.9696156 0.00267142 -0.244619 0.06176335] [-0.00372904 0.9999856 -0.00386053 -0.61899913] [ 0.24460516 0.00465542 0.96961159 -0.32582732] [ 0. 0. 0. 1. ]] SLAMing on 303.84463044 meters Centerline goodness : 0.158123 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.9696156 0.00267142 -0.244619 0.06176335] [-0.00372904 0.9999856 -0.00386053 -0.61899913] [ 0.24460516 0.00465542 0.96961159 -0.32582732] [ 0. 0. 0. 1. ]] SLAMing on 303.87463044000003 meters Centerline goodness : 0.109519 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.9696401 0.00265496 -0.24452205 0.06175443] [-0.00366559 0.99998652 -0.00367809 -0.62024753] [ 0.24450899 0.00446274 0.96963676 -0.32598545] [ 0. 0. 0. 1. ]] SLAMing on 303.90463044 meters Centerline goodness : 0.248548 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.96963441 0.00249623 -0.24454627 0.06199436] [-0.00352715 0.99998664 -0.00377784 -0.62040029] [ 0.24453358 0.00452568 0.96963026 -0.32612268] [ 0. 0. 0. 1. ]] SLAMing on 303.93463044000003 meters Centerline goodness : 0.143362 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.96958918 0.0023553 -0.24472692 0.06256904] [-0.00339995 0.99998682 -0.0038463 -0.62073424] [ 0.24471464 0.00456139 0.96958442 -0.32617608] [ 0. 0. 0. 1. ]] SLAMing on 303.96463044 meters Centerline goodness : 0.092322 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.96951685 0.00218646 -0.24501489 0.06368822] [-0.00324089 0.99998714 -0.00390042 -0.62125646] [ 0.24500321 0.00457559 0.96951147 -0.32643926] [ 0. 0. 0. 1. ]] SLAMing on 303.99463044000004 meters Centerline goodness : 0.091375 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.33 [[ 0.9694105 0.00196927 -0.24543719 0.06498873] [-0.00303807 0.99998748 -0.00397613 -0.62177005] [ 0.24542628 0.00460016 0.96940434 -0.3264927 ] [ 0. 0. 0. 1. ]] SLAMing on 304.02463044 meters Centerline goodness : 0.097480 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.62, Z:-0.33 [[ 0.96935874 0.00190702 -0.24564203 0.06582075] [-0.00295447 0.99998805 -0.00389569 -0.62257292] [ 0.24563166 0.00450206 0.96935278 -0.32673353] [ 0. 0. 0. 1. ]] SLAMing on 304.05463044000004 meters Centerline goodness : 0.144571 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.62, Z:-0.33 [[ 0.96930838 0.00187256 -0.24584093 0.06646036] [-0.00288817 0.99998872 -0.00377069 -0.62363008] [ 0.24583109 0.00436499 0.96930285 -0.32688655] [ 0. 0. 0. 1. ]] SLAMing on 304.08463044 meters Centerline goodness : 0.098405 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.63, Z:-0.33 [[ 0.9693302 0.00138345 -0.24575813 0.06618063] [-0.00238334 0.99999005 -0.0037712 -0.62599558] [ 0.24575046 0.00424126 0.96932385 -0.32680012] [ 0. 0. 0. 1. ]] SLAMing on 304.11463044000004 meters Centerline goodness : 0.096305 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.63, Z:-0.32 [[ 0.96977595 0.00165119 -0.24399157 0.10477127] [-0.00300495 0.99998209 -0.00517627 -0.62716443] [ 0.24397865 0.00575301 0.96976354 -0.31602583] [ 0. 0. 0. 1. ]] SLAMing on 304.14463044 meters Centerline goodness : 0.095044 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.63, Z:-0.32 [[ 0.96983474 0.00164331 -0.2437578 0.103684 ] [-0.00296673 0.99998279 -0.00506224 -0.6282052 ] [ 0.24374529 0.0056327 0.96982293 -0.31568381] [ 0. 0. 0. 1. ]] SLAMing on 304.17463044000004 meters Centerline goodness : 0.096960 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.63, Z:-0.32 [[ 0.96988433 0.00171876 -0.24355992 0.10277453] [-0.00301147 0.99998329 -0.00493534 -0.62866988] [ 0.24354737 0.00552018 0.96987329 -0.31534812] [ 0. 0. 0. 1. ]] SLAMing on 304.20463044 meters Centerline goodness : 0.105661 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.63, Z:-0.32 [[ 0.96993031 0.00186418 -0.24337569 0.10223489] [-0.00313551 0.99998339 -0.00483647 -0.62824506] [ 0.24336263 0.00545415 0.96992004 -0.31529614] [ 0. 0. 0. 1. ]] SLAMing on 304.23463044 meters Centerline goodness : 0.100556 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.63, Z:-0.32 [[ 0.96993058 0.00201501 -0.24337339 0.10241875] [-0.00332111 0.9999822 -0.00495649 -0.62626591] [ 0.24335907 0.00561572 0.96992001 -0.31526847] [ 0. 0. 0. 1. ]] SLAMing on 304.26463044 meters Centerline goodness : 0.155475 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.62, Z:-0.32 [[ 0.96990312 0.00186766 -0.243484 0.10287896] [-0.00325322 0.99998072 -0.00528859 -0.62440118] [ 0.24346943 0.00592152 0.9698905 -0.31528652] [ 0. 0. 0. 1. ]] SLAMing on 304.29463044 meters Centerline goodness : 0.137762 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.62, Z:-0.32 [[ 0.96993295 0.00183593 -0.24336536 0.1026569 ] [-0.00329164 0.99997904 -0.00557508 -0.62232836] [ 0.24335002 0.00620853 0.96991867 -0.31530548] [ 0. 0. 0. 1. ]] SLAMing on 304.32463044 meters Centerline goodness : 0.149009 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.62, Z:-0.31 [[ 0.96989199 0.00605852 -0.24346009 0.10232692] [-0.00687682 0.9999732 -0.00251134 -0.6187575 ] [ 0.24343835 0.00410996 0.96990767 -0.31468844] [ 0. 0. 0. 1. ]] SLAMing on 304.35463044 meters Centerline goodness : 0.151866 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.62, Z:-0.31 [[ 0.96990304 0.00613826 -0.24341406 0.1024883 ] [-0.00701105 0.99997172 -0.00271946 -0.61632737] [ 0.24339049 0.00434421 0.96991866 -0.31484051] [ 0. 0. 0. 1. ]] SLAMing on 304.38463044 meters Centerline goodness : 0.122544 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.61, Z:-0.31 [[ 0.96988869 0.00601109 -0.24347442 0.10290463] [-0.00697938 0.99997079 -0.00311451 -0.61373975] [ 0.24344859 0.00472003 0.96990232 -0.31495987] [ 0. 0. 0. 1. ]] SLAMing on 304.41463044 meters Centerline goodness : 0.153487 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.61, Z:-0.32 [[ 0.96987416 0.00579037 -0.24353764 0.10335258] [-0.00687117 0.99996995 -0.00358869 -0.6110139 ] [ 0.24350954 0.00515396 0.96988481 -0.31512678] [ 0. 0. 0. 1. ]] SLAMing on 304.44463044 meters Centerline goodness : 0.112648 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.61, Z:-0.32 [[ 0.96984417 0.005573 -0.24366212 0.10390729] [-0.00676453 0.9999689 -0.00405359 -0.60830504] [ 0.24363196 0.00557961 0.96985171 -0.31526898] [ 0. 0. 0. 1. ]] SLAMing on 304.47463044 meters Centerline goodness : 0.110504 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.61, Z:-0.32 [[ 0.96985814 0.00541726 -0.24361003 0.1042091 ] [-0.00670177 0.99996767 -0.00444432 -0.60569662] [ 0.24357807 0.00594298 0.96986308 -0.31561204] [ 0. 0. 0. 1. ]] SLAMing on 304.50463044 meters Centerline goodness : 0.109237 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.60, Z:-0.32 [[ 0.96992832 0.0053531 -0.24333188 0.10435796] [-0.00675905 0.99996494 -0.0049434 -0.60031264] [ 0.24329688 0.00643944 0.96993049 -0.31634515] [ 0. 0. 0. 1. ]] SLAMing on 304.53463044 meters Centerline goodness : 0.110003 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.60, Z:-0.32 [[ 0.96992936 0.00516456 -0.24333178 0.1046249 ] [-0.0066631 0.99996357 -0.00533578 -0.59793669] [ 0.24329536 0.00679667 0.96992844 -0.31653811] [ 0. 0. 0. 1. ]] SLAMing on 304.56463044000003 meters Centerline goodness : 0.110935 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.60, Z:-0.32 [[ 0.96992269 0.00497473 -0.24336233 0.10497985] [-0.00656635 0.99996203 -0.00572937 -0.5955529 ] [ 0.24332459 0.00715505 0.96991853 -0.31675712] [ 0. 0. 0. 1. ]] SLAMing on 304.59463044 meters Centerline goodness : 0.163010 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.59, Z:-0.32 [[ 0.96990425 0.00477339 -0.24343986 0.10537775] [-0.00646379 0.99996023 -0.00614551 -0.59289264] [ 0.24340084 0.0075341 0.96989653 -0.31683703] [ 0. 0. 0. 1. ]] SLAMing on 304.62463044000003 meters Centerline goodness : 0.110348 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.59, Z:-0.32 [[ 0.96991221 0.00459178 -0.24341162 0.10560223] [-0.00637877 0.99995818 -0.00655374 -0.590331 ] [ 0.24337134 0.00790922 0.96990094 -0.31703631] [ 0. 0. 0. 1. ]] SLAMing on 304.65463044 meters Centerline goodness : 0.153390 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.59, Z:-0.32 [[ 0.96988995 0.00435944 -0.2435046 0.10605448] [-0.0062583 0.99995574 -0.00702498 -0.58758341] [ 0.2434632 0.00833738 0.9698743 -0.31713599] [ 0. 0. 0. 1. ]] SLAMing on 304.68463044000003 meters Centerline goodness : 0.126914 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.58, Z:-0.32 [[ 0.96996935 0.00457199 -0.2431842 0.10602169] [-0.00656546 0.99995116 -0.00738751 -0.58036272] [ 0.24313854 0.00876228 0.96995199 -0.31779223] [ 0. 0. 0. 1. ]] SLAMing on 304.71463044 meters Centerline goodness : 0.143767 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.58, Z:-0.32 [[ 0.96996018 0.00446095 -0.24322285 0.10643727] [-0.00655102 0.99994824 -0.0077851 -0.57723288] [ 0.24317553 0.0091446 0.96993919 -0.31804625] [ 0. 0. 0. 1. ]] SLAMing on 304.74463044000004 meters Centerline goodness : 0.168315 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.57, Z:-0.32 [[ 0.96994617 0.00436596 -0.24328043 0.10705258] [-0.00654528 0.99994536 -0.00815046 -0.57424323] [ 0.24323155 0.00949785 0.96992175 -0.31832752] [ 0. 0. 0. 1. ]] SLAMing on 304.77463044 meters Centerline goodness : 0.151060 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.57, Z:-0.32 [[ 0.96993674 0.00415755 -0.24332166 0.10750632] [-0.00644816 0.99994207 -0.00861824 -0.57126129] [ 0.24327174 0.00992812 0.96990736 -0.31857534] [ 0. 0. 0. 1. ]] SLAMing on 304.80463044000004 meters Centerline goodness : 0.111857 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.57, Z:-0.32 [[ 0.96989023 0.00389856 -0.2435113 0.10819715] [-0.00630386 0.99993873 -0.00909909 -0.56844428] [ 0.24346091 0.01036018 0.96985538 -0.31861698] [ 0. 0. 0. 1. ]] SLAMing on 304.83463044 meters Centerline goodness : 0.161570 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.56, Z:-0.32 [[ 0.96981535 0.00366433 -0.24381295 0.10886955] [-0.0062461 0.99993231 -0.00981689 -0.56162488] [ 0.24376048 0.01104345 0.96977259 -0.31833339] [ 0. 0. 0. 1. ]] SLAMing on 304.86463044000004 meters Centerline goodness : 0.111621 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.56, Z:-0.32 [[ 0.96981607 0.0035529 -0.24381175 0.10879639] [-0.00621951 0.99992896 -0.01016823 -0.55883728] [ 0.2437583 0.01137771 0.96976927 -0.31821721] [ 0. 0. 0. 1. ]] SLAMing on 304.89463044 meters Centerline goodness : 0.113064 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.56, Z:-0.32 [[ 0.9698372 0.00342709 -0.24372947 0.10851118] [-0.00617723 0.99992558 -0.01052018 -0.55629141] [ 0.24367528 0.01170844 0.9697862 -0.31813136] [ 0. 0. 0. 1. ]] SLAMing on 304.92463044000004 meters Centerline goodness : 0.114289 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.9698589 0.00323623 -0.24364571 0.10834884] [-0.00607687 0.99992204 -0.01090819 -0.55386661] [ 0.24359142 0.01206001 0.96980296 -0.31812174] [ 0. 0. 0. 1. ]] SLAMing on 304.95463044 meters Centerline goodness : 0.112774 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.96989767 0.00299229 -0.24349445 0.1077819 ] [-0.00592358 0.99991853 -0.01130715 -0.55172787] [ 0.24344078 0.01240913 0.96983638 -0.31795409] [ 0. 0. 0. 1. ]] SLAMing on 304.98463044 meters Centerline goodness : 0.130370 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.96996414 0.00281217 -0.24323169 0.10721886] [-0.00586594 0.9999128 -0.01183162 -0.54762619] [ 0.2431772 0.01290303 0.96989606 -0.3179458 ] [ 0. 0. 0. 1. ]] SLAMing on 305.01463044 meters Centerline goodness : 0.141018 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.96997982 0.00275495 -0.24316983 0.10730243] [-0.00586061 0.99991023 -0.01204909 -0.54594329] [ 0.24311481 0.0131125 0.96990889 -0.31812395] [ 0. 0. 0. 1. ]] SLAMing on 305.04463044 meters Centerline goodness : 0.148599 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96994587 0.00261554 -0.24330673 0.10786742] [-0.00579318 0.99990701 -0.01234566 -0.54417169] [ 0.24325181 0.01338414 0.96987083 -0.31823215] [ 0. 0. 0. 1. ]] SLAMing on 305.07463044 meters Centerline goodness : 0.112384 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96988307 0.00241653 -0.243559 0.10867159] [-0.00568188 0.99990314 -0.01270517 -0.54226732] [ 0.24350471 0.0137064 0.96980286 -0.31827524] [ 0. 0. 0. 1. ]] SLAMing on 305.10463044 meters Centerline goodness : 0.154012 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96988992 0.00239269 -0.24353196 0.10846197] [-0.00574724 0.99989813 -0.01306501 -0.53915477] [ 0.24347589 0.01407126 0.96980487 -0.31811491] [ 0. 0. 0. 1. ]] SLAMing on 305.13463044 meters Centerline goodness : 0.112065 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96994388 0.00239036 -0.24331699 0.10770778] [-0.00578366 0.99989572 -0.0132326 -0.53754821] [ 0.24325999 0.01424214 0.96985656 -0.31793064] [ 0. 0. 0. 1. ]] SLAMing on 305.16463044 meters Centerline goodness : 0.111646 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.97002012 0.00237357 -0.24301304 0.10700948] [-0.0058074 0.99989315 -0.01341482 -0.53593978] [ 0.24295524 0.01442392 0.96993026 -0.31804895] [ 0. 0. 0. 1. ]] SLAMing on 305.19463044 meters Centerline goodness : 0.149089 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.53, Z:-0.32 [[ 0.97004372 0.002288 -0.24291964 0.10692394] [-0.00576661 0.99989075 -0.01360991 -0.53473745] [ 0.24286196 0.01460303 0.96995094 -0.31819594] [ 0. 0. 0. 1. ]] SLAMing on 305.22463044 meters Centerline goodness : 0.113507 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.53, Z:-0.32 [[ 0.97009467 0.00215744 -0.24271727 0.10705499] [-0.00566797 0.99988918 -0.01376605 -0.53407473] [ 0.24266067 0.01473009 0.96999939 -0.31883451] [ 0. 0. 0. 1. ]] SLAMing on 305.25463044 meters Centerline goodness : 0.112880 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.53, Z:-0.32 [[ 0.97007615 0.00208667 -0.24279189 0.10748128] [-0.00558973 0.99988997 -0.01374029 -0.53472462] [ 0.2427365 0.01468627 0.96998108 -0.31902076] [ 0. 0. 0. 1. ]] SLAMing on 305.28463044 meters Centerline goodness : 0.113740 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.9700408 0.00202693 -0.2429336 0.10813166] [-0.00551184 0.99989142 -0.01366628 -0.53578999] [ 0.24287952 0.01459586 0.96994665 -0.31924902] [ 0. 0. 0. 1. ]] SLAMing on 305.31463044000003 meters Centerline goodness : 0.115216 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96998941 0.00203822 -0.24313863 0.10872966] [-0.00549414 0.99989328 -0.01353654 -0.53686191] [ 0.24308509 0.01446614 0.96989709 -0.31928935] [ 0. 0. 0. 1. ]] SLAMing on 305.34463044 meters Centerline goodness : 0.152735 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96995244 0.00207122 -0.24328578 0.10929593] [-0.00550351 0.99989468 -0.01342925 -0.53765285] [ 0.24323234 0.01436466 0.96986168 -0.31940892] [ 0. 0. 0. 1. ]] SLAMing on 305.37463044000003 meters Centerline goodness : 0.133319 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96977935 0.00202596 -0.24397524 0.11210798] [-0.00549804 0.99989306 -0.01355114 -0.53699366] [ 0.24392169 0.014483 0.96968678 -0.320126 ] [ 0. 0. 0. 1. ]] SLAMing on 305.40463044 meters Centerline goodness : 0.120968 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96974761 0.00204608 -0.24410116 0.11296029] [-0.00553434 0.99989213 -0.01360521 -0.53638379] [ 0.24404699 0.01454456 0.96965433 -0.32053364] [ 0. 0. 0. 1. ]] SLAMing on 305.43463044000003 meters Centerline goodness : 0.170971 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96979276 0.00212781 -0.24392105 0.11269158] [-0.00561691 0.99989161 -0.01360956 -0.53580207] [ 0.24386565 0.01456854 0.96969959 -0.3207687 ] [ 0. 0. 0. 1. ]] SLAMing on 305.46463044 meters Centerline goodness : 0.157007 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96984157 0.00220828 -0.24372617 0.11244486] [-0.00569968 0.99989099 -0.01362082 -0.5350688 ] [ 0.24366952 0.0145992 0.96974844 -0.32100756] [ 0. 0. 0. 1. ]] SLAMing on 305.49463044000004 meters Centerline goodness : 0.178914 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.53, Z:-0.32 [[ 0.96984689 0.00235435 -0.24370365 0.11241339] [-0.00582752 0.99989146 -0.01353166 -0.53476274] [ 0.24364534 0.01454383 0.96975534 -0.32103792] [ 0. 0. 0. 1. ]] SLAMing on 305.52463044 meters Centerline goodness : 0.097357 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96968082 0.00231075 -0.24436399 0.11453805] [-0.00579406 0.99989159 -0.01353672 -0.53533281] [ 0.24430622 0.01454216 0.96958909 -0.32123922] [ 0. 0. 0. 1. ]] SLAMing on 305.55463044000004 meters Centerline goodness : 0.218715 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.32 [[ 0.96957737 0.00223723 -0.24477482 0.11597717] [-0.00572137 0.99989218 -0.01352397 -0.53612562] [ 0.24471817 0.01451298 0.96948563 -0.32150171] [ 0. 0. 0. 1. ]] SLAMing on 305.58463044 meters Centerline goodness : 0.098497 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.32 [[ 0.96949111 0.0021439 -0.24511711 0.11698704] [-0.00562705 0.99989289 -0.01351072 -0.53719672] [ 0.24506189 0.01447781 0.96939933 -0.32151384] [ 0. 0. 0. 1. ]] SLAMing on 305.61463044000004 meters Centerline goodness : 0.111416 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.32 [[ 0.96951229 0.00213872 -0.24503336 0.11666197] [-0.00559579 0.99989438 -0.01341324 -0.53835736] [ 0.2449788 0.01437546 0.96942186 -0.32143032] [ 0. 0. 0. 1. ]] SLAMing on 305.64463044 meters Centerline goodness : 0.103567 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96965055 0.00239976 -0.24448322 0.11446365] [-0.00577407 0.9998977 -0.01308604 -0.5399106 ] [ 0.2444268 0.01410055 0.96956522 -0.32082215] [ 0. 0. 0. 1. ]] SLAMing on 305.67463044000004 meters Centerline goodness : 0.104279 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96968195 0.00260005 -0.24435663 0.11401796] [-0.00593007 0.9998993 -0.01289299 -0.54042524] [ 0.2442985 0.01395115 0.96959972 -0.32072181] [ 0. 0. 0. 1. ]] SLAMing on 305.70463044 meters Centerline goodness : 0.108504 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96963702 0.00269282 -0.24453384 0.11459468] [-0.00601487 0.99989948 -0.01283951 -0.54038963] [ 0.24447469 0.0139205 0.96955575 -0.32075003] [ 0. 0. 0. 1. ]] SLAMing on 305.73463044 meters Centerline goodness : 0.102164 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.32 [[ 0.96957235 0.00270862 -0.24478994 0.11559096] [-0.00605453 0.99989824 -0.01291704 -0.53987696] [ 0.24473005 0.01400609 0.96949009 -0.32095751] [ 0. 0. 0. 1. ]] SLAMing on 305.76463044 meters Centerline goodness : 0.103892 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.32 [[ 0.96955321 0.00280405 -0.24486467 0.1160435 ] [-0.00614835 0.99989796 -0.01289439 -0.53960401] [ 0.24480352 0.01400731 0.96947152 -0.32116335] [ 0. 0. 0. 1. ]] SLAMing on 305.79463044 meters Centerline goodness : 0.103892 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.32 [[ 0.96955321 0.00280405 -0.24486467 0.1160435 ] [-0.00614835 0.99989796 -0.01289439 -0.53960401] [ 0.24480352 0.01400731 0.96947152 -0.32116335] [ 0. 0. 0. 1. ]] SLAMing on 305.82463044 meters Centerline goodness : 0.135388 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.32 [[ 0.9695658 0.00296282 -0.24481296 0.11605959] [-0.00630591 0.99989726 -0.01287299 -0.53896578] [ 0.24474967 0.01402498 0.96948486 -0.32131383] [ 0. 0. 0. 1. ]] SLAMing on 305.85463044 meters Centerline goodness : 0.124229 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96969622 0.00367481 -0.24428617 0.11450256] [-0.00692446 0.99989858 -0.01244517 -0.53833244] [ 0.24421566 0.01375958 0.96962332 -0.32119838] [ 0. 0. 0. 1. ]] SLAMing on 305.88463044 meters Centerline goodness : 0.128622 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96976786 0.0038666 -0.24399866 0.11366366] [-0.00708248 0.99989922 -0.01230398 -0.53823378] [ 0.2439265 0.01366012 0.96969751 -0.32118483] [ 0. 0. 0. 1. ]] SLAMing on 305.91463044 meters Centerline goodness : 0.102796 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.96979528 0.00392333 -0.24388876 0.11336538] [-0.00711848 0.99989998 -0.01222085 -0.53871317] [ 0.24381642 0.01358784 0.96972621 -0.32117616] [ 0. 0. 0. 1. ]] SLAMing on 305.94463044 meters Centerline goodness : 0.199713 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.55, Z:-0.32 [[ 0.96968838 0.01136276 -0.24408058 0.12960456] [-0.01485791 0.99981169 -0.01248329 -0.54559792] [ 0.24389277 0.01573143 0.9696746 -0.31695854] [ 0. 0. 0. 1. ]] SLAMing on 305.97463044 meters Centerline goodness : 0.123223 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.54, Z:-0.32 [[ 0.9695919 0.00335435 -0.2447045 0.11232807] [-0.00619448 0.99992208 -0.01083769 -0.5436838 ] [ 0.24464908 0.01202395 0.96953713 -0.32277811] [ 0. 0. 0. 1. ]] SLAMing on 306.00463044 meters Centerline goodness : 0.276811 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.96959066 0.00357985 -0.24470621 0.11295209] [-0.00632267 0.99992568 -0.01042399 -0.54598806] [ 0.24465071 0.0116542 0.96954124 -0.32330324] [ 0. 0. 0. 1. ]] SLAMing on 306.03463044 meters Centerline goodness : 0.101517 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.96958462 0.00371048 -0.24472822 0.11291421] [-0.00639983 0.99992755 -0.01019484 -0.54724385] [ 0.24467266 0.01145098 0.96953812 -0.32321967] [ 0. 0. 0. 1. ]] SLAMing on 306.06463044000003 meters Centerline goodness : 0.097091 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.9695664 0.00377046 -0.24479947 0.11302791] [-0.00642284 0.999929 -0.0100375 -0.54843857] [ 0.24474424 0.01130433 0.96952177 -0.3231261 ] [ 0. 0. 0. 1. ]] SLAMing on 306.09463044 meters Centerline goodness : 0.255618 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.32 [[ 0.96952292 0.00382623 -0.24497075 0.11346267] [-0.00644732 0.99993022 -0.00989857 -0.54941264] [ 0.24491578 0.01117629 0.96947994 -0.32305152] [ 0. 0. 0. 1. ]] SLAMing on 306.12463044000003 meters Centerline goodness : 0.101431 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.32 [[ 0.96938911 0.00394317 -0.24549787 0.11555987] [-0.00652672 0.99993155 -0.00971103 -0.55040748] [ 0.24544277 0.01101606 0.96934849 -0.32353742] [ 0. 0. 0. 1. ]] SLAMing on 306.15463044 meters Centerline goodness : 0.282578 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.56, Z:-0.33 [[ 0.9689453 0.01273824 -0.24694685 0.10325158] [-0.01590703 0.9998147 -0.01084103 -0.55598814] [ 0.24676299 0.01443256 0.96896838 -0.32834917] [ 0. 0. 0. 1. ]] SLAMing on 306.18463044000003 meters Centerline goodness : 0.113051 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.55, Z:-0.33 [[ 0.96884029 0.00464374 -0.24764273 0.0868516 ] [-0.00718267 0.99993049 -0.00934994 -0.55290538] [ 0.2475821 0.01083734 0.9688063 -0.33457168] [ 0. 0. 0. 1. ]] SLAMing on 306.21463044 meters Centerline goodness : 0.101755 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.55, Z:-0.33 [[ 0.9687977 0.00465959 -0.24780902 0.08730992] [-0.00719274 0.99993072 -0.00931782 -0.55309236] [ 0.24774844 0.01080951 0.96876409 -0.33454563] [ 0. 0. 0. 1. ]] SLAMing on 306.24463044000004 meters Centerline goodness : 0.105045 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.55, Z:-0.33 [[ 0.96879733 0.00476617 -0.24780844 0.08708302] [-0.00725673 0.99993192 -0.00913795 -0.55408803] [ 0.24774802 0.0106511 0.96876595 -0.33434442] [ 0. 0. 0. 1. ]] SLAMing on 306.27463044 meters Centerline goodness : 0.094196 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.33 [[ 0.96878269 0.00476793 -0.24786562 0.08694043] [-0.00722286 0.99993345 -0.00899586 -0.55534253] [ 0.24780623 0.01050533 0.96875266 -0.3340477 ] [ 0. 0. 0. 1. ]] SLAMing on 306.30463044000004 meters Centerline goodness : 0.274931 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.33 [[ 9.68812028e-01 4.55703053e-04 -2.47796382e-01 8.68739773e-02] [-3.61189984e-03 9.99918042e-01 -1.22826100e-02 -5.57394248e-01] [ 2.47770476e-01 1.27945560e-02 9.68734273e-01 -3.34143379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33463044 meters Centerline goodness : 0.126074 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.33 [[ 9.68802731e-01 5.08293897e-04 -2.47832623e-01 8.67559921e-02] [-3.60513250e-03 9.99920993e-01 -1.20420324e-02 -5.59320241e-01] [ 2.47806922e-01 1.25598233e-02 9.68728022e-01 -3.33956379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36463044000004 meters Centerline goodness : 0.136742 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.33 [[ 9.68842110e-01 6.55771504e-04 -2.47678291e-01 8.63873098e-02] [-3.68320651e-03 9.99924064e-01 -1.17601096e-02 -5.60823592e-01] [ 2.47651771e-01 1.23059397e-02 9.68770955e-01 -3.34001449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39463044 meters Centerline goodness : 0.106948 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.33 [[ 9.68890311e-01 7.68112162e-04 -2.47489342e-01 8.62008370e-02] [-3.72738798e-03 9.99927054e-01 -1.14888744e-02 -5.62616686e-01] [ 2.47462464e-01 1.20539479e-02 9.68822497e-01 -3.34271150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42463044000004 meters Centerline goodness : 0.108543 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.33 [[ 9.68864136e-01 7.92530974e-04 -2.47591717e-01 8.64641049e-02] [-3.73506590e-03 9.99927869e-01 -1.14151540e-02 -5.63408669e-01] [ 2.47564811e-01 1.19845047e-02 9.68797211e-01 -3.34241261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45463044 meters Centerline goodness : 0.120512 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.33 [[ 9.68812057e-01 8.69240224e-04 -2.47795163e-01 8.70748860e-02] [-3.78964903e-03 9.99928872e-01 -1.13088538e-02 -5.63959143e-01] [ 2.47767708e-01 1.18952106e-02 9.68746441e-01 -3.34244629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48463044 meters Centerline goodness : 0.143002 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.57, Z:-0.34 [[ 0.96869107 0.00985566 -0.24807353 0.07344987] [-0.01327083 0.99983875 -0.01209829 -0.57013572] [ 0.24791429 0.01501164 0.96866566 -0.33884544] [ 0. 0. 0. 1. ]] SLAMing on 306.51463044 meters Centerline goodness : 0.105011 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.57, Z:-0.34 [[ 0.96866135 0.00993015 -0.24818659 0.07370137] [-0.01332178 0.99983937 -0.01198992 -0.57070806] [ 0.24802766 0.01492046 0.96863804 -0.3388029 ] [ 0. 0. 0. 1. ]] SLAMing on 306.54463044 meters Centerline goodness : 0.137889 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.57, Z:-0.34 [[ 0.9686412 0.0099396 -0.24826485 0.07375969] [-0.01331478 0.99984031 -0.01191968 -0.57138191] [ 0.24810673 0.01485148 0.96861885 -0.33863293] [ 0. 0. 0. 1. ]] SLAMing on 306.57463044 meters Centerline goodness : 0.270187 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.57, Z:-0.34 [[ 0.96868108 0.01009471 -0.24810294 0.07284607] [-0.01338145 0.99984359 -0.01156466 -0.57401873] [ 0.24794739 0.01452245 0.96866464 -0.33829294] [ 0. 0. 0. 1. ]] SLAMing on 306.60463044 meters Centerline goodness : 0.107775 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96872913 0.01030268 -0.24790668 0.07199894] [-0.0135004 0.99984611 -0.01120235 -0.5759129 ] [ 0.24775312 0.01419888 0.96871915 -0.33804701] [ 0. 0. 0. 1. ]] SLAMing on 306.63463044 meters Centerline goodness : 0.105809 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96872461 0.01048723 -0.2479166 0.07171378] [-0.01360833 0.99984822 -0.01087901 -0.57754232] [ 0.24776488 0.0139125 0.96872029 -0.33776309] [ 0. 0. 0. 1. ]] SLAMing on 306.66463044 meters Centerline goodness : 0.270929 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96868914 0.01058352 -0.24805109 0.07195154] [-0.01364258 0.99985057 -0.01061667 -0.57940871] [ 0.24790166 0.01366831 0.96868878 -0.33760633] [ 0. 0. 0. 1. ]] SLAMing on 306.69463044 meters Centerline goodness : 0.266085 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96874795 0.00731399 -0.24793935 0.07222857] [-0.01094961 0.99985176 -0.01328753 -0.58030214] [ 0.24780541 0.01558711 0.96868443 -0.33806643] [ 0. 0. 0. 1. ]] SLAMing on 306.72463044 meters Centerline goodness : 0.156200 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96878153 0.00439515 -0.24787705 0.07133148] [-0.00852003 0.99984247 -0.01557057 -0.58297832] [ 0.24776957 0.0171964 0.96866636 -0.33768444] [ 0. 0. 0. 1. ]] SLAMing on 306.75463044 meters Centerline goodness : 0.106229 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.9687567 0.00454023 -0.24797144 0.07125025] [-0.00862817 0.99984417 -0.01540128 -0.58366743] [ 0.24786287 0.01705963 0.96864491 -0.33737626] [ 0. 0. 0. 1. ]] SLAMing on 306.78463044 meters Centerline goodness : 0.267449 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96874695 0.00477004 -0.24800523 0.07141134] [-0.00881833 0.99984536 -0.01521512 -0.58362726] [ 0.2478943 0.0169266 0.9686392 -0.33734531] [ 0. 0. 0. 1. ]] SLAMing on 306.81463044000003 meters Centerline goodness : 0.104749 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96870631 0.00497826 -0.24815983 0.07198093] [-0.00901347 0.99984495 -0.015127 -0.58312179] [ 0.24804604 0.0168904 0.96860099 -0.33745126] [ 0. 0. 0. 1. ]] SLAMing on 306.84463044 meters Centerline goodness : 0.101016 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.34 [[ 0.96862044 0.00500002 -0.24849434 0.07342819] [-0.00908712 0.99984161 -0.01530313 -0.58164366] [ 0.24837847 0.01708103 0.96851246 -0.33781686] [ 0. 0. 0. 1. ]] SLAMing on 306.87463044000003 meters Centerline goodness : 0.102403 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.34 [[ 0.96854767 0.00555553 -0.24876605 0.07501913] [-0.00970089 0.99983372 -0.01544089 -0.57690979] [ 0.24863891 0.01736849 0.96844051 -0.33847041] [ 0. 0. 0. 1. ]] SLAMing on 306.90463044 meters Centerline goodness : 0.261190 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.34 [[ 0.9688416 0.01966481 -0.24689927 0.07988475] [-0.02464268 0.99955028 -0.0170875 -0.58048783] [ 0.24645221 0.02263934 0.96889048 -0.33965681] [ 0. 0. 0. 1. ]] SLAMing on 306.93463044000003 meters Centerline goodness : 0.277205 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.34 [[ 0.96878595 0.02278011 -0.24684987 0.07929848] [-0.02733248 0.99951339 -0.01503055 -0.57696775] [ 0.24638735 0.0213084 0.96893716 -0.33880786] [ 0. 0. 0. 1. ]] SLAMing on 306.96463044 meters Centerline goodness : 0.097586 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.58, Z:-0.33 [[ 0.96849699 0.03062957 -0.24713439 0.09541448] [-0.03557186 0.99924602 -0.01555741 -0.58117409] [ 0.24647154 0.02385834 0.96885632 -0.33374116] [ 0. 0. 0. 1. ]] SLAMing on 306.99463044000004 meters Centerline goodness : 0.105576 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.58, Z:-0.33 [[ 0.96846628 0.03022097 -0.247305 0.09548692] [-0.03532172 0.99924446 -0.0162138 -0.57900203] [ 0.24662815 0.02443775 0.96880202 -0.33320759] [ 0. 0. 0. 1. ]] SLAMing on 307.02463044 meters Centerline goodness : 0.106291 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.58, Z:-0.33 [[ 0.96854729 0.03016787 -0.24699403 0.09490575] [-0.03526166 0.9992464 -0.01622492 -0.57840219] [ 0.24631843 0.02442402 0.96888116 -0.33353281] [ 0. 0. 0. 1. ]] SLAMing on 307.05463044000004 meters Centerline goodness : 0.096848 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.58, Z:-0.34 [[ 0.96907263 0.02880257 -0.24508908 0.06093674] [-0.03391924 0.99928537 -0.01668056 -0.57872152] [ 0.24443349 0.02447791 0.96935706 -0.3433777 ] [ 0. 0. 0. 1. ]] SLAMing on 307.08463044 meters Centerline goodness : 0.183999 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.34 [[ 0.96888954 0.03671056 -0.24475579 0.07723798] [-0.04208563 0.99897333 -0.01676553 -0.58426944] [ 0.24388904 0.02654465 0.9694398 -0.33934541] [ 0. 0. 0. 1. ]] SLAMing on 307.11463044000004 meters Centerline goodness : 0.095570 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.58, Z:-0.34 [[ 0.96932761 0.02984498 -0.24395341 0.06474617] [-0.03498701 0.99924704 -0.01677113 -0.57671826] [ 0.24326918 0.02479192 0.96964193 -0.34356133] [ 0. 0. 0. 1. ]] SLAMing on 307.14463044 meters Centerline goodness : 0.096708 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.57, Z:-0.35 [[ 0.96903056 0.02103907 -0.24604294 0.04789183] [-0.02574186 0.99954197 -0.01591273 -0.5717253 ] [ 0.24559545 0.02175352 0.9691283 -0.34840314] [ 0. 0. 0. 1. ]] SLAMing on 307.17463044000004 meters Centerline goodness : 0.103346 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.57, Z:-0.35 [[ 0.96896325 0.02100632 -0.24631067 0.04857905] [-0.02574716 0.99953976 -0.01604235 -0.57114185] [ 0.24586032 0.02188625 0.96905815 -0.34829996] [ 0. 0. 0. 1. ]] SLAMing on 307.20463044 meters Centerline goodness : 0.106248 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.58, Z:-0.34 [[ 0.96872061 0.02842241 -0.2465209 0.06363997] [-0.03343897 0.99930968 -0.01618618 -0.57782958] [ 0.24589067 0.02392329 0.9690023 -0.34437926] [ 0. 0. 0. 1. ]] SLAMing on 307.23463044 meters Centerline goodness : 0.090769 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.34 [[ 0.96872669 0.02198749 -0.2471541 0.08106834] [-0.0266757 0.99952185 -0.01563594 -0.57273143] [ 0.24669213 0.02173996 0.96885002 -0.338224 ] [ 0. 0. 0. 1. ]] SLAMing on 307.26463044 meters Centerline goodness : 0.104399 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.34 [[ 0.96882207 0.02178764 -0.24679769 0.08001586] [-0.0265257 0.99952184 -0.01588936 -0.57155505] [ 0.24633349 0.02194045 0.96893675 -0.33811192] [ 0. 0. 0. 1. ]] SLAMing on 307.29463044 meters Centerline goodness : 0.103144 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.34 [[ 0.96883371 0.02169866 -0.24675984 0.08000458] [-0.02647908 0.99952018 -0.01607059 -0.57034034] [ 0.24629273 0.0221037 0.9689434 -0.33814657] [ 0. 0. 0. 1. ]] SLAMing on 307.32463044 meters Centerline goodness : 0.074551 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.34 [[ 0.96882809 0.02181142 -0.24677193 0.08022792] [-0.02660077 0.99951663 -0.01609056 -0.56948685] [ 0.24630169 0.02215331 0.96893999 -0.33827696] [ 0. 0. 0. 1. ]] SLAMing on 307.35463044 meters Centerline goodness : 0.101331 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.57, Z:-0.33 [[ 0.96851798 0.02942402 -0.2471986 0.09624398] [-0.03452221 0.99927077 -0.01631407 -0.57431486] [ 0.24653831 0.02433431 0.96882749 -0.33421524] [ 0. 0. 0. 1. ]] SLAMing on 307.38463044 meters Centerline goodness : 0.100329 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.57, Z:-0.33 [[ 0.96847065 0.0292676 -0.24740253 0.09689317] [-0.03446845 0.99926598 -0.01671592 -0.57262881] [ 0.2467317 0.02471646 0.96876858 -0.3340615 ] [ 0. 0. 0. 1. ]] SLAMing on 307.41463044 meters Centerline goodness : 0.094393 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.57, Z:-0.33 [[ 0.96828278 0.02908757 -0.24815797 0.09929063] [-0.0344946 0.99925222 -0.01746752 -0.56941735] [ 0.24746431 0.02547361 0.96856208 -0.33376531] [ 0. 0. 0. 1. ]] SLAMing on 307.44463044 meters Centerline goodness : 0.078529 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.57, Z:-0.33 [[ 0.96816615 0.02914006 -0.24860646 0.10063914] [-0.03462666 0.99924314 -0.01772422 -0.56779002] [ 0.24790181 0.0257684 0.9684424 -0.33356839] [ 0. 0. 0. 1. ]] SLAMing on 307.47463044 meters Centerline goodness : 0.088986 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.57, Z:-0.33 [[ 0.96810926 0.02912732 -0.24882938 0.10149093] [-0.03468649 0.9992364 -0.01798517 -0.56617773] [ 0.24811552 0.02604263 0.96838033 -0.3335718 ] [ 0. 0. 0. 1. ]] SLAMing on 307.50463044 meters Centerline goodness : 0.081398 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.57, Z:-0.33 [[ 0.96814181 0.02902829 -0.24871427 0.10134161] [-0.03463118 0.99923478 -0.01818077 -0.56528352] [ 0.24799619 0.02621484 0.96840625 -0.33366521] [ 0. 0. 0. 1. ]] SLAMing on 307.53463044 meters Centerline goodness : 0.094631 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.56, Z:-0.33 [[ 0.96850212 0.01599773 -0.24849089 0.09925093] [-0.02048448 0.99967031 -0.01548067 -0.55752597] [ 0.24816131 0.02008327 0.96851052 -0.33297339] [ 0. 0. 0. 1. ]] SLAMing on 307.56463044000003 meters Centerline goodness : 0.102780 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.33 [[ 0.96839272 0.00952534 -0.24924848 0.11679206] [-0.01362168 0.99979894 -0.01471507 -0.55268244] [ 0.2490582 0.01764515 0.96832777 -0.32644596] [ 0. 0. 0. 1. ]] SLAMing on 307.59463044 meters Centerline goodness : 0.092201 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.56, Z:-0.32 [[ 0.96821308 0.01655013 -0.2495787 0.1309044 ] [-0.02086285 0.99967509 -0.01464439 -0.56009653] [ 0.24925525 0.01938582 0.96824378 -0.32249235] [ 0. 0. 0. 1. ]] SLAMing on 307.62463044000003 meters Centerline goodness : 0.108997 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.56, Z:-0.33 [[ 0.96829246 0.00814089 -0.24968667 0.11301608] [-0.01182605 0.99984211 -0.01326253 -0.55687553] [ 0.24953927 0.01579482 0.96823586 -0.32857752] [ 0. 0. 0. 1. ]] SLAMing on 307.65463044 meters Centerline goodness : 0.108997 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.56, Z:-0.33 [[ 0.96829246 0.00814089 -0.24968667 0.11301608] [-0.01182605 0.99984211 -0.01326253 -0.55687553] [ 0.24953927 0.01579482 0.96823586 -0.32857752] [ 0. 0. 0. 1. ]] SLAMing on 307.68463044000003 meters Centerline goodness : 0.102144 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.56, Z:-0.32 [[ 0.96817454 0.01532672 -0.24980621 0.12854883] [-0.01928299 0.9997243 -0.01339762 -0.56392046] [ 0.249532 0.01778824 0.96820316 -0.32441576] [ 0. 0. 0. 1. ]] SLAMing on 307.71463044 meters Centerline goodness : 0.104036 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.56, Z:-0.33 [[ 0.969112 0.00867622 -0.24646838 0.11457493] [-0.01227989 0.99983894 -0.01308797 -0.56068765] [ 0.24631513 0.01571031 0.96906246 -0.33106837] [ 0. 0. 0. 1. ]] SLAMing on 307.74463044000004 meters Centerline goodness : 0.101875 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.56, Z:-0.33 [[ 0.96899709 0.00843774 -0.24692801 0.11619675] [-0.01212747 0.99983633 -0.01342549 -0.55882237] [ 0.24677431 0.01600387 0.96894082 -0.33123097] [ 0. 0. 0. 1. ]] SLAMing on 307.77463044 meters Centerline goodness : 0.103189 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.56, Z:-0.33 [[ 0.96890611 0.00832542 -0.24728856 0.11767069] [-0.0120919 0.99983281 -0.01371634 -0.55688938] [ 0.24713302 0.01628003 0.96884479 -0.33156684] [ 0. 0. 0. 1. ]] SLAMing on 307.80463044000004 meters Centerline goodness : 0.102927 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.56, Z:-0.33 [[ 0.96844289 0.01540802 -0.24875884 0.13227931] [-0.01934173 0.99972344 -0.0133768 -0.56078744] [ 0.24848393 0.0177661 0.96847308 -0.32782254] [ 0. 0. 0. 1. ]] SLAMing on 307.83463044 meters Centerline goodness : 0.104425 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.56, Z:-0.33 [[ 0.96842516 0.01525458 -0.24883732 0.13235171] [-0.01931302 0.99971719 -0.01387634 -0.55863609] [ 0.24855527 0.018244 0.96844589 -0.32742372] [ 0. 0. 0. 1. ]] SLAMing on 307.86463044000004 meters Centerline goodness : 0.102535 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.56, Z:-0.32 [[ 0.96851383 0.0242322 -0.24777766 0.14924917] [-0.02874145 0.99948029 -0.01459732 -0.55880261] [ 0.24729516 0.02125919 0.96870695 -0.32179971] [ 0. 0. 0. 1. ]] SLAMing on 307.89463044 meters Centerline goodness : 0.094519 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.56, Z:-0.32 [[ 0.96847274 0.0241531 -0.24794593 0.14966352] [-0.02873512 0.99947634 -0.01487714 -0.55750222] [ 0.24745677 0.02153286 0.96865963 -0.32160686] [ 0. 0. 0. 1. ]] SLAMing on 307.92463044000004 meters Centerline goodness : 0.135936 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.56, Z:-0.32 [[ 0.96841422 0.023931 -0.24819589 0.1501277 ] [-0.02862444 0.99947286 -0.01531825 -0.55600639] [ 0.24769848 0.02193888 0.96858874 -0.32119062] [ 0. 0. 0. 1. ]] SLAMing on 307.95463044 meters Centerline goodness : 0.105740 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.55, Z:-0.32 [[ 0.96842388 0.02377307 -0.24817339 0.15012312] [-0.02853626 0.99947082 -0.0156129 -0.55472634] [ 0.24767089 0.02220185 0.9685898 -0.32115044] [ 0. 0. 0. 1. ]] SLAMing on 307.98463044 meters Centerline goodness : 0.109764 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.55, Z:-0.32 [[ 0.96848031 0.02356293 -0.24797315 0.14952978] [-0.02838902 0.99947042 -0.01590396 -0.55359719] [ 0.24746709 0.02244239 0.96863635 -0.32105616] [ 0. 0. 0. 1. ]] SLAMing on 308.01463044 meters Centerline goodness : 0.110964 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.55, Z:-0.32 [[ 0.96865396 0.02352149 -0.2472979 0.14762264] [-0.02838617 0.99946698 -0.01612397 -0.55161634] [ 0.24678682 0.02263839 0.96880533 -0.32102692] [ 0. 0. 0. 1. ]] SLAMing on 308.04463044 meters Centerline goodness : 0.085334 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.55, Z:-0.32 [[ 0.96864267 0.02360701 -0.24733395 0.14806736] [-0.02850206 0.99946198 -0.01622909 -0.55027907] [ 0.24681776 0.02276971 0.96879437 -0.32121283] [ 0. 0. 0. 1. ]] SLAMing on 308.07463044 meters Centerline goodness : 0.083970 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.55, Z:-0.32 [[ 0.96853637 0.02367829 -0.2477431 0.14963346] [-0.0286379 0.99945474 -0.01643423 -0.54868173] [ 0.24721889 0.02301199 0.96868636 -0.32136369] [ 0. 0. 0. 1. ]] SLAMing on 308.10463044 meters Centerline goodness : 0.085315 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.54, Z:-0.32 [[ 0.96841428 0.02326983 -0.24825852 0.15154156] [-0.02847494 0.99944313 -0.01739582 -0.54442798] [ 0.24771548 0.0239155 0.9685376 -0.32136245] [ 0. 0. 0. 1. ]] SLAMing on 308.13463044 meters Centerline goodness : 0.085999 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.54, Z:-0.32 [[ 0.96844105 0.02300412 -0.24817885 0.15117941] [-0.02831912 0.99943924 -0.01786686 -0.54238541] [ 0.24762867 0.0243312 0.96854945 -0.3211485 ] [ 0. 0. 0. 1. ]] SLAMing on 308.16463044 meters Centerline goodness : 0.085274 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.54, Z:-0.32 [[ 0.96849318 0.0229601 -0.24797943 0.15086062] [-0.02832189 0.99943541 -0.01807578 -0.54038112] [ 0.2474244 0.02452952 0.96859665 -0.32133828] [ 0. 0. 0. 1. ]] SLAMing on 308.19463044 meters Centerline goodness : 0.060636 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.54, Z:-0.32 [[ 0.96853945 0.02291564 -0.24780276 0.15113421] [-0.02832624 0.99943138 -0.01829063 -0.53833826] [ 0.24724271 0.02473452 0.96863783 -0.32199266] [ 0. 0. 0. 1. ]] SLAMing on 308.22463044 meters Centerline goodness : 0.061823 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.54, Z:-0.32 [[ 0.96853463 0.02278051 -0.24783407 0.15220359] [-0.02826686 0.99942733 -0.01860103 -0.53651047] [ 0.2472684 0.02502123 0.96862391 -0.3227924 ] [ 0. 0. 0. 1. ]] SLAMing on 308.25463044 meters Centerline goodness : 0.085781 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.53, Z:-0.32 [[ 0.96833619 0.02235074 -0.24864726 0.1554179 ] [-0.0281048 0.99941251 -0.01961528 -0.53081107] [ 0.24806277 0.02598237 0.96839547 -0.32325808] [ 0. 0. 0. 1. ]] SLAMing on 308.28463044 meters Centerline goodness : 0.085517 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.53, Z:-0.32 [[ 0.96830945 0.02207735 -0.2487758 0.15596065] [-0.02795087 0.99940716 -0.02010177 -0.52834073] [ 0.24818453 0.02641823 0.96835248 -0.32340131] [ 0. 0. 0. 1. ]] SLAMing on 308.31463044000003 meters Centerline goodness : 0.093085 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.53, Z:-0.32 [[ 0.96834331 0.02194665 -0.24865554 0.15564062] [-0.0278746 0.99940439 -0.02034381 -0.52672742] [ 0.24806096 0.02663097 0.96837831 -0.32348382] [ 0. 0. 0. 1. ]] SLAMing on 308.34463044 meters Centerline goodness : 0.084860 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.53, Z:-0.32 [[ 0.96844688 0.02178489 -0.24826609 0.15451583] [-0.02771787 0.99940705 -0.02042695 -0.52571506] [ 0.24767389 0.02666382 0.96847648 -0.32361586] [ 0. 0. 0. 1. ]] SLAMing on 308.37463044000003 meters Centerline goodness : 0.094521 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.52, Z:-0.32 [[ 0.96860808 0.02148015 -0.24766306 0.15258574] [-0.02743649 0.99941078 -0.02062361 -0.52488513] [ 0.24707414 0.0267712 0.96862669 -0.32358168] [ 0. 0. 0. 1. ]] SLAMing on 308.40463044 meters Centerline goodness : 0.072183 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.52, Z:-0.32 [[ 0.9687414 0.02107818 -0.24717566 0.15112175] [-0.02704046 0.99941892 -0.02075153 -0.52474941] [ 0.24659463 0.02678661 0.96874845 -0.32376146] [ 0. 0. 0. 1. ]] SLAMing on 308.43463044000003 meters Centerline goodness : 0.084129 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.52, Z:-0.32 [[ 0.96886988 0.01281076 -0.24723883 0.168191 ] [-0.01848465 0.99961605 -0.02064149 -0.51646168] [ 0.24687947 0.02456904 0.96873469 -0.31855113] [ 0. 0. 0. 1. ]] SLAMing on 308.46463044 meters Centerline goodness : 0.096758 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.52, Z:-0.32 [[ 0.96884058 0.01280133 -0.24735412 0.16906833] [-0.01849844 0.99961413 -0.02072192 -0.51552693] [ 0.24699341 0.0246519 0.96870354 -0.31906342] [ 0. 0. 0. 1. ]] SLAMing on 308.49463044000004 meters Centerline goodness : 0.083637 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.51, Z:-0.32 [[ 0.9687222 0.01294311 -0.24780996 0.17096504] [-0.01865194 0.99961167 -0.02070323 -0.51374545] [ 0.24744577 0.02467781 0.96858742 -0.31964127] [ 0. 0. 0. 1. ]] SLAMing on 308.52463044 meters Centerline goodness : 0.073921 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.51, Z:-0.32 [[ 0.96870157 0.01274944 -0.24790061 0.17120765] [-0.01853791 0.99960697 -0.02102972 -0.51226456] [ 0.24753506 0.02496708 0.96855719 -0.31955808] [ 0. 0. 0. 1. ]] SLAMing on 308.55463044000004 meters Centerline goodness : 0.092860 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.51, Z:-0.32 [[ 0.96865398 0.01245368 -0.24810154 0.17138234] [-0.01835848 0.99960027 -0.02150055 -0.51049598] [ 0.24773461 0.02538136 0.96849541 -0.31912646] [ 0. 0. 0. 1. ]] SLAMing on 308.58463044 meters Centerline goodness : 0.086126 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.51, Z:-0.32 [[ 0.96862181 0.01231603 -0.24823396 0.1717926 ] [-0.01828761 0.99959585 -0.02176466 -0.50933049] [ 0.24786558 0.02562133 0.96845557 -0.31908866] [ 0. 0. 0. 1. ]] SLAMing on 308.61463044000004 meters Centerline goodness : 0.092535 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.52, Z:-0.32 [[ 0.96849089 0.01948883 -0.24828528 0.15456362] [-0.02599537 0.99939849 -0.02295413 -0.51555125] [ 0.24768858 0.02868514 0.96841496 -0.3247195 ] [ 0. 0. 0. 1. ]] SLAMing on 308.64463044 meters Centerline goodness : 0.141249 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.52, Z:-0.32 [[ 0.96843308 0.01944696 -0.24851395 0.15541045] [-0.02598259 0.99939672 -0.02304566 -0.51507092] [ 0.24791586 0.02877522 0.96835413 -0.32483192] [ 0. 0. 0. 1. ]] SLAMing on 308.67463044000004 meters Centerline goodness : 0.139153 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.52, Z:-0.34 [[ 0.96818061 0.01728672 -0.24965473 0.11232086] [-0.02404716 0.99942139 -0.02405436 -0.51654051] [ 0.24909446 0.02929246 0.96803611 -0.33501466] [ 0. 0. 0. 1. ]] SLAMing on 308.70463044 meters Centerline goodness : 0.085211 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.51, Z:-0.32 [[ 0.96863937 0.01725719 -0.24787085 0.15029975] [-0.02411442 0.99940514 -0.02465498 -0.51439089] [ 0.24729792 0.02985905 0.96847931 -0.3246392 ] [ 0. 0. 0. 1. ]] SLAMing on 308.73463044 meters Centerline goodness : 0.151299 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.51, Z:-0.32 [[ 0.9686938 0.01693958 -0.24767999 0.1493199 ] [-0.02387594 0.99940158 -0.02502841 -0.51325897] [ 0.2471078 0.03015846 0.96851856 -0.32422456] [ 0. 0. 0. 1. ]] SLAMing on 308.76463044 meters Centerline goodness : 0.110944 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.51, Z:-0.32 [[ 0.96876712 0.01686531 -0.24739811 0.14862542] [-0.0238526 0.99939598 -0.02527299 -0.51134564] [ 0.24682244 0.03038473 0.96858425 -0.32422807] [ 0. 0. 0. 1. ]] SLAMing on 308.79463044 meters Centerline goodness : 0.088985 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.51, Z:-0.32 [[ 0.96875602 0.02095269 -0.24712904 0.14813641] [-0.02728843 0.99938017 -0.02223989 -0.50848729] [ 0.24650988 0.02828879 0.96872732 -0.32414845] [ 0. 0. 0. 1. ]] SLAMing on 308.82463044 meters Centerline goodness : 0.075334 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.51, Z:-0.32 [[ 0.96869325 0.02076546 -0.24739075 0.14910925] [-0.02721237 0.99937261 -0.02266862 -0.50654805] [ 0.24676482 0.02869102 0.96865058 -0.32414567] [ 0. 0. 0. 1. ]] SLAMing on 308.85463044 meters Centerline goodness : 0.084695 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.50, Z:-0.32 [[ 0.96863392 0.02031461 -0.24766034 0.15011093] [-0.02692136 0.99936553 -0.02331914 -0.50451605] [ 0.24702949 0.02925507 0.96856625 -0.32421028] [ 0. 0. 0. 1. ]] SLAMing on 308.88463044 meters Centerline goodness : 0.084779 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.50, Z:-0.32 [[ 0.96850953 0.02010932 -0.24816306 0.15190861] [-0.02683706 0.99935749 -0.02375676 -0.50263319] [ 0.24752588 0.02966861 0.96842693 -0.32438461] [ 0. 0. 0. 1. ]] SLAMing on 308.91463044 meters Centerline goodness : 0.084972 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.50, Z:-0.33 [[ 0.96851337 0.01266358 -0.24863929 0.13680179] [-0.01890715 0.99956264 -0.02273891 -0.49511901] [ 0.24824258 0.026724 0.9683292 -0.33007219] [ 0. 0. 0. 1. ]] SLAMing on 308.94463044 meters Centerline goodness : 0.095616 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96852327 0.01271838 -0.24859789 0.13713149] [-0.0189825 0.99955943 -0.02281683 -0.49385671] [ 0.24819817 0.02681764 0.968338 -0.33042034] [ 0. 0. 0. 1. ]] SLAMing on 308.97463044 meters Centerline goodness : 0.092824 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.9686735 0.01251044 -0.24802245 0.13541925] [-0.01881381 0.99955703 -0.02306058 -0.49294812] [ 0.24762409 0.02700442 0.96847977 -0.33026345] [ 0. 0. 0. 1. ]] SLAMing on 309.00463044 meters Centerline goodness : 0.096157 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.49, Z:-0.33 [[ 0.96873699 0.01235497 -0.24778216 0.13484949] [-0.01866757 0.99955786 -0.02314314 -0.49328632] [ 0.24738667 0.02704511 0.96853931 -0.33036069] [ 0. 0. 0. 1. ]] SLAMing on 309.03463044 meters Centerline goodness : 0.095404 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.49, Z:-0.32 [[ 0.96859768 0.00573308 -0.24856722 0.15318571] [-0.0116259 0.99968493 -0.02224566 -0.48888359] [ 0.24836137 0.02443692 0.96835916 -0.32420528] [ 0. 0. 0. 1. ]] SLAMing on 309.06463044000003 meters Centerline goodness : 0.097852 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96831579 -0.00205768 -0.24972042 0.13530881] [-0.00318507 0.99978296 -0.02058859 -0.48660652] [ 0.24970859 0.02073163 0.96809908 -0.33056024] [ 0. 0. 0. 1. ]] SLAMing on 309.09463044 meters Centerline goodness : 0.097234 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.9683132 -0.0019856 -0.24973105 0.13619328] [-0.00322696 0.99978543 -0.02046154 -0.48680384] [ 0.2497181 0.02061905 0.96809903 -0.33121606] [ 0. 0. 0. 1. ]] SLAMing on 309.12463044000003 meters Centerline goodness : 0.085925 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96833798 -0.00211782 -0.24963389 0.13582252] [-0.00310552 0.99978445 -0.02052827 -0.48727412] [ 0.24962356 0.02065355 0.96812267 -0.33111899] [ 0. 0. 0. 1. ]] SLAMing on 309.15463044 meters Centerline goodness : 0.098303 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96835859 -0.00220014 -0.24955319 0.13528906] [-0.00302105 0.99978453 -0.02053719 -0.48777752] [ 0.2495446 0.02064128 0.96814329 -0.33085265] [ 0. 0. 0. 1. ]] SLAMing on 309.18463044000003 meters Centerline goodness : 0.073418 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96832226 -0.0020534 -0.2496954 0.13604692] [-0.00312261 0.99978842 -0.02033144 -0.48836788] [ 0.24968431 0.02046708 0.96811097 -0.3311359 ] [ 0. 0. 0. 1. ]] SLAMing on 309.21463044 meters Centerline goodness : 0.097137 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96828606 -0.0020714 -0.24983559 0.13711014] [-0.00311783 0.99978759 -0.02037303 -0.48820431] [ 0.24982473 0.02050586 0.96807392 -0.33171936] [ 0. 0. 0. 1. ]] SLAMing on 309.24463044000004 meters Centerline goodness : 0.079258 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96822299 -0.00219698 -0.25007883 0.13809142] [-0.0030332 0.9997847 -0.02052679 -0.48787211] [ 0.25007009 0.02063305 0.96800787 -0.33193875] [ 0. 0. 0. 1. ]] SLAMing on 309.27463044 meters Centerline goodness : 0.170580 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96817348 -0.00221975 -0.25027024 0.13871798] [-0.00303838 0.99978274 -0.02062148 -0.48721326] [ 0.25026164 0.02072558 0.96795638 -0.33199527] [ 0. 0. 0. 1. ]] SLAMing on 309.30463044000004 meters Centerline goodness : 0.093622 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.9681834 -0.00219731 -0.25023205 0.13869022] [-0.00308717 0.99978047 -0.02072387 -0.48606911] [ 0.25022266 0.02083702 0.96796407 -0.33209949] [ 0. 0. 0. 1. ]] SLAMing on 309.33463044 meters Centerline goodness : 0.078245 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96818223 -0.0021056 -0.25023736 0.13857044] [-0.00319605 0.999779 -0.02077823 -0.48476316] [ 0.2502258 0.02091688 0.96796153 -0.33198697] [ 0. 0. 0. 1. ]] SLAMing on 309.36463044000004 meters Centerline goodness : 0.095866 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96816115 -0.00219099 -0.25031818 0.13918063] [-0.00317733 0.99977359 -0.02103988 -0.48299489] [ 0.25030761 0.02116534 0.96793498 -0.33228017] [ 0. 0. 0. 1. ]] SLAMing on 309.39463044 meters Centerline goodness : 0.092265 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96813 -0.0023538 -0.25043714 0.13953924] [-0.0030631 0.99976976 -0.02123779 -0.48257379] [ 0.25042947 0.02132806 0.96789989 -0.33227982] [ 0. 0. 0. 1. ]] SLAMing on 309.42463044000004 meters Centerline goodness : 0.086894 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96809871 -0.00249394 -0.2505567 0.13980447] [-0.00295438 0.99976735 -0.02136637 -0.48230131] [ 0.25055169 0.021425 0.96786612 -0.3322057 ] [ 0. 0. 0. 1. ]] SLAMing on 309.45463044 meters Centerline goodness : 0.106260 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96816414 -0.00243018 -0.25030442 0.13935531] [-0.00297403 0.99977062 -0.02121008 -0.48278083] [ 0.25029854 0.02127925 0.96793483 -0.33240247] [ 0. 0. 0. 1. ]] SLAMing on 309.48463044 meters Centerline goodness : 0.076699 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96819854 -0.00249703 -0.25017063 0.13897317] [-0.00290322 0.99977072 -0.02121489 -0.48302762] [ 0.25016625 0.02126652 0.96796931 -0.33234876] [ 0. 0. 0. 1. ]] SLAMing on 309.51463044 meters Centerline goodness : 0.170797 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96825293 -0.00261911 -0.24995879 0.13826682] [-0.0027852 0.99977 -0.02126466 -0.48350409] [ 0.24995699 0.02128575 0.96802294 -0.33224977] [ 0. 0. 0. 1. ]] SLAMing on 309.54463044 meters Centerline goodness : 0.171879 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96826624 -0.00278459 -0.24990546 0.13779643] [-0.00263447 0.99976865 -0.02134734 -0.483972 ] [ 0.24990709 0.02132828 0.96803489 -0.33195065] [ 0. 0. 0. 1. ]] SLAMing on 309.57463044 meters Centerline goodness : 0.093880 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96824005 -0.00280403 -0.2500067 0.13791358] [-0.00259679 0.99977039 -0.02127021 -0.4848104 ] [ 0.25000894 0.02124388 0.96801045 -0.33179436] [ 0. 0. 0. 1. ]] SLAMing on 309.60463044 meters Centerline goodness : 0.093880 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96824005 -0.00280403 -0.2500067 0.13791358] [-0.00259679 0.99977039 -0.02127021 -0.4848104 ] [ 0.25000894 0.02124388 0.96801045 -0.33179436] [ 0. 0. 0. 1. ]] SLAMing on 309.63463044 meters Centerline goodness : 0.093174 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96814662 -0.00284636 -0.25036778 0.13920396] [-0.00252564 0.99977349 -0.02113253 -0.48604018] [ 0.25037122 0.02109172 0.96792014 -0.33196191] [ 0. 0. 0. 1. ]] SLAMing on 309.66463044 meters Centerline goodness : 0.144045 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96812652 -0.00291467 -0.2504447 0.13963381] [-0.002472 0.99977239 -0.02119119 -0.48608016] [ 0.25044947 0.02113485 0.96789895 -0.33209312] [ 0. 0. 0. 1. ]] SLAMing on 309.69463044 meters Centerline goodness : 0.095054 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.49, Z:-0.33 [[ 0.96816549 -0.00302729 -0.25029265 0.13941879] [-0.00240389 0.9997683 -0.0213908 -0.48523278] [ 0.25029941 0.02131151 0.96793389 -0.33229119] [ 0. 0. 0. 1. ]] SLAMing on 309.72463044 meters Centerline goodness : 0.094380 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.9682035 -0.00305776 -0.25014521 0.13915523] [-0.00241559 0.99976441 -0.02157075 -0.48387654] [ 0.25015224 0.02148913 0.96796801 -0.3323914 ] [ 0. 0. 0. 1. ]] SLAMing on 309.75463044 meters Centerline goodness : 0.097084 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96825083 -0.00300909 -0.24996256 0.13893156] [-0.00251611 0.99975959 -0.02178161 -0.48156119] [ 0.24996801 0.021719 0.96801047 -0.33263564] [ 0. 0. 0. 1. ]] SLAMing on 309.78463044 meters Centerline goodness : 0.097203 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 0.96831524 -0.00288124 -0.24971443 0.1383054 ] [-0.00267666 0.99975626 -0.02191459 -0.47953638] [ 0.24971671 0.02188863 0.96807151 -0.33270576] [ 0. 0. 0. 1. ]] SLAMing on 309.81463044000003 meters Centerline goodness : 0.170370 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96836079 -0.00221239 -0.24954455 0.13790502] [-0.00333296 0.99975686 -0.02179716 -0.47449948] [ 0.2495321 0.02193924 0.96811797 -0.33272913] [ 0. 0. 0. 1. ]] SLAMing on 309.84463044 meters Centerline goodness : 0.088643 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96832072 -0.00244116 -0.24969786 0.13861206] [-0.00319895 0.99974889 -0.02217944 -0.47271465] [ 0.2496893 0.02227558 0.96806976 -0.33297164] [ 0. 0. 0. 1. ]] SLAMing on 309.87463044000003 meters Centerline goodness : 0.096296 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96829221 -0.00256222 -0.24980718 0.13926831] [-0.00313026 0.99974447 -0.02238755 -0.47167092] [ 0.2498007 0.02245965 0.96803676 -0.33328681] [ 0. 0. 0. 1. ]] SLAMing on 309.90463044 meters Centerline goodness : 0.096602 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96827364 -0.00258236 -0.24987894 0.13958986] [-0.00312517 0.99974327 -0.02244173 -0.47107114] [ 0.24987274 0.02251065 0.96801699 -0.33339619] [ 0. 0. 0. 1. ]] SLAMing on 309.93463044000003 meters Centerline goodness : 0.090303 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96825644 -0.00253388 -0.24994609 0.13959531] [-0.00316463 0.9997442 -0.02239445 -0.47073475] [ 0.2499389 0.02247456 0.96800074 -0.33315653] [ 0. 0. 0. 1. ]] SLAMing on 309.96463044 meters Centerline goodness : 0.071885 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96835942 -0.00275865 -0.24954444 0.13812082] [-0.00297656 0.9997401 -0.02260242 -0.47025246] [ 0.24954194 0.02263005 0.96809953 -0.33278468] [ 0. 0. 0. 1. ]] SLAMing on 309.99463044000004 meters Centerline goodness : 0.097142 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.9683539 -0.00287839 -0.24956449 0.13814323] [-0.00288643 0.99973746 -0.02273047 -0.46973121] [ 0.2495644 0.02273149 0.96809136 -0.33273352] [ 0. 0. 0. 1. ]] SLAMing on 310.02463044 meters Centerline goodness : 0.092913 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96833491 -0.00283188 -0.24963872 0.13840032] [-0.00293273 0.99973764 -0.02271686 -0.46927204] [ 0.24963756 0.02272965 0.96807255 -0.33273908] [ 0. 0. 0. 1. ]] SLAMing on 310.05463044000004 meters Centerline goodness : 0.238091 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.9683396 -0.0027057 -0.24962193 0.13861271] [-0.0030561 0.99973784 -0.02269165 -0.4682947 ] [ 0.24961788 0.0227361 0.96807747 -0.33294888] [ 0. 0. 0. 1. ]] SLAMing on 310.08463044 meters Centerline goodness : 0.082755 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96840036 -0.00258123 -0.24938743 0.13843383] [-0.0031941 0.99973607 -0.02275061 -0.46644633] [ 0.24938033 0.02282826 0.96813652 -0.33332915] [ 0. 0. 0. 1. ]] SLAMing on 310.11463044000004 meters Centerline goodness : 0.076806 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96835772 -0.00270967 -0.24955155 0.13869313] [-0.00311812 0.99973164 -0.02295477 -0.46555066] [ 0.24954678 0.02300656 0.96808941 -0.33311061] [ 0. 0. 0. 1. ]] SLAMing on 310.14463044 meters Centerline goodness : 0.098056 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.33 [[ 0.96831114 -0.00277601 -0.24973152 0.139108 ] [-0.00308843 0.99972866 -0.02308807 -0.46476497] [ 0.24972785 0.02312771 0.96803983 -0.33301084] [ 0. 0. 0. 1. ]] SLAMing on 310.17463044000004 meters Centerline goodness : 0.097851 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.33 [[ 0.9682666 -0.00281064 -0.24990376 0.13976598] [-0.00308713 0.99972596 -0.02320506 -0.46391875] [ 0.2499005 0.02324017 0.96799258 -0.33314123] [ 0. 0. 0. 1. ]] SLAMing on 310.20463044 meters Centerline goodness : 0.076983 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.33 [[ 0.96819572 -0.00287496 -0.2501775 0.14078311] [-0.00306218 0.99972291 -0.02333926 -0.46325142] [ 0.25017528 0.02336306 0.96791864 -0.33334814] [ 0. 0. 0. 1. ]] SLAMing on 310.23463044 meters Centerline goodness : 0.084368 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.33 [[ 0.96815413 -0.00311712 -0.2503355 0.14178085] [-0.00289369 0.99971636 -0.02363937 -0.46242879] [ 0.25033818 0.02361095 0.96787051 -0.3338224 ] [ 0. 0. 0. 1. ]] SLAMing on 310.26463044 meters Centerline goodness : 0.094396 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.33 [[ 0.9681389 -0.00318805 -0.2503935 0.14186092] [-0.00282528 0.99971625 -0.02365242 -0.46290706] [ 0.25039786 0.02360626 0.96785518 -0.33374653] [ 0. 0. 0. 1. ]] SLAMing on 310.29463044 meters Centerline goodness : 0.083854 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.33 [[ 0.96811744 -0.00319333 -0.25047641 0.14200457] [-0.00279814 0.9997185 -0.02356056 -0.46380798] [ 0.25048114 0.02351026 0.96783597 -0.33366582] [ 0. 0. 0. 1. ]] SLAMing on 310.32463044 meters Centerline goodness : 0.073354 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 0.96808802 -0.00314858 -0.25059063 0.14213056] [-0.00279754 0.999723 -0.02336869 -0.46504253] [ 0.25059479 0.02332399 0.96781106 -0.33346335] [ 0. 0. 0. 1. ]] SLAMing on 310.35463044 meters Centerline goodness : 0.073698 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.34 [[ 9.68551497e-01 6.90163947e-05 -2.48813169e-01 1.21602005e-01] [-6.80019502e-03 9.99633756e-01 -2.61937419e-02 -4.72437036e-01] [ 2.48720235e-01 2.70619660e-02 9.68197240e-01 -3.39350249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38463044 meters Centerline goodness : 0.323511 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 9.68543736e-01 -6.79194812e-03 -2.48750680e-01 1.40536405e-01] [ 5.53957050e-04 9.99683819e-01 -2.51387012e-02 -4.70005124e-01] [ 2.48842770e-01 2.42101344e-02 9.68241264e-01 -3.33262070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41463044 meters Centerline goodness : 0.095892 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.34 [[ 9.68652478e-01 -5.67757647e-04 -2.48419111e-01 1.23896145e-01] [-6.12230528e-03 9.99639095e-01 -2.61571619e-02 -4.77528280e-01] [ 2.48344306e-01 2.68580974e-02 9.68299410e-01 -3.39807736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44463044 meters Centerline goodness : 0.088344 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.47, Z:-0.33 [[ 9.68492291e-01 -6.84176908e-03 -2.48949539e-01 1.42017447e-01] [ 6.95947249e-04 9.99693017e-01 -2.47666625e-02 -4.73877217e-01] [ 2.49042564e-01 2.38130660e-02 9.68199741e-01 -3.33679968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47463044 meters Centerline goodness : 0.297852 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 9.68466150e-01 -6.69326187e-03 -2.49055246e-01 1.42485808e-01] [ 6.03113019e-04 9.99699126e-01 -2.45212803e-02 -4.75048420e-01] [ 2.49144440e-01 2.35978214e-02 9.68178801e-01 -3.33820608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50463044 meters Centerline goodness : 0.088120 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 9.68520338e-01 -6.62368828e-03 -2.48846301e-01 1.41596298e-01] [ 6.10712969e-04 9.99706155e-01 -2.42328456e-02 -4.77402216e-01] [ 2.48933690e-01 2.33180302e-02 9.68239788e-01 -3.33537810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53463044 meters Centerline goodness : 0.096844 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 9.68535763e-01 -6.60864181e-03 -2.48786660e-01 1.41122238e-01] [ 6.22834890e-04 9.99708610e-01 -2.41310296e-02 -4.78400012e-01] [ 2.48873640e-01 2.32168121e-02 9.68257657e-01 -3.33276131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56463044000003 meters Centerline goodness : 0.084908 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 9.68521275e-01 -6.58202778e-03 -2.48843760e-01 1.41240064e-01] [ 6.01044175e-04 9.99709289e-01 -2.41034384e-02 -4.78606118e-01] [ 2.48930068e-01 2.31951268e-02 9.68243671e-01 -3.33223613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59463044 meters Centerline goodness : 0.126581 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.48, Z:-0.33 [[ 9.68481294e-01 -6.53665279e-03 -2.49000514e-01 1.41881222e-01] [ 5.45840418e-04 9.99708900e-01 -2.41208889e-02 -4.78134640e-01] [ 2.49085700e-01 2.32247151e-02 9.68202937e-01 -3.33368036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62463044000003 meters Centerline goodness : 0.095493 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.34 [[ 0.96836375 0.0010909 -0.24954049 0.12386742] [-0.00755488 0.99966022 -0.0249472 -0.48060001] [ 0.24942849 0.02604321 0.96804296 -0.33996052] [ 0. 0. 0. 1. ]] SLAMing on 310.65463044 meters Centerline goodness : 0.085098 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.34 [[ 0.96842869 0.00114696 -0.24928811 0.1231915 ] [-0.00762123 0.99965821 -0.02500743 -0.47962738] [ 0.24917422 0.0261178 0.96810643 -0.33996661] [ 0. 0. 0. 1. ]] SLAMing on 310.68463044000003 meters Centerline goodness : 0.085196 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.34 [[ 0.96850945 0.00124879 -0.24897368 0.12203706] [-0.00770829 0.99965845 -0.02497128 -0.47913964] [ 0.24885746 0.02610408 0.96818828 -0.33972659] [ 0. 0. 0. 1. ]] SLAMing on 310.71463044 meters Centerline goodness : 0.084666 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.34 [[ 0.96857998 0.00130706 -0.24869886 0.12107921] [-0.00775252 0.99965891 -0.02493907 -0.47898803] [ 0.24858143 0.02608353 0.96825974 -0.33956871] [ 0. 0. 0. 1. ]] SLAMing on 310.74463044000004 meters Centerline goodness : 0.117277 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.34 [[ 0.96860159 0.00133143 -0.24861454 0.1209226 ] [-0.00775723 0.99966063 -0.02486857 -0.47952972] [ 0.24849706 0.0260163 0.96828321 -0.33964132] [ 0. 0. 0. 1. ]] SLAMing on 310.77463044 meters Centerline goodness : 0.085503 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.35 [[ 9.68278493e-01 -6.62431721e-03 -2.49785666e-01 1.03469009e-01] [ 7.95963606e-04 9.99725228e-01 -2.34272154e-02 -4.78838325e-01] [ 2.49872221e-01 2.24852485e-02 9.68017710e-01 -3.45660109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80463044000004 meters Centerline goodness : 0.110638 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.35 [[ 9.68259948e-01 -6.49612547e-03 -2.49860908e-01 1.03677849e-01] [ 7.18546809e-04 9.99730413e-01 -2.32074482e-02 -4.79992308e-01] [ 2.49944308e-01 2.22913059e-02 9.68003585e-01 -3.45649075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83463044 meters Centerline goodness : 0.086000 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.35 [[ 9.68278770e-01 -6.37463876e-03 -2.49791089e-01 1.03208064e-01] [ 6.51149962e-04 9.99735505e-01 -2.29890428e-02 -4.81128487e-01] [ 2.49871567e-01 2.20971506e-02 9.68026816e-01 -3.45401838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86463044000004 meters Centerline goodness : 0.131450 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.35 [[ 9.68272214e-01 -6.24471414e-03 -2.49819783e-01 1.02937586e-01] [ 5.83106375e-04 9.99741462e-01 -2.27303614e-02 -4.82583184e-01] [ 2.49897139e-01 2.18635058e-02 9.68025520e-01 -3.45056937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89463044 meters Centerline goodness : 0.122317 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.34 [[ 9.68205839e-01 -6.17475127e-03 -2.50078637e-01 1.03388641e-01] [ 5.67266418e-04 9.99746935e-01 -2.24887582e-02 -4.84570786e-01] [ 2.50154214e-01 2.16318858e-02 9.67964323e-01 -3.44778378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92463044000004 meters Centerline goodness : 0.084319 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.49, Z:-0.34 [[ 9.68161939e-01 -6.10499663e-03 -2.50250251e-01 1.03962143e-01] [ 5.14486834e-04 9.99748978e-01 -2.23990088e-02 -4.85048935e-01] [ 2.50324178e-01 2.15571173e-02 9.67922051e-01 -3.44824007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95463044 meters Centerline goodness : 0.184599 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.49, Z:-0.34 [[ 9.68143013e-01 -6.10255938e-03 -2.50323519e-01 1.04382987e-01] [ 5.12517190e-04 9.99749173e-01 -2.23903801e-02 -4.85206572e-01] [ 2.50397370e-01 2.15487950e-02 9.67903304e-01 -3.44996420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98463044 meters Centerline goodness : 0.132403 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.49, Z:-0.34 [[ 9.68148987e-01 -6.04430061e-03 -2.50301827e-01 1.04181667e-01] [ 4.77169187e-04 9.99751291e-01 -2.22963872e-02 -4.85771409e-01] [ 2.50374341e-01 2.14667884e-02 9.67911084e-01 -3.44889868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01463044 meters Centerline goodness : 0.084192 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.49, Z:-0.34 [[ 9.68172789e-01 -5.94911361e-03 -2.50212026e-01 1.03712614e-01] [ 3.98020580e-04 9.99752797e-01 -2.22303075e-02 -4.85722052e-01] [ 2.50282424e-01 2.14231893e-02 9.67935822e-01 -3.44709332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04463044 meters Centerline goodness : 0.094636 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.49, Z:-0.34 [[ 9.68239820e-01 -5.88204468e-03 -2.49954099e-01 1.03031421e-01] [ 3.38638745e-04 9.99753161e-01 -2.22149157e-02 -4.85321842e-01] [ 2.50023070e-01 2.14247219e-02 9.68002813e-01 -3.44762674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07463044 meters Centerline goodness : 0.096554 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.34 [[ 9.68233732e-01 -5.90939981e-03 -2.49977037e-01 1.03047254e-01] [ 3.39593946e-04 9.99750853e-01 -2.23185347e-02 -4.84652603e-01] [ 2.50046645e-01 2.15246675e-02 9.67994506e-01 -3.44726582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10463044 meters Centerline goodness : 0.146486 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.34 [[ 9.68128311e-01 -6.22510339e-03 -2.50377358e-01 1.04335461e-01] [ 5.26373030e-04 9.99739426e-01 -2.28210918e-02 -4.82616717e-01] [ 2.50454180e-01 2.19619531e-02 9.67879319e-01 -3.44845542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13463044 meters Centerline goodness : 0.150100 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.48, Z:-0.35 [[ 9.68069583e-01 -6.33243908e-03 -2.50601640e-01 1.05292555e-01] [ 5.74434155e-04 9.99734305e-01 -2.30432026e-02 -4.81330523e-01] [ 2.50680976e-01 2.21634694e-02 9.67816010e-01 -3.45158924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16463044 meters Centerline goodness : 0.147183 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.48, Z:-0.35 [[ 9.68022655e-01 -6.34206409e-03 -2.50782609e-01 1.06038684e-01] [ 5.54658771e-04 9.99732050e-01 -2.31413275e-02 -4.80324323e-01] [ 2.50862175e-01 2.22622305e-02 9.67766791e-01 -3.45355624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19463044 meters Centerline goodness : 0.097580 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.48, Z:-0.35 [[ 9.68014619e-01 -6.33345299e-03 -2.50813845e-01 1.06213709e-01] [ 5.30812919e-04 9.99730792e-01 -2.31961410e-02 -4.79594823e-01] [ 2.50893235e-01 2.23210684e-02 9.67757384e-01 -3.45420130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22463044 meters Centerline goodness : 0.084042 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.48, Z:-0.35 [[ 9.67979502e-01 -6.46573321e-03 -2.50945965e-01 1.06485788e-01] [ 6.18294346e-04 9.99726613e-01 -2.33734355e-02 -4.78773569e-01] [ 2.51028485e-01 2.24698480e-02 9.67718867e-01 -3.45308245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25463044 meters Centerline goodness : 0.084100 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.48, Z:-0.35 [[ 9.68002059e-01 -6.80343651e-03 -2.50850009e-01 1.06238315e-01] [ 8.56720771e-04 9.99716186e-01 -2.38078450e-02 -4.77006930e-01] [ 2.50940789e-01 2.28311346e-02 9.67733155e-01 -3.45302215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28463044 meters Centerline goodness : 0.086567 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.48, Z:-0.35 [[ 9.68036920e-01 -6.85088552e-03 -2.50714152e-01 1.05667547e-01] [ 8.85228848e-04 9.99713970e-01 -2.38996949e-02 -4.76368976e-01] [ 2.50806174e-01 2.29138477e-02 9.67766097e-01 -3.45142041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31463044000003 meters Centerline goodness : 0.083294 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.34 [[ 9.68518387e-01 3.40454874e-04 -2.48941797e-01 1.23913113e-01] [-6.91823244e-03 9.99649644e-01 -2.55485411e-02 -4.77010122e-01] [ 2.48845881e-01 2.64664690e-02 9.68181416e-01 -3.39597971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34463044 meters Centerline goodness : 0.083748 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.47, Z:-0.35 [[ 0.96852077 -0.00715151 -0.24883 0.10487757] [ 0.00128234 0.99971732 -0.02374118 -0.47385459] [ 0.24892944 0.02267474 0.96825616 -0.34565026] [ 0. 0. 0. 1. ]] SLAMing on 311.37463044000003 meters Centerline goodness : 0.082498 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.47, Z:-0.35 [[ 0.9684918 -0.00712614 -0.24894347 0.10530799] [ 0.00128175 0.99971993 -0.02363097 -0.47452267] [ 0.24904214 0.02256731 0.96822969 -0.34571153] [ 0. 0. 0. 1. ]] SLAMing on 311.40463044 meters Centerline goodness : 0.083852 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.48, Z:-0.35 [[ 0.96850705 -0.00710428 -0.24888475 0.1049605 ] [ 0.00130203 0.9997237 -0.02346985 -0.4758071 ] [ 0.24898272 0.02240666 0.9682487 -0.34553415] [ 0. 0. 0. 1. ]] SLAMing on 311.43463044000003 meters Centerline goodness : 0.081134 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.48, Z:-0.35 [[ 0.96901657 -0.00154625 -0.2469909 0.08759212] [-0.00464984 0.99968899 -0.02450105 -0.48335288] [ 0.24695197 0.0248904 0.968708 -0.35181122] [ 0. 0. 0. 1. ]] SLAMing on 311.46463044 meters Centerline goodness : 0.081134 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.48, Z:-0.35 [[ 0.96901657 -0.00154625 -0.2469909 0.08759212] [-0.00464984 0.99968899 -0.02450105 -0.48335288] [ 0.24695197 0.0248904 0.968708 -0.35181122] [ 0. 0. 0. 1. ]] SLAMing on 311.49463044000004 meters Centerline goodness : 0.084257 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 0.96903406 -0.00148712 -0.24692262 0.08712455] [-0.00464136 0.9996955 -0.0242355 -0.48526152] [ 0.24688347 0.02463108 0.96873209 -0.35151169] [ 0. 0. 0. 1. ]] SLAMing on 311.52463044 meters Centerline goodness : 0.084522 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 0.96904614 -0.00133609 -0.24687607 0.08703291] [-0.00471171 0.99970313 -0.02390494 -0.48725311] [ 0.24683472 0.0243282 0.96875217 -0.35152181] [ 0. 0. 0. 1. ]] SLAMing on 311.55463044000004 meters Centerline goodness : 0.123972 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 0.96896617 -0.00125359 -0.24719019 0.08876234] [-0.00473235 0.9997098 -0.02362032 -0.4900615 ] [ 0.24714807 0.02405708 0.96867904 -0.35220317] [ 0. 0. 0. 1. ]] SLAMing on 311.58463044 meters Centerline goodness : 0.075982 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 0.9688688 -0.00120261 -0.24757182 0.09002866] [-0.00478683 0.99971027 -0.0235894 -0.49032679] [ 0.24752846 0.02404012 0.96858233 -0.35234416] [ 0. 0. 0. 1. ]] SLAMing on 311.61463044000004 meters Centerline goodness : 0.098350 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 0.96881076 -0.00105971 -0.24779949 0.0907494 ] [-0.00492572 0.99971092 -0.02353314 -0.49008508] [ 0.24775279 0.02401975 0.96852548 -0.35242237] [ 0. 0. 0. 1. ]] SLAMing on 311.64463044 meters Centerline goodness : 0.084052 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 9.68784703e-01 -8.18639606e-04 -2.47902256e-01 9.10161807e-02] [-5.14834080e-03 9.99712442e-01 -2.34206744e-02 -4.89613074e-01] [ 2.47850143e-01 2.39658764e-02 9.68501907e-01 -3.52405183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67463044000004 meters Centerline goodness : 0.091186 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 9.68815605e-01 -5.00571186e-04 -2.47782311e-01 9.07761325e-02] [-5.42907701e-03 9.99715010e-01 -2.32470310e-02 -4.89165487e-01] [ 2.47723332e-01 2.38673156e-02 9.68536784e-01 -3.52503657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70463044 meters Centerline goodness : 0.084806 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 9.68875458e-01 -2.36870951e-04 -2.47548564e-01 9.01776696e-02] [-5.64292243e-03 9.99718565e-01 -2.30423205e-02 -4.89346544e-01] [ 2.47484353e-01 2.37220361e-02 9.68601445e-01 -3.52574633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73463044 meters Centerline goodness : 0.084747 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 9.68858681e-01 -2.72222129e-04 -2.47614181e-01 9.06996310e-02] [-5.58386378e-03 9.99721078e-01 -2.29474785e-02 -4.90941948e-01] [ 2.47551363e-01 2.36155076e-02 9.68586925e-01 -3.52845282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76463044 meters Centerline goodness : 0.167726 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.49, Z:-0.35 [[ 9.68775430e-01 -2.88132628e-04 -2.47939676e-01 9.16936344e-02] [-5.53348282e-03 9.99725125e-01 -2.27827821e-02 -4.92708195e-01] [ 2.47878088e-01 2.34433695e-02 9.68507543e-01 -3.52897010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79463044 meters Centerline goodness : 0.095115 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.35 [[ 0.96859022 -0.00729811 -0.24855528 0.11180951] [ 0.00189736 0.99975702 -0.02196119 -0.49032431] [ 0.24865517 0.02079979 0.96836872 -0.34693389] [ 0. 0. 0. 1. ]] SLAMing on 311.82463044 meters Centerline goodness : 0.084239 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.35 [[ 0.96855494 -0.01125481 -0.24854507 0.11207999] [ 0.00527208 0.99968043 -0.02472353 -0.49454354] [ 0.2487439 0.02263575 0.96830475 -0.34699534] [ 0. 0. 0. 1. ]] SLAMing on 311.85463044 meters Centerline goodness : 0.087695 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.50, Z:-0.35 [[ 0.96856547 -0.01127237 -0.24850323 0.11185007] [ 0.00536644 0.99968712 -0.02443066 -0.49729244] [ 0.24870087 0.02232912 0.96832293 -0.34683559] [ 0. 0. 0. 1. ]] SLAMing on 311.88463044 meters Centerline goodness : 0.151814 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.50, Z:-0.35 [[ 0.96851483 -0.01123682 -0.24870215 0.11224054] [ 0.00541332 0.99969521 -0.02408711 -0.50026999] [ 0.24889701 0.02198241 0.96828046 -0.34663596] [ 0. 0. 0. 1. ]] SLAMing on 311.91463044 meters Centerline goodness : 0.120315 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.50, Z:-0.35 [[ 0.96843844 -0.01121334 -0.24900049 0.11293928] [ 0.00546174 0.99970235 -0.02377765 -0.50285176] [ 0.249193 0.02166722 0.96821143 -0.34647692] [ 0. 0. 0. 1. ]] SLAMing on 311.94463044 meters Centerline goodness : 0.103949 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.51, Z:-0.35 [[ 0.96834925 -0.01115353 -0.2493498 0.11418207] [ 0.00547626 0.99971 -0.02345041 -0.50522986] [ 0.24953905 0.02134269 0.96812951 -0.34664411] [ 0. 0. 0. 1. ]] SLAMing on 311.97463044 meters Centerline goodness : 0.089187 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.51, Z:-0.35 [[ 9.68872038e-01 -6.09423510e-03 -2.47487038e-01 1.00313618e-01] [ 1.39165336e-04 9.99710205e-01 -2.40725157e-02 -5.13673377e-01] [ 2.47562022e-01 2.32887457e-02 9.68592112e-01 -3.53099543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00463044 meters Centerline goodness : 0.098017 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.52, Z:-0.35 [[ 0.96900938 -0.00839056 -0.24688138 0.09769074] [ 0.00237205 0.99969295 -0.02466544 -0.52226886] [ 0.24701253 0.02331543 0.96873175 -0.3532589 ] [ 0. 0. 0. 1. ]] SLAMing on 312.03463044 meters Centerline goodness : 0.192297 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.53, Z:-0.35 [[ 0.96912525 -0.00915549 -0.24639891 0.09550848] [ 0.00315596 0.99968912 -0.02473277 -0.52673939] [ 0.24654875 0.02319152 0.96885286 -0.35305012] [ 0. 0. 0. 1. ]] SLAMing on 312.06463044000003 meters Centerline goodness : 0.459233 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.53, Z:-0.35 [[ 0.96918531 -0.00989071 -0.24613413 0.09402586] [ 0.00391157 0.99968554 -0.02476925 -0.53135287] [ 0.24630172 0.02304322 0.96891923 -0.35296452] [ 0. 0. 0. 1. ]] SLAMing on 312.09463044 meters Centerline goodness : 0.107446 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.54, Z:-0.36 [[ 0.96965042 -0.00372216 -0.24446719 0.07762718] [-0.00265924 0.99966441 -0.02576807 -0.54237077] [ 0.24448106 0.02563612 0.96931512 -0.35917734] [ 0. 0. 0. 1. ]] SLAMing on 312.12463044000003 meters Centerline goodness : 0.211623 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.55, Z:-0.37 [[ 0.9702112 0.0020891 -0.24225164 0.06401705] [-0.00889893 0.99959529 -0.02701978 -0.55209844] [ 0.24209715 0.02837068 0.96983714 -0.36596754] [ 0. 0. 0. 1. ]] SLAMing on 312.15463044 meters Centerline goodness : 0.227721 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.55, Z:-0.36 [[ 0.97022261 -0.00504001 -0.24216254 0.08383739] [-0.00126636 0.99966428 -0.02587919 -0.55298982] [ 0.24221167 0.02541524 0.9698905 -0.36024254] [ 0. 0. 0. 1. ]] SLAMing on 312.18463044000003 meters Centerline goodness : 0.248249 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.56, Z:-0.36 [[ 0.97016142 -0.0074113 -0.24234664 0.08351804] [ 0.0010139 0.99964799 -0.02651178 -0.56200961] [ 0.24245782 0.02547499 0.96982742 -0.360575 ] [ 0. 0. 0. 1. ]] SLAMing on 312.21463044 meters Centerline goodness : 0.119438 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.57, Z:-0.37 [[ 9.70670420e-01 -6.08273184e-04 -2.40413322e-01 6.83398156e-02] [-6.16325629e-03 9.99605185e-01 -2.74133045e-02 -5.71625512e-01] [ 2.40335078e-01 2.80910127e-02 9.70283436e-01 -3.66751350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24463044000004 meters Centerline goodness : 0.216067 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.37 [[ 9.70589065e-01 -4.46149192e-04 -2.40741911e-01 6.90133849e-02] [-6.20662185e-03 9.99619520e-01 -2.68754980e-02 -5.75377372e-01] [ 2.40662304e-01 2.75792585e-02 9.70217007e-01 -3.66591954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27463044 meters Centerline goodness : 0.143695 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.58, Z:-0.37 [[ 9.70477008e-01 -2.42431602e-04 -2.41193527e-01 7.00860870e-02] [-6.29436690e-03 9.99633461e-01 -2.63310594e-02 -5.79076781e-01] [ 2.41111504e-01 2.70718483e-02 9.70119765e-01 -3.66492061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30463044000004 meters Centerline goodness : 0.247886 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.58, Z:-0.36 [[ 9.70308870e-01 -6.65639806e-03 -2.41777560e-01 8.88504638e-02] [ 6.43910613e-04 9.99688784e-01 -2.49383537e-02 -5.79028556e-01] [ 2.41868314e-01 2.40422227e-02 9.70011180e-01 -3.60115607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33463044 meters Centerline goodness : 0.116024 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 9.70691200e-01 6.01399878e-04 -2.40329424e-01 7.29962851e-02] [-7.06154076e-03 9.99636479e-01 -2.60200941e-02 -5.88152051e-01] [ 2.40226410e-01 2.69545724e-02 9.70342580e-01 -3.65219370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36463044000004 meters Centerline goodness : 0.171860 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 9.70702928e-01 7.58803879e-04 -2.40281604e-01 7.28228076e-02] [-7.19059725e-03 9.99638881e-01 -2.58921359e-02 -5.88529498e-01] [ 2.40175186e-01 2.68613404e-02 9.70357845e-01 -3.65171403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39463044 meters Centerline goodness : 0.138466 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 9.70702400e-01 8.71082950e-04 -2.40283359e-01 7.28145316e-02] [-7.30309886e-03 9.99638398e-01 -2.58793103e-02 -5.88019739e-01] [ 2.40173929e-01 2.68759218e-02 9.70357753e-01 -3.65143005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42463044000004 meters Centerline goodness : 0.171376 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 9.70698196e-01 9.93528531e-04 -2.40299866e-01 7.30397732e-02] [-7.43920591e-03 9.99636395e-01 -2.59178524e-02 -5.87015269e-01] [ 2.40186742e-01 2.69460528e-02 9.70352637e-01 -3.65196709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45463044 meters Centerline goodness : 0.176354 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 0.97070711 0.00102307 -0.24026373 0.07325123] [-0.00750988 0.99963153 -0.02608465 -0.58541863] [ 0.24014851 0.02712491 0.97035712 -0.36539526] [ 0. 0. 0. 1. ]] SLAMing on 312.48463044 meters Centerline goodness : 0.087242 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.37 [[ 0.97058457 0.00136724 -0.24075657 0.07508403] [-0.00790651 0.99962552 -0.02619746 -0.58243311] [ 0.24063059 0.02733039 0.97023192 -0.36568424] [ 0. 0. 0. 1. ]] SLAMing on 312.51463044 meters Centerline goodness : 0.153208 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.37 [[ 0.97048355 0.00133906 -0.24116359 0.07662624] [-0.00793483 0.99962048 -0.02638069 -0.58087028] [ 0.24103674 0.02751562 0.97012586 -0.36595484] [ 0. 0. 0. 1. ]] SLAMing on 312.54463044 meters Centerline goodness : 0.101739 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.37 [[ 0.970422 0.00132209 -0.24141124 0.0775527 ] [-0.00794193 0.99961858 -0.02645045 -0.58031286] [ 0.24128419 0.02758537 0.97006236 -0.36611055] [ 0. 0. 0. 1. ]] SLAMing on 312.57463044 meters Centerline goodness : 0.115627 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.37 [[ 0.9703855 0.00133645 -0.24155785 0.07810109] [-0.00795363 0.99961927 -0.02642078 -0.58047381] [ 0.24143057 0.0275596 0.97002667 -0.36625908] [ 0. 0. 0. 1. ]] SLAMing on 312.60463044 meters Centerline goodness : 0.155185 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.58, Z:-0.36 [[ 0.97021094 -0.00503258 -0.24220941 0.0960753 ] [-0.00113601 0.99967871 -0.02532161 -0.57663391] [ 0.24225902 0.02484246 0.96989351 -0.36006773] [ 0. 0. 0. 1. ]] SLAMing on 312.63463044 meters Centerline goodness : 0.160414 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.58, Z:-0.36 [[ 0.97027673 -0.00508133 -0.24194471 0.09557452] [-0.00100967 0.99968583 -0.02504456 -0.57814619] [ 0.24199595 0.02454444 0.96996677 -0.3605719 ] [ 0. 0. 0. 1. ]] SLAMing on 312.66463044 meters Centerline goodness : 0.090396 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.58, Z:-0.36 [[ 9.70186505e-01 -5.74889830e-03 -2.42291346e-01 9.62257024e-02] [-3.73728708e-04 9.99681952e-01 -2.52161562e-02 -5.80191491e-01] [ 2.42359251e-01 2.45549257e-02 9.69875791e-01 -3.60607619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69463044 meters Centerline goodness : 0.113602 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.59, Z:-0.37 [[ 0.97052345 0.00204809 -0.24099801 0.0819246 ] [-0.00859493 0.99962193 -0.02611748 -0.58668144] [ 0.2408534 0.02741899 0.97017413 -0.36627455] [ 0. 0. 0. 1. ]] SLAMing on 312.72463044 meters Centerline goodness : 0.166804 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.58, Z:-0.37 [[ 9.70346328e-01 -5.53881056e-03 -2.41655387e-01 6.34562487e-02] [-3.23735037e-04 9.99706758e-01 -2.42134948e-02 -5.84596933e-01] [ 2.41718637e-01 2.35737081e-02 9.70059988e-01 -3.71603213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75463044 meters Centerline goodness : 0.089463 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.59, Z:-0.38 [[ 0.97071644 0.00268716 -0.24021317 0.04828207] [-0.00898936 0.99964342 -0.02514399 -0.58989794] [ 0.24005995 0.02656704 0.97039446 -0.37705151] [ 0. 0. 0. 1. ]] SLAMing on 312.78463044 meters Centerline goodness : 0.160242 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 0.97074053 -0.00308967 -0.24011096 0.06543852] [-0.00269251 0.99971431 -0.02374951 -0.58569687] [ 0.24011574 0.02370111 0.97045489 -0.37109185] [ 0. 0. 0. 1. ]] SLAMing on 312.81463044000003 meters Centerline goodness : 0.087352 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 0.97075827 -0.00297361 -0.24004072 0.06521161] [-0.00279779 0.99971522 -0.02369905 -0.58554525] [ 0.24004283 0.02367764 0.9704735 -0.37101046] [ 0. 0. 0. 1. ]] SLAMing on 312.84463044 meters Centerline goodness : 0.105993 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 0.97072799 0.0125167 -0.23985519 0.06898114] [-0.01917212 0.99949263 -0.02543436 -0.59184764] [ 0.23941514 0.02928838 0.97047544 -0.37160027] [ 0. 0. 0. 1. ]] SLAMing on 312.87463044000003 meters Centerline goodness : 0.113109 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.59, Z:-0.37 [[ 0.97074915 0.01265977 -0.23976201 0.06862599] [-0.01931558 0.99948997 -0.02543052 -0.59113089] [ 0.23931778 0.0293178 0.97049857 -0.37146198] [ 0. 0. 0. 1. ]] SLAMing on 312.90463044 meters Centerline goodness : 0.111383 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.36 [[ 0.97064097 0.0080644 -0.24039774 0.08267856] [-0.01418331 0.99961769 -0.02373396 -0.58455788] [ 0.24011443 0.02644679 0.97038427 -0.36456398] [ 0. 0. 0. 1. ]] SLAMing on 312.93463044000003 meters Centerline goodness : 0.140026 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.36 [[ 0.97068733 0.00806036 -0.24021059 0.08220891] [-0.01421919 0.99961282 -0.0239171 -0.58291661] [ 0.23992481 0.02663162 0.97042611 -0.36456455] [ 0. 0. 0. 1. ]] SLAMing on 312.96463044 meters Centerline goodness : 0.138465 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.36 [[ 0.97068079 0.00802794 -0.24023812 0.08255244] [-0.0142371 0.99960765 -0.02412143 -0.58108396] [ 0.23995022 0.0268345 0.97041424 -0.36471931] [ 0. 0. 0. 1. ]] SLAMing on 312.99463044000004 meters Centerline goodness : 0.145769 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.37 [[ 0.97066619 0.00793976 -0.24030005 0.08334824] [-0.01422177 0.99960064 -0.02441946 -0.57879818] [ 0.24001019 0.02712063 0.97039146 -0.36516431] [ 0. 0. 0. 1. ]] SLAMing on 313.02463044 meters Centerline goodness : 0.099788 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.58, Z:-0.37 [[ 0.97069453 0.00787288 -0.24018772 0.08335644] [-0.01421492 0.99959425 -0.02468347 -0.57686019] [ 0.23989593 0.02737436 0.97041259 -0.36539845] [ 0. 0. 0. 1. ]] SLAMing on 313.05463044000004 meters Centerline goodness : 0.107734 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.37 [[ 0.97069947 0.00761111 -0.2401762 0.08344337] [-0.01405897 0.99958497 -0.0251444 -0.57446133] [ 0.23988514 0.02778428 0.9704036 -0.36542492] [ 0. 0. 0. 1. ]] SLAMing on 313.08463044 meters Centerline goodness : 0.106929 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.37 [[ 0.97068388 0.00711805 -0.24025434 0.08372997] [-0.01376978 0.99956661 -0.02601882 -0.56999956] [ 0.23996501 0.0285643 0.97036121 -0.36535492] [ 0. 0. 0. 1. ]] SLAMing on 313.11463044000004 meters Centerline goodness : 0.280849 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.37 [[ 0.97066891 0.0069135 -0.24032078 0.08406623] [-0.01365806 0.99955787 -0.02641059 -0.56770592] [ 0.24003194 0.02891825 0.97033417 -0.36545761] [ 0. 0. 0. 1. ]] SLAMing on 313.14463044 meters Centerline goodness : 0.097058 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.57, Z:-0.37 [[ 0.9706622 0.00673532 -0.24035291 0.08442816] [-0.01356961 0.99954896 -0.02679071 -0.56512663] [ 0.24006406 0.02926622 0.97031579 -0.36560393] [ 0. 0. 0. 1. ]] SLAMing on 313.17463044000004 meters Centerline goodness : 0.113735 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.57, Z:-0.36 [[ 0.97056162 0.01456957 -0.24041187 0.10185777] [-0.02171103 0.99939739 -0.02708315 -0.5687208 ] [ 0.2398724 0.03150546 0.97029307 -0.36145953] [ 0. 0. 0. 1. ]] SLAMing on 313.20463044 meters Centerline goodness : 0.098422 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.56, Z:-0.37 [[ 0.97064863 0.00632932 -0.24041873 0.08394336] [-0.01296828 0.99957673 -0.0260421 -0.5624807 ] [ 0.24015214 0.02839555 0.97031987 -0.36750025] [ 0. 0. 0. 1. ]] SLAMing on 313.23463044 meters Centerline goodness : 0.085774 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.56, Z:-0.36 [[ 9.70409823e-01 -4.74445082e-05 -2.41463815e-01 1.02120913e-01] [-6.27703184e-03 9.99657078e-01 -2.54229462e-02 -5.55767266e-01] [ 2.41382218e-01 2.61863528e-02 9.70076749e-01 -3.61464014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26463044 meters Centerline goodness : 0.109266 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 9.70337533e-01 -4.81619738e-04 -2.41753678e-01 1.03353414e-01] [-5.96400463e-03 9.99645984e-01 -2.59294785e-02 -5.53797663e-01] [ 2.41680581e-01 2.66021662e-02 9.69991145e-01 -3.61777738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29463044 meters Centerline goodness : 0.084799 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.56, Z:-0.37 [[ 0.97047353 0.00759251 -0.24108811 0.08893227] [-0.01453251 0.99952922 -0.02702118 -0.55871297] [ 0.24076945 0.02972695 0.97012699 -0.36733951] [ 0. 0. 0. 1. ]] SLAMing on 313.32463044 meters Centerline goodness : 0.437451 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.96991628 0.00293328 -0.24342105 0.10296851] [-0.00961641 0.9996086 -0.02627127 -0.55262293] [ 0.24324872 0.02782177 0.96956486 -0.36138267] [ 0. 0. 0. 1. ]] SLAMing on 313.35463044 meters Centerline goodness : 0.108951 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.96995608 0.00288388 -0.24326301 0.10275424] [-0.00960102 0.99960452 -0.0264316 -0.55146656] [ 0.24309057 0.02797307 0.96960017 -0.3615497 ] [ 0. 0. 0. 1. ]] SLAMing on 313.38463044 meters Centerline goodness : 0.454862 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.56, Z:-0.36 [[ 0.96969028 0.01074096 -0.24410121 0.12003437] [-0.01777966 0.9994867 -0.02665011 -0.55505714] [ 0.24368966 0.03018239 0.9693835 -0.3568224 ] [ 0. 0. 0. 1. ]] SLAMing on 313.41463044 meters Centerline goodness : 0.454862 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.56, Z:-0.36 [[ 0.96969028 0.01074096 -0.24410121 0.12003437] [-0.01777966 0.9994867 -0.02665011 -0.55505714] [ 0.24368966 0.03018239 0.9693835 -0.3568224 ] [ 0. 0. 0. 1. ]] SLAMing on 313.44463044 meters Centerline goodness : 0.449792 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.36 [[ 0.9696743 0.01072144 -0.24416552 0.12039504] [-0.01777671 0.99948515 -0.02671012 -0.55454252] [ 0.24375344 0.03024058 0.96936565 -0.35695484] [ 0. 0. 0. 1. ]] SLAMing on 313.47463044 meters Centerline goodness : 0.117930 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.36 [[ 0.96971953 0.01084366 -0.24398042 0.11986227] [-0.01785929 0.99948764 -0.02656113 -0.55448605] [ 0.24356739 0.03011416 0.96941635 -0.3570245 ] [ 0. 0. 0. 1. ]] SLAMing on 313.50463044 meters Centerline goodness : 0.120804 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.36 [[ 0.96972812 0.01081627 -0.24394751 0.11956987] [-0.01783625 0.9994874 -0.02658599 -0.55437967] [ 0.2435349 0.03013229 0.96942395 -0.35678834] [ 0. 0. 0. 1. ]] SLAMing on 313.53463044 meters Centerline goodness : 0.122928 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.36 [[ 0.96970714 0.01070238 -0.2440359 0.11964376] [-0.01775924 0.99948478 -0.02673541 -0.55395454] [ 0.24362404 0.03025941 0.96939759 -0.35658842] [ 0. 0. 0. 1. ]] SLAMing on 313.56463044000003 meters Centerline goodness : 0.092394 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.36 [[ 0.96964246 0.01048801 -0.24430208 0.12036606] [-0.01759677 0.99948233 -0.02693384 -0.55375594] [ 0.24389313 0.03041513 0.96932505 -0.35652258] [ 0. 0. 0. 1. ]] SLAMing on 313.59463044 meters Centerline goodness : 0.167465 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.96964235 0.00279467 -0.24451154 0.10342205] [-0.00925343 0.99963783 -0.02527022 -0.54980285] [ 0.24435237 0.02676565 0.96931704 -0.36253831] [ 0. 0. 0. 1. ]] SLAMing on 313.62463044000003 meters Centerline goodness : 0.130343 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.96964211 0.00289261 -0.24451136 0.1035559 ] [-0.00933243 0.99963929 -0.02518306 -0.54968719] [ 0.24435032 0.02670044 0.96931935 -0.36264642] [ 0. 0. 0. 1. ]] SLAMing on 313.65463044 meters Centerline goodness : 0.118916 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.96966191 0.00293203 -0.24443238 0.1033557 ] [-0.00936662 0.99963939 -0.02516638 -0.54945136] [ 0.24427044 0.02669238 0.96933971 -0.36263729] [ 0. 0. 0. 1. ]] SLAMing on 313.68463044000003 meters Centerline goodness : 0.115994 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.96963847 0.00288647 -0.24452586 0.10364451] [-0.00931871 0.9996402 -0.02515211 -0.54989605] [ 0.24436528 0.02666712 0.9693165 -0.36266398] [ 0. 0. 0. 1. ]] SLAMing on 313.71463044 meters Centerline goodness : 0.113080 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.9695408 0.00274268 -0.24491449 0.1047068 ] [-0.00919141 0.99964039 -0.02519145 -0.55059896] [ 0.24475732 0.02667525 0.96921736 -0.36261744] [ 0. 0. 0. 1. ]] SLAMing on 313.74463044000004 meters Centerline goodness : 0.115166 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96933857 0.00239001 -0.24571737 0.10694263] [-0.0088724 0.99964109 -0.02527787 -0.55237844] [ 0.24556877 0.02668292 0.96901187 -0.3626351 ] [ 0. 0. 0. 1. ]] SLAMing on 313.77463044 meters Centerline goodness : 0.131317 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96929347 0.00236753 -0.24589543 0.10740863] [-0.00884958 0.99964176 -0.02525937 -0.55258357] [ 0.24574753 0.02665981 0.96896718 -0.36256733] [ 0. 0. 0. 1. ]] SLAMing on 313.80463044000004 meters Centerline goodness : 0.443984 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96931032 0.00245389 -0.24582815 0.10727654] [-0.00891668 0.99964316 -0.02518024 -0.55261672] [ 0.24567864 0.02659944 0.96898631 -0.36261649] [ 0. 0. 0. 1. ]] SLAMing on 313.83463044 meters Centerline goodness : 0.116160 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96935785 0.00253457 -0.24563985 0.10680141] [-0.00898969 0.99964299 -0.02516104 -0.55210827] [ 0.24548838 0.02659827 0.96903456 -0.36261916] [ 0. 0. 0. 1. ]] SLAMing on 313.86463044000004 meters Centerline goodness : 0.117513 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.55, Z:-0.36 [[ 0.96956019 -0.00354495 -0.24482741 0.12399894] [-0.00238438 0.99971109 -0.02391778 -0.54642331] [ 0.24484147 0.02377349 0.96927162 -0.35675127] [ 0. 0. 0. 1. ]] SLAMing on 313.89463044 meters Centerline goodness : 0.114837 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96974304 0.00476394 -0.2440814 0.10830984] [-0.0112801 0.99961611 -0.02530585 -0.54927611] [ 0.24386715 0.02729343 0.96942451 -0.36191525] [ 0. 0. 0. 1. ]] SLAMing on 313.92463044000004 meters Centerline goodness : 0.176977 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.55, Z:-0.37 [[ 0.96952989 0.01369977 -0.24458966 0.09257158] [-0.0207698 0.99943699 -0.02634975 -0.55002287] [ 0.24409097 0.03062695 0.96926858 -0.36669692] [ 0. 0. 0. 1. ]] SLAMing on 313.95463044 meters Centerline goodness : 0.090818 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96938632 0.0213043 -0.24461457 0.11037885] [-0.02882805 0.99921375 -0.02721818 -0.55404241] [ 0.24384238 0.03343669 0.9692383 -0.36172025] [ 0. 0. 0. 1. ]] SLAMing on 313.98463044 meters Centerline goodness : 0.456459 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96939582 0.0210898 -0.24459551 0.11018329] [-0.02868562 0.9992092 -0.02753363 -0.55285789] [ 0.2438214 0.03370736 0.9692342 -0.36156613] [ 0. 0. 0. 1. ]] SLAMing on 314.01463044 meters Centerline goodness : 0.111783 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96950877 0.02086026 -0.24416714 0.10888729] [-0.02847132 0.9992112 -0.02768342 -0.55227725] [ 0.24339706 0.03379108 0.96933794 -0.36159978] [ 0. 0. 0. 1. ]] SLAMing on 314.04463044 meters Centerline goodness : 0.460677 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.96968901 0.02052742 -0.24347863 0.10674549] [-0.02810487 0.99922143 -0.02768843 -0.55278967] [ 0.2427207 0.0336921 0.96951096 -0.36176295] [ 0. 0. 0. 1. ]] SLAMing on 314.07463044 meters Centerline goodness : 0.456187 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.55, Z:-0.36 [[ 0.97031052 0.00527924 -0.24180491 0.10450303] [-0.01183157 0.99960087 -0.02565361 -0.54761175] [ 0.24157297 0.0277529 0.96998571 -0.36169364] [ 0. 0. 0. 1. ]] SLAMing on 314.10463044 meters Centerline goodness : 0.097611 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.54, Z:-0.36 [[ 0.97030824 -0.00193684 -0.24186393 0.12351652] [-0.00417923 0.9996844 -0.02477169 -0.54479897] [ 0.24183557 0.02504698 0.96999392 -0.35549687] [ 0. 0. 0. 1. ]] SLAMing on 314.13463044 meters Centerline goodness : 0.098179 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.97071418 0.00466505 -0.24019203 0.10963804] [-0.01124373 0.99959803 -0.02602616 -0.55113601] [ 0.23997406 0.02796461 0.97037644 -0.36156592] [ 0. 0. 0. 1. ]] SLAMing on 314.16463044 meters Centerline goodness : 0.454102 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.97060026 0.0045434 -0.24065431 0.11081215] [-0.01110946 0.99960191 -0.02593451 -0.55217143] [ 0.24044068 0.02784558 0.97026435 -0.36147388] [ 0. 0. 0. 1. ]] SLAMing on 314.19463044 meters Centerline goodness : 0.095518 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.97049957 0.00445417 -0.24106168 0.1118025 ] [-0.01100647 0.99960546 -0.02584134 -0.55313277] [ 0.24085147 0.02773225 0.9701657 -0.36128217] [ 0. 0. 0. 1. ]] SLAMing on 314.22463044 meters Centerline goodness : 0.227946 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.55, Z:-0.36 [[ 0.97040957 0.00400465 -0.24143161 0.11284857] [-0.01060243 0.99960481 -0.02603481 -0.55413935] [ 0.24123194 0.02782419 0.97006854 -0.36126187] [ 0. 0. 0. 1. ]] SLAMing on 314.25463044 meters Centerline goodness : 0.253549 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.55, Z:-0.35 [[ 0.97032931 -0.00261432 -0.24177302 0.13098922] [-0.00355624 0.99967907 -0.02508222 -0.54988036] [ 0.241761 0.02519781 0.9700086 -0.3548683 ] [ 0. 0. 0. 1. ]] SLAMing on 314.28463044 meters Centerline goodness : 0.455294 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.55, Z:-0.35 [[ 0.97029785 -0.00255687 -0.24189986 0.131391 ] [-0.00363125 0.99967755 -0.02513205 -0.54891488] [ 0.24188612 0.02526397 0.96997569 -0.35485654] [ 0. 0. 0. 1. ]] SLAMing on 314.31463044000003 meters Centerline goodness : 0.444447 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.55, Z:-0.35 [[ 0.9702115 -0.00250403 -0.24224652 0.13259514] [-0.00373187 0.99967345 -0.02527967 -0.54698151] [ 0.24223071 0.02543066 0.96988533 -0.35496944] [ 0. 0. 0. 1. ]] SLAMing on 314.34463044 meters Centerline goodness : 0.454197 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.54, Z:-0.36 [[ 9.69907442e-01 -3.57659697e-04 -2.43473666e-01 1.37420277e-01] [-5.58013838e-03 9.99703596e-01 -2.36977228e-02 -5.44830487e-01] [ 2.43409975e-01 2.43432144e-02 9.69617962e-01 -3.55558341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37463044000003 meters Centerline goodness : 0.457266 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.54, Z:-0.36 [[ 9.69829787e-01 -4.66713246e-04 -2.43782621e-01 1.38453194e-01] [-5.58037828e-03 9.99693639e-01 -2.41140542e-02 -5.41805926e-01] [ 2.43719190e-01 2.47469273e-02 9.69530065e-01 -3.55577641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40463044 meters Centerline goodness : 0.258588 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.53, Z:-0.36 [[ 9.69856880e-01 -2.73340353e-04 -2.43675109e-01 1.37998546e-01] [-5.87787152e-03 9.99682157e-01 -2.45160355e-02 -5.34787031e-01] [ 2.43604359e-01 2.52093366e-02 9.69547010e-01 -3.55304155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43463044000003 meters Centerline goodness : 0.447004 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.53, Z:-0.36 [[ 9.69897172e-01 -3.94313781e-04 -2.43514519e-01 1.37435551e-01] [-5.84420175e-03 9.99672972e-01 -2.48956802e-02 -5.31917233e-01] [ 2.43444699e-01 2.55693978e-02 9.69577683e-01 -3.55159149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46463044 meters Centerline goodness : 0.456868 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.53, Z:-0.36 [[ 9.69939806e-01 -5.78389251e-04 -2.43344278e-01 1.36980423e-01] [-5.74744572e-03 9.99663771e-01 -2.52846346e-02 -5.29155407e-01] [ 2.43277083e-01 2.59231816e-02 9.69610360e-01 -3.55116303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49463044000004 meters Centerline goodness : 0.459972 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.53, Z:-0.36 [[ 9.69982750e-01 -7.73825978e-04 -2.43172502e-01 1.36558059e-01] [-5.63121866e-03 9.99655296e-01 -2.56432950e-02 -5.26785714e-01] [ 2.43108523e-01 2.62429113e-02 9.69644036e-01 -3.55105664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52463044 meters Centerline goodness : 0.116495 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.52, Z:-0.35 [[ 0.96999472 -0.00107213 -0.24312361 0.13637219] [-0.00542505 0.99964585 -0.02605268 -0.5244268 ] [ 0.24306544 0.02658992 0.96964538 -0.35494502] [ 0. 0. 0. 1. ]] SLAMing on 314.55463044000004 meters Centerline goodness : 0.121272 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.52, Z:-0.35 [[ 0.97002959 -0.00130318 -0.24298334 0.13574381] [-0.00524844 0.99963995 -0.02631397 -0.52311056] [ 0.24293015 0.02680061 0.96967349 -0.35471165] [ 0. 0. 0. 1. ]] SLAMing on 314.58463044 meters Centerline goodness : 0.094429 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.52, Z:-0.36 [[ 0.96993198 -0.0108975 -0.24313207 0.11643604] [ 0.00470246 0.99964968 -0.02604601 -0.51879325] [ 0.24333074 0.02411953 0.96964344 -0.35998716] [ 0. 0. 0. 1. ]] SLAMing on 314.61463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 314.64463044 meters Centerline goodness : 0.128361 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.52, Z:-0.36 [[ 0.97000264 -0.01297385 -0.24274793 0.11486292] [ 0.00658854 0.99961108 -0.02709764 -0.5212068 ] [ 0.24300508 0.02468543 0.96971086 -0.36050647] [ 0. 0. 0. 1. ]] SLAMing on 314.67463044000004 meters Centerline goodness : 0.261744 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.52, Z:-0.36 [[ 0.97011186 -0.01333229 -0.24229161 0.11373295] [ 0.00697312 0.99960882 -0.02708462 -0.52164039] [ 0.24255793 0.02458559 0.96982535 -0.36113054] [ 0. 0. 0. 1. ]] SLAMing on 314.70463044 meters Centerline goodness : 0.457507 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.53, Z:-0.37 [[ 0.9705067 -0.00475581 -0.24102725 0.0975438 ] [-0.0020079 0.99961125 -0.02780864 -0.52554299] [ 0.2410658 0.02747243 0.97011986 -0.36692286] [ 0. 0. 0. 1. ]] SLAMing on 314.73463044 meters Centerline goodness : 0.108211 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.52, Z:-0.36 [[ 0.97050657 -0.01138354 -0.24080577 0.11578868] [ 0.00510717 0.99963119 -0.02667213 -0.52047813] [ 0.24102058 0.02465564 0.97020677 -0.36095415] [ 0. 0. 0. 1. ]] SLAMing on 314.76463044 meters Centerline goodness : 0.115521 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.52, Z:-0.37 [[ 0.97077068 -0.00242966 -0.23999663 0.0975839 ] [-0.00445286 0.99959432 -0.02813116 -0.51905639] [ 0.23996762 0.02837758 0.97036604 -0.36580746] [ 0. 0. 0. 1. ]] SLAMing on 314.79463044 meters Centerline goodness : 0.091040 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.52, Z:-0.37 [[ 0.970725 -0.00267707 -0.24017871 0.09811888] [-0.00432326 0.99958117 -0.02861474 -0.51634651] [ 0.24015472 0.0288154 0.97030685 -0.36568245] [ 0. 0. 0. 1. ]] SLAMing on 314.82463044 meters Centerline goodness : 0.108867 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.51, Z:-0.37 [[ 0.97062411 -0.00284301 -0.24058418 0.09961076] [-0.00426998 0.99956916 -0.02903902 -0.51351095] [ 0.24056308 0.02921327 0.97019379 -0.36584779] [ 0. 0. 0. 1. ]] SLAMing on 314.85463044 meters Centerline goodness : 0.097008 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.51, Z:-0.37 [[ 0.9704932 -0.00289483 -0.24111112 0.10132113] [-0.00431204 0.99955968 -0.02935725 -0.5106187 ] [ 0.24108994 0.0295307 0.97005339 -0.36591733] [ 0. 0. 0. 1. ]] SLAMing on 314.88463044 meters Centerline goodness : 0.090445 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.51, Z:-0.37 [[ 0.97039938 -0.00296662 -0.24148755 0.1028376 ] [-0.00433176 0.99954989 -0.02968607 -0.507897 ] [ 0.24146692 0.02985341 0.96994974 -0.36619147] [ 0. 0. 0. 1. ]] SLAMing on 314.91463044 meters Centerline goodness : 0.133384 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.50, Z:-0.37 [[ 0.97033463 -0.00323196 -0.24174422 0.10394946] [-0.00423489 0.99953001 -0.03036143 -0.50297449] [ 0.24172873 0.03048451 0.9698649 -0.36630957] [ 0. 0. 0. 1. ]] SLAMing on 314.94463044 meters Centerline goodness : 0.107337 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.50, Z:-0.37 [[ 0.97034501 -0.00351185 -0.24169862 0.10388389] [-0.00406206 0.99951636 -0.03083076 -0.50078203] [ 0.24168999 0.03089827 0.96986146 -0.36628307] [ 0. 0. 0. 1. ]] SLAMing on 314.97463044 meters Centerline goodness : 0.094035 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.50, Z:-0.37 [[ 0.97031638 -0.0037721 -0.24180964 0.1044329 ] [-0.00390768 0.99950327 -0.03127218 -0.49853694] [ 0.24180749 0.03128882 0.96981965 -0.36639516] [ 0. 0. 0. 1. ]] SLAMing on 315.00463044 meters Centerline goodness : 0.187878 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.50, Z:-0.37 [[ 0.97025777 -0.00392135 -0.24204231 0.10555581] [-0.00384592 0.99949289 -0.03160973 -0.49629784] [ 0.24204352 0.03160047 0.96975066 -0.36666546] [ 0. 0. 0. 1. ]] SLAMing on 315.03463044 meters Centerline goodness : 0.091649 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.37 [[ 0.97018203 -0.00393047 -0.24234557 0.1070047 ] [-0.00390512 0.99948524 -0.03184347 -0.49376704] [ 0.24234597 0.03184035 0.96966727 -0.36709747] [ 0. 0. 0. 1. ]] SLAMing on 315.06463044000003 meters Centerline goodness : 0.098453 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.37 [[ 0.97010155 -0.00384848 -0.24266883 0.10845751] [-0.0040359 0.99948021 -0.03198479 -0.49160507] [ 0.24266579 0.03200789 0.96958177 -0.3674647 ] [ 0. 0. 0. 1. ]] SLAMing on 315.09463044 meters Centerline goodness : 0.176876 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.49, Z:-0.36 [[ 9.70175879e-01 -7.95726087e-03 -2.42271430e-01 1.29775746e-01] [ 8.90064322e-04 9.99571261e-01 -2.92660606e-02 -4.87183850e-01] [ 2.42400437e-01 2.81775889e-02 9.69767009e-01 -3.61943245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12463044000003 meters Centerline goodness : 0.135559 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.37 [[ 9.70696882e-01 -7.29852749e-04 -2.40306120e-01 1.12028463e-01] [-6.92989521e-03 9.99494480e-01 -3.10283878e-02 -4.91074393e-01] [ 2.40207286e-01 3.17844555e-02 9.70201117e-01 -3.67472221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15463044 meters Centerline goodness : 0.143492 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.37 [[ 9.70738379e-01 -7.88152520e-04 -2.40138249e-01 1.11250035e-01] [-6.89265360e-03 9.99491161e-01 -3.11433722e-02 -4.90621701e-01] [ 2.40040603e-01 3.18872564e-02 9.70238997e-01 -3.67194774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18463044000003 meters Centerline goodness : 0.252922 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.37 [[ 9.70740170e-01 -7.95313327e-04 -2.40130986e-01 1.11263567e-01] [-6.90341146e-03 9.99488770e-01 -3.12176520e-02 -4.90097101e-01] [ 2.40033052e-01 3.19619518e-02 9.70238408e-01 -3.67204235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21463044 meters Centerline goodness : 0.256387 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.49, Z:-0.37 [[ 9.70662293e-01 -7.55491697e-04 -2.40445715e-01 1.12313385e-01] [-6.96570420e-03 9.99486999e-01 -3.12604887e-02 -4.89397384e-01] [ 2.40345983e-01 3.20182514e-02 9.70159080e-01 -3.67282111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24463044000004 meters Centerline goodness : 0.149122 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 9.70211900e-01 -6.44303323e-03 -2.42172162e-01 1.30127923e-01] [-8.58601747e-04 9.99548540e-01 -3.00329733e-02 -4.84065725e-01] [ 2.42256335e-01 2.93462775e-02 9.69768356e-01 -3.60868595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27463044 meters Centerline goodness : 0.149122 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 9.70211900e-01 -6.44303323e-03 -2.42172162e-01 1.30127923e-01] [-8.58601747e-04 9.99548540e-01 -3.00329733e-02 -4.84065725e-01] [ 2.42256335e-01 2.93462775e-02 9.69768356e-01 -3.60868595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30463044000004 meters Centerline goodness : 0.101878 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.49, Z:-0.36 [[ 0.97058666 0.00966858 -0.24055779 0.12998094] [-0.01767271 0.99935884 -0.03113808 -0.49046056] [ 0.24010249 0.03447352 0.97013523 -0.3614179 ] [ 0. 0. 0. 1. ]] SLAMing on 315.33463044 meters Centerline goodness : 0.135027 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.49, Z:-0.36 [[ 0.97069791 0.00976996 -0.24010437 0.12846187] [-0.01779239 0.99935269 -0.03126722 -0.48907222] [ 0.23964346 0.03462306 0.9702434 -0.36112921] [ 0. 0. 0. 1. ]] SLAMing on 315.36463044000004 meters Centerline goodness : 0.049332 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.49, Z:-0.36 [[ 0.97069926 0.009795 -0.24009791 0.1285001 ] [-0.0178666 0.99934518 -0.0314643 -0.48737913] [ 0.2396325 0.0348321 0.97023863 -0.3611029 ] [ 0. 0. 0. 1. ]] SLAMing on 315.39463044 meters Centerline goodness : 0.110005 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.49, Z:-0.36 [[ 0.97061342 0.00991319 -0.24043984 0.12979331] [-0.0180273 0.99933893 -0.03157088 -0.48581283] [ 0.23996792 0.0349776 0.97015049 -0.36130053] [ 0. 0. 0. 1. ]] SLAMing on 315.42463044000004 meters Centerline goodness : 0.141125 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 0.97048146 0.01040321 -0.24095126 0.13171888] [-0.01853898 0.99933108 -0.03152291 -0.48330682] [ 0.24046214 0.03505939 0.97002515 -0.3616299 ] [ 0. 0. 0. 1. ]] SLAMing on 315.45463044 meters Centerline goodness : 0.089567 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 0.97046125 0.01038601 -0.24103338 0.13200498] [-0.01857501 0.99932395 -0.0317273 -0.48186251] [ 0.24054091 0.03526731 0.96999809 -0.3614983 ] [ 0. 0. 0. 1. ]] SLAMing on 315.48463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 315.51463044 meters Centerline goodness : 0.157061 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 0.97066109 0.01027388 -0.24023219 0.12942098] [-0.01851791 0.99931359 -0.03208473 -0.47993248] [ 0.23973766 0.035592 0.97018507 -0.3611482 ] [ 0. 0. 0. 1. ]] SLAMing on 315.54463044 meters Centerline goodness : 0.087714 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 0.97071979 0.01014946 -0.24000015 0.1286126 ] [-0.01841737 0.99931072 -0.03223185 -0.47950143] [ 0.23950759 0.03570827 0.97023762 -0.36098543] [ 0. 0. 0. 1. ]] SLAMing on 315.57463044 meters Centerline goodness : 0.092649 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 0.970685 0.01041986 -0.24012926 0.12991612] [-0.01863637 0.99931501 -0.03197165 -0.47926154] [ 0.23963164 0.03550954 0.97021428 -0.36188509] [ 0. 0. 0. 1. ]] SLAMing on 315.60463044 meters Centerline goodness : 0.240040 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.36 [[ 0.97023918 0.00432718 -0.24210993 0.14754746] [-0.0121016 0.99945743 -0.03063327 -0.47271441] [ 0.24184601 0.03265151 0.96976512 -0.35565963] [ 0. 0. 0. 1. ]] SLAMing on 315.63463044 meters Centerline goodness : 0.115749 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.36 [[ 0.9701795 0.00434495 -0.24234863 0.14838427] [-0.01212648 0.99945734 -0.03062642 -0.47276921] [ 0.24208404 0.03265196 0.96970571 -0.35576656] [ 0. 0. 0. 1. ]] SLAMing on 315.66463044 meters Centerline goodness : 0.114941 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.36 [[ 0.9701551 0.0042203 -0.2424485 0.14841119] [-0.01202886 0.99945516 -0.03073588 -0.47290623] [ 0.24218669 0.03273495 0.96967728 -0.35553089] [ 0. 0. 0. 1. ]] SLAMing on 315.69463044 meters Centerline goodness : 0.119292 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.36 [[ 0.97018469 0.00418635 -0.24233063 0.14795504] [-0.0119775 0.99945729 -0.03068662 -0.47356225] [ 0.24207065 0.0326742 0.96970831 -0.35545864] [ 0. 0. 0. 1. ]] SLAMing on 315.72463044 meters Centerline goodness : 0.102875 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.47, Z:-0.36 [[ 0.97053911 -0.00303418 -0.24092452 0.13046482] [-0.00428892 0.99954472 -0.02986562 -0.47025189] [ 0.24090545 0.03001906 0.97008423 -0.36099874] [ 0. 0. 0. 1. ]] SLAMing on 315.75463044 meters Centerline goodness : 0.111407 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.36 [[ 0.97081952 -0.01034707 -0.23958799 0.1498816 ] [ 0.00355012 0.99957936 -0.02878357 -0.46947668] [ 0.23978503 0.02709309 0.97044789 -0.35570002] [ 0. 0. 0. 1. ]] SLAMing on 315.78463044 meters Centerline goodness : 0.114844 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 0.97112688 -0.00377131 -0.23853379 0.13337435] [-0.00346914 0.99954607 -0.02992689 -0.47867128] [ 0.23853837 0.02989031 0.97067297 -0.36215991] [ 0. 0. 0. 1. ]] SLAMing on 315.81463044000003 meters Centerline goodness : 0.127359 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.36 [[ 0.97105621 -0.003651 -0.23882316 0.13439677] [-0.00356194 0.99955062 -0.02976346 -0.4794721 ] [ 0.2388245 0.02975266 0.97060684 -0.36231491] [ 0. 0. 0. 1. ]] SLAMing on 315.84463044 meters Centerline goodness : 0.461580 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.36 [[ 0.97072341 0.00383255 -0.24016946 0.15172276] [-0.0113646 0.99948576 -0.02998429 -0.48460286] [ 0.23993104 0.03183588 0.97026778 -0.35718631] [ 0. 0. 0. 1. ]] SLAMing on 315.87463044000003 meters Centerline goodness : 0.144283 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.36 [[ 0.97067064 0.00384801 -0.24038239 0.15262182] [-0.01141527 0.99948184 -0.03009562 -0.48342316] [ 0.24014203 0.03195696 0.9702116 -0.35735864] [ 0. 0. 0. 1. ]] SLAMing on 315.90463044 meters Centerline goodness : 0.097865 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.36 [[ 0.97060303 0.00403571 -0.24065218 0.15366072] [-0.01163721 0.99947691 -0.03017429 -0.4816097 ] [ 0.24040452 0.03208778 0.97014228 -0.35742873] [ 0. 0. 0. 1. ]] SLAMing on 315.93463044000003 meters Centerline goodness : 0.123503 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.36 [[ 0.97048678 0.00804156 -0.24102021 0.15429735] [-0.01507277 0.99951246 -0.02734329 -0.47807055] [ 0.24068282 0.03016914 0.97013484 -0.35675484] [ 0. 0. 0. 1. ]] SLAMing on 315.96463044 meters Centerline goodness : 0.114759 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.36 [[ 0.97047911 0.00796228 -0.24105374 0.15445728] [-0.01508441 0.99950205 -0.02771492 -0.47541302] [ 0.24071303 0.0305329 0.97011596 -0.3566877 ] [ 0. 0. 0. 1. ]] SLAMing on 315.99463044000004 meters Centerline goodness : 0.100448 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.47, Z:-0.36 [[ 0.97041544 0.00785147 -0.24131353 0.15517673] [-0.01508328 0.9994903 -0.02813593 -0.47257031] [ 0.24096963 0.03094334 0.97003925 -0.35651773] [ 0. 0. 0. 1. ]] SLAMing on 316.02463044 meters Centerline goodness : 0.119885 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.47, Z:-0.36 [[ 0.97035205 0.00764402 -0.24157496 0.15619011] [-0.01499981 0.99947767 -0.02862495 -0.46970245] [ 0.24122997 0.03139986 0.96995987 -0.35663606] [ 0. 0. 0. 1. ]] SLAMing on 316.05463044000004 meters Centerline goodness : 0.083108 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.36 [[ 9.70367123e-01 1.54639461e-04 -2.41635310e-01 1.39945499e-01] [-6.98284357e-03 9.99600099e-01 -2.74022212e-02 -4.62964607e-01] [ 2.41534442e-01 2.82775161e-02 9.69980152e-01 -3.63041993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08463044 meters Centerline goodness : 0.124675 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.36 [[ 9.70317547e-01 -2.13965156e-06 -2.41834361e-01 1.40721684e-01] [-6.92032925e-03 9.99590233e-01 -2.77754396e-02 -4.60640045e-01] [ 2.41735325e-01 2.86245698e-02 9.69919928e-01 -3.63204623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11463044000004 meters Centerline goodness : 0.097193 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.36 [[ 9.70300503e-01 -2.62562202e-04 -2.41902592e-01 1.40713913e-01] [-6.77907589e-03 9.99577149e-01 -2.82766376e-02 -4.57624758e-01] [ 2.41807728e-01 2.90767117e-02 9.69888431e-01 -3.62991841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14463044 meters Centerline goodness : 0.136129 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.45, Z:-0.36 [[ 9.70174969e-01 -6.82721770e-03 -2.42309553e-01 1.58142116e-01] [ 2.63009253e-04 9.99632362e-01 -2.71121906e-02 -4.51658120e-01] [ 2.42405571e-01 2.62398390e-02 9.69820092e-01 -3.56340244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17463044000004 meters Centerline goodness : 0.221086 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 0.96966767 -0.00829238 -0.24428638 0.11485879] [ 0.00170122 0.99962911 -0.02717993 -0.45361482] [ 0.24442117 0.02593991 0.96932214 -0.36668857] [ 0. 0. 0. 1. ]] SLAMing on 316.20463044 meters Centerline goodness : 0.100296 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 0.96967289 -0.00836052 -0.24426334 0.11482198] [ 0.00177985 0.99962981 -0.02714919 -0.45398427] [ 0.2443999 0.02589108 0.96932881 -0.36666408] [ 0. 0. 0. 1. ]] SLAMing on 316.23463044 meters Centerline goodness : 0.049429 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 0.9696625 -0.00837985 -0.24430394 0.11488293] [ 0.00182069 0.9996321 -0.0270618 -0.45456479] [ 0.24444084 0.02579601 0.96932102 -0.36657871] [ 0. 0. 0. 1. ]] SLAMing on 316.26463044 meters Centerline goodness : 0.064938 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 0.96960515 -0.00855284 -0.24452545 0.11536705] [ 0.00198983 0.99963145 -0.02707423 -0.45541081] [ 0.24466689 0.02576475 0.96926482 -0.36637745] [ 0. 0. 0. 1. ]] SLAMing on 316.29463044 meters Centerline goodness : 0.090232 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 0.96955397 -0.00858674 -0.24472713 0.1159421 ] [ 0.00200318 0.99962969 -0.02713783 -0.45502505] [ 0.24486953 0.02582136 0.96921214 -0.36634881] [ 0. 0. 0. 1. ]] SLAMing on 316.32463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 316.35463044 meters Centerline goodness : 0.116468 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.45, Z:-0.37 [[ 0.96956244 -0.00844934 -0.24469835 0.11577687] [ 0.00185109 0.99962878 -0.02718227 -0.4538082 ] [ 0.24483718 0.02590195 0.96921816 -0.36625237] [ 0. 0. 0. 1. ]] SLAMing on 316.38463044 meters Centerline goodness : 0.100477 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 0.96976471 -0.00799837 -0.24391073 0.11340466] [ 0.00144706 0.99963366 -0.02702685 -0.45285436] [ 0.24403754 0.02585673 0.96942102 -0.36620595] [ 0. 0. 0. 1. ]] SLAMing on 316.41463044 meters Centerline goodness : 0.091792 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 0.96980149 -0.00782156 -0.24377017 0.11293515] [ 0.00129697 0.9996369 -0.02691436 -0.45280171] [ 0.24389217 0.02578543 0.9694595 -0.36615791] [ 0. 0. 0. 1. ]] SLAMing on 316.44463044 meters Centerline goodness : 0.143431 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 0.96982118 -0.00770435 -0.24369553 0.11283022] [ 0.00119904 0.99963925 -0.02683151 -0.45288158] [ 0.24381434 0.02572957 0.96948056 -0.36629805] [ 0. 0. 0. 1. ]] SLAMing on 316.47463044 meters Centerline goodness : 0.082857 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 0.96981857 -0.00755717 -0.24371055 0.1129663 ] [ 0.00109634 0.99964462 -0.02663504 -0.45371232] [ 0.24382523 0.02556397 0.9694822 -0.36641605] [ 0. 0. 0. 1. ]] SLAMing on 316.50463044 meters Centerline goodness : 0.122598 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.37 [[ 9.69823363e-01 -7.39466406e-03 -2.43696456e-01 1.12873904e-01] [ 9.93160108e-04 9.99651474e-01 -2.63807568e-02 -4.54933771e-01] [ 2.43806598e-01 2.53426447e-02 9.69492699e-01 -3.66401883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53463044 meters Centerline goodness : 0.111097 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.37 [[ 9.69827061e-01 -7.16981352e-03 -2.43688459e-01 1.12891731e-01] [ 8.55688098e-04 9.99661404e-01 -2.60066332e-02 -4.56805889e-01] [ 2.43792410e-01 2.50134154e-02 9.69504817e-01 -3.66425646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56463044000003 meters Centerline goodness : 0.112063 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.37 [[ 9.69800721e-01 -6.78934515e-03 -2.43804158e-01 1.13554858e-01] [ 6.27527984e-04 9.99678632e-01 -2.53424152e-02 -4.60586218e-01] [ 2.43897865e-01 2.44240985e-02 9.69493319e-01 -3.66738191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59463044 meters Centerline goodness : 0.460700 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.37 [[ 9.69779343e-01 -6.71241481e-03 -2.43891306e-01 1.14068960e-01] [ 6.00479354e-04 9.99684117e-01 -2.51257911e-02 -4.62197463e-01] [ 2.43982919e-01 2.42200215e-02 9.69477037e-01 -3.66977620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62463044000003 meters Centerline goodness : 0.100923 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.37 [[ 9.69770087e-01 -6.56841933e-03 -2.43932029e-01 1.14365894e-01] [ 5.20471731e-04 9.99691062e-01 -2.48497592e-02 -4.63865666e-01] [ 2.44019893e-01 2.39715934e-02 9.69473906e-01 -3.67124904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65463044 meters Centerline goodness : 0.117420 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.47, Z:-0.37 [[ 9.69796215e-01 -6.38739375e-03 -2.43832938e-01 1.14242544e-01] [ 4.01613033e-04 9.99697527e-01 -2.45905208e-02 -4.65119641e-01] [ 2.43916254e-01 2.37498675e-02 9.69505443e-01 -3.67292941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68463044000003 meters Centerline goodness : 0.123509 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.47, Z:-0.37 [[ 9.69802729e-01 -6.16068429e-03 -2.43812866e-01 1.14293379e-01] [ 2.36356456e-04 9.99704186e-01 -2.43204669e-02 -4.66127385e-01] [ 2.43890573e-01 2.35284285e-02 9.69517303e-01 -3.67378409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71463044 meters Centerline goodness : 0.109635 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.47, Z:-0.37 [[ 9.69797517e-01 -5.99245474e-03 -2.43837789e-01 1.14730312e-01] [ 9.54614238e-05 9.99707406e-01 -2.41887164e-02 -4.66308121e-01] [ 2.43911393e-01 2.34348800e-02 9.69514331e-01 -3.67698479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74463044000004 meters Centerline goodness : 0.087104 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.37 [[ 9.69702133e-01 -5.56955710e-03 -2.44226848e-01 1.16355737e-01] [-3.26751420e-04 9.99709606e-01 -2.40955952e-02 -4.65264747e-01] [ 2.44290128e-01 2.34453516e-02 9.69418717e-01 -3.68181938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77463044 meters Centerline goodness : 0.082767 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 9.69650026e-01 -5.46579423e-03 -2.44435988e-01 1.17079644e-01] [-4.63903349e-04 9.99707162e-01 -2.41945450e-02 -4.63900846e-01] [ 2.44496650e-01 2.35736359e-02 9.69363539e-01 -3.68332225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80463044000004 meters Centerline goodness : 0.102513 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 9.69617350e-01 -5.36453802e-03 -2.44567817e-01 1.17649566e-01] [-5.95353219e-04 9.99704810e-01 -2.42886385e-02 -4.62353723e-01] [ 2.44625920e-01 2.36962895e-02 9.69327935e-01 -3.68490297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83463044 meters Centerline goodness : 0.082681 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 9.69605209e-01 -5.24161250e-03 -2.44618610e-01 1.18034437e-01] [-7.20050149e-04 9.99705048e-01 -2.42754665e-02 -4.61473928e-01] [ 2.44673701e-01 2.37137564e-02 9.69315448e-01 -3.68736271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86463044000004 meters Centerline goodness : 0.084160 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 9.69614494e-01 -5.23516060e-03 -2.44581941e-01 1.18230800e-01] [-7.30733177e-04 9.99704563e-01 -2.42951028e-02 -4.61291327e-01] [ 2.44636872e-01 2.37356080e-02 9.69324209e-01 -3.69006716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89463044 meters Centerline goodness : 0.114281 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 9.69645632e-01 -5.48268362e-03 -2.44453038e-01 1.18080385e-01] [-4.76216387e-04 9.99704338e-01 -2.43106971e-02 -4.62863791e-01] [ 2.44514050e-01 2.36891738e-02 9.69356334e-01 -3.69174874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92463044000004 meters Centerline goodness : 0.118658 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.46, Z:-0.37 [[ 9.69625727e-01 -5.61867303e-03 -2.44528893e-01 1.18218334e-01] [-3.21075855e-04 9.99706021e-01 -2.42439435e-02 -4.64360524e-01] [ 2.44593225e-01 2.35860637e-02 9.69338874e-01 -3.69052053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95463044 meters Centerline goodness : 0.108119 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.37 [[ 9.69552362e-01 -5.73699298e-03 -2.44816881e-01 1.19046683e-01] [-1.72576580e-04 9.99709286e-01 -2.41104582e-02 -4.66223989e-01] [ 2.44884030e-01 2.34186014e-02 9.69269509e-01 -3.69017901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98463044 meters Centerline goodness : 0.099891 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.37 [[ 9.69431051e-01 -5.90891225e-03 -2.45292726e-01 1.20428181e-01] [ 2.24447331e-05 9.99712112e-01 -2.39935876e-02 -4.68231331e-01] [ 2.45363885e-01 2.32546234e-02 9.69152097e-01 -3.68967314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01463044 meters Centerline goodness : 0.093422 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.37 [[ 9.69347258e-01 -5.92417301e-03 -2.45623285e-01 1.21248471e-01] [ 8.90502856e-05 9.99717671e-01 -2.37606944e-02 -4.70290362e-01] [ 2.45694700e-01 2.30104911e-02 9.69074110e-01 -3.68820637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04463044 meters Centerline goodness : 0.104943 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.37 [[ 9.69289552e-01 -5.81686296e-03 -2.45853469e-01 1.21899997e-01] [ 4.71274220e-05 9.99724598e-01 -2.34675593e-02 -4.72131488e-01] [ 2.45922268e-01 2.27352736e-02 9.69022882e-01 -3.68744074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07463044 meters Centerline goodness : 0.117793 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.37 [[ 9.69306186e-01 -5.56929769e-03 -2.45793612e-01 1.21775602e-01] [-1.01288387e-04 9.99734266e-01 -2.30518488e-02 -4.74347845e-01] [ 2.45856679e-01 2.23691957e-02 9.69048044e-01 -3.68792167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10463044 meters Centerline goodness : 0.120318 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69305477e-01 -5.47632623e-03 -2.45798498e-01 1.21656483e-01] [-1.64766736e-04 9.99737205e-01 -2.29236404e-02 -4.75082291e-01] [ 2.45859441e-01 2.22605096e-02 9.69049847e-01 -3.68673676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13463044 meters Centerline goodness : 0.117824 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69268479e-01 -5.36211317e-03 -2.45946872e-01 1.21945103e-01] [-2.45646614e-04 9.99740828e-01 -2.27643513e-02 -4.75978018e-01] [ 2.46005195e-01 2.21251841e-02 9.69015955e-01 -3.68534219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16463044 meters Centerline goodness : 0.125297 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69219635e-01 -5.12695401e-03 -2.46144295e-01 1.22214297e-01] [-3.96585962e-04 9.99749336e-01 -2.23854377e-02 -4.78096642e-01] [ 2.46197364e-01 2.17940231e-02 9.68974653e-01 -3.68287476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19463044 meters Centerline goodness : 0.118356 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69218578e-01 -4.94411967e-03 -2.46152195e-01 1.22227735e-01] [-5.25611937e-04 9.99754514e-01 -2.21502750e-02 -4.79117060e-01] [ 2.46201282e-01 2.15978386e-02 9.68978050e-01 -3.68235089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22463044 meters Centerline goodness : 0.118356 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69218578e-01 -4.94411967e-03 -2.46152195e-01 1.22227735e-01] [-5.25611937e-04 9.99754514e-01 -2.21502750e-02 -4.79117060e-01] [ 2.46201282e-01 2.15978386e-02 9.68978050e-01 -3.68235089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25463044 meters Centerline goodness : 0.239877 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69251976e-01 -4.86908994e-03 -2.46022153e-01 1.21690409e-01] [-5.74574058e-04 9.99756702e-01 -2.20500970e-02 -4.79754857e-01] [ 2.46069660e-01 2.15134580e-02 9.69013361e-01 -3.68101131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28463044 meters Centerline goodness : 0.082233 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69287459e-01 -4.78152820e-03 -2.45884035e-01 1.21148977e-01] [-6.32580896e-04 9.99759193e-01 -2.19352570e-02 -4.80353021e-01] [ 2.45929709e-01 2.14171110e-02 9.69051023e-01 -3.67977972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31463044000003 meters Centerline goodness : 0.147705 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69285780e-01 -4.72638236e-03 -2.45891719e-01 1.21041400e-01] [-6.88234717e-04 9.99759278e-01 -2.19297371e-02 -4.80218831e-01] [ 2.45936175e-01 2.14254135e-02 9.69049199e-01 -3.67861447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34463044 meters Centerline goodness : 0.125346 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 9.69262197e-01 -4.61576462e-03 -2.45986763e-01 1.21434591e-01] [-8.01769002e-04 9.99759429e-01 -2.19189786e-02 -4.79785683e-01] [ 2.46028758e-01 2.14424619e-02 9.69025320e-01 -3.67936592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37463044000003 meters Centerline goodness : 0.082735 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96928431 -0.00416751 -0.24590763 0.12113953] [-0.00121306 0.99976325 -0.0217249 -0.47900561] [ 0.24593995 0.02135591 0.96904977 -0.36790229] [ 0. 0. 0. 1. ]] SLAMing on 317.40463044 meters Centerline goodness : 0.083488 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96928738 -0.00410063 -0.24589663 0.12107557] [-0.0012815 0.99976319 -0.0217238 -0.47869243] [ 0.24592748 0.02137172 0.96905259 -0.36788289] [ 0. 0. 0. 1. ]] SLAMing on 317.43463044000003 meters Centerline goodness : 0.112487 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96927063 -0.00400022 -0.24596431 0.12129996] [-0.00136955 0.99976453 -0.02165657 -0.47862603] [ 0.24599302 0.02132793 0.96903692 -0.36790052] [ 0. 0. 0. 1. ]] SLAMing on 317.46463044 meters Centerline goodness : 0.114596 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96926669 -0.0039312 -0.24598096 0.12134898] [-0.00142873 0.9997655 -0.0216078 -0.47856713] [ 0.24600823 0.02129516 0.96903378 -0.36791357] [ 0. 0. 0. 1. ]] SLAMing on 317.49463044000004 meters Centerline goodness : 0.083609 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96925564 -0.00395722 -0.24602407 0.1217894 ] [-0.00141711 0.99976431 -0.02166385 -0.47823123] [ 0.24605181 0.02134645 0.96902159 -0.36821063] [ 0. 0. 0. 1. ]] SLAMing on 317.52463044 meters Centerline goodness : 0.110907 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96919401 -0.00393134 -0.24626718 0.12266091] [-0.00145805 0.9997635 -0.02169815 -0.47770987] [ 0.24629424 0.02138879 0.96895906 -0.36830539] [ 0. 0. 0. 1. ]] SLAMing on 317.55463044000004 meters Centerline goodness : 0.118558 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.48, Z:-0.38 [[ 9.68609377e-01 -4.34357268e-03 -2.48549808e-01 7.97261099e-02] [-8.71653647e-04 9.99781845e-01 -2.08687226e-02 -4.81521425e-01] [ 2.48586231e-01 2.04302897e-02 9.68394284e-01 -3.78755657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58463044 meters Centerline goodness : 0.082016 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96905068 -0.00399712 -0.24682952 0.11914489] [-0.00137863 0.99976569 -0.02160252 -0.47881484] [ 0.24685803 0.02127423 0.9688181 -0.3675757 ] [ 0. 0. 0. 1. ]] SLAMing on 317.61463044000004 meters Centerline goodness : 0.123364 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.9690888 -0.00393748 -0.24668077 0.11844513] [-0.00138894 0.99976972 -0.02141464 -0.48008726] [ 0.24670828 0.02109531 0.96886016 -0.36736191] [ 0. 0. 0. 1. ]] SLAMing on 317.64463044 meters Centerline goodness : 0.117146 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96912118 -0.00393947 -0.2465535 0.11792095] [-0.00134534 0.99977302 -0.0212626 -0.48143807] [ 0.2465813 0.02093773 0.96889591 -0.3671874 ] [ 0. 0. 0. 1. ]] SLAMing on 317.67463044000004 meters Centerline goodness : 0.084148 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.48, Z:-0.37 [[ 0.96908698 -0.00383339 -0.24668956 0.11796973] [-0.00136144 0.99978098 -0.02088416 -0.48395634] [ 0.24671558 0.02057442 0.9688695 -0.36688199] [ 0. 0. 0. 1. ]] SLAMing on 317.70463044 meters Centerline goodness : 0.092022 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.49, Z:-0.37 [[ 0.96898134 -0.00383887 -0.24710409 0.11880948] [-0.00130279 0.99978611 -0.02064078 -0.48618112] [ 0.24713048 0.02032245 0.96876908 -0.36654242] [ 0. 0. 0. 1. ]] SLAMing on 317.73463044 meters Centerline goodness : 0.096944 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.49, Z:-0.37 [[ 0.96871494 -0.00672633 -0.24808491 0.12295151] [ 0.00119935 0.99974785 -0.02242299 -0.49265144] [ 0.24817318 0.02142395 0.96847875 -0.36733258] [ 0. 0. 0. 1. ]] SLAMing on 317.76463044 meters Centerline goodness : 0.119106 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.50, Z:-0.37 [[ 0.96860963 -0.00661609 -0.24849872 0.1242589 ] [ 0.00118759 0.99975751 -0.02198873 -0.49605911] [ 0.24858394 0.02100338 0.96838261 -0.36738946] [ 0. 0. 0. 1. ]] SLAMing on 317.79463044 meters Centerline goodness : 0.084768 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.50, Z:-0.37 [[ 0.96857677 -0.00629284 -0.24863517 0.12473199] [ 0.00100879 0.99977104 -0.02137394 -0.49948904] [ 0.24871274 0.02045148 0.96836135 -0.36746316] [ 0. 0. 0. 1. ]] SLAMing on 317.82463044 meters Centerline goodness : 0.127414 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.50, Z:-0.37 [[ 9.68613733e-01 -5.86325999e-03 -2.48501625e-01 1.24361337e-01] [ 7.43640805e-04 9.99785646e-01 -2.06908204e-02 -5.02865763e-01] [ 2.48569673e-01 1.98566168e-02 9.68410467e-01 -3.67496133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85463044 meters Centerline goodness : 0.091971 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.51, Z:-0.37 [[ 0.96959014 -0.00209205 -0.24472554 0.10507615] [-0.00346616 0.99974578 -0.02227913 -0.51390491] [ 0.24470994 0.02244988 0.9693364 -0.3742727 ] [ 0. 0. 0. 1. ]] SLAMing on 317.88463044 meters Centerline goodness : 0.088001 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.52, Z:-0.37 [[ 0.96948828 -0.00191968 -0.24513015 0.10618672] [-0.00357532 0.99975224 -0.02196969 -0.51598007] [ 0.2451116 0.02217578 0.96924122 -0.3742209 ] [ 0. 0. 0. 1. ]] SLAMing on 317.91463044 meters Centerline goodness : 0.089268 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.52, Z:-0.37 [[ 0.96941463 -0.00165373 -0.24542318 0.10738795] [-0.00375848 0.99976 -0.02158256 -0.51800651] [ 0.24539997 0.02184487 0.96917576 -0.37454041] [ 0. 0. 0. 1. ]] SLAMing on 317.94463044 meters Centerline goodness : 0.116050 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.52, Z:-0.37 [[ 0.96935133 -0.00132128 -0.24567508 0.10844179] [-0.00398197 0.99976968 -0.02108845 -0.52047805] [ 0.24564636 0.02142039 0.96912282 -0.37485648] [ 0. 0. 0. 1. ]] SLAMing on 317.97463044 meters Centerline goodness : 0.089613 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.52, Z:-0.37 [[ 0.96933644 -0.00106932 -0.24573507 0.10851705] [-0.00413517 0.99977796 -0.02066231 -0.52297978] [ 0.2457026 0.02104489 0.96911679 -0.37478177] [ 0. 0. 0. 1. ]] SLAMing on 318.00463044 meters Centerline goodness : 0.267988 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.53, Z:-0.37 [[ 9.69356252e-01 -8.96775280e-04 -2.45657590e-01 1.08102647e-01] [-4.22512606e-03 9.99784561e-01 -2.03219222e-02 -5.25304876e-01] [ 2.45622890e-01 2.07371167e-02 9.69143626e-01 -3.74612055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03463044 meters Centerline goodness : 0.083470 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.53, Z:-0.37 [[ 0.96972902 0.00723276 -0.24407643 0.12558825] [-0.01278892 0.99969373 -0.02118696 -0.53163817] [ 0.24384844 0.02366709 0.96952453 -0.36860902] [ 0. 0. 0. 1. ]] SLAMing on 318.06463044000003 meters Centerline goodness : 0.088501 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.53, Z:-0.37 [[ 0.96970345 0.00748034 -0.24417057 0.12578664] [-0.01297908 0.99969693 -0.02091893 -0.5325293 ] [ 0.24394009 0.02345427 0.96950664 -0.36854345] [ 0. 0. 0. 1. ]] SLAMing on 318.09463044 meters Centerline goodness : 0.084343 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.53, Z:-0.37 [[ 0.96970131 0.00766511 -0.24417334 0.12617892] [-0.01313137 0.99969811 -0.02076682 -0.53280364] [ 0.24394045 0.02334394 0.96950922 -0.36885466] [ 0. 0. 0. 1. ]] SLAMing on 318.12463044000003 meters Centerline goodness : 0.123832 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.53, Z:-0.37 [[ 0.96969965 0.00780412 -0.24417552 0.1265318 ] [-0.01323981 0.99969955 -0.02062803 -0.53340796] [ 0.24394118 0.02323583 0.96951163 -0.36918112] [ 0. 0. 0. 1. ]] SLAMing on 318.15463044 meters Centerline goodness : 0.084578 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.53, Z:-0.37 [[ 0.96964379 0.00780834 -0.24439711 0.12724225] [-0.01325197 0.9996992 -0.02063732 -0.53361903] [ 0.24416245 0.02324959 0.9694556 -0.36922644] [ 0. 0. 0. 1. ]] SLAMing on 318.18463044000003 meters Centerline goodness : 0.119944 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.53, Z:-0.37 [[ 0.96964034 0.00801011 -0.24440427 0.12711445] [-0.01340484 0.99970167 -0.02041761 -0.53464963] [ 0.24416781 0.02307394 0.96945844 -0.36907845] [ 0. 0. 0. 1. ]] SLAMing on 318.21463044 meters Centerline goodness : 0.084173 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96970098 0.00812357 -0.24415981 0.12627423] [-0.01347886 0.99970366 -0.02027074 -0.53530808] [ 0.24392278 0.02294755 0.96952312 -0.36893853] [ 0. 0. 0. 1. ]] SLAMing on 318.24463044000004 meters Centerline goodness : 0.066416 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96973854 0.00815243 -0.24400964 0.12562576] [-0.01347757 0.99970588 -0.02016182 -0.53625761] [ 0.24377351 0.02284035 0.9695632 -0.36874638] [ 0. 0. 0. 1. ]] SLAMing on 318.27463044 meters Centerline goodness : 0.057941 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96976975 0.00806238 -0.24388858 0.12545905] [-0.01337191 0.9997081 -0.02012249 -0.53739588] [ 0.24365515 0.02277544 0.96959448 -0.36891694] [ 0. 0. 0. 1. ]] SLAMing on 318.30463044000004 meters Centerline goodness : 0.085178 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96975434 0.00804703 -0.24395033 0.12595829] [-0.01333606 0.99971029 -0.0200369 -0.53835271] [ 0.24371842 0.02268421 0.96958071 -0.36920139] [ 0. 0. 0. 1. ]] SLAMing on 318.33463044 meters Centerline goodness : 0.084565 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96970573 0.00804656 -0.24414352 0.12673847] [-0.01331755 0.99971234 -0.01994669 -0.53903908] [ 0.24391279 0.02259382 0.96953394 -0.36941747] [ 0. 0. 0. 1. ]] SLAMing on 318.36463044000004 meters Centerline goodness : 0.133526 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96961856 0.00807473 -0.24448853 0.12766647] [-0.01328541 0.99971824 -0.01967097 -0.54082658] [ 0.24426081 0.02232147 0.96945263 -0.36927459] [ 0. 0. 0. 1. ]] SLAMing on 318.39463044 meters Centerline goodness : 0.097594 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96961762 0.00815076 -0.24448974 0.12733161] [-0.01331221 0.99972189 -0.01946612 -0.54207835] [ 0.24426309 0.02212939 0.96945646 -0.36894132] [ 0. 0. 0. 1. ]] SLAMing on 318.42463044000004 meters Centerline goodness : 0.098194 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96960904 0.00813852 -0.24452417 0.12727065] [-0.0132705 0.99972475 -0.01934746 -0.54337509] [ 0.24429941 0.02200443 0.96945016 -0.36879855] [ 0. 0. 0. 1. ]] SLAMing on 318.45463044 meters Centerline goodness : 0.084815 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.96958465 0.00816104 -0.24462012 0.12757511] [-0.01326266 0.9997274 -0.01921531 -0.54457437] [ 0.24439662 0.02187518 0.96942858 -0.36880895] [ 0. 0. 0. 1. ]] SLAMing on 318.48463044 meters Centerline goodness : 0.096858 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.55, Z:-0.37 [[ 0.96954025 0.00807885 -0.24479875 0.12816649] [-0.01316931 0.9997296 -0.01916479 -0.54593557] [ 0.24457772 0.02180487 0.96938449 -0.36883208] [ 0. 0. 0. 1. ]] SLAMing on 318.51463044 meters Centerline goodness : 0.097039 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.55, Z:-0.37 [[ 0.96955913 0.00805471 -0.24472477 0.12806572] [-0.0131516 0.99972916 -0.01920003 -0.54592502] [ 0.24450384 0.02183408 0.96940247 -0.36891474] [ 0. 0. 0. 1. ]] SLAMing on 318.54463044 meters Centerline goodness : 0.083703 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.55, Z:-0.37 [[ 0.96957933 0.00803585 -0.24464536 0.12822262] [-0.01315416 0.99972731 -0.01929461 -0.54521356] [ 0.24442359 0.02192576 0.96942064 -0.36923462] [ 0. 0. 0. 1. ]] SLAMing on 318.57463044 meters Centerline goodness : 0.121801 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.54, Z:-0.37 [[ 0.9695853 0.00819692 -0.24461635 0.12866374] [-0.01331594 0.99972544 -0.01928028 -0.54430102] [ 0.24439115 0.02195118 0.96942824 -0.36961276] [ 0. 0. 0. 1. ]] SLAMing on 318.60463044 meters Centerline goodness : 0.097078 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.55, Z:-0.36 [[ 0.96944163 0.01630747 -0.24477948 0.14701415] [-0.02184585 0.99956272 -0.01992788 -0.54843377] [ 0.24434747 0.02466633 0.96937397 -0.36448484] [ 0. 0. 0. 1. ]] SLAMing on 318.63463044 meters Centerline goodness : 0.082373 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.55, Z:-0.36 [[ 0.96921855 0.02417766 -0.24501192 0.165207 ] [-0.03015721 0.99933117 -0.02068241 -0.55322313] [ 0.244348 0.02743465 0.96929944 -0.35942944] [ 0. 0. 0. 1. ]] SLAMing on 318.66463044 meters Centerline goodness : 0.082838 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.55, Z:-0.36 [[ 0.96904472 0.02397242 -0.24571865 0.16792395] [-0.03007163 0.99932503 -0.02109939 -0.55161006] [ 0.24504699 0.02783541 0.96911153 -0.3597976 ] [ 0. 0. 0. 1. ]] SLAMing on 318.69463044 meters Centerline goodness : 0.083701 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.55, Z:-0.36 [[ 0.9689757 0.0240485 -0.24598325 0.16909126] [-0.03001242 0.99933878 -0.02052459 -0.55261083] [ 0.24532702 0.02727038 0.96905675 -0.36075731] [ 0. 0. 0. 1. ]] SLAMing on 318.72463044 meters Centerline goodness : 0.084867 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.55, Z:-0.36 [[ 0.9689388 0.02426702 -0.24610712 0.17002131] [-0.03017764 0.99933894 -0.02027291 -0.5531025 ] [ 0.24545247 0.02707014 0.9690306 -0.36130655] [ 0. 0. 0. 1. ]] SLAMing on 318.75463044 meters Centerline goodness : 0.083660 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.55, Z:-0.36 [[ 0.96901007 0.01725361 -0.24641791 0.18868898] [-0.02269545 0.99955687 -0.0192606 -0.54717667] [ 0.2459764 0.02425628 0.96897226 -0.35596124] [ 0. 0. 0. 1. ]] SLAMing on 318.78463044 meters Centerline goodness : 0.083991 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.55, Z:-0.36 [[ 0.96903102 0.01708861 -0.24634702 0.1885575 ] [-0.02255571 0.99955758 -0.01938785 -0.54728609] [ 0.24590672 0.02434396 0.96898775 -0.35603589] [ 0. 0. 0. 1. ]] SLAMing on 318.81463044000003 meters Centerline goodness : 0.083471 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.55, Z:-0.35 [[ 0.96911153 0.01627588 -0.24608524 0.18665265] [-0.02194036 0.99955329 -0.02029397 -0.54518575] [ 0.24564501 0.02506632 0.96903571 -0.3549148 ] [ 0. 0. 0. 1. ]] SLAMing on 318.84463044 meters Centerline goodness : 0.096742 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.54, Z:-0.35 [[ 0.96911222 0.01626358 -0.24608332 0.18655611] [-0.02197088 0.99954914 -0.0204646 -0.54388105] [ 0.24563954 0.02523916 0.96903261 -0.35477058] [ 0. 0. 0. 1. ]] SLAMing on 318.87463044000003 meters Centerline goodness : 0.098558 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.54, Z:-0.35 [[ 0.96907137 0.01654921 -0.24622511 0.18728255] [-0.02225458 0.99954405 -0.02040656 -0.54245816] [ 0.24577513 0.02525505 0.96899782 -0.35497355] [ 0. 0. 0. 1. ]] SLAMing on 318.90463044 meters Centerline goodness : 0.084124 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.54, Z:-0.36 [[ 0.96910475 0.01668155 -0.24608478 0.1875726 ] [-0.02239505 0.99954029 -0.02043715 -0.54093172] [ 0.24563073 0.02531682 0.96903282 -0.35550215] [ 0. 0. 0. 1. ]] SLAMing on 318.93463044000003 meters Centerline goodness : 0.083520 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.54, Z:-0.36 [[ 0.96910002 0.01655285 -0.24611207 0.18791744] [-0.02234185 0.99953507 -0.020748 -0.53904188] [ 0.24565421 0.02560548 0.96901928 -0.35565466] [ 0. 0. 0. 1. ]] SLAMing on 318.96463044 meters Centerline goodness : 0.083527 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.54, Z:-0.36 [[ 0.96916504 0.0159037 -0.24589876 0.1871548 ] [-0.02187362 0.99952812 -0.02156558 -0.5359972 ] [ 0.24543976 0.0262793 0.96905558 -0.35551254] [ 0. 0. 0. 1. ]] SLAMing on 318.99463044000004 meters Centerline goodness : 0.089246 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.54, Z:-0.36 [[ 0.96913768 0.01572823 -0.24601784 0.18721567] [-0.02175821 0.99952531 -0.02181117 -0.53507975] [ 0.24555801 0.02649094 0.96901986 -0.35523825] [ 0. 0. 0. 1. ]] SLAMing on 319.02463044 meters Centerline goodness : 0.092336 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.53, Z:-0.36 [[ 0.96908349 0.01572594 -0.24623134 0.18784061] [-0.021764 0.99952501 -0.02181955 -0.53487381] [ 0.24577125 0.02650394 0.96896544 -0.35524602] [ 0. 0. 0. 1. ]] SLAMing on 319.05463044000004 meters Centerline goodness : 0.084238 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.54, Z:-0.36 [[ 0.96906588 0.0157346 -0.24630011 0.18827424] [-0.02173286 0.99952928 -0.02165401 -0.5354347 ] [ 0.24584346 0.02633697 0.96895168 -0.35561827] [ 0. 0. 0. 1. ]] SLAMing on 319.08463044 meters Centerline goodness : 0.082488 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.53, Z:-0.35 [[ 0.96954432 0.00813716 -0.24478072 0.20643211] [-0.01364435 0.99969032 -0.02081111 -0.52990981] [ 0.24453558 0.02351717 0.96935509 -0.35074508] [ 0. 0. 0. 1. ]] SLAMing on 319.11463044000004 meters Centerline goodness : 0.082488 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.53, Z:-0.35 [[ 0.96954432 0.00813716 -0.24478072 0.20643211] [-0.01364435 0.99969032 -0.02081111 -0.52990981] [ 0.24453558 0.02351717 0.96935509 -0.35074508] [ 0. 0. 0. 1. ]] SLAMing on 319.14463044 meters Centerline goodness : 0.077658 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.53, Z:-0.36 [[ 9.69881086e-01 -2.52250999e-04 -2.43578766e-01 1.85547274e-01] [-4.73050914e-03 9.99791355e-01 -1.98713122e-02 -5.26821135e-01] [ 2.43532957e-01 2.04250615e-02 9.69677532e-01 -3.56884661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17463044000004 meters Centerline goodness : 0.073977 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.53, Z:-0.36 [[ 9.69964614e-01 -2.30432588e-04 -2.43245957e-01 1.84439719e-01] [-4.73198456e-03 9.99792439e-01 -1.98163308e-02 -5.27003403e-01] [ 2.43200035e-01 2.03721757e-02 9.69762196e-01 -3.56738373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20463044 meters Centerline goodness : 0.060342 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.53, Z:-0.36 [[ 9.69999218e-01 -2.66818798e-04 -2.43107890e-01 1.83869964e-01] [-4.69827965e-03 9.99792061e-01 -1.98434156e-02 -5.26983838e-01] [ 2.43062633e-01 2.03902865e-02 9.69796264e-01 -3.56554422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23463044 meters Centerline goodness : 0.084166 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.53, Z:-0.36 [[ 9.69977316e-01 -3.86744941e-04 -2.43195102e-01 1.84136950e-01] [-4.62096874e-03 9.99788890e-01 -2.00205436e-02 -5.26136096e-01] [ 2.43151504e-01 2.05432701e-02 9.69770757e-01 -3.56526567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26463044 meters Centerline goodness : 0.083759 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.52, Z:-0.36 [[ 9.69906259e-01 -5.50223505e-04 -2.43478019e-01 1.85228928e-01] [-4.52513406e-03 9.99783989e-01 -2.02854472e-02 -5.24912097e-01] [ 2.43436587e-01 2.07767529e-02 9.69694258e-01 -3.56762253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29463044 meters Centerline goodness : 0.084222 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.52, Z:-0.36 [[ 9.69801282e-01 -6.91011041e-04 -2.43895461e-01 1.86935839e-01] [-4.49667709e-03 9.99775356e-01 -2.07127225e-02 -5.21958439e-01] [ 2.43854985e-01 2.11839440e-02 9.69580315e-01 -3.57217986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32463044 meters Centerline goodness : 0.083489 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.52, Z:-0.36 [[ 9.69807217e-01 -7.70472720e-04 -2.43871622e-01 1.87221121e-01] [-4.46831662e-03 9.99771004e-01 -2.09278224e-02 -5.20304276e-01] [ 2.43831901e-01 2.13856488e-02 9.69581692e-01 -3.57481778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35463044 meters Centerline goodness : 0.084852 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.52, Z:-0.36 [[ 9.69834810e-01 -8.61131544e-04 -2.43761563e-01 1.87030562e-01] [-4.42251887e-03 9.99767010e-01 -2.11273820e-02 -5.19067434e-01] [ 2.43722962e-01 2.15681106e-02 9.69605040e-01 -3.57600904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38463044 meters Centerline goodness : 0.083811 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.52, Z:-0.36 [[ 0.96980656 -0.0010677 -0.24387311 0.18743841] [-0.00427989 0.9997619 -0.02139681 -0.5179357 ] [ 0.24383789 0.02179452 0.96957108 -0.35763464] [ 0. 0. 0. 1. ]] SLAMing on 319.41463044 meters Centerline goodness : 0.084256 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.52, Z:-0.36 [[ 0.96974911 -0.00130548 -0.24410029 0.18804584] [-0.00411686 0.99975601 -0.02170208 -0.51685291] [ 0.24406906 0.0220505 0.96950713 -0.35754787] [ 0. 0. 0. 1. ]] SLAMing on 319.44463044 meters Centerline goodness : 0.083305 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.52, Z:-0.36 [[ 0.96969352 -0.00151329 -0.24431984 0.18883139] [-0.00397192 0.99975103 -0.02195672 -0.51591228] [ 0.24429224 0.02226171 0.96944609 -0.35759755] [ 0. 0. 0. 1. ]] SLAMing on 319.47463044 meters Centerline goodness : 0.084360 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.51, Z:-0.36 [[ 0.96966046 -0.00161563 -0.24445038 0.18899227] [-0.00394027 0.99974495 -0.02223744 -0.51368874] [ 0.24442396 0.02252596 0.96940678 -0.357371 ] [ 0. 0. 0. 1. ]] SLAMing on 319.50463044 meters Centerline goodness : 0.084127 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.51, Z:-0.36 [[ 0.96967108 -0.00167717 -0.24440781 0.18897117] [-0.00390756 0.99974227 -0.02236338 -0.51292217] [ 0.24438233 0.02264016 0.96941462 -0.35745591] [ 0. 0. 0. 1. ]] SLAMing on 319.53463044 meters Centerline goodness : 0.092529 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.51, Z:-0.36 [[ 0.96963796 -0.00183761 -0.24453803 0.18937104] [-0.00379688 0.9997381 -0.02256799 -0.51199157] [ 0.24451546 0.02281126 0.96937703 -0.35741698] [ 0. 0. 0. 1. ]] SLAMing on 319.56463044000003 meters Centerline goodness : 0.090251 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.51, Z:-0.36 [[ 0.96960641 -0.00194225 -0.24466228 0.18983514] [-0.00373972 0.99973403 -0.02275706 -0.51098552] [ 0.24464141 0.02298035 0.96934126 -0.35748313] [ 0. 0. 0. 1. ]] SLAMing on 319.59463044 meters Centerline goodness : 0.122763 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.51, Z:-0.36 [[ 0.9695785 -0.001973 -0.24477262 0.19038362] [-0.003776 0.99972797 -0.02301561 -0.50836414] [ 0.24475145 0.0232397 0.9693073 -0.35766029] [ 0. 0. 0. 1. ]] SLAMing on 319.62463044000003 meters Centerline goodness : 0.084393 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.51, Z:-0.36 [[ 0.96963923 -0.00197211 -0.24453195 0.18970684] [-0.00380993 0.99972428 -0.02317005 -0.50673176] [ 0.24451022 0.02339824 0.96936437 -0.35763853] [ 0. 0. 0. 1. ]] SLAMing on 319.65463044 meters Centerline goodness : 0.118005 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.50, Z:-0.36 [[ 0.9697046 -0.00211002 -0.24427144 0.18870896] [-0.00374215 0.99971704 -0.02349109 -0.50466983] [ 0.24425189 0.02369352 0.96942232 -0.35733053] [ 0. 0. 0. 1. ]] SLAMing on 319.68463044000003 meters Centerline goodness : 0.104416 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.50, Z:-0.36 [[ 0.96977589 -0.0022807 -0.24398674 0.187699 ] [-0.00365994 0.99970784 -0.02389208 -0.50225405] [ 0.24396995 0.02406294 0.96948421 -0.35710798] [ 0. 0. 0. 1. ]] SLAMing on 319.71463044 meters Centerline goodness : 0.096662 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.50, Z:-0.36 [[ 0.96982 -0.00243859 -0.24380981 0.18736596] [-0.00360993 0.99969677 -0.02435847 -0.4990077 ] [ 0.24379528 0.02450346 0.96951712 -0.35724797] [ 0. 0. 0. 1. ]] SLAMing on 319.74463044000004 meters Centerline goodness : 0.115761 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.50, Z:-0.36 [[ 9.69545811e-01 -1.27936011e-04 -2.44909993e-01 1.92402377e-01] [-5.61554803e-03 9.99725346e-01 -2.27529791e-02 -4.95307129e-01] [ 2.44845638e-01 2.34353594e-02 9.69278803e-01 -3.58247769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77463044 meters Centerline goodness : 0.081801 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.49, Z:-0.36 [[ 0.96931039 0.00268244 -0.2458255 0.19737227] [-0.00813339 0.99974299 -0.02116144 -0.48718654] [ 0.24570555 0.0225114 0.96908308 -0.35973695] [ 0. 0. 0. 1. ]] SLAMing on 319.80463044000004 meters Centerline goodness : 0.082914 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.49, Z:-0.37 [[ 0.96880578 0.00176878 -0.24781493 0.1535339 ] [-0.00725839 0.99974805 -0.02124017 -0.48611109] [ 0.24771493 0.02237634 0.96857453 -0.37005865] [ 0. 0. 0. 1. ]] SLAMing on 319.83463044 meters Centerline goodness : 0.082894 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.37 [[ 0.96883058 0.00137746 -0.24772044 0.15304953] [-0.00701306 0.99973625 -0.02186886 -0.48292021] [ 0.24762498 0.0229245 0.96858471 -0.36981535] [ 0. 0. 0. 1. ]] SLAMing on 319.86463044000004 meters Centerline goodness : 0.082894 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.37 [[ 9.68847767e-01 9.61984229e-04 -2.47655163e-01 1.52822917e-01] [-6.74677692e-03 9.99723837e-01 -2.25106601e-02 -4.79796518e-01] [ 2.47565115e-01 2.34802769e-02 9.68586697e-01 -3.69747173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89463044 meters Centerline goodness : 0.081787 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.48, Z:-0.37 [[ 9.68848116e-01 6.08805863e-04 -2.47654916e-01 1.53076475e-01] [-6.52843281e-03 9.99712254e-01 -2.30822357e-02 -4.76341185e-01] [ 2.47569602e-01 2.39799790e-02 9.68573308e-01 -3.69926071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92463044000004 meters Centerline goodness : 0.108614 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.37 [[ 9.68888616e-01 1.35754408e-04 -2.47497136e-01 1.53281353e-01] [-6.25845497e-03 9.99693522e-01 -2.39519255e-02 -4.69045676e-01] [ 2.47418032e-01 2.47556976e-02 9.68592522e-01 -3.70326094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95463044 meters Centerline goodness : 0.107109 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.37 [[ 9.68902070e-01 -2.31058807e-04 -2.47444390e-01 1.53124269e-01] [-6.01974474e-03 9.99681593e-01 -2.45046104e-02 -4.66336325e-01] [ 2.47371264e-01 2.52321198e-02 9.68592173e-01 -3.70288995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98463044 meters Centerline goodness : 0.073560 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.46, Z:-0.36 [[ 9.68748773e-01 -6.58898618e-03 -2.47956447e-01 1.69184757e-01] [ 7.55116237e-04 9.99720829e-01 -2.36155537e-02 -4.58057111e-01] [ 2.48042827e-01 2.26903028e-02 9.68483302e-01 -3.63383214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01463044 meters Centerline goodness : 0.114903 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.46, Z:-0.36 [[ 9.68776970e-01 -6.72679687e-03 -2.47842558e-01 1.68303188e-01] [ 8.31446330e-04 9.99714399e-01 -2.38836691e-02 -4.56133976e-01] [ 2.47932434e-01 2.29318808e-02 9.68505879e-01 -3.62880096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04463044 meters Centerline goodness : 0.083136 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.45, Z:-0.36 [[ 0.9687736 -0.00706463 -0.24784633 0.16851686] [ 0.00104543 0.9997015 -0.0244092 -0.45255415] [ 0.24794479 0.02338788 0.96849181 -0.36298724] [ 0. 0. 0. 1. ]] SLAMing on 320.07463044 meters Centerline goodness : 0.114509 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.45, Z:-0.36 [[ 0.96869501 -0.00731026 -0.24814621 0.16950385] [ 0.00121209 0.99969371 -0.02471878 -0.45130906] [ 0.24825091 0.02364418 0.96840717 -0.36304318] [ 0. 0. 0. 1. ]] SLAMing on 320.10463044 meters Centerline goodness : 0.113594 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.45, Z:-0.36 [[ 0.96858385 -0.0075889 -0.24857138 0.17064516] [ 0.00140045 0.99968488 -0.02506345 -0.45010592] [ 0.24868326 0.02392794 0.96828926 -0.36291333] [ 0. 0. 0. 1. ]] SLAMing on 320.13463044 meters Centerline goodness : 0.463997 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.45, Z:-0.36 [[ 0.96871719 -0.00188113 -0.24816015 0.19248107] [-0.00519004 0.999599 -0.0278371 -0.44851611] [ 0.24811301 0.02825424 0.96831897 -0.35785518] [ 0. 0. 0. 1. ]] SLAMing on 320.16463044 meters Centerline goodness : 0.095810 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.45, Z:-0.37 [[ 0.96801926 -0.00286327 -0.25085955 0.14968374] [-0.00430886 0.99959762 -0.02803631 -0.44931003] [ 0.25083889 0.02822061 0.96761741 -0.36807326] [ 0. 0. 0. 1. ]] SLAMing on 320.19463044 meters Centerline goodness : 0.086278 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.45, Z:-0.37 [[ 0.96797829 -0.00305135 -0.25101537 0.15000404] [-0.00420521 0.99958872 -0.02836734 -0.44732181] [ 0.25099869 0.02851454 0.96756735 -0.36791178] [ 0. 0. 0. 1. ]] SLAMing on 320.22463044 meters Centerline goodness : 0.084709 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.9679795 -0.00316718 -0.25100927 0.14982742] [-0.00417189 0.99957934 -0.02870073 -0.44438661] [ 0.25099458 0.0288289 0.9675591 -0.36768697] [ 0. 0. 0. 1. ]] SLAMing on 320.25463044 meters Centerline goodness : 0.084093 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.96798532 -0.00328708 -0.25098527 0.14964405] [-0.00410597 0.9995731 -0.02892679 -0.4430513 ] [ 0.25097321 0.02903125 0.96755859 -0.36753403] [ 0. 0. 0. 1. ]] SLAMing on 320.28463044 meters Centerline goodness : 0.117966 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.96795661 -0.00354603 -0.25109246 0.15000715] [-0.00392164 0.9995649 -0.02923408 -0.44193991] [ 0.25108688 0.02928202 0.96752155 -0.367513 ] [ 0. 0. 0. 1. ]] SLAMing on 320.31463044000003 meters Centerline goodness : 0.094308 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.96787076 -0.00374414 -0.25142029 0.15083409] [-0.00380394 0.99955668 -0.02952904 -0.44033631] [ 0.2514194 0.02953669 0.96742745 -0.36731079] [ 0. 0. 0. 1. ]] SLAMing on 320.34463044 meters Centerline goodness : 0.102498 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.96785258 -0.00371193 -0.25149078 0.15089906] [-0.00383794 0.99955672 -0.0295233 -0.43990523] [ 0.25148889 0.02953941 0.9674093 -0.36715423] [ 0. 0. 0. 1. ]] SLAMing on 320.37463044000003 meters Centerline goodness : 0.106660 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.9678565 -0.00372388 -0.25147548 0.15074234] [-0.00383209 0.99955595 -0.02955017 -0.43962411] [ 0.25147386 0.029564 0.96741246 -0.36701182] [ 0. 0. 0. 1. ]] SLAMing on 320.40463044 meters Centerline goodness : 0.171403 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.96782835 -0.00387481 -0.25158152 0.15084429] [-0.00371151 0.99955277 -0.02967303 -0.43962076] [ 0.25158399 0.02965214 0.96738113 -0.36676856] [ 0. 0. 0. 1. ]] SLAMing on 320.43463044000003 meters Centerline goodness : 0.222532 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.9678006 -0.00405268 -0.25168548 0.15093374] [-0.00358203 0.99954741 -0.02986876 -0.43918838] [ 0.25169261 0.02980855 0.96734806 -0.36654914] [ 0. 0. 0. 1. ]] SLAMing on 320.46463044 meters Centerline goodness : 0.113456 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.96779688 -0.00397188 -0.25170105 0.1506632 ] [-0.00369187 0.99954403 -0.0299683 -0.43718468] [ 0.25170532 0.02993247 0.96734093 -0.36615797] [ 0. 0. 0. 1. ]] SLAMing on 320.49463044000004 meters Centerline goodness : 0.103069 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.44, Z:-0.37 [[ 0.96778589 -0.00393789 -0.25174383 0.15068077] [-0.00375944 0.99954019 -0.03008778 -0.43573884] [ 0.25174656 0.03006495 0.96732609 -0.36602527] [ 0. 0. 0. 1. ]] SLAMing on 320.52463044 meters Centerline goodness : 0.103347 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.43, Z:-0.37 [[ 0.96774984 -0.00400171 -0.25188139 0.15098851] [-0.00376184 0.99953276 -0.03033319 -0.4340289 ] [ 0.25188509 0.03030248 0.96728262 -0.36590154] [ 0. 0. 0. 1. ]] SLAMing on 320.55463044000004 meters Centerline goodness : 0.097930 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.43, Z:-0.37 [[ 0.96772618 -0.00416444 -0.25196963 0.15113222] [-0.00367824 0.99952352 -0.03064651 -0.43244794] [ 0.25197719 0.03058424 0.96724976 -0.36573335] [ 0. 0. 0. 1. ]] SLAMing on 320.58463044 meters Centerline goodness : 0.115971 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.43, Z:-0.37 [[ 0.96770506 -0.00430026 -0.25204847 0.15086055] [-0.00360479 0.9995162 -0.03089306 -0.4312113 ] [ 0.25205938 0.03080395 0.96722137 -0.36527213] [ 0. 0. 0. 1. ]] SLAMing on 320.61463044000004 meters Centerline goodness : 0.101377 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.43, Z:-0.36 [[ 0.96774091 -0.00433063 -0.25191026 0.15016897] [-0.00361012 0.99951127 -0.03105141 -0.42990104] [ 0.25192162 0.03095915 0.96725231 -0.36498105] [ 0. 0. 0. 1. ]] SLAMing on 320.64463044 meters Centerline goodness : 0.463145 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.43, Z:-0.36 [[ 0.96779025 -0.00412754 -0.25172405 0.14904084] [-0.00383963 0.99950731 -0.03115103 -0.42725919] [ 0.25172861 0.03111419 0.96729758 -0.36441178] [ 0. 0. 0. 1. ]] SLAMing on 320.67463044000004 meters Centerline goodness : 0.130748 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.43, Z:-0.36 [[ 0.96772798 -0.00425035 -0.2519613 0.14975763] [-0.00378164 0.99950021 -0.0313851 -0.42600495] [ 0.25196877 0.03132507 0.96722825 -0.36436087] [ 0. 0. 0. 1. ]] SLAMing on 320.70463044 meters Centerline goodness : 0.094654 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 0.96763791 -0.00441976 -0.25230406 0.15101184] [-0.00368941 0.99949194 -0.03165835 -0.42478292] [ 0.2523158 0.03156467 0.96712999 -0.36454322] [ 0. 0. 0. 1. ]] SLAMing on 320.73463044 meters Centerline goodness : 0.109757 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 0.96755418 -0.00453941 -0.25262283 0.15231392] [-0.00364276 0.99948405 -0.03191173 -0.42329609] [ 0.25263735 0.03179657 0.96703844 -0.36482976] [ 0. 0. 0. 1. ]] SLAMing on 320.76463044 meters Centerline goodness : 0.106067 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 0.96752374 -0.00463183 -0.25273774 0.15256598] [-0.00361355 0.99947651 -0.03215032 -0.42172573] [ 0.25275435 0.03201948 0.96700051 -0.36476535] [ 0. 0. 0. 1. ]] SLAMing on 320.79463044 meters Centerline goodness : 0.156693 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.42, Z:-0.36 [[ 0.967658 -0.00850975 -0.25212215 0.17248653] [ 0.00129279 0.99958503 -0.02877668 -0.41767239] [ 0.25226241 0.02752004 0.96726745 -0.35895189] [ 0. 0. 0. 1. ]] SLAMing on 320.82463044 meters Centerline goodness : 0.101789 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.42, Z:-0.37 [[ 0.96864047 -0.00612191 -0.24839117 0.13766463] [-0.00107647 0.99958364 -0.02883384 -0.41820919] [ 0.24846426 0.02819701 0.96823057 -0.36986521] [ 0. 0. 0. 1. ]] SLAMing on 320.85463044 meters Centerline goodness : 0.099938 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.42, Z:-0.37 [[ 9.68607491e-01 -6.29386333e-03 -2.48515425e-01 1.38096668e-01] [-9.73534989e-04 9.99575754e-01 -2.91095270e-02 -4.16888585e-01] [ 2.48593205e-01 2.84376443e-02 9.68190435e-01 -3.69898181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88463044 meters Centerline goodness : 0.116157 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.42, Z:-0.37 [[ 9.68563275e-01 -6.44857564e-03 -2.48683733e-01 1.38679903e-01] [-8.86233096e-04 9.99568178e-01 -2.93712972e-02 -4.15475297e-01] [ 2.48765748e-01 2.86683516e-02 9.68139312e-01 -3.69955419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91463044 meters Centerline goodness : 0.099027 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68552388e-01 -6.53275426e-03 -2.48723934e-01 1.38874762e-01] [-8.50248975e-04 9.99562512e-01 -2.95645329e-02 -4.14037885e-01] [ 2.48808258e-01 2.88462762e-02 9.68123103e-01 -3.69983405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94463044 meters Centerline goodness : 0.085264 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68571069e-01 -6.69706602e-03 -2.48646807e-01 1.38520944e-01] [-7.70407237e-04 9.99551910e-01 -2.99230036e-02 -4.11337018e-01] [ 2.48735787e-01 2.91741149e-02 9.68131902e-01 -3.69817344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97463044 meters Centerline goodness : 0.087547 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68562325e-01 -6.83954243e-03 -2.48676985e-01 1.38360122e-01] [-6.85725943e-04 9.99544788e-01 -3.01620084e-02 -4.10037237e-01] [ 2.48770079e-01 2.93843092e-02 9.68116734e-01 -3.69580634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00463044 meters Centerline goodness : 0.098154 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68539285e-01 -6.97650507e-03 -2.48762905e-01 1.38385718e-01] [-6.04744044e-04 9.99538045e-01 -3.03863657e-02 -4.08582064e-01] [ 2.48859978e-01 2.95808268e-02 9.68087644e-01 -3.69330231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03463044 meters Centerline goodness : 0.098154 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68539285e-01 -6.97650507e-03 -2.48762905e-01 1.38385718e-01] [-6.04744044e-04 9.99538045e-01 -3.03863657e-02 -4.08582064e-01] [ 2.48859978e-01 2.95808268e-02 9.68087644e-01 -3.69330231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06463044000003 meters Centerline goodness : 0.097965 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68505869e-01 -7.08164757e-03 -2.48889999e-01 1.38573701e-01] [-5.57386736e-04 9.99531293e-01 -3.06085448e-02 -4.06810652e-01] [ 2.48990102e-01 2.97832832e-02 9.68047977e-01 -3.69111323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09463044 meters Centerline goodness : 0.096258 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68498016e-01 -7.15114180e-03 -2.48918570e-01 1.38486805e-01] [-5.28529059e-04 9.99526301e-01 -3.07716442e-02 -4.05467146e-01] [ 2.49020710e-01 2.99338370e-02 9.68035460e-01 -3.68900896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12463044000003 meters Centerline goodness : 0.101541 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.40, Z:-0.37 [[ 9.68512661e-01 -7.22936672e-03 -2.48859323e-01 1.37961526e-01] [-4.86896720e-04 9.99521403e-01 -3.09310189e-02 -4.04287191e-01] [ 2.48963831e-01 3.00782522e-02 9.68045613e-01 -3.68528247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15463044 meters Centerline goodness : 0.087564 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.40, Z:-0.37 [[ 9.68487522e-01 -7.65119480e-03 -2.48944529e-01 1.37728847e-01] [-1.57440175e-04 9.99509022e-01 -3.13319482e-02 -4.03121831e-01] [ 2.49062029e-01 3.03837947e-02 9.68010811e-01 -3.68000487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18463044000003 meters Centerline goodness : 0.083572 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.40, Z:-0.37 [[ 9.68457998e-01 -7.69876459e-03 -2.49057895e-01 1.37861071e-01] [-1.10823126e-04 9.99509173e-01 -3.13273080e-02 -4.03314387e-01] [ 2.49176832e-01 3.03667834e-02 9.67981800e-01 -3.67795851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21463044 meters Centerline goodness : 0.091496 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.40, Z:-0.37 [[ 9.68438425e-01 -7.74106869e-03 -2.49132682e-01 1.37911787e-01] [-5.25772356e-05 9.99511246e-01 -3.12612659e-02 -4.03712673e-01] [ 2.49252913e-01 3.02877098e-02 9.67964689e-01 -3.67602866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24463044000004 meters Centerline goodness : 0.085965 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.40, Z:-0.37 [[ 9.68423173e-01 -7.79197944e-03 -2.49190376e-01 1.37877722e-01] [ 9.80997811e-06 9.99512667e-01 -3.12158201e-02 -4.04288843e-01] [ 2.49312170e-01 3.02276790e-02 9.67951305e-01 -3.67396135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27463044 meters Centerline goodness : 0.096229 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68373316e-01 -7.89062999e-03 -2.49380949e-01 1.38357974e-01] [ 1.09465555e-04 9.99513143e-01 -3.12003979e-02 -4.05057374e-01] [ 2.49505727e-01 3.01863342e-02 9.67902721e-01 -3.67287130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30463044000004 meters Centerline goodness : 0.100666 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68259549e-01 -8.27326146e-03 -2.49809926e-01 1.39245039e-01] [ 4.37391654e-04 9.99506597e-01 -3.14065613e-02 -4.05947244e-01] [ 2.49946504e-01 3.03004381e-02 9.67785425e-01 -3.66899981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33463044 meters Centerline goodness : 0.099139 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68190159e-01 -8.24184613e-03 -2.50079761e-01 1.39503150e-01] [ 4.11002280e-04 9.99508400e-01 -3.13494624e-02 -4.06263294e-01] [ 2.50215200e-01 3.02494577e-02 9.67717585e-01 -3.66392082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36463044000004 meters Centerline goodness : 0.098211 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68133169e-01 -8.11049105e-03 -2.50304588e-01 1.39834750e-01] [ 2.96075157e-04 9.99511821e-01 -3.12415028e-02 -4.06325424e-01] [ 2.50435779e-01 3.01718262e-02 9.67662948e-01 -3.66099367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39463044 meters Centerline goodness : 0.093109 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.68097702e-01 -8.01594675e-03 -2.50444773e-01 1.40156577e-01] [ 2.05140065e-04 9.99513194e-01 -3.11982910e-02 -4.06114446e-01] [ 2.50572939e-01 3.01516176e-02 9.67628070e-01 -3.65980985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42463044000004 meters Centerline goodness : 0.103171 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.67962537e-01 -8.12297444e-03 -2.50963234e-01 1.41735713e-01] [ 2.60789381e-04 9.99508578e-01 -3.13454212e-02 -4.06208527e-01] [ 2.51094523e-01 3.02757449e-02 9.67488977e-01 -3.65981616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45463044 meters Centerline goodness : 0.466492 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.67922913e-01 -8.12776753e-03 -2.51115859e-01 1.42350818e-01] [ 2.60707174e-04 9.99508566e-01 -3.13458052e-02 -4.06530499e-01] [ 2.51247224e-01 3.02748554e-02 9.67449361e-01 -3.66149072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48463044 meters Centerline goodness : 0.107966 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.67872618e-01 -8.02808102e-03 -2.51312844e-01 1.43146151e-01] [ 1.86254097e-04 9.99512779e-01 -3.12116930e-02 -4.07135557e-01] [ 2.51440969e-01 3.01621349e-02 9.67402545e-01 -3.66343775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51463044 meters Centerline goodness : 0.118108 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.67847085e-01 -7.84626600e-03 -2.51416898e-01 1.43485963e-01] [ 5.45966172e-05 9.99519909e-01 -3.09830325e-02 -4.08005588e-01] [ 2.51539296e-01 2.99731112e-02 9.67382859e-01 -3.66376721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54463044 meters Centerline goodness : 0.102534 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.67816109e-01 -7.69888135e-03 -2.51540666e-01 1.43567026e-01] [-4.92329295e-05 9.99526126e-01 -3.07818279e-02 -4.08896582e-01] [ 2.51658453e-01 2.98035330e-02 9.67357107e-01 -3.66141726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57463044 meters Centerline goodness : 0.168121 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.37 [[ 9.67832515e-01 -7.55982350e-03 -2.51481753e-01 1.42938535e-01] [-1.46200043e-04 9.99531403e-01 -3.06096886e-02 -4.09623998e-01] [ 2.51595313e-01 2.96618185e-02 9.67377886e-01 -3.65732855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60463044 meters Centerline goodness : 0.113451 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67919072e-01 -7.43601110e-03 -2.51152097e-01 1.41055727e-01] [-2.10767549e-04 9.99537603e-01 -3.04061910e-02 -4.10890401e-01] [ 2.51262066e-01 2.94836669e-02 9.67469941e-01 -3.64849657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63463044 meters Centerline goodness : 0.103099 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67985931e-01 -7.33988133e-03 -2.50897119e-01 1.40231290e-01] [-2.71984567e-04 9.99541102e-01 -3.02904646e-02 -4.11303148e-01] [ 2.51004311e-01 2.93889837e-02 9.67539727e-01 -3.64732228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66463044 meters Centerline goodness : 0.086286 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.68017520e-01 -7.15523031e-03 -2.50780549e-01 1.39844060e-01] [-4.15641186e-04 9.99546105e-01 -3.01232713e-02 -4.11513669e-01] [ 2.50882260e-01 2.92640891e-02 9.67575167e-01 -3.64688684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69463044 meters Centerline goodness : 0.124365 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67996201e-01 -6.98599814e-03 -2.50867597e-01 1.40145633e-01] [-5.71499056e-04 9.99548535e-01 -3.00399622e-02 -4.11031179e-01] [ 2.50964198e-01 2.92219399e-02 9.67555192e-01 -3.64702339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72463044 meters Centerline goodness : 0.104181 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67913143e-01 -6.56373013e-03 -2.51199255e-01 1.40695976e-01] [-9.67041947e-04 9.99554098e-01 -2.98441010e-02 -4.10011428e-01] [ 2.51283134e-01 2.91294178e-02 9.67475201e-01 -3.64367841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75463044 meters Centerline goodness : 0.096380 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 0.96789647 -0.00653001 -0.25126438 0.14082396] [-0.0010129 0.99955302 -0.0298788 -0.40949118] [ 0.25134718 0.02917409 0.96745722 -0.36433621] [ 0. 0. 0. 1. ]] SLAMing on 321.78463044 meters Centerline goodness : 0.103639 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 0.96788056 -0.00653255 -0.25132557 0.14072673] [-0.00103753 0.99955007 -0.02997629 -0.40866228] [ 0.25140831 0.02927422 0.96743831 -0.36406945] [ 0. 0. 0. 1. ]] SLAMing on 321.81463044000003 meters Centerline goodness : 0.441082 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 0.96786681 -0.00656804 -0.2513776 0.14088195] [-0.0010406 0.99954566 -0.03012289 -0.40772878] [ 0.25146124 0.02941653 0.96742024 -0.36411206] [ 0. 0. 0. 1. ]] SLAMing on 321.84463044 meters Centerline goodness : 0.109156 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 0.96785914 -0.00658509 -0.25140669 0.14086099] [-0.00105838 0.99954164 -0.03025551 -0.40665273] [ 0.25149069 0.02954915 0.96740854 -0.36402797] [ 0. 0. 0. 1. ]] SLAMing on 321.87463044000003 meters Centerline goodness : 0.082437 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 0.96786666 -0.00662883 -0.25137658 0.14053105] [-0.00105193 0.99953701 -0.03040814 -0.40540139] [ 0.25146177 0.02969545 0.96741158 -0.36377741] [ 0. 0. 0. 1. ]] SLAMing on 321.90463044 meters Centerline goodness : 0.119436 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.41, Z:-0.37 [[ 9.67928430e-01 -1.47317269e-04 -2.51226059e-01 1.22451692e-01] [-8.10030079e-03 9.99461584e-01 -3.17950670e-02 -4.11609605e-01] [ 2.51095479e-01 3.28103559e-02 9.67406089e-01 -3.69755036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93463044000003 meters Centerline goodness : 0.146368 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67866174e-01 -7.13543905e-03 -2.51364585e-01 1.40479168e-01] [-5.90216726e-04 9.99530125e-01 -3.06460717e-02 -4.07545056e-01] [ 2.51465148e-01 2.98096558e-02 9.67407186e-01 -3.63187163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96463044 meters Centerline goodness : 0.177091 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67817351e-01 -7.12239905e-03 -2.51552868e-01 1.40829760e-01] [-5.63230756e-04 9.99535598e-01 -3.04675353e-02 -4.08780300e-01] [ 2.51653049e-01 2.96286916e-02 9.67363884e-01 -3.62999976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99463044000004 meters Centerline goodness : 0.121335 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67728487e-01 -7.16518778e-03 -2.51893302e-01 1.41807143e-01] [-4.84810971e-04 9.99540889e-01 -3.02948251e-02 -4.10246505e-01] [ 2.51994723e-01 2.94392859e-02 9.67280718e-01 -3.62935266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02463044 meters Centerline goodness : 0.098655 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.41, Z:-0.36 [[ 9.67595782e-01 -7.31152486e-03 -2.52398385e-01 1.43235934e-01] [-3.26717483e-04 9.99543597e-01 -3.02074766e-02 -4.11881845e-01] [ 2.52504052e-01 2.93110899e-02 9.67151779e-01 -3.62833689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05463044000004 meters Centerline goodness : 0.116728 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.41, Z:-0.36 [[ 0.96723926 -0.01542006 -0.25339776 0.16481415] [ 0.00813293 0.99952339 -0.02978012 -0.41005192] [ 0.2537362 0.02674364 0.96690368 -0.35663825] [ 0. 0. 0. 1. ]] SLAMing on 322.08463044 meters Centerline goodness : 0.182225 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67494926e-01 -8.66811755e-03 -2.52741828e-01 1.47226181e-01] [ 9.95446868e-04 9.99535191e-01 -3.04698229e-02 -4.17862816e-01] [ 2.52888468e-01 2.92278079e-02 9.67053855e-01 -3.62809123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11463044000004 meters Centerline goodness : 0.111939 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67460915e-01 -8.58788499e-03 -2.52874726e-01 1.47463328e-01] [ 9.57306157e-04 9.99540909e-01 -3.02829239e-02 -4.18805933e-01] [ 2.53018699e-01 2.90554667e-02 9.67024983e-01 -3.62652447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14463044 meters Centerline goodness : 0.098682 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67442652e-01 -8.55794877e-03 -2.52945602e-01 1.47319982e-01] [ 9.48308503e-04 9.99543706e-01 -3.01907196e-02 -4.19420298e-01] [ 2.53088555e-01 2.89679194e-02 9.67009329e-01 -3.62311805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17463044000004 meters Centerline goodness : 0.087932 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 0.96745678 -0.00863609 -0.25288888 0.14632009] [ 0.00101615 0.99954195 -0.03024671 -0.4195273 ] [ 0.25303426 0.02900541 0.96702241 -0.36149466] [ 0. 0. 0. 1. ]] SLAMing on 322.20463044 meters Centerline goodness : 0.078588 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67466346e-01 -8.60437160e-03 -2.52853383e-01 1.46124384e-01] [ 9.89171586e-04 9.99542517e-01 -3.02287631e-02 -4.19480547e-01] [ 2.52997806e-01 2.89951956e-02 9.67032258e-01 -3.61423137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23463044 meters Centerline goodness : 0.099513 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67445980e-01 -8.54222728e-03 -2.52933402e-01 1.46091166e-01] [ 9.34244918e-04 9.99543928e-01 -3.01838344e-02 -4.19462759e-01] [ 2.53075883e-01 2.89649275e-02 9.67012735e-01 -3.61178603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26463044 meters Centerline goodness : 0.264261 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67470501e-01 -8.45785894e-03 -2.52842430e-01 1.45785728e-01] [ 8.70473562e-04 9.99546358e-01 -3.01051711e-02 -4.19564431e-01] [ 2.52982355e-01 2.89057723e-02 9.67038978e-01 -3.61147370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29463044 meters Centerline goodness : 0.100601 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67473150e-01 -8.39827133e-03 -2.52834281e-01 1.45678888e-01] [ 8.19213383e-04 9.99547557e-01 -3.00667481e-02 -4.19566955e-01] [ 2.52972397e-01 2.88816462e-02 9.67042304e-01 -3.61068136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32463044 meters Centerline goodness : 0.122626 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.42, Z:-0.36 [[ 9.67462435e-01 -8.39700821e-03 -2.52875320e-01 1.45384885e-01] [ 8.12551068e-04 9.99547092e-01 -3.00823841e-02 -4.19637569e-01] [ 2.53013393e-01 2.88981025e-02 9.67031087e-01 -3.60694955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35463044 meters Centerline goodness : 0.119095 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96828609 -0.00273173 -0.2498291 0.12956366] [-0.00496932 0.99953185 -0.03018935 -0.42495027] [ 0.24979461 0.03047341 0.96781921 -0.36647803] [ 0. 0. 0. 1. ]] SLAMing on 322.38463044 meters Centerline goodness : 0.114015 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.9683105 -0.00263427 -0.24973553 0.12926597] [-0.00506064 0.99953212 -0.03016515 -0.42465275] [ 0.24969814 0.03047305 0.96784411 -0.3664243 ] [ 0. 0. 0. 1. ]] SLAMing on 322.41463044 meters Centerline goodness : 0.125505 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96832031 -0.00264515 -0.24969737 0.12896424] [-0.00506583 0.99953002 -0.03023359 -0.424329 ] [ 0.24965999 0.03054073 0.96785182 -0.3662554 ] [ 0. 0. 0. 1. ]] SLAMing on 322.44463044 meters Centerline goodness : 0.097374 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96832245 -0.00267805 -0.24968873 0.12902786] [-0.00505354 0.99952751 -0.03031867 -0.42394193] [ 0.24965195 0.03062006 0.96785139 -0.36631098] [ 0. 0. 0. 1. ]] SLAMing on 322.47463044 meters Centerline goodness : 0.085457 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96832602 -0.00261391 -0.24967556 0.12883056] [-0.00511849 0.99952727 -0.0303155 -0.42366412] [ 0.24963678 0.03063325 0.96785489 -0.36617452] [ 0. 0. 0. 1. ]] SLAMing on 322.50463044 meters Centerline goodness : 0.083934 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96835013 -0.00248764 -0.24958331 0.12840254] [-0.00523368 0.9995281 -0.03026845 -0.42325184] [ 0.24954083 0.0306167 0.96788015 -0.3660631 ] [ 0. 0. 0. 1. ]] SLAMing on 322.53463044 meters Centerline goodness : 0.081631 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.9683604 -0.00216104 -0.24954651 0.12795722] [-0.00554253 0.99952961 -0.03016346 -0.42213108] [ 0.24949431 0.03059222 0.96789292 -0.36576663] [ 0. 0. 0. 1. ]] SLAMing on 322.56463044000003 meters Centerline goodness : 0.121746 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96835117 -0.00218683 -0.2495821 0.1279162 ] [-0.0055348 0.99952758 -0.03023224 -0.42171428] [ 0.24953031 0.03065681 0.9678816 -0.36561419] [ 0. 0. 0. 1. ]] SLAMing on 322.59463044 meters Centerline goodness : 0.133980 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96833369 -0.00222487 -0.24964957 0.12788386] [-0.00551189 0.99952604 -0.03028712 -0.42157134] [ 0.24959863 0.03070408 0.96786248 -0.36539583] [ 0. 0. 0. 1. ]] SLAMing on 322.62463044000003 meters Centerline goodness : 0.084510 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96828233 -0.00226862 -0.24984831 0.12827208] [-0.00550832 0.99952193 -0.03042305 -0.42071983] [ 0.24979788 0.03083435 0.96780693 -0.36525358] [ 0. 0. 0. 1. ]] SLAMing on 322.65463044 meters Centerline goodness : 0.083498 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96825406 -0.00225491 -0.24995796 0.1286109 ] [-0.005547 0.99951925 -0.03050406 -0.41982738] [ 0.24990658 0.03092219 0.96777607 -0.36523451] [ 0. 0. 0. 1. ]] SLAMing on 322.68463044000003 meters Centerline goodness : 0.122441 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.37 [[ 0.96825942 -0.00223051 -0.24993744 0.1284074 ] [-0.00559849 0.99951577 -0.03060851 -0.41873575] [ 0.24988469 0.03103624 0.96777807 -0.36510176] [ 0. 0. 0. 1. ]] SLAMing on 322.71463044 meters Centerline goodness : 0.124022 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.36 [[ 0.96830486 -0.00217952 -0.24976179 0.12763975] [-0.00566767 0.99951272 -0.03069522 -0.41750657] [ 0.24970698 0.0311379 0.96782067 -0.36486179] [ 0. 0. 0. 1. ]] SLAMing on 322.74463044000004 meters Centerline goodness : 0.118200 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.36 [[ 0.96837295 -0.00208303 -0.24949847 0.12676228] [-0.00577093 0.99951065 -0.03074337 -0.41618865] [ 0.24944042 0.03121089 0.96788706 -0.36474767] [ 0. 0. 0. 1. ]] SLAMing on 322.77463044 meters Centerline goodness : 0.083018 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.36 [[ 0.9683748 -0.00212157 -0.24949097 0.12648122] [-0.00576573 0.99950652 -0.03087851 -0.41502963] [ 0.24943336 0.03134047 0.96788469 -0.36450985] [ 0. 0. 0. 1. ]] SLAMing on 322.80463044000004 meters Centerline goodness : 0.119031 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.41, Z:-0.36 [[ 0.96836178 -0.00232943 -0.24953965 0.1262937 ] [-0.00562843 0.99949819 -0.03117189 -0.41371356] [ 0.24948704 0.03159018 0.96786274 -0.36419609] [ 0. 0. 0. 1. ]] SLAMing on 322.83463044 meters Centerline goodness : 0.085460 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.41, Z:-0.36 [[ 0.96835844 -0.00243664 -0.24955158 0.12619531] [-0.00553643 0.99949649 -0.0312427 -0.41373816] [ 0.24950206 0.03163576 0.96785738 -0.36403912] [ 0. 0. 0. 1. ]] SLAMing on 322.86463044000004 meters Centerline goodness : 0.087018 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.41, Z:-0.36 [[ 0.96836389 -0.00250723 -0.24952973 0.12583955] [-0.00544755 0.99949883 -0.03118342 -0.41469824] [ 0.24948285 0.03155623 0.96786492 -0.3638009 ] [ 0. 0. 0. 1. ]] SLAMing on 322.89463044 meters Centerline goodness : 0.120914 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.36 [[ 0.96834844 -0.00251067 -0.24958966 0.12552687] [-0.00540222 0.99950436 -0.03101356 -0.41615127] [ 0.24954382 0.03138027 0.96785493 -0.36338363] [ 0. 0. 0. 1. ]] SLAMing on 322.92463044000004 meters Centerline goodness : 0.120914 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.36 [[ 0.96834844 -0.00251067 -0.24958966 0.12552687] [-0.00540222 0.99950436 -0.03101356 -0.41615127] [ 0.24954382 0.03138027 0.96785493 -0.36338363] [ 0. 0. 0. 1. ]] SLAMing on 322.95463044 meters Centerline goodness : 0.119603 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96792142 -0.01089085 -0.25101694 0.10556509] [ 0.00346736 0.99954397 -0.02999701 -0.41791763] [ 0.25122916 0.02816438 0.96751779 -0.36878476] [ 0. 0. 0. 1. ]] SLAMing on 322.98463044 meters Centerline goodness : 0.091535 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96779629 -0.01084798 -0.25150081 0.10697963] [ 0.00346418 0.99955038 -0.02978313 -0.41960324] [ 0.25171082 0.02795276 0.96739873 -0.36876518] [ 0. 0. 0. 1. ]] SLAMing on 323.01463044 meters Centerline goodness : 0.119969 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96771255 -0.01076951 -0.25182619 0.10803521] [ 0.00342142 0.999556 -0.0295989 -0.42079476] [ 0.25203315 0.02778162 0.96731974 -0.36884152] [ 0. 0. 0. 1. ]] SLAMing on 323.04463044 meters Centerline goodness : 0.120677 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96764167 -0.01065143 -0.25210342 0.10875335] [ 0.00334134 0.99956194 -0.02940676 -0.4218199 ] [ 0.25230621 0.02761284 0.96725338 -0.36876922] [ 0. 0. 0. 1. ]] SLAMing on 323.07463044 meters Centerline goodness : 0.110066 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96760733 -0.01048966 -0.25224199 0.10900205] [ 0.00322087 0.99956804 -0.0292124 -0.42261032] [ 0.25243946 0.0274537 0.96722315 -0.36861695] [ 0. 0. 0. 1. ]] SLAMing on 323.10463044 meters Centerline goodness : 0.109763 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96761095 -0.0103369 -0.25223442 0.10854913] [ 0.00310408 0.99957296 -0.0290561 -0.42313405] [ 0.25242706 0.02733205 0.96722983 -0.36824198] [ 0. 0. 0. 1. ]] SLAMing on 323.13463044 meters Centerline goodness : 0.129381 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96764639 -0.01008603 -0.25210857 0.10799775] [ 0.00288233 0.99957738 -0.0289268 -0.42295068] [ 0.25229378 0.02726425 0.96726651 -0.36807906] [ 0. 0. 0. 1. ]] SLAMing on 323.16463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 323.19463044 meters Centerline goodness : 0.109094 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.42, Z:-0.37 [[ 0.96755777 -0.00982553 -0.25245876 0.10895105] [ 0.00259168 0.99957692 -0.02897018 -0.42153883] [ 0.25263659 0.02737603 0.96717388 -0.36809984] [ 0. 0. 0. 1. ]] SLAMing on 323.22463044 meters Centerline goodness : 0.105040 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.43, Z:-0.37 [[ 0.96775114 -0.00249632 -0.2518958 0.09019915] [-0.00518107 0.99954214 -0.02981059 -0.426179 ] [ 0.25185488 0.03015432 0.96729511 -0.37435061] [ 0. 0. 0. 1. ]] SLAMing on 323.25463044 meters Centerline goodness : 0.096581 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.43, Z:-0.37 [[ 0.96773865 -0.0024577 -0.25194416 0.08995468] [-0.00524117 0.99953969 -0.02988221 -0.42524621] [ 0.25190163 0.03023865 0.96728031 -0.37401077] [ 0. 0. 0. 1. ]] SLAMing on 323.28463044 meters Centerline goodness : 0.112044 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.42, Z:-0.37 [[ 0.96763843 -0.00238226 -0.25232952 0.0906922 ] [-0.00532852 0.99953957 -0.02987062 -0.42471557] [ 0.2522845 0.0302485 0.96718021 -0.37366728] [ 0. 0. 0. 1. ]] SLAMing on 323.31463044000003 meters Centerline goodness : 0.108720 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.43, Z:-0.37 [[ 0.96757233 -0.00245259 -0.25258222 0.09141606] [-0.00526134 0.99954023 -0.02986032 -0.42544571] [ 0.25253932 0.03022094 0.96711457 -0.37365886] [ 0. 0. 0. 1. ]] SLAMing on 323.34463044 meters Centerline goodness : 0.084333 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.43, Z:-0.37 [[ 0.96753391 -0.00247893 -0.2527291 0.09174583] [-0.00520619 0.99954425 -0.02973524 -0.42677816] [ 0.25268763 0.0300856 0.96708005 -0.37355484] [ 0. 0. 0. 1. ]] SLAMing on 323.37463044000003 meters Centerline goodness : 0.118495 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.43, Z:-0.37 [[ 0.96755563 -0.00243432 -0.25264635 0.09100822] [-0.00518626 0.99955154 -0.02949269 -0.42858751] [ 0.25260484 0.02984611 0.9671091 -0.37310855] [ 0. 0. 0. 1. ]] SLAMing on 323.40463044 meters Centerline goodness : 0.129495 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.43, Z:-0.37 [[ 0.96776696 -0.005265 -0.25179237 0.08683107] [-0.0026922 0.99950806 -0.03124731 -0.43366928] [ 0.25183302 0.03091799 0.9672767 -0.37188014] [ 0. 0. 0. 1. ]] SLAMing on 323.43463044000003 meters Centerline goodness : 0.135332 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.44, Z:-0.37 [[ 0.96780259 -0.0052687 -0.25165528 0.0860108 ] [-0.00259875 0.99951848 -0.03092024 -0.43648989] [ 0.25169701 0.03057867 0.96732288 -0.37143776] [ 0. 0. 0. 1. ]] SLAMing on 323.46463044 meters Centerline goodness : 0.046609 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.44, Z:-0.37 [[ 0.96780219 -0.00518849 -0.2516585 0.08535306] [-0.00257023 0.99953171 -0.03049188 -0.43975678] [ 0.25169886 0.03015693 0.96733564 -0.37086745] [ 0. 0. 0. 1. ]] SLAMing on 323.49463044000004 meters Centerline goodness : 0.123670 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.44, Z:-0.37 [[ 0.96777947 -0.00500073 -0.25174967 0.08526785] [-0.00264427 0.9995458 -0.03002002 -0.44278155] [ 0.25178544 0.02971845 0.96732668 -0.37054163] [ 0. 0. 0. 1. ]] SLAMing on 323.52463044 meters Centerline goodness : 0.123974 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.37 [[ 0.96772383 -0.00475951 -0.25196814 0.08564694] [-0.00278014 0.99955918 -0.0295586 -0.44542203] [ 0.25199775 0.02930507 0.96728401 -0.37030267] [ 0. 0. 0. 1. ]] SLAMing on 323.55463044000004 meters Centerline goodness : 0.120183 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.37 [[ 0.96765861 -0.00443521 -0.25222438 0.0862979 ] [-0.00298932 0.99957362 -0.02904542 -0.4484498 ] [ 0.25224566 0.02886004 0.96723277 -0.37020246] [ 0. 0. 0. 1. ]] SLAMing on 323.58463044 meters Centerline goodness : 0.109152 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.37 [[ 0.96769612 -0.00433962 -0.25208211 0.08593766] [-0.00306193 0.99957582 -0.028962 -0.44899678] [ 0.25210087 0.02879828 0.96727236 -0.37026219] [ 0. 0. 0. 1. ]] SLAMing on 323.61463044000004 meters Centerline goodness : 0.084111 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.37 [[ 0.96772465 -0.00426204 -0.25197389 0.08573896] [-0.00313615 0.99957588 -0.02895205 -0.44883444] [ 0.25199042 0.02880784 0.96730085 -0.37032471] [ 0. 0. 0. 1. ]] SLAMing on 323.64463044 meters Centerline goodness : 0.122373 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.37 [[ 0.96776162 -0.00405464 -0.25183526 0.08526985] [-0.00332132 0.99957804 -0.02885686 -0.44853518] [ 0.251846 0.02876299 0.9673398 -0.37028559] [ 0. 0. 0. 1. ]] SLAMing on 323.67463044000004 meters Centerline goodness : 0.166642 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.45, Z:-0.36 [[ 0.96800777 0.00380815 -0.25089133 0.10421716] [-0.01170755 0.99948132 -0.03000035 -0.44933219] [ 0.25064695 0.03197789 0.96755027 -0.36429113] [ 0. 0. 0. 1. ]] SLAMing on 323.70463044 meters Centerline goodness : 0.221683 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.45, Z:-0.37 [[ 0.96762539 0.0039918 -0.25235922 0.05928666] [-0.0117671 0.99950114 -0.02930877 -0.45194154] [ 0.25211633 0.03132945 0.96718965 -0.37468326] [ 0. 0. 0. 1. ]] SLAMing on 323.73463044 meters Centerline goodness : 0.115787 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.45, Z:-0.37 [[ 0.96759158 0.00409468 -0.25248715 0.06003143] [-0.01193104 0.99949317 -0.02951345 -0.44993157] [ 0.25223833 0.0315694 0.96715004 -0.37499148] [ 0. 0. 0. 1. ]] SLAMing on 323.76463044 meters Centerline goodness : 0.112580 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.45, Z:-0.38 [[ 0.96759315 0.00395634 -0.25248336 0.06044101] [-0.01185958 0.99948588 -0.02978786 -0.44838084] [ 0.2522357 0.03181688 0.96714261 -0.37535292] [ 0. 0. 0. 1. ]] SLAMing on 323.79463044 meters Centerline goodness : 0.082628 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.45, Z:-0.38 [[ 0.9676291 0.00393481 -0.2523459 0.06012725] [-0.01186323 0.99948234 -0.0299051 -0.44730593] [ 0.2520976 0.03193068 0.96717487 -0.37543002] [ 0. 0. 0. 1. ]] SLAMing on 323.82463044 meters Centerline goodness : 0.186318 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.45, Z:-0.38 [[ 0.96769739 0.00387869 -0.25208476 0.0592472 ] [-0.01182254 0.99947981 -0.03000566 -0.44644445] [ 0.25183724 0.03201668 0.96723985 -0.37529306] [ 0. 0. 0. 1. ]] SLAMing on 323.85463044 meters Centerline goodness : 0.122533 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.45, Z:-0.38 [[ 0.96776432 0.00381327 -0.25182867 0.05826558] [-0.01176421 0.99947842 -0.03007479 -0.44603221] [ 0.25158263 0.03206787 0.96730441 -0.37505701] [ 0. 0. 0. 1. ]] SLAMing on 323.88463044 meters Centerline goodness : 0.083253 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96792842 -0.00398425 -0.25119454 0.07606459] [-0.00358136 0.9995538 -0.02965416 -0.44108129] [ 0.2512006 0.02960272 0.96748227 -0.36866749] [ 0. 0. 0. 1. ]] SLAMing on 323.91463044 meters Centerline goodness : 0.132693 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96791997 -0.00411779 -0.25122497 0.07616364] [-0.00346473 0.99955189 -0.02973245 -0.44119651] [ 0.25123482 0.02964905 0.96747196 -0.36864462] [ 0. 0. 0. 1. ]] SLAMing on 323.94463044 meters Centerline goodness : 0.105656 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96785047 -0.00419653 -0.25149128 0.07696471] [-0.0034065 0.99955041 -0.02978884 -0.44109103] [ 0.25150322 0.02968785 0.96740103 -0.36865524] [ 0. 0. 0. 1. ]] SLAMing on 323.97463044 meters Centerline goodness : 0.096120 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96775542 -0.00427031 -0.25185554 0.07813451] [-0.00335955 0.99954854 -0.02985682 -0.44078403] [ 0.25186933 0.02974022 0.96730417 -0.36869546] [ 0. 0. 0. 1. ]] SLAMing on 324.00463044 meters Centerline goodness : 0.082816 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96766588 -0.00435543 -0.25219791 0.07934771] [-0.00330795 0.99954579 -0.0299544 -0.44045482] [ 0.25221382 0.02982011 0.96721195 -0.36886043] [ 0. 0. 0. 1. ]] SLAMing on 324.03463044 meters Centerline goodness : 0.097594 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96752752 -0.00443159 -0.25272685 0.08101905] [-0.0032734 0.99954277 -0.03005883 -0.43969295] [ 0.25274451 0.02991002 0.96707063 -0.36891924] [ 0. 0. 0. 1. ]] SLAMing on 324.06463044000003 meters Centerline goodness : 0.053452 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96749573 -0.00434483 -0.25285004 0.08134226] [-0.00333922 0.99954574 -0.0299527 -0.43993325] [ 0.25286532 0.02982343 0.96704172 -0.36891387] [ 0. 0. 0. 1. ]] SLAMing on 324.09463044 meters Centerline goodness : 0.093222 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96747204 -0.00430601 -0.25294132 0.08133518] [-0.00334699 0.99954974 -0.02981797 -0.44078627] [ 0.25295583 0.02969464 0.96702201 -0.36864139] [ 0. 0. 0. 1. ]] SLAMing on 324.12463044000003 meters Centerline goodness : 0.161130 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96746664 -0.00433956 -0.25296139 0.08110284] [-0.00328198 0.99955348 -0.02969952 -0.44203572] [ 0.25297732 0.02956351 0.96702041 -0.36837534] [ 0. 0. 0. 1. ]] SLAMing on 324.15463044 meters Centerline goodness : 0.127005 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96743662 -0.00497025 -0.2530646 0.08110212] [-0.00267221 0.99955091 -0.029847 -0.44491319] [ 0.25309929 0.02955132 0.96698887 -0.36806377] [ 0. 0. 0. 1. ]] SLAMing on 324.18463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.21463044 meters Centerline goodness : 0.138559 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96762031 -0.00536624 -0.25235321 0.07879925] [-0.00219692 0.99955706 -0.02967921 -0.44851053] [ 0.2524007 0.02927261 0.96717992 -0.36776039] [ 0. 0. 0. 1. ]] SLAMing on 324.24463044000004 meters Centerline goodness : 0.089699 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96768724 -0.00526851 -0.25209849 0.07770887] [-0.0022067 0.99956646 -0.02936005 -0.45061251] [ 0.25214388 0.02896765 0.96725609 -0.36745716] [ 0. 0. 0. 1. ]] SLAMing on 324.27463044 meters Centerline goodness : 0.103610 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96770581 -0.00515633 -0.25202951 0.07718618] [-0.00223732 0.99957572 -0.02904107 -0.45286643] [ 0.25207232 0.02866709 0.96728369 -0.36715831] [ 0. 0. 0. 1. ]] SLAMing on 324.30463044000004 meters Centerline goodness : 0.272636 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96755767 -0.00500852 -0.25260063 0.07858316] [-0.00226887 0.99959092 -0.02851038 -0.45709848] [ 0.25264009 0.02815855 0.96715049 -0.36699363] [ 0. 0. 0. 1. ]] SLAMing on 324.33463044 meters Centerline goodness : 0.110789 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96745193 -0.00480058 -0.25300932 0.07983141] [-0.00241074 0.99959983 -0.02818445 -0.45884344] [ 0.25304338 0.02787703 0.96705321 -0.36706934] [ 0. 0. 0. 1. ]] SLAMing on 324.36463044000004 meters Centerline goodness : 0.110932 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96738491 -0.00456048 -0.25326991 0.0808455 ] [-0.00258373 0.99960827 -0.0278681 -0.46033915] [ 0.25329778 0.02761355 0.96699417 -0.36730572] [ 0. 0. 0. 1. ]] SLAMing on 324.39463044 meters Centerline goodness : 0.120429 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96737646 -0.00432447 -0.25330629 0.08092194] [-0.00275025 0.99961613 -0.02756876 -0.46176132] [ 0.25332827 0.02736602 0.96699322 -0.36728075] [ 0. 0. 0. 1. ]] SLAMing on 324.42463044000004 meters Centerline goodness : 0.091641 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96740864 -0.00418059 -0.25318579 0.08032244] [-0.0028642 0.99961909 -0.0274496 -0.46231277] [ 0.2532041 0.02728015 0.96702817 -0.36708398] [ 0. 0. 0. 1. ]] SLAMing on 324.45463044 meters Centerline goodness : 0.137007 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96745311 -0.00392238 -0.25301996 0.07945628] [-0.00307781 0.99962351 -0.02726478 -0.46258442] [ 0.25303164 0.02715614 0.9670768 -0.3667385 ] [ 0. 0. 0. 1. ]] SLAMing on 324.48463044 meters Centerline goodness : 0.138291 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96751043 -0.00289729 -0.25281451 0.07878432] [-0.00400025 0.99963376 -0.02676474 -0.46121008] [ 0.25279946 0.02690649 0.96714449 -0.36674894] [ 0. 0. 0. 1. ]] SLAMing on 324.51463044 meters Centerline goodness : 0.137421 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96751846 -0.00266908 -0.2527863 0.07903492] [-0.00425131 0.99963107 -0.02682629 -0.45963937] [ 0.25276464 0.02702961 0.96715016 -0.36705989] [ 0. 0. 0. 1. ]] SLAMing on 324.54463044 meters Centerline goodness : 0.119122 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.37 [[ 0.96754675 -0.00252078 -0.25267949 0.07883612] [-0.0044322 0.99962712 -0.02694401 -0.45796216] [ 0.25265319 0.02718951 0.9671748 -0.36718374] [ 0. 0. 0. 1. ]] SLAMing on 324.57463044 meters Centerline goodness : 0.123089 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96763559 -0.00194259 -0.2523442 0.0777509 ] [-0.005016 0.99962475 -0.02692955 -0.45429847] [ 0.25230182 0.02732375 0.96726274 -0.36719385] [ 0. 0. 0. 1. ]] SLAMing on 324.60463044 meters Centerline goodness : 0.123070 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96762643 -0.00194135 -0.25237934 0.07773248] [-0.00507245 0.99961885 -0.02713711 -0.45220752] [ 0.25233582 0.02753877 0.96724777 -0.36704896] [ 0. 0. 0. 1. ]] SLAMing on 324.63463044 meters Centerline goodness : 0.124252 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96762409 -0.00204493 -0.25238748 0.07777688] [-0.00502815 0.99961255 -0.02737653 -0.45068632] [ 0.25234568 0.02775923 0.9672389 -0.36705819] [ 0. 0. 0. 1. ]] SLAMing on 324.66463044 meters Centerline goodness : 0.128702 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96759667 -0.00228882 -0.25249047 0.0779705 ] [-0.00486211 0.99960462 -0.02769404 -0.44963132] [ 0.25245403 0.02802429 0.96720298 -0.36696378] [ 0. 0. 0. 1. ]] SLAMing on 324.69463044 meters Centerline goodness : 0.124671 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96759277 -0.00256209 -0.25250279 0.07785893] [-0.00465144 0.99959802 -0.02796706 -0.44908709] [ 0.25247295 0.02823522 0.96719191 -0.3668485 ] [ 0. 0. 0. 1. ]] SLAMing on 324.72463044 meters Centerline goodness : 0.122925 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96758282 -0.00275993 -0.25253883 0.07766194] [-0.00448204 0.99959516 -0.0280969 -0.44903764] [ 0.25251414 0.02831797 0.96717873 -0.36657712] [ 0. 0. 0. 1. ]] SLAMing on 324.75463044 meters Centerline goodness : 0.085055 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96771522 -0.003038 -0.25202781 0.07602648] [-0.00420517 0.99959357 -0.02819601 -0.44872925] [ 0.25201104 0.02834553 0.96730914 -0.36632022] [ 0. 0. 0. 1. ]] SLAMing on 324.78463044 meters Centerline goodness : 0.106500 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96775588 -0.00326819 -0.25186876 0.07548429] [-0.00400493 0.99958979 -0.0283586 -0.44843484] [ 0.25185812 0.02845292 0.96734581 -0.36615811] [ 0. 0. 0. 1. ]] SLAMing on 324.81463044000003 meters Centerline goodness : 0.136518 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96776772 -0.00360307 -0.25181869 0.0752983 ] [-0.00373884 0.99958191 -0.02867101 -0.44782891] [ 0.25181671 0.02868839 0.96734964 -0.36604343] [ 0. 0. 0. 1. ]] SLAMing on 324.84463044 meters Centerline goodness : 0.136518 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96776772 -0.00360307 -0.25181869 0.0752983 ] [-0.00373884 0.99958191 -0.02867101 -0.44782891] [ 0.25181671 0.02868839 0.96734964 -0.36604343] [ 0. 0. 0. 1. ]] SLAMing on 324.87463044000003 meters Centerline goodness : 0.102366 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96776945 -0.00373999 -0.25181004 0.0752929 ] [-0.00365452 0.99957588 -0.02889136 -0.44665717] [ 0.2518113 0.02888042 0.96734533 -0.36608446] [ 0. 0. 0. 1. ]] SLAMing on 324.90463044 meters Centerline goodness : 0.084188 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.45, Z:-0.37 [[ 0.96772161 -0.00368872 -0.25199462 0.07578317] [-0.00372633 0.99957415 -0.02894189 -0.4454013 ] [ 0.25199407 0.0289467 0.96729576 -0.36602548] [ 0. 0. 0. 1. ]] SLAMing on 324.93463044000003 meters Centerline goodness : 0.105069 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96768856 -0.00366579 -0.25212183 0.07629768] [-0.00376839 0.99957239 -0.02899729 -0.44441828] [ 0.25212031 0.02901044 0.96726095 -0.36612653] [ 0. 0. 0. 1. ]] SLAMing on 324.96463044 meters Centerline goodness : 0.085144 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96753805 -0.00411328 -0.25269192 0.07824612] [-0.00344063 0.99956049 -0.02944457 -0.44330475] [ 0.25270197 0.02935816 0.96709866 -0.36634265] [ 0. 0. 0. 1. ]] SLAMing on 324.99463044000004 meters Centerline goodness : 0.155395 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96743841 -0.00447868 -0.25306691 0.07933095] [-0.00316251 0.99955149 -0.02977948 -0.44288934] [ 0.25308678 0.02961014 0.96699034 -0.36631832] [ 0. 0. 0. 1. ]] SLAMing on 325.02463044 meters Centerline goodness : 0.106725 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96736778 -0.0046649 -0.25333342 0.08029179] [-0.00302226 0.99954694 -0.02994641 -0.4424619 ] [ 0.25335834 0.02973483 0.9669154 -0.36646781] [ 0. 0. 0. 1. ]] SLAMing on 325.05463044000004 meters Centerline goodness : 0.103019 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96736332 -0.00456541 -0.25335226 0.08025186] [-0.00309475 0.99955024 -0.02982847 -0.44240565] [ 0.25337449 0.02963903 0.96691411 -0.36639104] [ 0. 0. 0. 1. ]] SLAMing on 325.08463044 meters Centerline goodness : 0.105099 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96757425 -0.00446579 -0.25254728 0.07719245] [-0.00312582 0.99955543 -0.02965097 -0.44230913] [ 0.25256741 0.02947893 0.96713013 -0.36565633] [ 0. 0. 0. 1. ]] SLAMing on 325.11463044000004 meters Centerline goodness : 0.056722 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96765674 -0.00445393 -0.25223123 0.07584504] [-0.00311935 0.99955644 -0.0296173 -0.44238543] [ 0.25225126 0.02944618 0.96721364 -0.36525183] [ 0. 0. 0. 1. ]] SLAMing on 325.14463044 meters Centerline goodness : 0.085598 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96765502 -0.00452116 -0.25223665 0.07562808] [-0.00306787 0.99955458 -0.02968555 -0.44230289] [ 0.25225851 0.0294992 0.96721013 -0.36504739] [ 0. 0. 0. 1. ]] SLAMing on 325.17463044000004 meters Centerline goodness : 0.096246 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96760801 -0.00462393 -0.25241506 0.07638386] [-0.0030039 0.9995506 -0.02982567 -0.44174806] [ 0.25243954 0.02961779 0.96715928 -0.36521947] [ 0. 0. 0. 1. ]] SLAMing on 325.20463044 meters Centerline goodness : 0.481441 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.967568 -0.00460963 -0.25256865 0.07726577] [-0.00303462 0.99954924 -0.02986815 -0.44127143] [ 0.25259248 0.02966591 0.96711787 -0.36560478] [ 0. 0. 0. 1. ]] SLAMing on 325.23463044 meters Centerline goodness : 0.069226 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96746192 -0.00453369 -0.25297603 0.07876471] [-0.00313804 0.99954754 -0.02991422 -0.4403909 ] [ 0.25299719 0.02973472 0.96700996 -0.36586442] [ 0. 0. 0. 1. ]] SLAMing on 325.26463044 meters Centerline goodness : 0.098679 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96725548 -0.00433074 -0.25376776 0.08180135] [-0.0033971 0.99954394 -0.03000628 -0.43845064] [ 0.25378198 0.02988581 0.96679964 -0.36651037] [ 0. 0. 0. 1. ]] SLAMing on 325.29463044 meters Centerline goodness : 0.103060 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96719946 -0.00441775 -0.25397969 0.08262843] [-0.00336577 0.9995381 -0.03020349 -0.43747152] [ 0.25399581 0.03006764 0.96673785 -0.36668294] [ 0. 0. 0. 1. ]] SLAMing on 325.32463044 meters Centerline goodness : 0.099497 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96716279 -0.00449431 -0.25411795 0.08298357] [-0.00333771 0.99953282 -0.03038087 -0.43644091] [ 0.25413578 0.03023142 0.96669595 -0.36666372] [ 0. 0. 0. 1. ]] SLAMing on 325.35463044 meters Centerline goodness : 0.103825 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.43, Z:-0.37 [[ 0.9672797 -0.00428613 -0.2536762 0.08127911] [-0.00354767 0.99953104 -0.0304156 -0.43454154] [ 0.25368761 0.03032036 0.96681088 -0.36631884] [ 0. 0. 0. 1. ]] SLAMing on 325.38463044 meters Centerline goodness : 0.098959 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.43, Z:-0.37 [[ 0.96735711 -0.00419724 -0.25338234 0.08002466] [-0.00362742 0.99953106 -0.03040578 -0.43385351] [ 0.25339114 0.03033237 0.96688824 -0.36595359] [ 0. 0. 0. 1. ]] SLAMing on 325.41463044 meters Centerline goodness : 0.093530 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.43, Z:-0.37 [[ 0.96741351 -0.00422864 -0.25316638 0.07902401] [-0.00359638 0.99953019 -0.03043782 -0.43367081] [ 0.25317615 0.03035644 0.96694381 -0.36561147] [ 0. 0. 0. 1. ]] SLAMing on 325.44463044 meters Centerline goodness : 0.088348 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.43, Z:-0.37 [[ 0.96745629 -0.00431022 -0.25300147 0.07825438] [-0.00353024 0.99952769 -0.03052766 -0.43330654] [ 0.25301356 0.03042733 0.96698413 -0.36535189] [ 0. 0. 0. 1. ]] SLAMing on 325.47463044 meters Centerline goodness : 0.087134 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.43, Z:-0.37 [[ 0.9674873 -0.00428997 -0.25288322 0.07778555] [-0.00354005 0.9995285 -0.03049988 -0.43314939] [ 0.25289483 0.03040346 0.96701594 -0.36518223] [ 0. 0. 0. 1. ]] SLAMing on 325.50463044 meters Centerline goodness : 0.087482 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.43, Z:-0.36 [[ 0.96745772 -0.00429743 -0.25299621 0.0777367 ] [-0.00353441 0.99952871 -0.03049372 -0.43315592] [ 0.25300802 0.03039558 0.96698658 -0.36482884] [ 0. 0. 0. 1. ]] SLAMing on 325.53463044 meters Centerline goodness : 0.116452 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.43, Z:-0.36 [[ 0.96743422 -0.00433592 -0.25308541 0.07793121] [-0.00348186 0.99953072 -0.03043379 -0.43397847] [ 0.2530986 0.03032389 0.96696513 -0.36477404] [ 0. 0. 0. 1. ]] SLAMing on 325.56463044000003 meters Centerline goodness : 0.100348 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.36 [[ 0.96741544 -0.00423108 -0.25315898 0.07815204] [-0.00354143 0.99953644 -0.03023851 -0.43507087] [ 0.25316957 0.03014974 0.966952 -0.36480204] [ 0. 0. 0. 1. ]] SLAMing on 325.59463044 meters Centerline goodness : 0.047683 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96736057 -0.00411665 -0.25337044 0.07907521] [-0.00360611 0.99954315 -0.03000813 -0.43632848] [ 0.25337822 0.02994237 0.96690379 -0.36503408] [ 0. 0. 0. 1. ]] SLAMing on 325.62463044000003 meters Centerline goodness : 0.077343 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.44, Z:-0.37 [[ 0.96703878 -0.0061799 -0.25455412 0.08366438] [-0.0018865 0.99950411 -0.03143206 -0.44023187] [ 0.25462214 0.03087623 0.96654758 -0.36570897] [ 0. 0. 0. 1. ]] SLAMing on 325.65463044 meters Centerline goodness : 0.087611 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96694797 -0.01318136 -0.25463282 0.10266448] [ 0.00561155 0.99952109 -0.03043195 -0.43752464] [ 0.25491201 0.02799722 0.96655886 -0.3594229 ] [ 0. 0. 0. 1. ]] SLAMing on 325.68463044000003 meters Centerline goodness : 0.087540 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96691608 -0.01304213 -0.25476104 0.10266346] [ 0.00552961 0.99952911 -0.03018247 -0.43894774] [ 0.25503472 0.02777519 0.96653289 -0.35907153] [ 0. 0. 0. 1. ]] SLAMing on 325.71463044 meters Centerline goodness : 0.225419 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96693107 -0.01284702 -0.25471409 0.10232073] [ 0.00538807 0.99953658 -0.02995977 -0.43950787] [ 0.25498094 0.02759661 0.9665522 -0.35891392] [ 0. 0. 0. 1. ]] SLAMing on 325.74463044000004 meters Centerline goodness : 0.088378 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96698337 -0.01255122 -0.2545302 0.10166156] [ 0.00514887 0.99954477 -0.02972785 -0.43933445] [ 0.25478745 0.0274358 0.9666078 -0.35879328] [ 0. 0. 0. 1. ]] SLAMing on 325.77463044 meters Centerline goodness : 0.088666 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96718237 -0.00936637 -0.25391048 0.09886863] [ 0.0024896 0.99962169 -0.02739126 -0.43641883] [ 0.25407098 0.02586021 0.96683979 -0.3581909 ] [ 0. 0. 0. 1. ]] SLAMing on 325.80463044000004 meters Centerline goodness : 0.083599 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 0.96720031 -0.00935165 -0.25384268 0.09862726] [ 0.00241901 0.99961587 -0.02760917 -0.43453561] [ 0.25400336 0.02608955 0.9668514 -0.35815229] [ 0. 0. 0. 1. ]] SLAMing on 325.83463044 meters Centerline goodness : 0.096573 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 0.96722725 -0.00932673 -0.25374091 0.09820728] [ 0.00234565 0.99961072 -0.02780129 -0.43276635] [ 0.25390143 0.02629497 0.96687261 -0.35807764] [ 0. 0. 0. 1. ]] SLAMing on 325.86463044000004 meters Centerline goodness : 0.087257 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 0.96721494 -0.00930622 -0.25378862 0.09795208] [ 0.00228618 0.99960693 -0.02794192 -0.43143002] [ 0.25394889 0.02644564 0.96685603 -0.3577399 ] [ 0. 0. 0. 1. ]] SLAMing on 325.89463044 meters Centerline goodness : 0.094123 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 0.96719986 -0.00922179 -0.25384914 0.09796752] [ 0.00220582 0.99960803 -0.02790911 -0.43114704] [ 0.25400701 0.02643374 0.96684109 -0.35763873] [ 0. 0. 0. 1. ]] SLAMing on 325.92463044000004 meters Centerline goodness : 0.073342 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 0.96712993 -0.00941304 -0.25410843 0.09908228] [ 0.00242411 0.99961049 -0.0278029 -0.43356441] [ 0.25427116 0.02627303 0.96677604 -0.35794841] [ 0. 0. 0. 1. ]] SLAMing on 325.95463044 meters Centerline goodness : 0.082592 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96706683 -0.01642619 -0.25399197 0.11805427] [ 0.00995469 0.99959276 -0.02674356 -0.43032911] [ 0.25432783 0.02333439 0.96683652 -0.35200942] [ 0. 0. 0. 1. ]] SLAMing on 325.98463044 meters Centerline goodness : 0.088018 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96748183 -0.01003306 -0.25274144 0.10000335] [ 0.00315958 0.99961442 -0.02758689 -0.43837632] [ 0.25292077 0.02589126 0.96714049 -0.35868754] [ 0. 0. 0. 1. ]] SLAMing on 326.01463044 meters Centerline goodness : 0.086418 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96743917 -0.00996067 -0.25290756 0.10055943] [ 0.00313566 0.99962032 -0.02737495 -0.43976063] [ 0.25308421 0.02569056 0.96710309 -0.35873126] [ 0. 0. 0. 1. ]] SLAMing on 326.04463044 meters Centerline goodness : 0.083879 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96739276 -0.00985325 -0.25308923 0.10134578] [ 0.00303256 0.99962198 -0.02732574 -0.43940093] [ 0.2532628 0.02566722 0.96705695 -0.35895264] [ 0. 0. 0. 1. ]] SLAMing on 326.07463044 meters Centerline goodness : 0.289667 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96736459 -0.00972793 -0.25320172 0.10214563] [ 0.00290946 0.99962334 -0.02728954 -0.43878283] [ 0.25337182 0.02566226 0.96702852 -0.35938093] [ 0. 0. 0. 1. ]] SLAMing on 326.10463044 meters Centerline goodness : 0.084308 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96734626 -0.00963477 -0.2532753 0.10247109] [ 0.0028002 0.99962251 -0.0273314 -0.43777759] [ 0.25344302 0.02572971 0.96700808 -0.35949329] [ 0. 0. 0. 1. ]] SLAMing on 326.13463044 meters Centerline goodness : 0.094270 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96739392 -0.00955479 -0.25309625 0.10186109] [ 0.00270286 0.99962072 -0.02740629 -0.43662729] [ 0.25326212 0.02582859 0.96705283 -0.35946554] [ 0. 0. 0. 1. ]] SLAMing on 326.16463044 meters Centerline goodness : 0.084490 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96782819 -0.00195614 -0.25160438 0.11908679] [-0.0054831 0.99956834 -0.02886278 -0.43740713] [ 0.25155223 0.02931379 0.9673997 -0.35328802] [ 0. 0. 0. 1. ]] SLAMing on 326.19463044 meters Centerline goodness : 0.100270 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96796429 -0.00194842 -0.25108034 0.11759309] [-0.00551444 0.99956374 -0.029016 -0.43596468] [ 0.25102734 0.02947102 0.96753126 -0.3533542 ] [ 0. 0. 0. 1. ]] SLAMing on 326.22463044 meters Centerline goodness : 0.093547 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96798118 -0.00209499 -0.25101402 0.11769063] [-0.00540034 0.99955994 -0.02916768 -0.43573495] [ 0.25096466 0.02958933 0.96754391 -0.35361294] [ 0. 0. 0. 1. ]] SLAMing on 326.25463044 meters Centerline goodness : 0.097050 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96800448 -0.00218238 -0.25092343 0.11754411] [-0.00533389 0.9995573 -0.02927044 -0.43556241] [ 0.25087623 0.02967232 0.9675643 -0.35371405] [ 0. 0. 0. 1. ]] SLAMing on 326.28463044 meters Centerline goodness : 0.097034 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.9680534 -0.00230818 -0.25073352 0.11696292] [-0.00520008 0.99955776 -0.02927855 -0.43599763] [ 0.25069021 0.02964704 0.96761329 -0.35366832] [ 0. 0. 0. 1. ]] SLAMing on 326.31463044000003 meters Centerline goodness : 0.097916 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96807293 -0.00228874 -0.25065827 0.11668588] [-0.00517879 0.99956227 -0.02912806 -0.43715148] [ 0.25061522 0.0294962 0.96763732 -0.3535974 ] [ 0. 0. 0. 1. ]] SLAMing on 326.34463044 meters Centerline goodness : 0.086901 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96806272 -0.00227352 -0.25069783 0.11676317] [-0.00515299 0.9995672 -0.02896297 -0.43841006] [ 0.25065518 0.02932982 0.96763203 -0.35356366] [ 0. 0. 0. 1. ]] SLAMing on 326.37463044000003 meters Centerline goodness : 0.093776 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96798862 -0.00229235 -0.25098362 0.11763612] [-0.00511109 0.99957092 -0.02884189 -0.43964536] [ 0.25094204 0.02920142 0.96756156 -0.35359241] [ 0. 0. 0. 1. ]] SLAMing on 326.40463044 meters Centerline goodness : 0.095085 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96792937 -0.00227511 -0.2512122 0.1185243 ] [-0.00509561 0.99957548 -0.02868625 -0.44100705] [ 0.25117081 0.02904634 0.96750686 -0.35375961] [ 0. 0. 0. 1. ]] SLAMing on 326.43463044000003 meters Centerline goodness : 0.089103 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96786483 -0.0022336 -0.25146108 0.11938206] [-0.0051056 0.9995799 -0.02853001 -0.44219045] [ 0.25141917 0.02889705 0.96744683 -0.35384293] [ 0. 0. 0. 1. ]] SLAMing on 326.46463044 meters Centerline goodness : 0.089851 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96762897 -0.0095742 -0.25219538 0.10177365] [ 0.00287916 0.99963391 -0.0269027 -0.44032182] [ 0.25236062 0.02530573 0.9673023 -0.36011777] [ 0. 0. 0. 1. ]] SLAMing on 326.49463044000004 meters Centerline goodness : 0.086679 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96783671 -0.00184161 -0.25157246 0.1209984 ] [-0.00536163 0.9995951 -0.02794443 -0.44169709] [ 0.25152206 0.02839448 0.96743496 -0.35454027] [ 0. 0. 0. 1. ]] SLAMing on 326.52463044 meters Centerline goodness : 0.075333 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96781735 -0.00177691 -0.25164743 0.12115049] [-0.00542981 0.99959483 -0.02794089 -0.44115167] [ 0.25159511 0.02840808 0.96741557 -0.35447192] [ 0. 0. 0. 1. ]] SLAMing on 326.55463044000004 meters Centerline goodness : 0.092144 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96782627 -0.00168613 -0.25161372 0.12135753] [-0.0055212 0.99959447 -0.0279357 -0.44054225] [ 0.25155879 0.02842611 0.96742448 -0.35471224] [ 0. 0. 0. 1. ]] SLAMing on 326.58463044 meters Centerline goodness : 0.083499 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96782552 -0.00166831 -0.25161673 0.12160825] [-0.00553376 0.99959504 -0.02791289 -0.44065528] [ 0.2515614 0.02840719 0.96742436 -0.35490448] [ 0. 0. 0. 1. ]] SLAMing on 326.61463044000004 meters Centerline goodness : 0.088361 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96781584 -0.00166479 -0.251654 0.12162945] [-0.00553152 0.99959581 -0.02788597 -0.4410487 ] [ 0.25159871 0.02838051 0.96741544 -0.35483234] [ 0. 0. 0. 1. ]] SLAMing on 326.64463044 meters Centerline goodness : 0.093153 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96779078 -0.00172931 -0.25174989 0.12194118] [-0.00548257 0.99959449 -0.0279428 -0.44103859] [ 0.25169612 0.02842302 0.96738885 -0.35486514] [ 0. 0. 0. 1. ]] SLAMing on 326.67463044000004 meters Centerline goodness : 0.088451 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.35 [[ 0.96771428 -0.00179736 -0.25204334 0.12282704] [-0.00544686 0.99959192 -0.02804137 -0.44066221] [ 0.25199089 0.02850888 0.96730959 -0.35487164] [ 0. 0. 0. 1. ]] SLAMing on 326.70463044 meters Centerline goodness : 0.091547 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.36 [[ 0.96758783 -0.0017451 -0.2525287 0.12469294] [-0.00556172 0.99958632 -0.02821789 -0.43865278] [ 0.25247348 0.02870778 0.96717786 -0.35525034] [ 0. 0. 0. 1. ]] SLAMing on 326.73463044 meters Centerline goodness : 0.091547 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.36 [[ 0.96758783 -0.0017451 -0.2525287 0.12469294] [-0.00556172 0.99958632 -0.02821789 -0.43865278] [ 0.25247348 0.02870778 0.96717786 -0.35525034] [ 0. 0. 0. 1. ]] SLAMing on 326.76463044 meters Centerline goodness : 0.091117 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.44, Z:-0.36 [[ 0.96754637 -0.00172741 -0.25268763 0.12538091] [-0.00561204 0.9995831 -0.02832193 -0.4374735 ] [ 0.25263121 0.02882088 0.96713331 -0.35542699] [ 0. 0. 0. 1. ]] SLAMing on 326.79463044 meters Centerline goodness : 0.050899 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.44, Z:-0.36 [[ 0.96757208 -0.00169515 -0.25258937 0.12519419] [-0.00566614 0.99958021 -0.02841308 -0.4363298 ] [ 0.2525315 0.02892291 0.9671563 -0.35552887] [ 0. 0. 0. 1. ]] SLAMing on 326.82463044 meters Centerline goodness : 0.090999 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.36 [[ 0.96761186 -0.00164526 -0.25243729 0.12453335] [-0.00572092 0.99957903 -0.0284435 -0.43566814] [ 0.25237782 0.02896644 0.96719511 -0.35533979] [ 0. 0. 0. 1. ]] SLAMing on 326.85463044 meters Centerline goodness : 0.093640 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.44, Z:-0.36 [[ 0.96767429 -0.00165447 -0.2521978 0.1235344 ] [-0.0057178 0.99957754 -0.02849646 -0.43510154] [ 0.2521384 0.02901731 0.96725603 -0.3550266 ] [ 0. 0. 0. 1. ]] SLAMing on 326.88463044 meters Centerline goodness : 0.091329 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96771168 -0.00171496 -0.25205388 0.12249175] [-0.00566638 0.99957613 -0.02855602 -0.43499607] [ 0.25199601 0.02906222 0.96729178 -0.35449874] [ 0. 0. 0. 1. ]] SLAMing on 326.91463044 meters Centerline goodness : 0.076705 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96778138 -0.00193825 -0.25178453 0.12118193] [-0.00547834 0.99957157 -0.0287518 -0.43471362] [ 0.25173239 0.02920481 0.96735613 -0.35402776] [ 0. 0. 0. 1. ]] SLAMing on 326.94463044 meters Centerline goodness : 0.091495 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96774485 -0.00210229 -0.25192358 0.12177649] [-0.00535958 0.99956708 -0.02892973 -0.43418498] [ 0.25187533 0.0293468 0.96731462 -0.35413528] [ 0. 0. 0. 1. ]] SLAMing on 326.97463044 meters Centerline goodness : 0.077623 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96769066 -0.00222921 -0.25213055 0.12271832] [-0.00525429 0.99956549 -0.02900388 -0.43420845] [ 0.25208565 0.02939155 0.96725848 -0.35441263] [ 0. 0. 0. 1. ]] SLAMing on 327.00463044 meters Centerline goodness : 0.079574 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96769939 -0.00224725 -0.25209687 0.12249086] [-0.0052326 0.99956582 -0.02899626 -0.43433997] [ 0.25205258 0.02937879 0.96726748 -0.35428432] [ 0. 0. 0. 1. ]] SLAMing on 327.03463044 meters Centerline goodness : 0.088308 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96767801 -0.00223953 -0.25217902 0.12268661] [-0.00523372 0.99956687 -0.02896004 -0.43440639] [ 0.25213465 0.02934383 0.96724716 -0.35416781] [ 0. 0. 0. 1. ]] SLAMing on 327.06463044000003 meters Centerline goodness : 0.094678 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.9676247 -0.00226176 -0.2523833 0.12283457] [-0.00520929 0.99956787 -0.02892989 -0.43479596] [ 0.25233967 0.02930801 0.96719477 -0.35375519] [ 0. 0. 0. 1. ]] SLAMing on 327.09463044 meters Centerline goodness : 0.094761 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96759186 -0.00227039 -0.25250907 0.1230365 ] [-0.00520171 0.9995682 -0.0289199 -0.4348818 ] [ 0.2524657 0.02929614 0.96716224 -0.35360859] [ 0. 0. 0. 1. ]] SLAMing on 327.12463044000003 meters Centerline goodness : 0.095622 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96756197 -0.00229702 -0.25262335 0.1232449 ] [-0.00518608 0.99956736 -0.02895171 -0.4346772 ] [ 0.25258056 0.02932269 0.96713145 -0.35347506] [ 0. 0. 0. 1. ]] SLAMing on 327.15463044 meters Centerline goodness : 0.293816 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96759942 -0.00236633 -0.25247923 0.12307014] [-0.00514934 0.99956317 -0.02910258 -0.43365815] [ 0.2524378 0.02945975 0.96716456 -0.35367772] [ 0. 0. 0. 1. ]] SLAMing on 327.18463044000003 meters Centerline goodness : 0.252247 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96763061 -0.00241789 -0.25235917 0.12280293] [-0.0051317 0.99955885 -0.02925362 -0.4325671 ] [ 0.25231857 0.02960173 0.96719133 -0.3537189 ] [ 0. 0. 0. 1. ]] SLAMing on 327.21463044 meters Centerline goodness : 0.291694 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96767177 -0.00241798 -0.25220132 0.12231357] [-0.00515567 0.99955546 -0.02936504 -0.43146061] [ 0.25216021 0.02971598 0.96722913 -0.35368818] [ 0. 0. 0. 1. ]] SLAMing on 327.24463044000004 meters Centerline goodness : 0.086549 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96766559 -0.00234833 -0.25222569 0.12241235] [-0.00525427 0.99955202 -0.02946427 -0.429845 ] [ 0.25218189 0.02983682 0.96721976 -0.35370637] [ 0. 0. 0. 1. ]] SLAMing on 327.27463044 meters Centerline goodness : 0.086011 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.35 [[ 0.96763421 -0.00233937 -0.2523461 0.12302207] [-0.00531368 0.99954646 -0.02964188 -0.42802129] [ 0.252301 0.03002338 0.96718292 -0.35390441] [ 0. 0. 0. 1. ]] SLAMing on 327.30463044000004 meters Centerline goodness : 0.084771 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.42, Z:-0.35 [[ 0.96756143 -0.00259121 -0.25262258 0.12400694] [-0.00521543 0.99952943 -0.03022788 -0.42469972] [ 0.25258202 0.03056487 0.96709261 -0.35405602] [ 0. 0. 0. 1. ]] SLAMing on 327.33463044 meters Centerline goodness : 0.050409 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.42, Z:-0.35 [[ 0.96747698 -0.00284711 -0.25294303 0.12495933] [-0.00505411 0.99951949 -0.0305819 -0.42335318] [ 0.25290856 0.03086569 0.96699771 -0.35402743] [ 0. 0. 0. 1. ]] SLAMing on 327.36463044000004 meters Centerline goodness : 0.083478 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.35 [[ 0.96740944 -0.00290497 -0.25320058 0.12578144] [-0.0050385 0.99951539 -0.03071815 -0.4223428 ] [ 0.25316711 0.03099278 0.96692599 -0.35405076] [ 0. 0. 0. 1. ]] SLAMing on 327.39463044 meters Centerline goodness : 0.160468 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.35 [[ 0.96736223 -0.00278059 -0.25338229 0.12644802] [-0.00516164 0.99951609 -0.03067468 -0.42159974] [ 0.25334497 0.0309814 0.96687976 -0.35414032] [ 0. 0. 0. 1. ]] SLAMing on 327.42463044000004 meters Centerline goodness : 0.337573 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.35 [[ 0.96735738 -0.00268582 -0.25340183 0.12638541] [-0.00522878 0.99951942 -0.03055471 -0.42184232] [ 0.25336211 0.03088231 0.96687844 -0.35403651] [ 0. 0. 0. 1. ]] SLAMing on 327.45463044 meters Centerline goodness : 0.091678 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.35 [[ 0.96736836 -0.00277924 -0.25335892 0.12623385] [-0.00513402 0.99951954 -0.03056689 -0.42241906] [ 0.25332214 0.03087019 0.9668893 -0.35397697] [ 0. 0. 0. 1. ]] SLAMing on 327.48463044 meters Centerline goodness : 0.154801 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.42, Z:-0.35 [[ 0.96743115 -0.00316042 -0.25311457 0.12516016] [-0.00474569 0.99951987 -0.03061868 -0.42467624] [ 0.25308981 0.03082267 0.96695166 -0.35363797] [ 0. 0. 0. 1. ]] SLAMing on 327.51463044 meters Centerline goodness : 0.064839 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.43, Z:-0.35 [[ 0.9674128 -0.00305248 -0.25318601 0.12518035] [-0.00479939 0.99952663 -0.03038885 -0.42595014] [ 0.25315892 0.0306137 0.96694021 -0.35344704] [ 0. 0. 0. 1. ]] SLAMing on 327.54463044 meters Centerline goodness : 0.087330 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.42, Z:-0.35 [[ 0.96732777 -0.00999943 -0.25333179 0.14453511] [ 0.00269483 0.99957099 -0.02916475 -0.42375439] [ 0.25351474 0.02752919 0.96693972 -0.34704593] [ 0. 0. 0. 1. ]] SLAMing on 327.57463044 meters Centerline goodness : 0.076807 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.43, Z:-0.35 [[ 0.96734399 -0.00988064 -0.25327451 0.14424065] [ 0.00263791 0.99957825 -0.02892001 -0.42536188] [ 0.25345344 0.02730748 0.96696207 -0.34692858] [ 0. 0. 0. 1. ]] SLAMing on 327.60463044 meters Centerline goodness : 0.097950 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.43, Z:-0.35 [[ 0.96737598 -0.00971359 -0.25315876 0.14358824] [ 0.00254722 0.99958711 -0.02862022 -0.42713831] [ 0.25333224 0.02704167 0.96700131 -0.34664407] [ 0. 0. 0. 1. ]] SLAMing on 327.63463044 meters Centerline goodness : 0.087699 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.43, Z:-0.35 [[ 0.9673868 -0.00943374 -0.253128 0.14312868] [ 0.0023667 0.99959925 -0.02820887 -0.4290039 ] [ 0.25329268 0.02668981 0.96702144 -0.34628276] [ 0. 0. 0. 1. ]] SLAMing on 327.66463044 meters Centerline goodness : 0.068637 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.43, Z:-0.35 [[ 0.96741139 -0.00909234 -0.2530465 0.14262804] [ 0.00215315 0.99961435 -0.02768605 -0.43138874] [ 0.25320065 0.02623896 0.96705788 -0.34608553] [ 0. 0. 0. 1. ]] SLAMing on 327.69463044 meters Centerline goodness : 0.068957 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.43, Z:-0.35 [[ 0.96742638 -0.00876504 -0.25300074 0.14234457] [ 0.00195578 0.99962938 -0.02715298 -0.43404712] [ 0.25314497 0.0257737 0.96708497 -0.34596231] [ 0. 0. 0. 1. ]] SLAMing on 327.72463044 meters Centerline goodness : 0.087437 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.44, Z:-0.35 [[ 0.96740891 -0.00892981 -0.25306178 0.14263308] [ 0.00222717 0.9996394 -0.02676031 -0.44163327] [ 0.25320949 0.02532455 0.96707995 -0.34600535] [ 0. 0. 0. 1. ]] SLAMing on 327.75463044 meters Centerline goodness : 0.072599 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.44, Z:-0.35 [[ 0.96742295 -0.00877829 -0.2530134 0.14233213] [ 0.00217812 0.99965029 -0.02635455 -0.44454759] [ 0.25315626 0.0249449 0.96710375 -0.34588707] [ 0. 0. 0. 1. ]] SLAMing on 327.78463044 meters Centerline goodness : 0.086595 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.45, Z:-0.35 [[ 0.9674461 -0.00848571 -0.25293485 0.14173004] [ 0.0020149 0.99966429 -0.02583098 -0.44759549] [ 0.25306914 0.02448044 0.96713842 -0.3455453 ] [ 0. 0. 0. 1. ]] SLAMing on 327.81463044000003 meters Centerline goodness : 0.139234 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.45, Z:-0.35 [[ 0.96747372 -0.00809412 -0.25284202 0.14131079] [ 0.00176692 0.99967982 -0.02524137 -0.450346 ] [ 0.25296537 0.02397361 0.96717826 -0.34543462] [ 0. 0. 0. 1. ]] SLAMing on 327.84463044 meters Centerline goodness : 0.086599 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.45, Z:-0.35 [[ 0.96742761 -0.00744698 -0.25303824 0.14272727] [ 0.00132112 0.99970212 -0.02437051 -0.4544176 ] [ 0.25314436 0.02324241 0.96714928 -0.3461465 ] [ 0. 0. 0. 1. ]] SLAMing on 327.87463044000003 meters Centerline goodness : 0.072391 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.35 [[ 0.9673521 -0.00728322 -0.25333154 0.14390736] [ 0.00120953 0.99970827 -0.02412274 -0.45600833] [ 0.25343333 0.02302877 0.96707871 -0.34644786] [ 0. 0. 0. 1. ]] SLAMing on 327.90463044 meters Centerline goodness : 0.104860 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.35 [[ 0.96729515 -0.00714466 -0.25355286 0.14453391] [ 0.00111786 0.9997136 -0.02390551 -0.4575083 ] [ 0.25365104 0.02284025 0.9670261 -0.34641895] [ 0. 0. 0. 1. ]] SLAMing on 327.93463044000003 meters Centerline goodness : 0.075883 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.46, Z:-0.35 [[ 0.96726848 -0.00701101 -0.25365832 0.14491117] [ 0.00102078 0.99971766 -0.02373927 -0.45845906] [ 0.25375313 0.02270332 0.96700254 -0.34649135] [ 0. 0. 0. 1. ]] SLAMing on 327.96463044 meters Centerline goodness : 0.076004 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.46, Z:-0.35 [[ 9.67257873e-01 -6.74567352e-03 -2.53705939e-01 1.45043365e-01] [ 8.16856829e-04 9.99724280e-01 -2.34669414e-02 -4.59348872e-01] [ 2.53794288e-01 2.24913424e-02 9.66996690e-01 -3.46530085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99463044000004 meters Centerline goodness : 0.088513 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.46, Z:-0.35 [[ 9.67215750e-01 -6.47907919e-03 -2.53873423e-01 1.46013120e-01] [ 6.34427886e-04 9.99733027e-01 -2.30970250e-02 -4.61620372e-01] [ 2.53955293e-01 2.21787420e-02 9.66961640e-01 -3.46967207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02463044 meters Centerline goodness : 0.068265 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.46, Z:-0.35 [[ 9.67191084e-01 -6.35036746e-03 -2.53970629e-01 1.46523181e-01] [ 5.58262697e-04 9.99738251e-01 -2.28717730e-02 -4.63064229e-01] [ 2.54049396e-01 2.19795926e-02 9.66941468e-01 -3.47179854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05463044000004 meters Centerline goodness : 0.089622 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.46, Z:-0.35 [[ 9.67176105e-01 -6.17638185e-03 -2.54031955e-01 1.46928715e-01] [ 4.41673888e-04 9.99743911e-01 -2.26255934e-02 -4.64190752e-01] [ 2.54106644e-01 2.17707340e-02 9.66931150e-01 -3.47392921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08463044 meters Centerline goodness : 0.090483 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.35 [[ 9.67132699e-01 -5.95816322e-03 -2.54202364e-01 1.47554297e-01] [ 2.86969872e-04 9.99750367e-01 -2.23410114e-02 -4.65196133e-01] [ 2.54272019e-01 2.15337743e-02 9.66892981e-01 -3.47485738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11463044000004 meters Centerline goodness : 0.090467 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.35 [[ 9.67035598e-01 -5.92769839e-03 -2.54572219e-01 1.48265971e-01] [ 3.09363095e-04 9.99755627e-01 -2.21040800e-02 -4.67192679e-01] [ 2.54641034e-01 2.12966770e-02 9.66801115e-01 -3.47106092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14463044 meters Centerline goodness : 0.089884 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.47, Z:-0.35 [[ 9.67010615e-01 -5.91896763e-03 -2.54667304e-01 1.48220883e-01] [ 3.32690180e-04 9.99758508e-01 -2.19730732e-02 -4.68290357e-01] [ 2.54735862e-01 2.11634697e-02 9.66779059e-01 -3.46786382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17463044000004 meters Centerline goodness : 0.092497 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.47, Z:-0.36 [[ 0.96649787 -0.00706295 -0.25657744 0.10514311] [ 0.00157027 0.99976533 -0.0216061 -0.47354968] [ 0.25666984 0.02047936 0.96628215 -0.35764264] [ 0. 0. 0. 1. ]] SLAMing on 328.20463044 meters Centerline goodness : 0.090345 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.47, Z:-0.35 [[ 0.96667103 -0.00184878 -0.25601504 0.12713769] [-0.00454426 0.9996925 -0.02437752 -0.4741385 ] [ 0.25598139 0.02472844 0.96636537 -0.35270367] [ 0. 0. 0. 1. ]] SLAMing on 328.23463044 meters Centerline goodness : 0.088770 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.35 [[ 0.96654437 -0.00187516 -0.25649262 0.12854411] [-0.00449595 0.9996958 -0.0242507 -0.47532238] [ 0.25646007 0.02459256 0.96624192 -0.35264286] [ 0. 0. 0. 1. ]] SLAMing on 328.26463044 meters Centerline goodness : 0.094353 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.35 [[ 0.9664341 -0.00189645 -0.25690765 0.12949653] [-0.00441668 0.99970234 -0.0239943 -0.47755704] [ 0.25687668 0.02432358 0.96613805 -0.35238794] [ 0. 0. 0. 1. ]] SLAMing on 328.29463044 meters Centerline goodness : 0.091996 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.35 [[ 0.96642514 -0.00193062 -0.25694107 0.12938195] [-0.00437306 0.99970336 -0.02395988 -0.47806269] [ 0.25691111 0.02427905 0.96613002 -0.35217166] [ 0. 0. 0. 1. ]] SLAMing on 328.32463044 meters Centerline goodness : 0.090406 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.35 [[ 0.96640733 -0.00196486 -0.25700781 0.12975757] [-0.00435103 0.9997024 -0.0240037 -0.47787899] [ 0.25697848 0.0243156 0.96611118 -0.35232327] [ 0. 0. 0. 1. ]] SLAMing on 328.35463044 meters Centerline goodness : 0.094439 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.35 [[ 0.96637001 -0.00202731 -0.25714759 0.13019624] [-0.00433417 0.99969848 -0.0241694 -0.4767552 ] [ 0.25711906 0.02447111 0.96606985 -0.35229868] [ 0. 0. 0. 1. ]] SLAMing on 328.38463044 meters Centerline goodness : 0.173143 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.48, Z:-0.35 [[ 0.96639241 -0.00204469 -0.25706327 0.13005269] [-0.00435891 0.99969428 -0.02433827 -0.47521429] [ 0.25703444 0.02464083 0.96608805 -0.35239289] [ 0. 0. 0. 1. ]] SLAMing on 328.41463044 meters Centerline goodness : 0.091463 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.47, Z:-0.35 [[ 0.96645629 -0.00197828 -0.25682353 0.12896923] [-0.00450519 0.99968589 -0.02465398 -0.47167317] [ 0.25679163 0.02498403 0.96614381 -0.35202252] [ 0. 0. 0. 1. ]] SLAMing on 328.44463044 meters Centerline goodness : 0.090335 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.47, Z:-0.35 [[ 0.96646596 -0.00208969 -0.25678624 0.12855941] [-0.00446549 0.99967893 -0.02494201 -0.46970641] [ 0.25675592 0.02525228 0.96614632 -0.35173442] [ 0. 0. 0. 1. ]] SLAMing on 328.47463044 meters Centerline goodness : 0.090736 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.47, Z:-0.35 [[ 0.96649243 -0.00224492 -0.2566853 0.12789232] [-0.00438739 0.99967122 -0.02526269 -0.46775216] [ 0.25665762 0.02554238 0.96616482 -0.35140122] [ 0. 0. 0. 1. ]] SLAMing on 328.50463044 meters Centerline goodness : 0.073902 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.46, Z:-0.35 [[ 0.96655776 -0.00236978 -0.25643805 0.1268558 ] [-0.00435643 0.99966128 -0.0256581 -0.4647136 ] [ 0.256412 0.02591719 0.96622005 -0.35112562] [ 0. 0. 0. 1. ]] SLAMing on 328.53463044 meters Centerline goodness : 0.094762 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96679098 -0.00988437 -0.25537717 0.10834518] [ 0.00373967 0.99969196 -0.02453568 -0.459879 ] [ 0.25554103 0.02276585 0.96653013 -0.35779595] [ 0. 0. 0. 1. ]] SLAMing on 328.56463044000003 meters Centerline goodness : 0.090420 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96683661 -0.01001612 -0.25519922 0.10773288] [ 0.00383572 0.99968745 -0.02470411 -0.45907976] [ 0.2553669 0.02290596 0.96657284 -0.35766947] [ 0. 0. 0. 1. ]] SLAMing on 328.59463044 meters Centerline goodness : 0.113208 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96688556 -0.01015376 -0.25500825 0.1068813 ] [ 0.00394213 0.99968322 -0.02485785 -0.45861266] [ 0.25517987 0.02302942 0.9666193 -0.35741044] [ 0. 0. 0. 1. ]] SLAMing on 328.62463044000003 meters Centerline goodness : 0.075536 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96693288 -0.01019637 -0.25482708 0.10594492] [ 0.00397772 0.99968186 -0.02490683 -0.45823366] [ 0.25499997 0.0230696 0.96666582 -0.35702377] [ 0. 0. 0. 1. ]] SLAMing on 328.65463044 meters Centerline goodness : 0.075536 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96693288 -0.01019637 -0.25482708 0.10594492] [ 0.00397772 0.99968186 -0.02490683 -0.45823366] [ 0.25499997 0.0230696 0.96666582 -0.35702377] [ 0. 0. 0. 1. ]] SLAMing on 328.68463044000003 meters Centerline goodness : 0.089073 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96693856 -0.01019675 -0.25480553 0.10564768] [ 0.00395348 0.99967958 -0.02500225 -0.45691465] [ 0.25497882 0.02316827 0.96666904 -0.35673942] [ 0. 0. 0. 1. ]] SLAMing on 328.71463044 meters Centerline goodness : 0.090544 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96692543 -0.01024325 -0.25485348 0.10612804] [ 0.00396451 0.99967613 -0.02513816 -0.45594907] [ 0.25502843 0.02329636 0.96665287 -0.35701315] [ 0. 0. 0. 1. ]] SLAMing on 328.74463044000004 meters Centerline goodness : 0.075959 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96689488 -0.01030593 -0.25496682 0.10658226] [ 0.00397787 0.99967142 -0.02532238 -0.4546839 ] [ 0.25514402 0.02346986 0.96661817 -0.35710162] [ 0. 0. 0. 1. ]] SLAMing on 328.77463044 meters Centerline goodness : 0.075171 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96688467 -0.01041138 -0.25500125 0.10666265] [ 0.00402306 0.99966517 -0.0255609 -0.45331953] [ 0.25518199 0.02368856 0.96660281 -0.35710253] [ 0. 0. 0. 1. ]] SLAMing on 328.80463044000004 meters Centerline goodness : 0.095231 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96690311 -0.01042148 -0.25493092 0.10647764] [ 0.00399935 0.99966178 -0.02569704 -0.45213881] [ 0.2551125 0.02382699 0.96661776 -0.35712954] [ 0. 0. 0. 1. ]] SLAMing on 328.83463044 meters Centerline goodness : 0.093559 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96686339 -0.01037521 -0.25508339 0.1072019 ] [ 0.00392591 0.99965995 -0.02577928 -0.45094507] [ 0.25526412 0.0239236 0.96657534 -0.35734887] [ 0. 0. 0. 1. ]] SLAMing on 328.86463044000004 meters Centerline goodness : 0.075481 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96677744 -0.0103815 -0.2554087 0.1085383 ] [ 0.00391536 0.99965914 -0.02581227 -0.45067331] [ 0.25558961 0.0239547 0.96648855 -0.35765065] [ 0. 0. 0. 1. ]] SLAMing on 328.89463044 meters Centerline goodness : 0.080550 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.9666784 -0.0105167 -0.25577777 0.11001029] [ 0.00401104 0.99965537 -0.02594317 -0.45053944] [ 0.25596246 0.02405276 0.96638744 -0.35799367] [ 0. 0. 0. 1. ]] SLAMing on 328.92463044000004 meters Centerline goodness : 0.093744 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96659111 -0.0105645 -0.25610547 0.11106117] [ 0.00405246 0.99965525 -0.0259416 -0.45100333] [ 0.25629124 0.02403707 0.96630069 -0.3580422 ] [ 0. 0. 0. 1. ]] SLAMing on 328.95463044 meters Centerline goodness : 0.452990 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96655992 -0.01049616 -0.25622596 0.111167 ] [ 0.00401739 0.99965916 -0.02579571 -0.45188739] [ 0.25640939 0.02390374 0.96627265 -0.35779009] [ 0. 0. 0. 1. ]] SLAMing on 328.98463044 meters Centerline goodness : 0.088059 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96666127 -0.01034988 -0.2558493 0.10955038] [ 0.00398037 0.99966942 -0.02540085 -0.4541531 ] [ 0.25602762 0.02353564 0.96638291 -0.35728283] [ 0. 0. 0. 1. ]] SLAMing on 329.01463044 meters Centerline goodness : 0.085226 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.45, Z:-0.36 [[ 0.96668741 -0.01032746 -0.25575145 0.10899046] [ 0.00398609 0.99967193 -0.02530097 -0.45491952] [ 0.25592884 0.02343868 0.96641143 -0.3570278 ] [ 0. 0. 0. 1. ]] SLAMing on 329.04463044 meters Centerline goodness : 0.084962 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96668052 -0.01030982 -0.25577819 0.10925968] [ 0.00397909 0.9996731 -0.02525603 -0.45530378] [ 0.25595496 0.02339675 0.96640553 -0.35719292] [ 0. 0. 0. 1. ]] SLAMing on 329.07463044 meters Centerline goodness : 0.082554 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.46, Z:-0.36 [[ 0.96656929 -0.01021978 -0.25620179 0.11082829] [ 0.00389762 0.99967553 -0.02517212 -0.45556036] [ 0.25637591 0.02333202 0.96629551 -0.35744528] [ 0. 0. 0. 1. ]] SLAMing on 329.10463044 meters Centerline goodness : 0.070434 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.46, Z:-0.36 [[ 0.96646155 -0.00337298 -0.25678919 0.09472557] [-0.00351366 0.99964648 -0.02635471 -0.46103689] [ 0.2567873 0.02637308 0.96610804 -0.3644076 ] [ 0. 0. 0. 1. ]] SLAMing on 329.13463044 meters Centerline goodness : 0.070718 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96638221 -0.0032416 -0.25708932 0.09611185] [-0.003624 0.99964945 -0.02622684 -0.46136513] [ 0.25708421 0.02627684 0.96603169 -0.36484373] [ 0. 0. 0. 1. ]] SLAMing on 329.16463044 meters Centerline goodness : 0.177419 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96626698 -0.00321995 -0.25752232 0.09726791] [-0.00363652 0.99965157 -0.02614403 -0.46246441] [ 0.25751678 0.02619859 0.9659186 -0.3647404 ] [ 0. 0. 0. 1. ]] SLAMing on 329.19463044 meters Centerline goodness : 0.147167 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96622674 -0.00321247 -0.25767337 0.0974044 ] [-0.00364067 0.99965232 -0.02611474 -0.46283415] [ 0.25766767 0.02617086 0.96587911 -0.36449209] [ 0. 0. 0. 1. ]] SLAMing on 329.22463044 meters Centerline goodness : 0.078286 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96621298 -0.00318637 -0.2577253 0.09752504] [-0.00367695 0.99965143 -0.02614399 -0.46243774] [ 0.25771877 0.0262083 0.96586446 -0.36448978] [ 0. 0. 0. 1. ]] SLAMing on 329.25463044 meters Centerline goodness : 0.092113 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.9661865 -0.00313054 -0.25782523 0.097634 ] [-0.00375671 0.99964924 -0.02621592 -0.46129014] [ 0.25781686 0.02629804 0.96583584 -0.36428939] [ 0. 0. 0. 1. ]] SLAMing on 329.28463044 meters Centerline goodness : 0.075380 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96631064 -0.00292274 -0.25736202 0.09656013] [-0.00400818 0.99964337 -0.02640189 -0.45803358] [ 0.25734741 0.02654398 0.96595431 -0.36451436] [ 0. 0. 0. 1. ]] SLAMing on 329.31463044000003 meters Centerline goodness : 0.091138 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96636442 -0.00294529 -0.25715975 0.09581911] [-0.00403213 0.999638 -0.02660108 -0.45630087] [ 0.25714501 0.02674324 0.96600271 -0.3643774 ] [ 0. 0. 0. 1. ]] SLAMing on 329.34463044 meters Centerline goodness : 0.071810 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.36 [[ 0.96642733 -0.00300925 -0.25692247 0.0949877 ] [-0.00402396 0.99963152 -0.02684467 -0.45445613] [ 0.25690858 0.02697727 0.96605911 -0.36426108] [ 0. 0. 0. 1. ]] SLAMing on 329.37463044000003 meters Centerline goodness : 0.091504 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.36 [[ 0.96646091 -0.00313306 -0.25679464 0.09456918] [-0.0039607 0.99962482 -0.02710239 -0.45290087] [ 0.2567832 0.02721049 0.9660859 -0.36421143] [ 0. 0. 0. 1. ]] SLAMing on 329.40463044 meters Centerline goodness : 0.093176 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.36 [[ 0.96644157 -0.00346577 -0.25686315 0.0944593 ] [-0.00374482 0.99961266 -0.02757723 -0.45096399] [ 0.25685923 0.02761369 0.96605425 -0.36392438] [ 0. 0. 0. 1. ]] SLAMing on 329.43463044000003 meters Centerline goodness : 0.094494 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.36 [[ 0.96638853 -0.0035846 -0.25706102 0.09492741] [-0.00366715 0.99960885 -0.02772528 -0.45038806] [ 0.25705985 0.02773607 0.96599738 -0.3638218 ] [ 0. 0. 0. 1. ]] SLAMing on 329.46463044 meters Centerline goodness : 0.081847 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.45, Z:-0.36 [[ 0.96636796 -0.00367396 -0.25713707 0.09504718] [-0.00358749 0.99960805 -0.02776481 -0.45049495] [ 0.25713829 0.0277535 0.965976 -0.36373205] [ 0. 0. 0. 1. ]] SLAMing on 329.49463044000004 meters Centerline goodness : 0.094565 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.36 [[ 0.96640787 -0.00371225 -0.25698646 0.09444955] [-0.00353246 0.99960938 -0.02772364 -0.45093843] [ 0.25698899 0.02770014 0.96601727 -0.36356995] [ 0. 0. 0. 1. ]] SLAMing on 329.52463044 meters Centerline goodness : 0.094603 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.36 [[ 0.966567 -0.00384126 -0.25638539 0.09257143] [-0.00336645 0.9996115 -0.02766798 -0.45196083] [ 0.25639207 0.02760607 0.96617856 -0.36340923] [ 0. 0. 0. 1. ]] SLAMing on 329.55463044000004 meters Centerline goodness : 0.087416 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.45, Z:-0.36 [[ 0.96680609 -0.00430295 -0.25547498 0.08984929] [-0.00285384 0.99961397 -0.02763635 -0.45421497] [ 0.25549527 0.02744807 0.9664206 -0.36323361] [ 0. 0. 0. 1. ]] SLAMing on 329.58463044 meters Centerline goodness : 0.082369 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.46, Z:-0.36 [[ 0.96668786 -0.00434 -0.25592135 0.0913618 ] [-0.00278531 0.99961867 -0.02747277 -0.45578607] [ 0.25594299 0.02727042 0.96630715 -0.36337349] [ 0. 0. 0. 1. ]] SLAMing on 329.61463044000004 meters Centerline goodness : 0.094620 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.46, Z:-0.36 [[ 0.96652515 -0.00445728 -0.25653317 0.09354177] [-0.00267275 0.99961992 -0.02743843 -0.45688457] [ 0.25655797 0.02720558 0.96614588 -0.36366753] [ 0. 0. 0. 1. ]] SLAMing on 329.64463044 meters Centerline goodness : 0.093473 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96642473 -0.00446671 -0.25691104 0.0950066 ] [-0.00265934 0.99962147 -0.02738333 -0.45763197] [ 0.25693611 0.02714714 0.96604703 -0.36396484] [ 0. 0. 0. 1. ]] SLAMing on 329.67463044000004 meters Centerline goodness : 0.092710 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96634722 -0.0044307 -0.25720307 0.09607625] [-0.00269943 0.99962194 -0.02736208 -0.45767367] [ 0.25722706 0.02713557 0.96596993 -0.36413393] [ 0. 0. 0. 1. ]] SLAMing on 329.70463044 meters Centerline goodness : 0.052080 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.9663781 -0.00441451 -0.25708731 0.09563646] [-0.00271736 0.99962143 -0.02737916 -0.45756326] [ 0.25711085 0.02715722 0.96600026 -0.36403457] [ 0. 0. 0. 1. ]] SLAMing on 329.73463044 meters Centerline goodness : 0.085164 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96639069 -0.00448253 -0.25703878 0.0954377 ] [-0.0026836 0.9996176 -0.02752198 -0.45686095] [ 0.25706386 0.02728677 0.96600911 -0.36395111] [ 0. 0. 0. 1. ]] SLAMing on 329.76463044 meters Centerline goodness : 0.092984 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.46, Z:-0.36 [[ 0.96638965 -0.00460069 -0.25704061 0.09545074] [-0.00261969 0.99961171 -0.02774093 -0.45566249] [ 0.25706843 0.02748192 0.96600236 -0.36394956] [ 0. 0. 0. 1. ]] SLAMing on 329.79463044 meters Centerline goodness : 0.082455 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.45, Z:-0.36 [[ 0.96631196 -0.0046012 -0.25733253 0.09634269] [-0.00267154 0.999607 -0.0279053 -0.45392266] [ 0.25735979 0.0276527 0.96591991 -0.363945 ] [ 0. 0. 0. 1. ]] SLAMing on 329.82463044 meters Centerline goodness : 0.095788 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.45, Z:-0.36 [[ 9.66185305e-01 -5.39482201e-04 -2.57848145e-01 9.76129869e-02] [-6.08637810e-03 9.99671472e-01 -2.48978873e-02 -4.50520140e-01] [ 2.57776866e-01 2.56253341e-02 9.65864602e-01 -3.63692743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85463044 meters Centerline goodness : 0.181152 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.45, Z:-0.36 [[ 9.66223103e-01 -7.53406853e-04 -2.57705932e-01 9.71803234e-02] [-5.96875559e-03 9.99662051e-01 -2.53013260e-02 -4.48209464e-01] [ 2.57637903e-01 2.59849094e-02 9.65892072e-01 -3.63649811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88463044 meters Centerline goodness : 0.084116 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.45, Z:-0.36 [[ 0.96624015 -0.00103821 -0.25764103 0.09692114] [-0.00580168 0.99965064 -0.02578649 -0.44567504] [ 0.25757779 0.02641069 0.96589656 -0.36351075] [ 0. 0. 0. 1. ]] SLAMing on 329.91463044 meters Centerline goodness : 0.094288 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96623507 -0.00128866 -0.25765893 0.09685695] [-0.00566221 0.99963981 -0.02623321 -0.44319239] [ 0.25759993 0.02680636 0.96587975 -0.36338478] [ 0. 0. 0. 1. ]] SLAMing on 329.94463044 meters Centerline goodness : 0.096830 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.9662238 -0.00144586 -0.25770038 0.09686381] [-0.0055924 0.99963113 -0.02657675 -0.44087146] [ 0.25764375 0.02712025 0.9658593 -0.3632865 ] [ 0. 0. 0. 1. ]] SLAMing on 329.97463044 meters Centerline goodness : 0.247579 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.44, Z:-0.36 [[ 0.96619074 -0.00158325 -0.25782349 0.09727243] [-0.00553996 0.99962279 -0.02689944 -0.43865635] [ 0.25776883 0.02741832 0.96581751 -0.36329778] [ 0. 0. 0. 1. ]] SLAMing on 330.00463044 meters Centerline goodness : 0.050803 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.43, Z:-0.36 [[ 9.65866118e-01 -5.96509290e-03 -2.58973087e-01 1.18441464e-01] [-4.33580045e-04 9.99696203e-01 -2.46437229e-02 -4.29701314e-01] [ 2.59041414e-01 2.39148226e-02 9.65570105e-01 -3.57342078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03463044 meters Centerline goodness : 0.087986 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 9.66063316e-01 7.67741799e-04 -2.58304241e-01 1.00263069e-01] [-7.75426504e-03 9.99631088e-01 -2.60299731e-02 -4.32210750e-01] [ 2.58188965e-01 2.71495616e-02 9.65712876e-01 -3.63762153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06463044000003 meters Centerline goodness : 0.128122 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 9.66057400e-01 5.43992489e-04 -2.58326932e-01 9.99984142e-02] [-7.62664601e-03 9.99621940e-01 -2.64161036e-02 -4.30008026e-01] [ 2.58214899e-01 2.74896404e-02 9.65696322e-01 -3.63418848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09463044 meters Centerline goodness : 0.093743 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.43, Z:-0.36 [[ 9.66028810e-01 3.15837252e-04 -2.58434205e-01 1.00015755e-01] [-7.50383224e-03 9.99611907e-01 -2.68277314e-02 -4.27605778e-01] [ 2.58325435e-01 2.78556084e-02 9.65656271e-01 -3.63134513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12463044000003 meters Centerline goodness : 0.442629 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.42, Z:-0.37 [[ 9.65757737e-01 -5.41238500e-03 -2.59389089e-01 7.88865469e-02] [-9.29529388e-04 9.99703780e-01 -2.43205370e-02 -4.24293660e-01] [ 2.59443885e-01 2.37288566e-02 9.65466629e-01 -3.68459949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15463044 meters Centerline goodness : 0.460839 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.42, Z:-0.37 [[ 9.65741220e-01 -5.50867572e-03 -2.59448549e-01 7.88444836e-02] [-9.14701251e-04 9.99696203e-01 -2.46305748e-02 -4.21922818e-01] [ 2.59505411e-01 2.40240793e-02 9.65442792e-01 -3.68239167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18463044000003 meters Centerline goodness : 0.126943 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.42, Z:-0.37 [[ 9.65849132e-01 -5.66185750e-03 -2.59043236e-01 7.71864891e-02] [-8.43005014e-04 9.99687267e-01 -2.49931348e-02 -4.19205790e-01] [ 2.59103732e-01 2.43579723e-02 9.65542306e-01 -3.67815374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21463044 meters Centerline goodness : 0.101037 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.42, Z:-0.37 [[ 0.96597654 0.00122334 -0.25862683 0.0586435 ] [-0.00824459 0.99962624 -0.02606537 -0.42414883] [ 0.25849828 0.02731081 0.96562558 -0.37421331] [ 0. 0. 0. 1. ]] SLAMing on 330.24463044000004 meters Centerline goodness : 0.088309 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.42, Z:-0.37 [[ 0.96595072 0.00111037 -0.25872376 0.05888737] [-0.00815654 0.99962443 -0.02616252 -0.42393039] [ 0.25859754 0.02738199 0.96559699 -0.3741445 ] [ 0. 0. 0. 1. ]] SLAMing on 330.27463044 meters Centerline goodness : 0.088234 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.42, Z:-0.37 [[ 9.65907222e-01 9.92495145e-04 -2.58886565e-01 5.95612159e-02] [-8.06022398e-03 9.99623164e-01 -2.62404787e-02 -4.23897070e-01] [ 2.58762964e-01 2.74325516e-02 9.65551233e-01 -3.74290945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30463044000004 meters Centerline goodness : 0.086850 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.42, Z:-0.37 [[ 9.65800853e-01 6.77794787e-04 -2.59284118e-01 6.07551989e-02] [-7.82996955e-03 9.99616753e-01 -2.65525567e-02 -4.23016932e-01] [ 2.59166751e-01 2.76746687e-02 9.65436020e-01 -3.74223071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33463044 meters Centerline goodness : 0.087504 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.42, Z:-0.37 [[ 9.65838477e-01 5.83403184e-04 -2.59144160e-01 5.99966764e-02] [-7.77429205e-03 9.99612602e-01 -2.67246355e-02 -4.22061818e-01] [ 2.59028177e-01 2.78263437e-02 9.65468849e-01 -3.73899485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36463044000004 meters Centerline goodness : 0.088565 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.42, Z:-0.37 [[ 9.65900968e-01 5.10903164e-04 -2.58911295e-01 5.88841207e-02] [-7.73254394e-03 9.99608902e-01 -2.68747191e-02 -4.21064244e-01] [ 2.58796305e-01 2.79603602e-02 9.65527157e-01 -3.73507718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39463044 meters Centerline goodness : 0.089603 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.42, Z:-0.38 [[ 9.66381898e-01 -6.38174235e-03 -2.57031710e-01 4.00063863e-02] [-2.27778971e-04 9.99670270e-01 -2.56768302e-02 -4.15813220e-01] [ 2.57110821e-01 2.48721704e-02 9.66061800e-01 -3.80210637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42463044000004 meters Centerline goodness : 0.236665 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.41, Z:-0.38 [[ 9.66396488e-01 -6.37181025e-03 -2.56977097e-01 3.98031032e-02] [-2.64083901e-04 9.99667602e-01 -2.57801263e-02 -4.14579478e-01] [ 2.57055945e-01 2.49816870e-02 9.66073577e-01 -3.80178354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45463044 meters Centerline goodness : 0.264951 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.41, Z:-0.38 [[ 9.66323439e-01 -6.37535186e-03 -2.57251561e-01 4.07810659e-02] [-2.89158015e-04 9.99665521e-01 -2.58604441e-02 -4.13731828e-01] [ 2.57330385e-01 2.50639396e-02 9.65998381e-01 -3.80319075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48463044 meters Centerline goodness : 0.088249 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.41, Z:-0.38 [[ 9.66131278e-01 -6.61999077e-03 -2.57966140e-01 4.29771460e-02] [-9.52788493e-05 9.99661668e-01 -2.60104015e-02 -4.14092520e-01] [ 2.58051051e-01 2.51540412e-02 9.65803774e-01 -3.80419703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51463044 meters Centerline goodness : 0.289839 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.42, Z:-0.38 [[ 9.66129739e-01 -6.58477677e-03 -2.57972805e-01 4.30901506e-02] [-9.03716607e-05 9.99665700e-01 -2.58549975e-02 -4.15197733e-01] [ 2.58056814e-01 2.50025954e-02 9.65806166e-01 -3.80489625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54463044 meters Centerline goodness : 0.289839 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.42, Z:-0.38 [[ 9.66129739e-01 -6.58477677e-03 -2.57972805e-01 4.30901506e-02] [-9.03716607e-05 9.99665700e-01 -2.58549975e-02 -4.15197733e-01] [ 2.58056814e-01 2.50025954e-02 9.65806166e-01 -3.80489625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57463044 meters Centerline goodness : 0.103869 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.42, Z:-0.38 [[ 9.66136633e-01 -6.51287559e-03 -2.57948809e-01 4.30051622e-02] [-1.17072463e-04 9.99670236e-01 -2.56788775e-02 -4.16216209e-01] [ 2.58030990e-01 2.48395030e-02 9.65817274e-01 -3.80491940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 330.63463044 meters Centerline goodness : 0.087482 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.42, Z:-0.38 [[ 9.66185451e-01 -6.77347705e-03 -2.57759179e-01 4.17654442e-02] [ 1.96764452e-04 9.99673981e-01 -2.55321958e-02 -4.19710571e-01] [ 2.57848086e-01 2.46181183e-02 9.65871789e-01 -3.79830830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66463044 meters Centerline goodness : 0.088668 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.42, Z:-0.38 [[ 9.66138233e-01 -6.79466161e-03 -2.57935548e-01 4.21600951e-02] [ 2.23498446e-04 9.99674880e-01 -2.54967653e-02 -4.20312937e-01] [ 2.58024930e-01 2.45757516e-02 9.65825641e-01 -3.79725651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69463044 meters Centerline goodness : 0.082113 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.42, Z:-0.38 [[ 9.65945275e-01 -6.48586574e-03 -2.58665147e-01 4.45772991e-02] [-6.07055753e-05 9.99680078e-01 -2.52930443e-02 -4.20400517e-01] [ 2.58746442e-01 2.44473991e-02 9.65635855e-01 -3.79994765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72463044 meters Centerline goodness : 0.087661 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.42, Z:-0.38 [[ 9.65889399e-01 -6.38177954e-03 -2.58876304e-01 4.54070000e-02] [-1.73050882e-04 9.99680151e-01 -2.52896315e-02 -4.19911460e-01] [ 2.58954896e-01 2.44717858e-02 9.65579356e-01 -3.80209990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75463044 meters Centerline goodness : 0.075868 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.42, Z:-0.38 [[ 9.65827797e-01 -6.27912679e-03 -2.59108549e-01 4.60352013e-02] [-2.82662500e-04 9.99680384e-01 -2.52794561e-02 -4.19400860e-01] [ 2.59184466e-01 2.44888416e-02 9.65517327e-01 -3.80187488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78463044 meters Centerline goodness : 0.086979 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.42, Z:-0.38 [[ 9.65782991e-01 -6.21887097e-03 -2.59276955e-01 4.66699346e-02] [-3.64765117e-04 9.99678914e-01 -2.53364520e-02 -4.18552026e-01] [ 2.59351269e-01 2.45640896e-02 9.65470623e-01 -3.80323142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81463044000003 meters Centerline goodness : 0.280910 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.42, Z:-0.38 [[ 9.65735295e-01 -6.16216049e-03 -2.59455907e-01 4.71832069e-02] [-4.50224508e-04 9.99676798e-01 -2.54184483e-02 -4.17525384e-01] [ 2.59528683e-01 2.46643061e-02 9.65420393e-01 -3.80325706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84463044 meters Centerline goodness : 0.089319 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.42, Z:-0.39 [[ 9.65268149e-01 -5.56430834e-03 -2.61201911e-01 2.58890801e-03] [-9.39207746e-04 9.99692810e-01 -2.47669948e-02 -4.19582650e-01] [ 2.61259483e-01 2.41521141e-02 9.64966402e-01 -3.91252203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87463044000003 meters Centerline goodness : 0.462766 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.42, Z:-0.39 [[ 0.9657656 0.00218633 -0.25940705 0.02075739] [-0.00931359 0.99961204 -0.02624934 -0.41768388] [ 0.25924902 0.02776672 0.96541129 -0.38516144] [ 0. 0. 0. 1. ]] SLAMing on 330.90463044 meters Centerline goodness : 0.088384 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.42, Z:-0.38 [[ 0.96579564 0.00208352 -0.25929606 0.02020173] [-0.00926047 0.99960697 -0.02646016 -0.41657578] [ 0.25913902 0.02795631 0.96543535 -0.38498138] [ 0. 0. 0. 1. ]] SLAMing on 330.93463044000003 meters Centerline goodness : 0.088027 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.42, Z:-0.38 [[ 0.96583209 0.00198891 -0.25916099 0.01947641] [-0.00920615 0.99960276 -0.02663776 -0.41560709] [ 0.25900506 0.02811347 0.96546673 -0.38470694] [ 0. 0. 0. 1. ]] SLAMing on 330.96463044 meters Centerline goodness : 0.050805 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.42, Z:-0.38 [[ 0.9658814 0.00199171 -0.25897712 0.01899114] [-0.0092053 0.99960259 -0.02664449 -0.41534353] [ 0.25882113 0.02811938 0.96551589 -0.38477133] [ 0. 0. 0. 1. ]] SLAMing on 330.99463044000004 meters Centerline goodness : 0.337135 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.41, Z:-0.39 [[ 0.96634513 -0.0054895 -0.2571905 -0.00107749] [-0.0011445 0.99967065 -0.02563732 -0.41158531] [ 0.25724653 0.02506886 0.96602059 -0.39134356] [ 0. 0. 0. 1. ]] SLAMing on 331.02463044 meters Centerline goodness : 0.085116 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.41, Z:-0.39 [[ 0.96635072 -0.00555064 -0.25716819 -0.00137858] [-0.00110084 0.99966876 -0.02571314 -0.41132622] [ 0.25722573 0.02513101 0.96602451 -0.39115217] [ 0. 0. 0. 1. ]] SLAMing on 331.05463044000004 meters Centerline goodness : 0.085508 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.41, Z:-0.39 [[ 0.96630873 -0.00570606 -0.25732251 -0.0012878 ] [-0.00100161 0.9996633 -0.02592856 -0.41043968] [ 0.25738382 0.02531273 0.96597766 -0.39082491] [ 0. 0. 0. 1. ]] SLAMing on 331.08463044 meters Centerline goodness : 0.083856 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.41, Z:-0.39 [[ 9.66232122e-01 -5.76089162e-03 -2.57608811e-01 -5.42602713e-04] [-9.93178976e-04 9.99659352e-01 -2.60805156e-02 -4.09232666e-01] [ 2.57671304e-01 2.54556836e-02 9.65897255e-01 -3.90724343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11463044000004 meters Centerline goodness : 0.086636 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.41, Z:-0.39 [[ 9.66196365e-01 -5.70247091e-03 -2.57744187e-01 -1.68027886e-04] [-1.07059095e-03 9.99657973e-01 -2.61302561e-02 -4.08093892e-01] [ 2.57805038e-01 2.55228970e-02 9.65859795e-01 -3.90713398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14463044 meters Centerline goodness : 0.052088 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.41, Z:-0.39 [[ 9.66229344e-01 -5.63065795e-03 -2.57622108e-01 -1.08244435e-04] [-1.14989036e-03 9.99657068e-01 -2.61615157e-02 -4.07024531e-01] [ 2.57681068e-01 2.55742613e-02 9.65891518e-01 -3.91063830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17463044000004 meters Centerline goodness : 0.468047 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.41, Z:-0.39 [[ 9.66358893e-01 -6.03620275e-03 -2.57126532e-01 -2.01368661e-03] [-8.32951090e-04 9.99645869e-01 -2.65977796e-02 -4.05948608e-01] [ 2.57196026e-01 2.59171747e-02 9.66011648e-01 -3.90677626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20463044 meters Centerline goodness : 0.132899 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.40 [[ 9.65878585e-01 -7.00478189e-03 -2.58900544e-01 -4.61161983e-02] [ 1.83890751e-05 9.99636043e-01 -2.69774282e-02 -4.08240493e-01] [ 2.58995286e-01 2.60521592e-02 9.65527175e-01 -4.01674083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23463044 meters Centerline goodness : 0.086707 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.40 [[ 9.65784532e-01 -6.95025368e-03 -2.59252642e-01 -4.52062291e-02] [-5.49262939e-05 9.99635334e-01 -2.70036443e-02 -4.07438491e-01] [ 2.59345784e-01 2.60939417e-02 9.65431961e-01 -4.01586963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26463044 meters Centerline goodness : 0.088995 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65703549e-01 -6.89200037e-03 -2.59555690e-01 -4.43493200e-02] [-1.19679152e-04 9.99635732e-01 -2.69886760e-02 -4.06951224e-01] [ 2.59647148e-01 2.60941236e-02 9.65350949e-01 -4.01556413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29463044 meters Centerline goodness : 0.092924 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65662249e-01 -6.93007675e-03 -2.59708287e-01 -4.37946265e-02] [-1.04345685e-04 9.99633744e-01 -2.70622910e-02 -4.06451897e-01] [ 2.59800711e-01 2.61601323e-02 9.65307846e-01 -4.01657155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32463044 meters Centerline goodness : 0.380491 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65649874e-01 -7.07929635e-03 -2.59750273e-01 -4.37339941e-02] [ 8.22707106e-06 9.99629642e-01 -2.72135615e-02 -4.05979093e-01] [ 2.59846725e-01 2.62766352e-02 9.65292297e-01 -4.01570991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35463044 meters Centerline goodness : 0.461635 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65675289e-01 -7.16444890e-03 -2.59653437e-01 -4.44158671e-02] [ 8.12035135e-05 9.99627826e-01 -2.72800789e-02 -4.05623396e-01] [ 2.59752248e-01 2.63226133e-02 9.65316471e-01 -4.01231247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38463044 meters Centerline goodness : 0.469863 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.40, Z:-0.39 [[ 0.96562625 -0.01385333 -0.25956509 -0.02658767] [ 0.00738977 0.99963824 -0.0258608 -0.40081526] [ 0.25982945 0.02305374 0.96537929 -0.39477861] [ 0. 0. 0. 1. ]] SLAMing on 331.41463044 meters Centerline goodness : 0.088704 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65752203e-01 -7.26199020e-03 -2.59364505e-01 -4.42484530e-02] [ 2.22433446e-04 9.99631058e-01 -2.71605992e-02 -4.07394849e-01] [ 2.59466055e-01 2.61727171e-02 9.65397512e-01 -4.01044637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44463044 meters Centerline goodness : 0.423807 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65634544e-01 -7.84339949e-03 -2.59785313e-01 -4.31837879e-02] [ 7.37351422e-04 9.99623188e-01 -2.74397036e-02 -4.09271504e-01] [ 2.59902643e-01 2.63051726e-02 9.65276465e-01 -4.00833131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47463044 meters Centerline goodness : 0.264648 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.42, Z:-0.41 [[ 9.65620190e-01 -9.12784133e-04 -2.59955411e-01 -6.12624818e-02] [-6.76639599e-03 9.99566775e-01 -2.86439788e-02 -4.15048541e-01] [ 2.59868938e-01 2.94181655e-02 9.65195683e-01 -4.07153154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50463044 meters Centerline goodness : 0.166931 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65462621e-01 -7.14897500e-03 -2.60443506e-01 -4.36342151e-02] [ 9.78689302e-05 9.99633363e-01 -2.70763715e-02 -4.09939479e-01] [ 2.60541586e-01 2.61157353e-02 9.65109346e-01 -4.00461612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53463044 meters Centerline goodness : 0.472313 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65422926e-01 -6.96412494e-03 -2.60595617e-01 -4.32582225e-02] [-6.58863991e-05 9.99636558e-01 -2.69582513e-02 -4.09620354e-01] [ 2.60688646e-01 2.60432836e-02 9.65071592e-01 -4.00388886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56463044000003 meters Centerline goodness : 0.088562 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65359596e-01 -6.89808180e-03 -2.60831876e-01 -4.26814455e-02] [-1.50411166e-04 9.99635597e-01 -2.69935143e-02 -4.09008355e-01] [ 2.60923032e-01 2.60976800e-02 9.65006778e-01 -4.00303294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59463044 meters Centerline goodness : 0.291438 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.41, Z:-0.40 [[ 9.65268644e-01 -6.96737673e-03 -2.61166422e-01 -4.20264647e-02] [-1.35231605e-04 9.99630876e-01 -2.71678866e-02 -4.08225833e-01] [ 2.61259308e-01 2.62596270e-02 9.64911398e-01 -4.00034316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62463044000003 meters Centerline goodness : 0.093240 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.41, Z:-0.41 [[ 9.65365880e-01 4.14743271e-04 -2.60899493e-01 -6.23248734e-02] [-8.04871682e-03 9.99570110e-01 -2.81924336e-02 -4.12397135e-01] [ 2.60775642e-01 2.93159196e-02 9.64954217e-01 -4.05955151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65463044 meters Centerline goodness : 0.299039 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.41, Z:-0.41 [[ 9.65434219e-01 5.37765503e-04 -2.60646274e-01 -6.33470358e-02] [-8.16184064e-03 9.99569849e-01 -2.81691579e-02 -4.11583343e-01] [ 2.60519008e-01 2.93228223e-02 9.65023325e-01 -4.05687622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68463044000003 meters Centerline goodness : 0.354698 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.40 [[ 0.96561779 -0.00551368 -0.25990745 -0.04786764] [-0.00139899 0.99965037 -0.0264042 -0.40544972] [ 0.25996216 0.02585997 0.96527247 -0.39898321] [ 0. 0. 0. 1. ]] SLAMing on 331.71463044 meters Centerline goodness : 0.092534 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.40, Z:-0.40 [[ 0.96574881 -0.00566622 -0.25941691 -0.04975294] [-0.00130901 0.99964244 -0.02670745 -0.40382065] [ 0.25947548 0.02613227 0.96539607 -0.39863094] [ 0. 0. 0. 1. ]] SLAMing on 331.74463044000004 meters Centerline goodness : 0.442953 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.40, Z:-0.40 [[ 0.96576139 -0.00578731 -0.25936739 -0.04993855] [-0.00123203 0.99963757 -0.02689258 -0.40294615] [ 0.25942902 0.02629136 0.96540424 -0.39860792] [ 0. 0. 0. 1. ]] SLAMing on 331.77463044 meters Centerline goodness : 0.465914 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.40, Z:-0.40 [[ 0.96575822 -0.00575798 -0.25937987 -0.05013567] [-0.00127794 0.99963599 -0.02694913 -0.40207239] [ 0.25944062 0.02635781 0.96539931 -0.39840843] [ 0. 0. 0. 1. ]] SLAMing on 331.80463044000004 meters Centerline goodness : 0.449436 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.40, Z:-0.40 [[ 0.96575961 -0.00566685 -0.25937669 -0.05015361] [-0.00137624 0.99963545 -0.02696427 -0.40101625] [ 0.25943494 0.02639796 0.96539974 -0.39839379] [ 0. 0. 0. 1. ]] SLAMing on 331.83463044 meters Centerline goodness : 0.264547 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.40, Z:-0.40 [[ 0.9657339 -0.0057311 -0.25947096 -0.04992869] [-0.00136848 0.99962981 -0.02717284 -0.3993982 ] [ 0.25953064 0.02659681 0.96536856 -0.39831147] [ 0. 0. 0. 1. ]] SLAMing on 331.86463044000004 meters Centerline goodness : 0.354498 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.40, Z:-0.40 [[ 0.96571911 -0.00591078 -0.25952201 -0.04976941] [-0.0012714 0.99962105 -0.0274981 -0.39766812] [ 0.25958619 0.0268854 0.96534563 -0.39828681] [ 0. 0. 0. 1. ]] SLAMing on 331.89463044 meters Centerline goodness : 0.275084 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.40, Z:-0.40 [[ 0.96558918 0.00134302 -0.26006871 -0.06976282] [-0.00918978 0.99953837 -0.02895833 -0.3976511 ] [ 0.25990977 0.03035183 0.96515578 -0.40406026] [ 0. 0. 0. 1. ]] SLAMing on 331.92463044000004 meters Centerline goodness : 0.164381 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.39, Z:-0.40 [[ 0.96556793 0.0013199 -0.26014771 -0.06972974] [-0.00924346 0.99952977 -0.02923688 -0.3948399 ] [ 0.2599868 0.03063486 0.96512609 -0.40384849] [ 0. 0. 0. 1. ]] SLAMing on 331.95463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.98463044 meters Centerline goodness : 0.174292 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.39, Z:-0.40 [[ 0.96549286 0.00538189 -0.26037392 -0.06892788] [-0.01266445 0.99957387 -0.02630004 -0.3907058 ] [ 0.26012142 0.02868999 0.96514959 -0.40379774] [ 0. 0. 0. 1. ]] SLAMing on 332.01463044 meters Centerline goodness : 0.345139 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.39, Z:-0.40 [[ 0.96553883 0.00507129 -0.26020963 -0.06928188] [-0.01246216 0.99956416 -0.02676158 -0.38848267] [ 0.2599605 0.02908212 0.96518121 -0.40388533] [ 0. 0. 0. 1. ]] SLAMing on 332.04463044 meters Centerline goodness : 0.390718 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.38, Z:-0.40 [[ 0.96578273 -0.0023719 -0.25934166 -0.05303365] [-0.00458999 0.99964525 -0.02623561 -0.37935663] [ 0.25931189 0.02652828 0.96542923 -0.39715032] [ 0. 0. 0. 1. ]] SLAMing on 332.07463044 meters Centerline goodness : 0.088770 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.38, Z:-0.40 [[ 0.96579201 -0.00245439 -0.2593063 -0.05356364] [-0.00454562 0.99964133 -0.0263921 -0.37809526] [ 0.25927808 0.02666799 0.96543446 -0.39675773] [ 0. 0. 0. 1. ]] SLAMing on 332.10463044 meters Centerline goodness : 0.245420 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.38, Z:-0.40 [[ 0.96581513 -0.00250993 -0.25921968 -0.05376054] [-0.00451254 0.99963883 -0.02649222 -0.37719596] [ 0.25919255 0.02675633 0.96545498 -0.39677923] [ 0. 0. 0. 1. ]] SLAMing on 332.13463044 meters Centerline goodness : 0.090516 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.38, Z:-0.40 [[ 0.96579838 -0.00270214 -0.25928015 -0.05335145] [-0.00438693 0.99963229 -0.02675883 -0.37590926] [ 0.25925712 0.02698108 0.96543139 -0.39693002] [ 0. 0. 0. 1. ]] SLAMing on 332.16463044 meters Centerline goodness : 0.091073 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.37, Z:-0.40 [[ 0.96575265 -0.00303405 -0.25944674 -0.05267049] [-0.00416458 0.99962156 -0.02719194 -0.3742477 ] [ 0.25943106 0.02734118 0.96537453 -0.39708809] [ 0. 0. 0. 1. ]] SLAMing on 332.19463044 meters Centerline goodness : 0.088283 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.37, Z:-0.40 [[ 0.96564478 -0.00346198 -0.25984258 -0.05145326] [-0.0039424 0.99960101 -0.02796909 -0.36967678] [ 0.25983574 0.02803261 0.96524586 -0.39709764] [ 0. 0. 0. 1. ]] SLAMing on 332.22463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.25463044 meters Centerline goodness : 0.468838 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.37, Z:-0.40 [[ 9.65523586e-01 5.13032059e-04 -2.60315081e-01 -4.98461157e-02] [-7.30750500e-03 9.99657387e-01 -2.51338191e-02 -3.65334713e-01] [ 2.60212999e-01 2.61695489e-02 9.65196534e-01 -3.97205144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28463044 meters Centerline goodness : 0.472150 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.36, Z:-0.40 [[ 9.65618585e-01 8.18234388e-05 -2.59962961e-01 -5.09261967e-02] [-7.08535470e-03 9.99636741e-01 -2.60035369e-02 -3.59748128e-01] [ 2.59866400e-01 2.69514283e-02 9.65268395e-01 -3.97101329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31463044000003 meters Centerline goodness : 0.094762 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.36, Z:-0.40 [[ 9.65683953e-01 -1.74771265e-04 -2.59719989e-01 -5.19157931e-02] [-6.91668263e-03 9.99627792e-01 -2.63900967e-02 -3.57875789e-01] [ 2.59627931e-01 2.72808937e-02 9.65323309e-01 -3.96874768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34463044 meters Centerline goodness : 0.091279 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.36, Z:-0.40 [[ 9.65724462e-01 -2.65609795e-04 -2.59569245e-01 -5.25754294e-02] [-6.87020164e-03 9.99622991e-01 -2.65833937e-02 -3.56565218e-01] [ 2.59478446e-01 2.74555266e-02 9.65358550e-01 -3.96700530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37463044000003 meters Centerline goodness : 0.313585 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.36, Z:-0.40 [[ 9.65695817e-01 -2.74474619e-04 -2.59675788e-01 -5.22268500e-02] [-6.87553480e-03 9.99621828e-01 -2.66256861e-02 -3.55730995e-01] [ 2.59584894e-01 2.74977236e-02 9.65328731e-01 -3.96682577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40463044 meters Centerline goodness : 0.106919 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.36, Z:-0.40 [[ 9.65668805e-01 -3.41223119e-04 -2.59776141e-01 -5.15359247e-02] [-6.81948022e-03 9.99621214e-01 -2.66631615e-02 -3.55601955e-01] [ 2.59686839e-01 2.75193215e-02 9.65300695e-01 -3.96966954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43463044000003 meters Centerline goodness : 0.473885 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96550783 -0.00796052 -0.26025229 -0.06911913] [ 0.00135995 0.99967307 -0.02553246 -0.3533153 ] [ 0.26037046 0.02429786 0.965203 -0.4038152 ] [ 0. 0. 0. 1. ]] SLAMing on 332.46463044 meters Centerline goodness : 0.473885 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96550783 -0.00796052 -0.26025229 -0.06911913] [ 0.00135995 0.99967307 -0.02553246 -0.3533153 ] [ 0.26037046 0.02429786 0.965203 -0.4038152 ] [ 0. 0. 0. 1. ]] SLAMing on 332.49463044000004 meters Centerline goodness : 0.324827 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96545028 -0.00808193 -0.26046198 -0.06827912] [ 0.00146676 0.99967165 -0.02558219 -0.3534874 ] [ 0.26058321 0.0243163 0.96514512 -0.40394891] [ 0. 0. 0. 1. ]] SLAMing on 332.52463044 meters Centerline goodness : 0.475594 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96545843 -0.00809138 -0.26043145 -0.06840825] [ 0.00146013 0.99967002 -0.02564596 -0.35291242] [ 0.26055302 0.02437985 0.96515167 -0.40387898] [ 0. 0. 0. 1. ]] SLAMing on 332.55463044000004 meters Centerline goodness : 0.444425 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96546397 -0.0081715 -0.26040842 -0.06852061] [ 0.00149854 0.99966566 -0.02581322 -0.35188138] [ 0.26053229 0.02453151 0.96515342 -0.40384559] [ 0. 0. 0. 1. ]] SLAMing on 332.58463044 meters Centerline goodness : 0.297522 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96544672 -0.00820907 -0.26047118 -0.06848095] [ 0.00148992 0.99966127 -0.0259831 -0.35063995] [ 0.26059624 0.02469722 0.96513193 -0.40373927] [ 0. 0. 0. 1. ]] SLAMing on 332.61463044000004 meters Centerline goodness : 0.093298 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96546216 -0.00813088 -0.26041642 -0.06829302] [ 0.00132916 0.99965363 -0.02628411 -0.34727123] [ 0.26053993 0.02503018 0.96513856 -0.40404404] [ 0. 0. 0. 1. ]] SLAMing on 332.64463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.67463044000004 meters Centerline goodness : 0.093324 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96555133 -0.00805714 -0.26008791 -0.06891862] [ 0.00122512 0.99965019 -0.02641954 -0.34537868] [ 0.26020979 0.02519078 0.96522344 -0.40432647] [ 0. 0. 0. 1. ]] SLAMing on 332.70463044 meters Centerline goodness : 0.219423 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96555359 -0.00809854 -0.26007823 -0.06898415] [ 0.00125137 0.9996485 -0.02648215 -0.3451009 ] [ 0.26020128 0.02524448 0.96522433 -0.40431209] [ 0. 0. 0. 1. ]] SLAMing on 332.73463044 meters Centerline goodness : 0.470819 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96550778 -0.00817885 -0.2602457 -0.06858794] [ 0.00131588 0.99964703 -0.02653442 -0.34533589] [ 0.26037087 0.02527674 0.96517775 -0.40422717] [ 0. 0. 0. 1. ]] SLAMing on 332.76463044 meters Centerline goodness : 0.508650 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.965424 -0.00841248 -0.2605489 -0.06750366] [ 0.00153111 0.99964491 -0.02660275 -0.34633284] [ 0.26068018 0.025284 0.96509407 -0.4043888 ] [ 0. 0. 0. 1. ]] SLAMing on 332.79463044 meters Centerline goodness : 0.474418 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96545035 -0.00841762 -0.26045109 -0.06767387] [ 0.0015687 0.99964777 -0.02649309 -0.34722015] [ 0.26058236 0.02516919 0.96512349 -0.40448158] [ 0. 0. 0. 1. ]] SLAMing on 332.82463044 meters Centerline goodness : 0.128503 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.9654903 -0.00836474 -0.26030465 -0.06815427] [ 0.00156743 0.99965261 -0.02630956 -0.34840719] [ 0.2604343 0.02499361 0.96516801 -0.40441297] [ 0. 0. 0. 1. ]] SLAMing on 332.85463044 meters Centerline goodness : 0.095800 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96556188 -0.0083543 -0.26003935 -0.06865422] [ 0.0016087 0.99965693 -0.02614272 -0.34968297] [ 0.26016854 0.02482409 0.96524406 -0.40466197] [ 0. 0. 0. 1. ]] SLAMing on 332.88463044 meters Centerline goodness : 0.473902 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.9655686 -0.00831547 -0.26001562 -0.06877407] [ 0.00162656 0.99966245 -0.02592964 -0.35133644] [ 0.26014347 0.02461391 0.9652562 -0.40461084] [ 0. 0. 0. 1. ]] SLAMing on 332.91463044 meters Centerline goodness : 0.470679 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.40 [[ 0.96551955 -0.00819883 -0.26020142 -0.0681877 ] [ 0.00159663 0.99967164 -0.02557466 -0.35373596] [ 0.26032567 0.02427739 0.9652156 -0.40462635] [ 0. 0. 0. 1. ]] SLAMing on 332.94463044 meters Centerline goodness : 0.376324 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.36, Z:-0.41 [[ 0.96532803 -0.01107182 -0.26080492 -0.06499115] [ 0.00409353 0.99961932 -0.02728478 -0.35996323] [ 0.26100773 0.02527115 0.96500587 -0.40548116] [ 0. 0. 0. 1. ]] SLAMing on 332.97463044 meters Centerline goodness : 0.089871 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.36, Z:-0.41 [[ 0.96521531 -0.01109214 -0.26122091 -0.06378469] [ 0.00421401 0.99962989 -0.02687614 -0.36404302] [ 0.26142234 0.02484048 0.96490482 -0.40542433] [ 0. 0. 0. 1. ]] SLAMing on 333.00463044 meters Centerline goodness : 0.440236 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.37, Z:-0.41 [[ 0.96521255 -0.01116447 -0.26122802 -0.06363664] [ 0.00438727 0.99963886 -0.02651244 -0.36786303] [ 0.26142968 0.02444406 0.96491296 -0.40553414] [ 0. 0. 0. 1. ]] SLAMing on 333.03463044 meters Centerline goodness : 0.105138 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.37, Z:-0.41 [[ 0.9652827 -0.01114481 -0.26096953 -0.06435839] [ 0.00449306 0.99964999 -0.02607139 -0.37160998] [ 0.26116875 0.02399371 0.96499492 -0.40557264] [ 0. 0. 0. 1. ]] SLAMing on 333.06463044000003 meters Centerline goodness : 0.478898 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.38, Z:-0.41 [[ 0.9654652 -0.01173423 -0.26026765 -0.0657464 ] [ 0.00517125 0.99965151 -0.02588675 -0.37924928] [ 0.26048071 0.02364685 0.96518943 -0.40611253] [ 0. 0. 0. 1. ]] SLAMing on 333.09463044 meters Centerline goodness : 0.100523 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.38, Z:-0.41 [[ 0.96548362 -0.0115922 -0.2602057 -0.06578229] [ 0.00512878 0.99966154 -0.02550492 -0.3818243 ] [ 0.26041329 0.02329004 0.96521629 -0.40625816] [ 0. 0. 0. 1. ]] SLAMing on 333.12463044000003 meters Centerline goodness : 0.090981 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.38, Z:-0.41 [[ 0.96550421 -0.01135734 -0.26013965 -0.06597044] [ 0.00501424 0.99967402 -0.0250341 -0.38455456] [ 0.26033918 0.02286612 0.96524642 -0.40625524] [ 0. 0. 0. 1. ]] SLAMing on 333.15463044 meters Centerline goodness : 0.092543 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.39, Z:-0.41 [[ 0.96550477 -0.01116806 -0.26014575 -0.06609704] [ 0.0049256 0.99968436 -0.0246356 -0.38689664] [ 0.26033877 0.02250442 0.96525503 -0.40613755] [ 0. 0. 0. 1. ]] SLAMing on 333.18463044000003 meters Centerline goodness : 0.087405 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.39, Z:-0.41 [[ 0.96548238 -0.01100597 -0.26023574 -0.06569281] [ 0.00493199 0.99970023 -0.02398179 -0.39169558] [ 0.26042167 0.02187051 0.96524724 -0.4063065 ] [ 0. 0. 0. 1. ]] SLAMing on 333.21463044 meters Centerline goodness : 0.107242 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.39, Z:-0.41 [[ 0.96544834 -0.01090587 -0.26036621 -0.06521099] [ 0.00493187 0.99970962 -0.02358694 -0.39470325] [ 0.26054785 0.02148788 0.96522178 -0.40639668] [ 0. 0. 0. 1. ]] SLAMing on 333.24463044000004 meters Centerline goodness : 0.089553 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.40, Z:-0.41 [[ 0.96542298 -0.01084136 -0.26046293 -0.0650371 ] [ 0.00496829 0.99971858 -0.02319643 -0.39777945] [ 0.26064111 0.02110031 0.96520515 -0.40629315] [ 0. 0. 0. 1. ]] SLAMing on 333.27463044 meters Centerline goodness : 0.471778 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.40, Z:-0.41 [[ 0.96543077 -0.01068656 -0.26044043 -0.06523109] [ 0.00494815 0.99973055 -0.02267922 -0.40133728] [ 0.26061261 0.02060652 0.96522352 -0.40619617] [ 0. 0. 0. 1. ]] SLAMing on 333.30463044000004 meters Centerline goodness : 0.092524 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.40, Z:-0.41 [[ 0.96551374 -0.01057936 -0.26013706 -0.06598236] [ 0.00496709 0.99974072 -0.02222224 -0.40465614] [ 0.26030471 0.02016375 0.96531595 -0.4062722 ] [ 0. 0. 0. 1. ]] SLAMing on 333.33463044 meters Centerline goodness : 0.307775 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.41 [[ 0.96561259 -0.01242969 -0.25968795 -0.06651482] [ 0.00666672 0.99971183 -0.02306091 -0.41192478] [ 0.25989976 0.02053664 0.9654172 -0.40685825] [ 0. 0. 0. 1. ]] SLAMing on 333.36463044000004 meters Centerline goodness : 0.088237 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.41 [[ 0.96560239 -0.01232426 -0.25973091 -0.06622228] [ 0.00665071 0.99971994 -0.02271145 -0.41446453] [ 0.25993807 0.02020284 0.96541392 -0.40698219] [ 0. 0. 0. 1. ]] SLAMing on 333.39463044 meters Centerline goodness : 0.426125 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.42, Z:-0.41 [[ 0.96555443 -0.01214325 -0.25991764 -0.06583649] [ 0.00655649 0.99972869 -0.02235061 -0.41655194] [ 0.26011853 0.01987658 0.96537209 -0.40684034] [ 0. 0. 0. 1. ]] SLAMing on 333.42463044000004 meters Centerline goodness : 0.092042 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.42, Z:-0.41 [[ 0.96551504 -0.01183833 -0.26007798 -0.0653898 ] [ 0.00636449 0.99974037 -0.02187901 -0.4186681 ] [ 0.26026947 0.01946925 0.96533971 -0.40685666] [ 0. 0. 0. 1. ]] SLAMing on 333.45463044 meters Centerline goodness : 0.093645 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.42, Z:-0.41 [[ 0.96529667 -0.01170728 -0.26089324 -0.06272159] [ 0.00636865 0.99975287 -0.02129895 -0.42324415] [ 0.26107812 0.01889827 0.96513267 -0.40713189] [ 0. 0. 0. 1. ]] SLAMing on 333.48463044 meters Centerline goodness : 0.329622 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.43, Z:-0.41 [[ 0.9652215 -0.01169009 -0.26117198 -0.061859 ] [ 0.00642069 0.99975843 -0.02102014 -0.42582641] [ 0.26135462 0.01861219 0.96506339 -0.40718915] [ 0. 0. 0. 1. ]] SLAMing on 333.51463044 meters Centerline goodness : 0.091948 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.43, Z:-0.41 [[ 0.96518476 -0.01155005 -0.26131393 -0.06160452] [ 0.00637963 0.99976691 -0.02062593 -0.42858861] [ 0.26149125 0.01824074 0.96503347 -0.40710383] [ 0. 0. 0. 1. ]] SLAMing on 333.54463044 meters Centerline goodness : 0.212902 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.44, Z:-0.40 [[ 9.64876220e-01 -5.05768812e-03 -2.62656238e-01 -4.57504133e-02] [-4.38074618e-04 9.99782289e-01 -2.08610115e-02 -4.36558225e-01] [ 2.62704563e-01 2.02433569e-02 9.64663941e-01 -4.01303583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57463044 meters Centerline goodness : 0.135901 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.44, Z:-0.40 [[ 9.64873257e-01 -4.71771951e-03 -2.62673449e-01 -4.58074202e-02] [-6.49548733e-04 9.99792856e-01 -2.03426516e-02 -4.38869538e-01] [ 2.62715009e-01 1.97986997e-02 9.64670325e-01 -4.01274040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60463044 meters Centerline goodness : 0.302222 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.44, Z:-0.40 [[ 9.64801878e-01 -4.74588124e-03 -2.62934998e-01 -4.49575470e-02] [-5.22929067e-04 9.99800546e-01 -1.99648493e-02 -4.44121531e-01] [ 2.62977305e-01 1.93996205e-02 9.64606962e-01 -4.01430231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63463044 meters Centerline goodness : 0.470498 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.45, Z:-0.40 [[ 9.64848024e-01 -4.79760398e-03 -2.62764674e-01 -4.55746875e-02] [-4.04939833e-04 9.99805035e-01 -1.97415198e-02 -4.46519964e-01] [ 2.62808156e-01 1.91539702e-02 9.64657970e-01 -4.01394857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66463044 meters Centerline goodness : 0.297426 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.45, Z:-0.40 [[ 9.64879172e-01 -4.63856922e-03 -2.62653132e-01 -4.61806824e-02] [-4.51362760e-04 9.99813341e-01 -1.93152615e-02 -4.49317398e-01] [ 2.62693700e-01 1.87554453e-02 9.64696975e-01 -4.01251134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69463044 meters Centerline goodness : 0.091019 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.45, Z:-0.40 [[ 9.64900244e-01 -4.28709690e-03 -2.62581683e-01 -4.64363793e-02] [-6.39865615e-04 9.99825399e-01 -1.86751597e-02 -4.52389175e-01] [ 2.62615898e-01 1.81876831e-02 9.64729028e-01 -4.01325590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72463044 meters Centerline goodness : 0.161488 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64615607e-01 -4.19248399e-03 -2.63626922e-01 -4.32140789e-02] [-5.63573350e-04 9.99838500e-01 -1.79626516e-02 -4.58191132e-01] [ 2.63659654e-01 1.74756272e-02 9.64457458e-01 -4.01497247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75463044 meters Centerline goodness : 0.471627 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64496686e-01 -4.19360807e-03 -2.64061652e-01 -4.18484845e-02] [-4.98524172e-04 9.99843226e-01 -1.76995618e-02 -4.60571079e-01] [ 2.64094479e-01 1.72028098e-02 9.64343388e-01 -4.01557879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78463044 meters Centerline goodness : 0.179930 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64457598e-01 -3.98279915e-03 -2.64207645e-01 -4.14594290e-02] [-5.95935195e-04 9.99851071e-01 -1.72476471e-02 -4.62953392e-01] [ 2.64236991e-01 1.67920749e-02 9.64311588e-01 -4.01543535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.84463044 meters Centerline goodness : 0.280627 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 0.96452822 -0.00329927 -0.26395913 -0.04251391] [-0.00101451 0.99986818 -0.01620462 -0.46733849] [ 0.2639778 0.0158976 0.96439773 -0.40134211] [ 0. 0. 0. 1. ]] SLAMing on 333.87463044000003 meters Centerline goodness : 0.172825 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 0.96454387 -0.00309451 -0.26390443 -0.04268381] [-0.00113174 0.99987357 -0.0158608 -0.46886946] [ 0.26392015 0.0155971 0.96441842 -0.40133909] [ 0. 0. 0. 1. ]] SLAMing on 333.90463044 meters Centerline goodness : 0.369375 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64520930e-01 -3.23330918e-03 -2.63986591e-01 -4.26696738e-02] [-9.88971775e-04 9.99873736e-01 -1.58598393e-02 -4.70339292e-01] [ 2.64004539e-01 1.55582222e-02 9.64395948e-01 -4.01180590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93463044000003 meters Centerline goodness : 0.366726 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64528799e-01 -3.22604671e-03 -2.63957929e-01 -4.28015901e-02] [-9.83853853e-04 9.99874445e-01 -1.58153879e-02 -4.70567947e-01] [ 2.63975809e-01 1.55140931e-02 9.64404524e-01 -4.01141590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96463044 meters Centerline goodness : 0.099792 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 0.9645074 -0.0031559 -0.26403695 -0.04264831] [-0.00102137 0.99987651 -0.01568202 -0.470869 ] [ 0.26405383 0.01539511 0.96438507 -0.40103918] [ 0. 0. 0. 1. ]] SLAMing on 333.99463044000004 meters Centerline goodness : 0.447768 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64486814e-01 -3.31459280e-03 -2.64110202e-01 -4.23396311e-02] [-8.84003576e-04 9.99875149e-01 -1.57767051e-02 -4.70666429e-01] [ 2.64129521e-01 1.54498984e-02 9.64363467e-01 -4.01114628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02463044 meters Centerline goodness : 0.467921 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64474205e-01 -3.42054751e-03 -2.64154892e-01 -4.20819926e-02] [-7.96002063e-04 9.99874005e-01 -1.58537287e-02 -4.70363276e-01] [ 2.64175838e-01 1.55007803e-02 9.64349964e-01 -4.01265216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05463044000004 meters Centerline goodness : 0.472376 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64445181e-01 -3.42637832e-03 -2.64260768e-01 -4.16067672e-02] [-7.82058313e-04 9.99874574e-01 -1.58184696e-02 -4.70292680e-01] [ 2.64281823e-01 1.54627141e-02 9.64321535e-01 -4.01407960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08463044 meters Centerline goodness : 0.091209 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64464367e-01 -3.45810401e-03 -2.64190322e-01 -4.17632767e-02] [-7.36553276e-04 9.99875269e-01 -1.57767023e-02 -4.70594064e-01] [ 2.64211926e-01 1.54106575e-02 9.64341521e-01 -4.01483593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11463044000004 meters Centerline goodness : 0.094428 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64498567e-01 -3.61316566e-03 -2.64063362e-01 -4.20651517e-02] [-5.83243414e-04 9.99874820e-01 -1.58115490e-02 -4.70822504e-01] [ 2.64087436e-01 1.54042296e-02 9.64375723e-01 -4.01553394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14463044 meters Centerline goodness : 0.107458 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64475833e-01 -3.89941138e-03 -2.64142315e-01 -4.22247792e-02] [-3.26448325e-04 9.99872695e-01 -1.59526370e-02 -4.71387964e-01] [ 2.64170894e-01 1.54721617e-02 9.64351777e-01 -4.01243601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17463044000004 meters Centerline goodness : 0.294428 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64313015e-01 -4.43139228e-03 -2.64727731e-01 -4.05632329e-02] [ 1.68524565e-04 9.99869996e-01 -1.61233798e-02 -4.72533764e-01] [ 2.64764764e-01 1.55033718e-02 9.64188397e-01 -4.01275875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20463044 meters Centerline goodness : 0.095624 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64244004e-01 -4.31901221e-03 -2.64980842e-01 -3.94001291e-02] [ 9.16481669e-05 9.99872567e-01 -1.59637602e-02 -4.72776167e-01] [ 2.65016022e-01 1.53686751e-02 9.64121523e-01 -4.01641662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23463044 meters Centerline goodness : 0.092845 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64207313e-01 -4.22598866e-03 -2.65115820e-01 -3.86270100e-02] [ 2.06000261e-05 9.99874171e-01 -1.58632337e-02 -4.72642944e-01] [ 2.65149498e-01 1.52899846e-02 9.64086075e-01 -4.01956079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26463044 meters Centerline goodness : 0.097057 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64234039e-01 -4.18663962e-03 -2.65019225e-01 -3.88524127e-02] [-6.07976293e-06 9.99874893e-01 -1.58176380e-02 -4.72613504e-01] [ 2.65052292e-01 1.52535162e-02 9.64113382e-01 -4.02012183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29463044 meters Centerline goodness : 0.324402 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64293807e-01 -4.49770466e-03 -2.64796570e-01 -4.03431329e-02] [ 2.14288116e-04 9.99868701e-01 -1.62029192e-02 -4.71401943e-01] [ 2.64834679e-01 1.55676318e-02 9.64168161e-01 -4.01230099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32463044 meters Centerline goodness : 0.298999 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64219540e-01 -4.49616488e-03 -2.65066902e-01 -3.97614945e-02] [ 1.86354048e-04 9.99867418e-01 -1.62822387e-02 -4.70451476e-01] [ 2.65104966e-01 1.56502564e-02 9.64092540e-01 -4.01007662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35463044 meters Centerline goodness : 0.298999 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64219540e-01 -4.49616488e-03 -2.65066902e-01 -3.97614945e-02] [ 1.86354048e-04 9.99867418e-01 -1.62822387e-02 -4.70451476e-01] [ 2.65104966e-01 1.56502564e-02 9.64092540e-01 -4.01007662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38463044 meters Centerline goodness : 0.097990 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64128796e-01 -4.37403013e-03 -2.65398816e-01 -3.84918425e-02] [ 6.28878721e-05 9.99867953e-01 -1.62503383e-02 -4.69476386e-01] [ 2.65434851e-01 1.56507287e-02 9.64001761e-01 -4.01269375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41463044 meters Centerline goodness : 0.098803 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64018232e-01 -4.34294381e-03 -2.65800653e-01 -3.64836605e-02] [ 2.83770823e-06 9.99866712e-01 -1.63266316e-02 -4.68434066e-01] [ 2.65836130e-01 1.57384163e-02 9.63889752e-01 -4.01920199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.47463044 meters Centerline goodness : 0.096150 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64135990e-01 -4.42124125e-03 -2.65371900e-01 -3.81853372e-02] [ 6.12369648e-05 9.99864921e-01 -1.64358143e-02 -4.68082280e-01] [ 2.65408720e-01 1.58301095e-02 9.64006026e-01 -4.01545740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50463044 meters Centerline goodness : 0.090191 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64222560e-01 -4.34331634e-03 -2.65058465e-01 -3.95117697e-02] [ 1.25152673e-06 9.99865847e-01 -1.63795068e-02 -4.67945035e-01] [ 2.65094048e-01 1.57931583e-02 9.64093212e-01 -4.01180707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53463044 meters Centerline goodness : 0.470528 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64296264e-01 -4.25900746e-03 -2.64791570e-01 -4.06314634e-02] [-7.49687092e-05 9.99866241e-01 -1.63552406e-02 -4.67357040e-01] [ 2.64825808e-01 1.57911485e-02 9.64166962e-01 -4.00876659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56463044000003 meters Centerline goodness : 0.472684 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.47, Z:-0.40 [[ 9.64338827e-01 -4.20783634e-03 -2.64637338e-01 -4.10796119e-02] [-1.32659397e-04 9.99865803e-01 -1.63816652e-02 -4.66523468e-01] [ 2.64670755e-01 1.58325825e-02 9.64208857e-01 -4.00833651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59463044 meters Centerline goodness : 0.311545 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64275194e-01 -4.61233169e-03 -2.64862371e-01 -4.02543098e-02] [ 1.24005792e-04 9.99856159e-01 -1.69601009e-02 -4.64213339e-01] [ 2.64902499e-01 1.63213601e-02 9.64137065e-01 -4.00876111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62463044000003 meters Centerline goodness : 0.400516 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64195525e-01 -4.72095646e-03 -2.65150338e-01 -3.93400880e-02] [ 1.80631799e-04 9.99852991e-01 -1.71453602e-02 -4.63218830e-01] [ 2.65192301e-01 1.64835850e-02 9.64054633e-01 -4.00917800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65463044 meters Centerline goodness : 0.470369 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64123476e-01 -4.66716574e-03 -2.65413151e-01 -3.85552966e-02] [ 1.10828648e-04 9.99852418e-01 -1.71793463e-02 -4.62259453e-01] [ 2.65454160e-01 1.65335957e-02 9.63981706e-01 -4.00918232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68463044000003 meters Centerline goodness : 0.094507 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64095104e-01 -4.62117794e-03 -2.65516998e-01 -3.81905737e-02] [ 5.69495169e-05 9.99852152e-01 -1.71950948e-02 -4.61446934e-01] [ 2.65557203e-01 1.65625857e-02 9.63952827e-01 -4.00956227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71463044 meters Centerline goodness : 0.098690 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64083255e-01 -4.79679714e-03 -2.65556904e-01 -3.79747805e-02] [ 2.05014161e-04 9.99850043e-01 -1.73161648e-02 -4.61385017e-01] [ 2.65600144e-01 1.66397816e-02 9.63939667e-01 -4.01021082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74463044000004 meters Centerline goodness : 0.262834 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64090323e-01 -4.93796862e-03 -2.65528654e-01 -3.78008295e-02] [ 3.27940098e-04 9.99848499e-01 -1.74032315e-02 -4.61607681e-01] [ 2.65574362e-01 1.66912096e-02 9.63945881e-01 -4.01268106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77463044 meters Centerline goodness : 0.471895 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64095074e-01 -4.98667161e-03 -2.65510491e-01 -3.78542672e-02] [ 3.67644643e-04 9.99847781e-01 -1.74436352e-02 -4.61553827e-01] [ 2.65557061e-01 1.67197093e-02 9.63950154e-01 -4.01298543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80463044000004 meters Centerline goodness : 0.467141 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 9.64066124e-01 -5.02513582e-03 -2.65614864e-01 -3.74847033e-02] [ 3.78628941e-04 9.99846061e-01 -1.75417100e-02 -4.60733385e-01] [ 2.65662125e-01 1.68107989e-02 9.63919619e-01 -4.01306800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.86463044000004 meters Centerline goodness : 0.466328 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.46, Z:-0.40 [[ 0.96402585 -0.00143242 -0.26580465 -0.03620573] [-0.00258054 0.99988792 -0.01474754 -0.45877201] [ 0.26579598 0.01490293 0.9639141 -0.40181125] [ 0. 0. 0. 1. ]] SLAMing on 334.89463044 meters Centerline goodness : 0.474036 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.45, Z:-0.40 [[ 0.9638889 -0.00162859 -0.2662997 -0.03453259] [-0.00255174 0.99987891 -0.01535107 -0.45442103] [ 0.26629246 0.01547625 0.96376803 -0.40181893] [ 0. 0. 0. 1. ]] SLAMing on 334.92463044000004 meters Centerline goodness : 0.089770 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.45, Z:-0.40 [[ 0.96384863 -0.00185009 -0.266444 -0.03386194] [-0.0024434 0.99987248 -0.01578162 -0.45184986] [ 0.26643922 0.01586213 0.96372119 -0.40196024] [ 0. 0. 0. 1. ]] SLAMing on 334.95463044 meters Centerline goodness : 0.167856 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.45, Z:-0.40 [[ 0.9638377 -0.00200727 -0.26648239 -0.03354866] [-0.00238028 0.9998669 -0.01614068 -0.4493707 ] [ 0.26647931 0.0161913 0.96370463 -0.40208668] [ 0. 0. 0. 1. ]] SLAMing on 334.98463044 meters Centerline goodness : 0.465645 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.45, Z:-0.40 [[ 0.96389278 -0.00221591 -0.26628141 -0.03379957] [-0.00230346 0.99985858 -0.01665861 -0.44522224] [ 0.26628067 0.01667048 0.96375137 -0.40225459] [ 0. 0. 0. 1. ]] SLAMing on 335.01463044 meters Centerline goodness : 0.129532 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96389409 -0.00232064 -0.26627578 -0.03403524] [-0.00224642 0.99985558 -0.01684575 -0.44397329] [ 0.26627642 0.01683568 0.96374967 -0.40202278] [ 0. 0. 0. 1. ]] SLAMing on 335.04463044 meters Centerline goodness : 0.407492 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96389543 -0.00244035 -0.26626986 -0.03406127] [-0.00216948 0.99985285 -0.01701709 -0.44291729] [ 0.26627221 0.01698036 0.9637483 -0.40200712] [ 0. 0. 0. 1. ]] SLAMing on 335.07463044 meters Centerline goodness : 0.150496 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96388675 -0.00260163 -0.26629977 -0.03411917] [-0.00204561 0.99985045 -0.01717228 -0.44242009] [ 0.26630462 0.01709688 0.96373728 -0.401868 ] [ 0. 0. 0. 1. ]] SLAMing on 335.10463044 meters Centerline goodness : 0.215840 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96388421 -0.00267605 -0.26630823 -0.03429883] [-0.00198546 0.99984952 -0.01723343 -0.4420568 ] [ 0.26631427 0.01713978 0.96373385 -0.40172426] [ 0. 0. 0. 1. ]] SLAMing on 335.13463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.16463044 meters Centerline goodness : 0.093845 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96386847 -0.00312822 -0.26636025 -0.03436364] [-0.00165202 0.99984161 -0.0177206 -0.43970386] [ 0.2663735 0.01752036 0.96371064 -0.40145325] [ 0. 0. 0. 1. ]] SLAMing on 335.19463044 meters Centerline goodness : 0.419870 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96387119 -0.00329279 -0.26634844 -0.03453417] [-0.00156343 0.99983643 -0.01801847 -0.43795704] [ 0.2663642 0.0177839 0.96370838 -0.40128679] [ 0. 0. 0. 1. ]] SLAMing on 335.22463044 meters Centerline goodness : 0.340276 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96387605 -0.00339635 -0.26632954 -0.03485047] [-0.00152133 0.99983218 -0.01825617 -0.43617487] [ 0.26634685 0.01800186 0.96370913 -0.40104016] [ 0. 0. 0. 1. ]] SLAMing on 335.25463044 meters Centerline goodness : 0.096201 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.43, Z:-0.40 [[ 0.96391297 -0.00348623 -0.26619471 -0.03517446] [-0.00147805 0.99982876 -0.01844646 -0.43469437] [ 0.26621344 0.01817423 0.96374276 -0.40107799] [ 0. 0. 0. 1. ]] SLAMing on 335.28463044 meters Centerline goodness : 0.096731 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 0.96393832 -0.00362962 -0.26610098 -0.03471722] [-0.00139691 0.9998242 -0.01869784 -0.43270401] [ 0.26612207 0.01839528 0.9637638 -0.40163105] [ 0. 0. 0. 1. ]] SLAMing on 335.31463044000003 meters Centerline goodness : 0.097900 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 0.96392274 -0.00372572 -0.26615612 -0.03417278] [-0.00132519 0.99982248 -0.01879513 -0.43223087] [ 0.2661789 0.01846976 0.96374668 -0.40197589] [ 0. 0. 0. 1. ]] SLAMing on 335.34463044 meters Centerline goodness : 0.452703 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 0.96389633 -0.00373616 -0.26625159 -0.03355624] [-0.00130997 0.99982293 -0.01877237 -0.43215613] [ 0.26627458 0.0184434 0.96372075 -0.40229519] [ 0. 0. 0. 1. ]] SLAMing on 335.37463044000003 meters Centerline goodness : 0.227179 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 0.96383589 -0.00381825 -0.26646911 -0.03278255] [-0.00123882 0.99982236 -0.01880741 -0.43204831] [ 0.26649359 0.01845736 0.96365995 -0.40243511] [ 0. 0. 0. 1. ]] SLAMing on 335.40463044 meters Centerline goodness : 0.091775 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 0.96376098 -0.00399087 -0.2667374 -0.03208154] [-0.00105465 0.99982328 -0.01876977 -0.4329398 ] [ 0.26676517 0.01837089 0.96358645 -0.40242531] [ 0. 0. 0. 1. ]] SLAMing on 335.43463044000003 meters Centerline goodness : 0.101699 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.40 [[ 0.96360611 -0.01114642 -0.26709364 -0.01347049] [ 0.00672432 0.99982486 -0.01746529 -0.4307839 ] [ 0.26724154 0.01503364 0.9635123 -0.39558545] [ 0. 0. 0. 1. ]] SLAMing on 335.46463044 meters Centerline goodness : 0.093161 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.40 [[ 0.96361758 -0.01106667 -0.2670556 -0.01342102] [ 0.00667472 0.99982723 -0.017348 -0.43117837] [ 0.26720144 0.01493432 0.96352496 -0.39572978] [ 0. 0. 0. 1. ]] SLAMing on 335.49463044000004 meters Centerline goodness : 0.111111 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.40 [[ 0.96358343 -0.01103875 -0.26717995 -0.01295617] [ 0.0066543 0.99982803 -0.01730999 -0.43134764] [ 0.26732508 0.01490172 0.96349117 -0.39578579] [ 0. 0. 0. 1. ]] SLAMing on 335.52463044 meters Centerline goodness : 0.102192 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.40 [[ 0.96355843 -0.01110779 -0.26726721 -0.01249726] [ 0.00670066 0.99982623 -0.017396 -0.43107756] [ 0.26741399 0.01497119 0.96346542 -0.39594191] [ 0. 0. 0. 1. ]] SLAMing on 335.55463044000004 meters Centerline goodness : 0.094983 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.40 [[ 0.96350872 -0.01115086 -0.26744457 -0.01215217] [ 0.00670595 0.99982389 -0.01752758 -0.43037145] [ 0.26759292 0.01509451 0.96341382 -0.39576474] [ 0. 0. 0. 1. ]] SLAMing on 335.58463044 meters Centerline goodness : 0.288010 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.40 [[ 0.96348317 -0.01116474 -0.26753602 -0.01215491] [ 0.00669173 0.99982227 -0.01762521 -0.42958086] [ 0.26768526 0.01519132 0.96338664 -0.39550074] [ 0. 0. 0. 1. ]] SLAMing on 335.61463044000004 meters Centerline goodness : 0.456256 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.40 [[ 0.96343423 -0.01111569 -0.26771426 -0.01207611] [ 0.00662558 0.99982193 -0.0176696 -0.42880901] [ 0.267863 0.01524974 0.96333632 -0.39509207] [ 0. 0. 0. 1. ]] SLAMing on 335.64463044 meters Centerline goodness : 0.269314 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.39 [[ 0.96337342 -0.0110298 -0.26793657 -0.01157854] [ 0.00653618 0.99982273 -0.01765741 -0.42823996] [ 0.26808383 0.0152594 0.96327473 -0.39491852] [ 0. 0. 0. 1. ]] SLAMing on 335.67463044000004 meters Centerline goodness : 0.096734 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.39 [[ 0.96327469 -0.01110748 -0.26828807 -0.01067906] [ 0.0065862 0.99982083 -0.01774648 -0.42801997] [ 0.26843711 0.01532773 0.96317526 -0.39480751] [ 0. 0. 0. 1. ]] SLAMing on 335.70463044 meters Centerline goodness : 0.470152 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.39 [[ 0.96327288 -0.01120769 -0.26829042 -0.01085682] [ 0.00666909 0.99981893 -0.01782212 -0.42812482] [ 0.26844159 0.01537832 0.9631732 -0.39465718] [ 0. 0. 0. 1. ]] SLAMing on 335.73463044 meters Centerline goodness : 0.099368 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.39 [[ 0.96328244 -0.01114987 -0.26825848 -0.01118254] [ 0.00663931 0.99982102 -0.01771556 -0.42868485] [ 0.268408 0.01528404 0.96318407 -0.39449294] [ 0. 0. 0. 1. ]] SLAMing on 335.76463044 meters Centerline goodness : 0.094139 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.39 [[ 0.96332448 -0.01108761 -0.26811006 -0.01230767] [ 0.00662475 0.99982414 -0.01754455 -0.42971498] [ 0.26825743 0.01512494 0.96322852 -0.39397815] [ 0. 0. 0. 1. ]] SLAMing on 335.79463044 meters Centerline goodness : 0.470196 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.43, Z:-0.39 [[ 0.96337289 -0.01105951 -0.26793722 -0.01316252] [ 0.0066115 0.99982505 -0.01749751 -0.42997238] [ 0.26808386 0.01508516 0.96327747 -0.39374925] [ 0. 0. 0. 1. ]] SLAMing on 335.82463044 meters Centerline goodness : 0.248310 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 0.96396343 -0.0038053 -0.26600755 -0.03364996] [-0.00109411 0.99983253 -0.0182677 -0.43368834] [ 0.26603252 0.01790044 0.96379784 -0.40070399] [ 0. 0. 0. 1. ]] SLAMing on 335.85463044 meters Centerline goodness : 0.146367 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.43, Z:-0.40 [[ 0.96407637 -0.00386085 -0.26559714 -0.03507248] [-0.00103758 0.999832 -0.01830028 -0.4338253 ] [ 0.26562317 0.01791844 0.9639104 -0.40050205] [ 0. 0. 0. 1. ]] SLAMing on 335.88463044 meters Centerline goodness : 0.158281 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.43, Z:-0.40 [[ 0.96414955 -0.00378113 -0.26533253 -0.03611088] [-0.00108721 0.9998338 -0.01819881 -0.43412383] [ 0.26535725 0.01783485 0.96398519 -0.40032911] [ 0. 0. 0. 1. ]] SLAMing on 335.91463044 meters Centerline goodness : 0.100166 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.9640759 -0.00351577 -0.26560365 -0.03487103] [-0.00125607 0.99984088 -0.01779402 -0.43553453] [ 0.26562395 0.0174884 0.96391808 -0.40074914] [ 0. 0. 0. 1. ]] SLAMing on 335.94463044 meters Centerline goodness : 0.092510 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96401602 -0.0034463 -0.26582182 -0.0338972 ] [-0.00127946 0.99984424 -0.01760268 -0.43664277] [ 0.26584108 0.01730937 0.96386146 -0.40110089] [ 0. 0. 0. 1. ]] SLAMing on 335.97463044 meters Centerline goodness : 0.314952 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96402422 -0.00343501 -0.26579223 -0.03400545] [-0.00125534 0.99984652 -0.01747478 -0.43761737] [ 0.26581146 0.01717977 0.96387194 -0.40114951] [ 0. 0. 0. 1. ]] SLAMing on 336.00463044 meters Centerline goodness : 0.104008 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96409434 -0.00339048 -0.26553833 -0.03488769] [-0.00126849 0.99984829 -0.01737192 -0.43822348] [ 0.26555695 0.017085 0.96394378 -0.40106381] [ 0. 0. 0. 1. ]] SLAMing on 336.03463044 meters Centerline goodness : 0.140034 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.44, Z:-0.40 [[ 0.96413267 -0.00340359 -0.26539895 -0.03564751] [-0.00125283 0.99984828 -0.01737374 -0.4382516 ] [ 0.26541782 0.01708309 0.96398213 -0.40077219] [ 0. 0. 0. 1. ]] SLAMing on 336.06463044000003 meters Centerline goodness : 0.093473 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.44, Z:-0.40 [[ 0.96410577 -0.00341336 -0.26549655 -0.03512428] [-0.00126035 0.99984727 -0.01743129 -0.43756888] [ 0.2655155 0.01714022 0.96395422 -0.40095854] [ 0. 0. 0. 1. ]] SLAMing on 336.09463044 meters Centerline goodness : 0.092953 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.44, Z:-0.40 [[ 0.96405991 -0.00350287 -0.26566184 -0.03450634] [-0.0012188 0.99984425 -0.01760629 -0.43661266] [ 0.26568213 0.01729731 0.9639055 -0.40098848] [ 0. 0. 0. 1. ]] SLAMing on 336.12463044000003 meters Centerline goodness : 0.097441 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 0.96403436 -0.00367292 -0.26575225 -0.03436797] [-0.00113742 0.99983833 -0.0179447 -0.43478386] [ 0.2657752 0.01760158 0.96387433 -0.40078417] [ 0. 0. 0. 1. ]] SLAMing on 336.15463044 meters Centerline goodness : 0.142863 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.43, Z:-0.40 [[ 9.64071637e-01 4.43433983e-04 -2.65642017e-01 -3.45381959e-02] [-4.61647105e-03 9.99875557e-01 -1.50850759e-02 -4.30272145e-01] [ 2.65602271e-01 1.57694225e-02 9.63953712e-01 -4.00810932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18463044000003 meters Centerline goodness : 0.101187 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.43, Z:-0.40 [[ 0.96414685 0.00467501 -0.2653281 -0.03511364] [-0.00810786 0.99989698 -0.01184437 -0.42825878] [ 0.26524539 0.01357095 0.96408543 -0.4010186 ] [ 0. 0. 0. 1. ]] SLAMing on 336.21463044 meters Centerline goodness : 0.120351 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.42, Z:-0.40 [[ 0.9642104 0.00450519 -0.2651 -0.03537764] [-0.00806994 0.99989106 -0.01235918 -0.42451179] [ 0.26501544 0.01405619 0.96414171 -0.40123454] [ 0. 0. 0. 1. ]] SLAMing on 336.24463044000004 meters Centerline goodness : 0.119224 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.42, Z:-0.39 [[ 0.96397919 -0.00204137 -0.26596985 -0.01818055] [-0.00103792 0.99993406 -0.01143652 -0.41734379] [ 0.26597566 0.01130062 0.9639135 -0.3940671 ] [ 0. 0. 0. 1. ]] SLAMing on 336.27463044 meters Centerline goodness : 0.119224 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.42, Z:-0.39 [[ 0.96397919 -0.00204137 -0.26596985 -0.01818055] [-0.00103792 0.99993406 -0.01143652 -0.41734379] [ 0.26597566 0.01130062 0.9639135 -0.3940671 ] [ 0. 0. 0. 1. ]] SLAMing on 336.30463044000004 meters Centerline goodness : 0.148411 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.39 [[ 9.63958004e-01 -2.40779009e-03 -2.66043548e-01 -1.79924661e-02] [-8.17510615e-04 9.99927522e-01 -1.20117985e-02 -4.14417530e-01] [ 2.66053187e-01 1.17963627e-02 9.63886169e-01 -3.93992494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33463044 meters Centerline goodness : 0.105147 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.39 [[ 9.63810421e-01 -2.75938190e-03 -2.66574303e-01 -1.56263926e-02] [-6.34203251e-04 9.99919868e-01 -1.26434261e-02 -4.09384859e-01] [ 2.66587830e-01 1.23549281e-02 9.63731438e-01 -3.94510861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36463044000004 meters Centerline goodness : 0.100103 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.39 [[ 9.63745658e-01 -2.89186736e-03 -2.66806940e-01 -1.46869527e-02] [-5.50971548e-04 9.99917565e-01 -1.28280974e-02 -4.08098392e-01] [ 2.66822043e-01 1.25100262e-02 9.63664618e-01 -3.94689037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39463044 meters Centerline goodness : 0.106960 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.40 [[ 9.63730559e-01 -3.08928727e-03 -2.66859264e-01 -1.41271601e-02] [-3.92042962e-04 9.99915533e-01 -1.29913051e-02 -4.07530706e-01] [ 2.66876857e-01 1.26247380e-02 9.63647944e-01 -3.95044587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42463044000004 meters Centerline goodness : 0.104007 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.39 [[ 9.63685850e-01 -3.40293939e-03 -2.67016858e-01 -1.37773982e-02] [-1.38953842e-04 9.99912276e-01 -1.32446646e-02 -4.06972500e-01] [ 2.67038505e-01 1.28007989e-02 9.63600839e-01 -3.94963702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45463044 meters Centerline goodness : 0.100338 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.40 [[ 9.63824692e-01 -3.92413461e-03 -2.66508093e-01 -1.48657052e-02] [ 3.09383388e-04 9.99907413e-01 -1.36040144e-02 -4.06031256e-01] [ 2.66536802e-01 1.30294318e-02 9.63736669e-01 -3.95351915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48463044 meters Centerline goodness : 0.091840 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.40 [[ 9.63864452e-01 -3.87309114e-03 -2.66365009e-01 -1.53127595e-02] [ 2.81872710e-04 9.99908571e-01 -1.35192305e-02 -4.05950825e-01] [ 2.66393017e-01 1.29556246e-02 9.63777418e-01 -3.95339745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51463044 meters Centerline goodness : 0.111891 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.40 [[ 9.63907533e-01 -3.91513044e-03 -2.66208453e-01 -1.57604313e-02] [ 3.32883119e-04 9.99908811e-01 -1.35003410e-02 -4.05990536e-01] [ 2.66237033e-01 1.29244641e-02 9.63820938e-01 -3.95368820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54463044 meters Centerline goodness : 0.100470 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.40 [[ 9.63938727e-01 -4.05761668e-03 -2.66093340e-01 -1.58860313e-02] [ 4.75699315e-04 9.99908431e-01 -1.35242022e-02 -4.06684011e-01] [ 2.66123850e-01 1.29099218e-02 9.63852390e-01 -3.95589061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57463044 meters Centerline goodness : 0.472445 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.40 [[ 9.63992167e-01 -4.48336463e-03 -2.65892840e-01 -1.59563590e-02] [ 8.76436193e-04 9.99906007e-01 -1.36824504e-02 -4.08127584e-01] [ 2.65929191e-01 1.29567369e-02 9.63905487e-01 -3.96095132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60463044 meters Centerline goodness : 0.084534 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.40 [[ 9.63962475e-01 -4.38881070e-03 -2.66002038e-01 -1.55596437e-02] [ 8.13744302e-04 9.99907881e-01 -1.35487211e-02 -4.08700608e-01] [ 2.66036997e-01 1.28440011e-02 9.63877247e-01 -3.96198505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63463044 meters Centerline goodness : 0.093921 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.41, Z:-0.40 [[ 9.63914618e-01 -4.25751742e-03 -2.66177542e-01 -1.52371290e-02] [ 7.04737074e-04 9.99909411e-01 -1.34414998e-02 -4.08676164e-01] [ 2.66210656e-01 1.27688729e-02 9.63830298e-01 -3.96013239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66463044 meters Centerline goodness : 0.097410 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.40 [[ 9.63872586e-01 -4.20657416e-03 -2.66330515e-01 -1.47993059e-02] [ 6.39124151e-04 9.99908935e-01 -1.34800807e-02 -4.08013414e-01] [ 2.66362966e-01 1.28228620e-02 9.63787500e-01 -3.95931266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69463044 meters Centerline goodness : 0.094216 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.40 [[ 9.63793124e-01 -4.17295956e-03 -2.66618456e-01 -1.41193305e-02] [ 5.74803830e-04 9.99907729e-01 -1.35721382e-02 -4.07177973e-01] [ 2.66650491e-01 1.29274802e-02 9.63706592e-01 -3.95696085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72463044 meters Centerline goodness : 0.085457 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.41, Z:-0.40 [[ 9.63740854e-01 -4.15752746e-03 -2.66807573e-01 -1.37294617e-02] [ 5.10009633e-04 9.99905488e-01 -1.37388057e-02 -4.05786185e-01] [ 2.66839476e-01 1.31045739e-02 9.63651890e-01 -3.95424708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75463044 meters Centerline goodness : 0.468128 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.39 [[ 9.63760282e-01 2.47923069e-05 -2.66769785e-01 -1.44866012e-02] [-2.97155753e-03 9.99938952e-01 -1.06424284e-02 -4.03533693e-01] [ 2.66753235e-01 1.10494716e-02 9.63701521e-01 -3.94896114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78463044 meters Centerline goodness : 0.117340 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.39 [[ 9.63786861e-01 1.55522108e-04 -2.66673700e-01 -1.47957316e-02] [-3.13813977e-03 9.99937202e-01 -1.07584120e-02 -4.01843857e-01] [ 2.66655280e-01 1.12056755e-02 9.63726826e-01 -3.94786289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81463044000003 meters Centerline goodness : 0.103083 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.39 [[ 9.63793134e-01 2.49962787e-04 -2.66650955e-01 -1.48872466e-02] [-3.26282249e-03 9.99935750e-01 -1.08559116e-02 -4.00459596e-01] [ 2.66631109e-01 1.13328878e-02 9.63732026e-01 -3.94703211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84463044 meters Centerline goodness : 0.119958 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.39 [[ 9.63784706e-01 1.94907186e-04 -2.66681463e-01 -1.44740255e-02] [-3.29876391e-03 9.99931939e-01 -1.11908951e-02 -3.98451985e-01] [ 2.66661131e-01 1.16653328e-02 9.63719752e-01 -3.94898533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87463044000003 meters Centerline goodness : 0.101244 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.39 [[ 9.63753657e-01 2.14704145e-04 -2.66793633e-01 -1.41835128e-02] [-3.34734460e-03 9.99930696e-01 -1.12870997e-02 -3.97508388e-01] [ 2.66772720e-01 1.17710338e-02 9.63687584e-01 -3.94833656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90463044 meters Centerline goodness : 0.099163 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.40, Z:-0.39 [[ 9.63747312e-01 2.33031420e-04 -2.66816537e-01 -1.40126134e-02] [-3.39586978e-03 9.99929335e-01 -1.13926425e-02 -3.96342026e-01] [ 2.66795028e-01 1.18857028e-02 9.63680000e-01 -3.94899328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93463044000003 meters Centerline goodness : 0.099243 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.40 [[ 9.63684445e-01 1.91702246e-04 -2.67043542e-01 -1.29715447e-02] [-3.44763435e-03 9.99925331e-01 -1.17237198e-02 -3.93533793e-01] [ 2.67021355e-01 1.22186349e-02 9.63613149e-01 -3.95081002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96463044 meters Centerline goodness : 0.102584 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.40 [[ 9.63629482e-01 6.47769247e-05 -2.67241870e-01 -1.23265733e-02] [-3.38787019e-03 9.99922573e-01 -1.19737213e-02 -3.92072686e-01] [ 2.67220403e-01 1.24436116e-02 9.63555091e-01 -3.95076840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99463044000004 meters Centerline goodness : 0.103519 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.40 [[ 9.63579104e-01 -1.19816850e-05 -2.67423466e-01 -1.16953795e-02] [-3.35224069e-03 9.99920888e-01 -1.21235801e-02 -3.91103393e-01] [ 2.67402455e-01 1.25784963e-02 9.63502833e-01 -3.95169630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02463044 meters Centerline goodness : 0.102385 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.40 [[ 9.63545153e-01 -4.88497627e-06 -2.67545766e-01 -1.12239007e-02] [-3.37714716e-03 9.99920108e-01 -1.21807884e-02 -3.90329421e-01] [ 2.67524451e-01 1.26402810e-02 9.63468158e-01 -3.95241088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05463044000004 meters Centerline goodness : 0.466193 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.40 [[ 9.63540772e-01 1.37648130e-05 -2.67561546e-01 -1.11499983e-02] [-3.39844020e-03 9.99919961e-01 -1.21869978e-02 -3.89993076e-01] [ 2.67539963e-01 1.26519612e-02 9.63463697e-01 -3.95267478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08463044 meters Centerline goodness : 0.103830 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.39, Z:-0.40 [[ 9.63534836e-01 -7.33058854e-05 -2.67582912e-01 -1.09681458e-02] [-3.32086629e-03 9.99919672e-01 -1.22319857e-02 -3.89996850e-01] [ 2.67562314e-01 1.26745514e-02 9.63457194e-01 -3.95387058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11463044000004 meters Centerline goodness : 0.170649 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96357443 -0.00760243 -0.26733223 -0.02912549] [ 0.00476848 0.99992536 -0.01124847 -0.38568737] [ 0.26739779 0.00956397 0.96353876 -0.40219524] [ 0. 0. 0. 1. ]] SLAMing on 337.14463044 meters Centerline goodness : 0.099660 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.38, Z:-0.40 [[ 0.96348596 -0.01504363 -0.26733592 -0.0098691 ] [ 0.01281546 0.99986709 -0.01007765 -0.38353997] [ 0.26745199 0.00628364 0.9635507 -0.39566058] [ 0. 0. 0. 1. ]] SLAMing on 337.17463044000004 meters Centerline goodness : 0.105438 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96369886 -0.00739288 -0.2668892 -0.02821431] [ 0.00466136 0.99993009 -0.01086675 -0.38762637] [ 0.26695088 0.00922821 0.96366595 -0.4025884 ] [ 0. 0. 0. 1. ]] SLAMing on 337.20463044 meters Centerline goodness : 0.102494 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96362674 -0.00740302 -0.26714922 -0.02734034] [ 0.00468112 0.99993046 -0.01082412 -0.38803155] [ 0.26721078 0.00917985 0.96359438 -0.40268989] [ 0. 0. 0. 1. ]] SLAMing on 337.23463044 meters Centerline goodness : 0.100139 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96351352 -0.00737879 -0.26755793 -0.02579498] [ 0.00467932 0.99993153 -0.01072552 -0.38873551] [ 0.26761876 0.00908219 0.96348208 -0.40295753] [ 0. 0. 0. 1. ]] SLAMing on 337.26463044 meters Centerline goodness : 0.105548 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96350718 -0.00732522 -0.26758223 -0.02582432] [ 0.00463809 0.99993229 -0.01067297 -0.38870187] [ 0.26764229 0.00904241 0.96347592 -0.40285442] [ 0. 0. 0. 1. ]] SLAMing on 337.29463044 meters Centerline goodness : 0.103647 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96351727 -0.00726037 -0.26754766 -0.02598808] [ 0.00459001 0.99993323 -0.01060495 -0.38877033] [ 0.26760679 0.00899 0.96348627 -0.4027885 ] [ 0. 0. 0. 1. ]] SLAMing on 337.32463044 meters Centerline goodness : 0.111296 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96352626 -0.00726657 -0.26751513 -0.02622332] [ 0.00459869 0.99993326 -0.01059804 -0.38877177] [ 0.26757429 0.00898127 0.96349538 -0.40268155] [ 0. 0. 0. 1. ]] SLAMing on 337.35463044 meters Centerline goodness : 0.406379 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96352855 -0.00718328 -0.26750913 -0.02638889] [ 0.004537 0.99993449 -0.0105091 -0.38886446] [ 0.2675671 0.00891213 0.96349801 -0.40256715] [ 0. 0. 0. 1. ]] SLAMing on 337.38463044 meters Centerline goodness : 0.107302 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96361379 -0.0070492 -0.26720549 -0.02759256] [ 0.00444155 0.99993645 -0.01036211 -0.38934931] [ 0.26726155 0.00879826 0.96358386 -0.40230168] [ 0. 0. 0. 1. ]] SLAMing on 337.41463044 meters Centerline goodness : 0.096364 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96366836 -0.00707473 -0.26700795 -0.02829882] [ 0.00446963 0.99993631 -0.01036313 -0.38964684] [ 0.26706426 0.00879319 0.9636386 -0.40219182] [ 0. 0. 0. 1. ]] SLAMing on 337.44463044 meters Centerline goodness : 0.125262 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96371371 -0.00708517 -0.26684393 -0.02902916] [ 0.00448801 0.99993645 -0.01034146 -0.39011398] [ 0.26690024 0.00876861 0.96368427 -0.4019836 ] [ 0. 0. 0. 1. ]] SLAMing on 337.47463044 meters Centerline goodness : 0.101837 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.96372394 -0.00698795 -0.26680953 -0.02922031] [ 0.00442783 0.99993822 -0.01019573 -0.39077026] [ 0.2668643 0.00864448 0.96369535 -0.40192801] [ 0. 0. 0. 1. ]] SLAMing on 337.50463044 meters Centerline goodness : 0.104990 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.39, Z:-0.40 [[ 0.9637156 -0.00683993 -0.26684352 -0.02918618] [ 0.00432767 0.99994062 -0.01000163 -0.39155289] [ 0.26689608 0.00848392 0.96368797 -0.40187948] [ 0. 0. 0. 1. ]] SLAMing on 337.53463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 337.56463044000003 meters Centerline goodness : 0.113786 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.40, Z:-0.40 [[ 0.96380081 -0.0066448 -0.26654052 -0.03031021] [ 0.004285 0.99994632 -0.00943403 -0.39576714] [ 0.2665889 0.0079504 0.96377754 -0.40180491] [ 0. 0. 0. 1. ]] SLAMing on 337.59463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 337.62463044000003 meters Centerline goodness : 0.103637 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.40, Z:-0.40 [[ 0.96382664 -0.00651991 -0.26645019 -0.03070433] [ 0.00425704 0.99994981 -0.00906937 -0.39850688] [ 0.26649595 0.00760701 0.96380602 -0.40172552] [ 0. 0. 0. 1. ]] SLAMing on 337.65463044 meters Centerline goodness : 0.287404 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.40, Z:-0.40 [[ 0.96381036 -0.0063201 -0.26651386 -0.03068706] [ 0.00412492 0.99995281 -0.00879564 -0.39957436] [ 0.26655688 0.00737798 0.96379095 -0.40163825] [ 0. 0. 0. 1. ]] SLAMing on 337.68463044000003 meters Centerline goodness : 0.105486 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.41 [[ 0.96402091 0.00105132 -0.26582433 -0.0487381 ] [-0.00375079 0.99994643 -0.00964764 -0.40538282] [ 0.26579995 0.01029758 0.96397321 -0.40855094] [ 0. 0. 0. 1. ]] SLAMing on 337.71463044 meters Centerline goodness : 0.222943 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.41 [[ 0.96399781 0.00108186 -0.26590799 -0.04848459] [-0.00375492 0.9999474 -0.00954438 -0.40633525] [ 0.26588368 0.01019922 0.96395116 -0.40855017] [ 0. 0. 0. 1. ]] SLAMing on 337.74463044000004 meters Centerline goodness : 0.467498 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.41 [[ 0.96400613 0.00109697 -0.26587776 -0.04845574] [-0.00375294 0.99994801 -0.00948157 -0.40711 ] [ 0.26585353 0.01013811 0.96396012 -0.40867303] [ 0. 0. 0. 1. ]] SLAMing on 337.77463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 337.80463044000004 meters Centerline goodness : 0.472492 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.41 [[ 0.96402868 0.00145902 -0.26579423 -0.04841717] [-0.00400728 0.99995106 -0.0090453 -0.40901245] [ 0.26576803 0.00978504 0.96398735 -0.40896452] [ 0. 0. 0. 1. ]] SLAMing on 337.83463044 meters Centerline goodness : 0.109682 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.41 [[ 0.96398848 0.00153977 -0.26593955 -0.04780339] [-0.00404555 0.99995243 -0.00887482 -0.4100638 ] [ 0.26591323 0.00963109 0.96394885 -0.40914053] [ 0. 0. 0. 1. ]] SLAMing on 337.86463044000004 meters Centerline goodness : 0.096471 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.41 [[ 0.96392429 0.00162709 -0.26617158 -0.04688406] [-0.00408394 0.99995401 -0.00867706 -0.41115557] [ 0.26614522 0.00945106 0.96388661 -0.40934086] [ 0. 0. 0. 1. ]] SLAMing on 337.89463044 meters Centerline goodness : 0.091883 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.41, Z:-0.41 [[ 0.96391593 0.00178141 -0.26620088 -0.04666285] [-0.00417483 0.99995579 -0.00842544 -0.41245531] [ 0.26617411 0.00923276 0.96388075 -0.40948549] [ 0. 0. 0. 1. ]] SLAMing on 337.92463044 meters Centerline goodness : 0.092094 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96414957 -0.00573228 -0.26529745 -0.06643087] [ 0.00385573 0.99996373 -0.00759361 -0.40981385] [ 0.26533136 0.00629846 0.96413671 -0.41578135] [ 0. 0. 0. 1. ]] SLAMing on 337.95463044 meters Centerline goodness : 0.101988 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96420701 -0.0056984 -0.26508935 -0.06708001] [ 0.00386339 0.99996484 -0.0074431 -0.41111258] [ 0.26512244 0.00615255 0.96419512 -0.41577299] [ 0. 0. 0. 1. ]] SLAMing on 337.98463044 meters Centerline goodness : 0.101994 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96421986 -0.00554022 -0.26504596 -0.06730017] [ 0.00376817 0.99996702 -0.00719384 -0.41223724] [ 0.26507708 0.00593771 0.96420894 -0.41574808] [ 0. 0. 0. 1. ]] SLAMing on 338.01463044 meters Centerline goodness : 0.098304 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96419647 -0.00535332 -0.26513489 -0.06689542] [ 0.00363586 0.99996911 -0.00696807 -0.41278396] [ 0.265164 0.00575459 0.96418615 -0.41582103] [ 0. 0. 0. 1. ]] SLAMing on 338.04463044 meters Centerline goodness : 0.082014 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96413866 -0.00524273 -0.26534723 -0.06616844] [ 0.00355406 0.99997027 -0.00684374 -0.41302519] [ 0.26537522 0.00565525 0.96412863 -0.41586999] [ 0. 0. 0. 1. ]] SLAMing on 338.07463044 meters Centerline goodness : 0.079703 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96410785 -0.00523505 -0.2654593 -0.06560377] [ 0.00353497 0.99997007 -0.00688168 -0.41268554] [ 0.26548738 0.00569629 0.96409751 -0.41603739] [ 0. 0. 0. 1. ]] SLAMing on 338.10463044 meters Centerline goodness : 0.091779 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96413302 -0.00527904 -0.26536703 -0.06546215] [ 0.00351932 0.99996856 -0.00710632 -0.41128563] [ 0.2653962 0.00591752 0.96412128 -0.41630948] [ 0. 0. 0. 1. ]] SLAMing on 338.13463044 meters Centerline goodness : 0.099451 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96414213 -0.00522307 -0.26533501 -0.0656869 ] [ 0.00344077 0.99996829 -0.00718153 -0.41024083] [ 0.2653641 0.00601106 0.96412953 -0.41613718] [ 0. 0. 0. 1. ]] SLAMing on 338.16463044 meters Centerline goodness : 0.099451 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 0.96414213 -0.00522307 -0.26533501 -0.0656869 ] [ 0.00344077 0.99996829 -0.00718153 -0.41024083] [ 0.2653641 0.00601106 0.96412953 -0.41613718] [ 0. 0. 0. 1. ]] SLAMing on 338.19463044 meters Centerline goodness : 0.090735 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 9.64220560e-01 -1.07305536e-03 -2.65099150e-01 -6.65806882e-02] [ 5.25449486e-06 9.99991885e-01 -4.02860649e-03 -4.08474931e-01] [ 2.65101322e-01 3.88307224e-03 9.64212742e-01 -4.15987796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22463044 meters Centerline goodness : 0.091560 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 9.64188342e-01 -1.16484279e-03 -2.65215921e-01 -6.62596979e-02] [ 3.68683422e-05 9.99990934e-01 -4.25798043e-03 -4.07142071e-01] [ 2.65218477e-01 4.09571702e-03 9.64179643e-01 -4.15915065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25463044 meters Centerline goodness : 0.092536 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.41, Z:-0.42 [[ 9.64154710e-01 -1.25860514e-03 -2.65337731e-01 -6.57408413e-02] [ 7.08356018e-05 9.99989935e-01 -4.48596582e-03 -4.05759384e-01] [ 2.65340707e-01 4.30636971e-03 9.64145095e-01 -4.16010784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28463044 meters Centerline goodness : 0.092538 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.40, Z:-0.42 [[ 9.64110475e-01 -1.38067761e-03 -2.65497807e-01 -6.52981589e-02] [ 1.25307602e-04 9.99988733e-01 -4.74524327e-03 -4.04213049e-01] [ 2.65501367e-01 4.54166985e-03 9.64099786e-01 -4.15940315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31463044000003 meters Centerline goodness : 0.131368 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.40, Z:-0.42 [[ 9.64088163e-01 -1.50796546e-03 -2.65578123e-01 -6.50389807e-02] [ 1.65335014e-04 9.99987094e-01 -5.07778446e-03 -4.01932333e-01] [ 2.65582353e-01 4.85152254e-03 9.64075970e-01 -4.15919026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34463044 meters Centerline goodness : 0.473024 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.40, Z:-0.42 [[ 0.96405021 0.00235981 -0.26570967 -0.06514073] [-0.00309289 0.99999248 -0.00234055 -0.39796095] [ 0.26570215 0.00307821 0.96405025 -0.41546128] [ 0. 0. 0. 1. ]] SLAMing on 338.37463044000003 meters Centerline goodness : 0.089610 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.39, Z:-0.42 [[ 0.96397835 0.00230752 -0.26597072 -0.06429464] [-0.00313597 0.99999146 -0.00269018 -0.39492764] [ 0.26596224 0.00342735 0.96397735 -0.41545304] [ 0. 0. 0. 1. ]] SLAMing on 338.40463044 meters Centerline goodness : 0.089953 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.39, Z:-0.42 [[ 0.9638918 0.00218822 -0.2662852 -0.06329907] [-0.00313256 0.99999022 -0.00312166 -0.39149794] [ 0.26627577 0.0038431 0.96388923 -0.41541156] [ 0. 0. 0. 1. ]] SLAMing on 338.43463044000003 meters Centerline goodness : 0.092206 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.39, Z:-0.42 [[ 0.96382781 0.00212735 -0.26651723 -0.0625529 ] [-0.00317856 0.99998878 -0.00351291 -0.38824102] [ 0.26650677 0.00423298 0.96382375 -0.41539495] [ 0. 0. 0. 1. ]] SLAMing on 338.46463044 meters Centerline goodness : 0.092175 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.39, Z:-0.42 [[ 0.96380682 0.00203451 -0.26659383 -0.06227372] [-0.00319345 0.99998724 -0.00391377 -0.38510532] [ 0.26658247 0.00462347 0.96380102 -0.41536977] [ 0. 0. 0. 1. ]] SLAMing on 338.49463044000004 meters Centerline goodness : 0.090151 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.38, Z:-0.41 [[ 0.96393963 0.00474169 -0.26607877 -0.0653923 ] [-0.0055474 0.99998202 -0.00227661 -0.37916286] [ 0.26606319 0.00367057 0.9639486 -0.41433674] [ 0. 0. 0. 1. ]] SLAMing on 338.52463044 meters Centerline goodness : 0.092615 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.38, Z:-0.41 [[ 0.96394937 0.00460471 -0.26604587 -0.06578603] [-0.00551002 0.99998129 -0.00265653 -0.37647681] [ 0.26602866 0.00402667 0.96395671 -0.41402427] [ 0. 0. 0. 1. ]] SLAMing on 338.55463044000004 meters Centerline goodness : 0.096439 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.37, Z:-0.41 [[ 0.96392089 0.00443523 -0.26615193 -0.06565863] [-0.00544244 0.99998055 -0.00304689 -0.3739001 ] [ 0.26613324 0.00438548 0.96392628 -0.41381668] [ 0. 0. 0. 1. ]] SLAMing on 338.58463044 meters Centerline goodness : 0.094958 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.37, Z:-0.41 [[ 0.96390125 0.00426628 -0.26622581 -0.06550346] [-0.00537529 0.99997965 -0.00343714 -0.37129032] [ 0.26620573 0.0047441 0.96390456 -0.41370584] [ 0. 0. 0. 1. ]] SLAMing on 338.61463044000004 meters Centerline goodness : 0.103631 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.37, Z:-0.41 [[ 0.96382663 0.00406383 -0.26649899 -0.06496126] [-0.00532026 0.99997788 -0.00399276 -0.36710421] [ 0.26647687 0.00526617 0.96382693 -0.41338995] [ 0. 0. 0. 1. ]] SLAMing on 338.64463044 meters Centerline goodness : 0.089179 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.37, Z:-0.41 [[ 0.96379461 0.00396286 -0.26661629 -0.06495954] [-0.00529712 0.99997679 -0.00428543 -0.36501391] [ 0.26659311 0.00554257 0.96379323 -0.41302248] [ 0. 0. 0. 1. ]] SLAMing on 338.67463044 meters Centerline goodness : 0.099710 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.41 [[ 0.96382694 0.00388415 -0.26650056 -0.06552524] [-0.00529723 0.99997546 -0.0045837 -0.36274711] [ 0.26647622 0.00582961 0.96382386 -0.41275897] [ 0. 0. 0. 1. ]] SLAMing on 338.70463044 meters Centerline goodness : 0.105760 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.41 [[ 0.96387507 0.00371049 -0.26632891 -0.06627916] [-0.00523051 0.99997383 -0.00499822 -0.36021705] [ 0.26630339 0.00621069 0.96386925 -0.41248179] [ 0. 0. 0. 1. ]] SLAMing on 338.73463044 meters Centerline goodness : 0.106461 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.41 [[ 0.96389158 0.00347095 -0.26627237 -0.06676762] [-0.00511219 0.99997197 -0.00547089 -0.35763166] [ 0.26624592 0.00663458 0.9638823 -0.412129 ] [ 0. 0. 0. 1. ]] SLAMing on 338.76463044 meters Centerline goodness : 0.109170 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.41 [[ 0.96384838 0.00341635 -0.26642939 -0.06656769] [-0.00514312 0.99997005 -0.00578368 -0.35514824] [ 0.26640166 0.00694487 0.96383709 -0.41184715] [ 0. 0. 0. 1. ]] SLAMing on 338.79463044 meters Centerline goodness : 0.116231 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.35, Z:-0.42 [[ 9.64270241e-01 4.45239025e-04 -2.64920184e-01 -8.26933664e-02] [-1.21966023e-03 9.99995451e-01 -2.75873682e-03 -3.46141485e-01] [ 2.64917750e-01 2.98328044e-03 9.64266398e-01 -4.18309048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82463044 meters Centerline goodness : 0.111192 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.34, Z:-0.42 [[ 9.64228188e-01 3.51768214e-04 -2.65073344e-01 -8.23381873e-02] [-1.19499299e-03 9.99994726e-01 -3.01984179e-03 -3.44157997e-01] [ 2.65070883e-01 3.22857737e-03 9.64223523e-01 -4.18185814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85463044 meters Centerline goodness : 0.115337 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.34, Z:-0.42 [[ 9.64229259e-01 1.94236042e-04 -2.65069609e-01 -8.24425505e-02] [-1.10503148e-03 9.99993987e-01 -3.28694343e-03 -3.42738715e-01] [ 2.65067377e-01 3.46227729e-03 9.64223677e-01 -4.18078223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88463044 meters Centerline goodness : 0.092380 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.34, Z:-0.42 [[ 9.64132194e-01 -6.75931426e-05 -2.65422510e-01 -8.18902447e-02] [-9.47344785e-04 9.99992722e-01 -3.69583671e-03 -3.40616907e-01] [ 2.65420828e-01 3.81472179e-03 9.64125112e-01 -4.17610911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91463044 meters Centerline goodness : 0.086477 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.34, Z:-0.42 [[ 9.64000097e-01 -1.47255821e-04 -2.65901846e-01 -8.06878484e-02] [-8.94750242e-04 9.99992389e-01 -3.79761945e-03 -3.39951137e-01] [ 2.65900381e-01 3.89882126e-03 9.63992628e-01 -4.17375820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94463044 meters Centerline goodness : 0.095300 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.34, Z:-0.42 [[ 9.63893570e-01 -2.12616619e-04 -2.66287702e-01 -7.92794428e-02] [-8.41813386e-04 9.99992251e-01 -3.84559059e-03 -3.39668630e-01] [ 2.66286456e-01 3.93090460e-03 9.63885922e-01 -4.17537346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97463044 meters Centerline goodness : 0.096808 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.34, Z:-0.42 [[ 9.63554528e-01 -7.63343198e-03 -2.67403069e-01 -9.79430516e-02] [ 7.09097732e-03 9.99970376e-01 -2.99421598e-03 -3.35534391e-01] [ 2.67418004e-01 9.88941268e-04 9.63580112e-01 -4.23318023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00463044 meters Centerline goodness : 0.105314 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.34, Z:-0.41 [[ 9.63910113e-01 -7.40057203e-03 -2.66125019e-01 -5.57012284e-02] [ 6.99991618e-03 9.99972489e-01 -2.45402874e-03 -3.37174776e-01] [ 2.66135858e-01 5.02610292e-04 9.63935398e-01 -4.12121260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03463044 meters Centerline goodness : 0.090334 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.34, Z:-0.42 [[ 9.63364851e-01 -7.31764857e-03 -2.68094416e-01 -9.93750596e-02] [ 6.92433142e-03 9.99973116e-01 -2.41256175e-03 -3.36789977e-01] [ 2.68104863e-01 4.67802599e-04 9.63389622e-01 -4.22796656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06463044000003 meters Centerline goodness : 0.104041 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.34, Z:-0.42 [[ 9.63364495e-01 -7.15222501e-03 -2.68100159e-01 -9.93518562e-02] [ 6.83113711e-03 9.99974398e-01 -2.13042376e-03 -3.38314131e-01] [ 2.68108533e-01 2.20945659e-04 9.63388689e-01 -4.22705511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09463044 meters Centerline goodness : 0.093525 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 9.63496079e-01 1.38605312e-04 -2.67722406e-01 -1.18286875e-01] [-1.01598495e-03 9.99994558e-01 -3.13867253e-03 -3.44105877e-01] [ 2.67720514e-01 3.29610061e-03 9.63490977e-01 -4.28767986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12463044000003 meters Centerline goodness : 0.084681 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 9.63478857e-01 1.42015311e-04 -2.67784376e-01 -1.18537615e-01] [-1.01370535e-03 9.99994629e-01 -3.11694481e-03 -3.44502076e-01] [ 2.67782495e-01 3.27456487e-03 9.63473826e-01 -4.28384413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15463044 meters Centerline goodness : 0.093588 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 9.63460074e-01 5.02429774e-04 -2.67851515e-01 -1.18813850e-01] [-1.33655619e-03 9.99994809e-01 -2.93181601e-03 -3.44237594e-01] [ 2.67848651e-01 3.18268627e-03 9.63455744e-01 -4.28038178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18463044000003 meters Centerline goodness : 0.094734 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 9.63421702e-01 7.30564618e-04 -2.67988976e-01 -1.18508266e-01] [-1.54196564e-03 9.99994843e-01 -2.81728869e-03 -3.44023966e-01] [ 2.67985535e-01 3.12746685e-03 9.63417859e-01 -4.27901761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21463044 meters Centerline goodness : 0.093717 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.35, Z:-0.42 [[ 0.96338598 0.00804861 -0.26799751 -0.09924819] [-0.0094147 0.99994841 -0.00381269 -0.34785256] [ 0.267953 0.00619621 0.96341206 -0.42129643] [ 0. 0. 0. 1. ]] SLAMing on 339.24463044000004 meters Centerline goodness : 0.093678 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.35, Z:-0.42 [[ 0.96338677 0.00804849 -0.26799469 -0.0995249 ] [-0.00944895 0.99994761 -0.00393638 -0.34708496] [ 0.26794896 0.00632452 0.96341235 -0.42114793] [ 0. 0. 0. 1. ]] SLAMing on 339.27463044 meters Centerline goodness : 0.096964 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96409693 0.00280326 -0.26553578 -0.11417381] [-0.00375245 0.99998826 -0.00306735 -0.34015006] [ 0.26552406 0.00395363 0.96409613 -0.42664673] [ 0. 0. 0. 1. ]] SLAMing on 339.30463044000004 meters Centerline goodness : 0.097846 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 0.96424489 0.0035616 -0.26498887 -0.11608601] [-0.00443064 0.99998659 -0.00268188 -0.33942821] [ 0.26497576 0.00376006 0.96424774 -0.42648017] [ 0. 0. 0. 1. ]] SLAMing on 339.33463044 meters Centerline goodness : 0.095666 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 0.96428085 0.00372666 -0.26485572 -0.11639609] [-0.00457856 0.99998614 -0.00259919 -0.33922543] [ 0.26484236 0.00371901 0.96428455 -0.42654951] [ 0. 0. 0. 1. ]] SLAMing on 339.36463044000004 meters Centerline goodness : 0.289356 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 0.96430481 0.00373148 -0.26476841 -0.11670337] [-0.00462415 0.99998553 -0.00274831 -0.33848099] [ 0.26475432 0.00387454 0.96430811 -0.42662068] [ 0. 0. 0. 1. ]] SLAMing on 339.39463044 meters Centerline goodness : 0.065073 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 0.96425389 0.0036821 -0.26495447 -0.11623699] [-0.0045844 0.99998561 -0.0027872 -0.33888574] [ 0.26494039 0.00390223 0.9642569 -0.42657274] [ 0. 0. 0. 1. ]] SLAMing on 339.42463044 meters Centerline goodness : 0.473669 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:-0.43 [[ 0.96416994 0.00364835 -0.26526028 -0.1154933 ] [-0.00455817 0.99998565 -0.00281442 -0.33936441] [ 0.26524621 0.00392268 0.96417273 -0.42642745] [ 0. 0. 0. 1. ]] SLAMing on 339.45463044 meters Centerline goodness : 0.494546 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96405512 0.00397671 -0.26567257 -0.11461742] [-0.00482264 0.99998517 -0.00253182 -0.34015216] [ 0.26565856 0.00372205 0.96406 -0.42612545] [ 0. 0. 0. 1. ]] SLAMing on 339.48463044 meters Centerline goodness : 0.490423 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96402783 0.00416675 -0.26576866 -0.11433939] [-0.00498092 0.99998474 -0.0023895 -0.34013846] [ 0.26575465 0.00362732 0.96403387 -0.42607438] [ 0. 0. 0. 1. ]] SLAMing on 339.51463044 meters Centerline goodness : 0.469794 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96402627 0.00425322 -0.26577295 -0.11428167] [-0.00504613 0.99998462 -0.00230065 -0.34047314] [ 0.26575908 0.00355901 0.96403291 -0.42610487] [ 0. 0. 0. 1. ]] SLAMing on 339.54463044 meters Centerline goodness : 0.484037 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96402985 0.00431308 -0.26575898 -0.1140901 ] [-0.00508306 0.99998464 -0.00220955 -0.34113641] [ 0.26574537 0.00348095 0.96403697 -0.42630698] [ 0. 0. 0. 1. ]] SLAMing on 339.57463044 meters Centerline goodness : 0.497178 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96405514 0.00423995 -0.26566841 -0.11416305] [-0.0050224 0.99998482 -0.00226594 -0.34167712] [ 0.26565477 0.00351878 0.9640618 -0.42644468] [ 0. 0. 0. 1. ]] SLAMing on 339.60463044 meters Centerline goodness : 0.449186 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.964072 0.00430732 -0.26560613 -0.11439767] [-0.00507374 0.99998471 -0.00219949 -0.34195823] [ 0.2655926 0.00346808 0.96407912 -0.42638942] [ 0. 0. 0. 1. ]] SLAMing on 339.63463044 meters Centerline goodness : 0.460054 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96408565 0.00440835 -0.26555495 -0.11461666] [-0.00514645 0.99998459 -0.00208369 -0.3423856 ] [ 0.26554167 0.00337552 0.96409347 -0.42632615] [ 0. 0. 0. 1. ]] SLAMing on 339.66463044 meters Centerline goodness : 0.238901 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96410069 0.00444182 -0.26549976 -0.11477346] [-0.00517517 0.99998448 -0.00206267 -0.34244949] [ 0.26548648 0.00336263 0.96410872 -0.42632888] [ 0. 0. 0. 1. ]] SLAMing on 339.69463044 meters Centerline goodness : 0.310607 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96406331 0.00441076 -0.26563598 -0.11422285] [-0.0051569 0.99998447 -0.00211148 -0.34252687] [ 0.26562254 0.00340546 0.96407109 -0.42643017] [ 0. 0. 0. 1. ]] SLAMing on 339.72463044 meters Centerline goodness : 0.285278 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:-0.43 [[ 0.96393287 0.0042623 -0.26611135 -0.11228332] [-0.00500297 0.99998527 -0.00210546 -0.3443053 ] [ 0.26609845 0.00336087 0.96394 -0.42686453] [ 0. 0. 0. 1. ]] SLAMing on 339.75463044 meters Centerline goodness : 0.413960 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.35, Z:-0.43 [[ 0.9638655 0.00439588 -0.2663531 -0.11147973] [-0.00506722 0.99998548 -0.00183331 -0.34592596] [ 0.26634118 0.00311673 0.96387378 -0.42692222] [ 0. 0. 0. 1. ]] SLAMing on 339.78463044 meters Centerline goodness : 0.320277 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.35, Z:-0.43 [[ 0.96382941 0.00462591 -0.26647977 -0.11108107] [-0.00519478 0.99998548 -0.00142988 -0.3479461 ] [ 0.26646928 0.00276246 0.96383945 -0.42692363] [ 0. 0. 0. 1. ]] SLAMing on 339.81463044000003 meters Centerline goodness : 0.279399 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.35, Z:-0.43 [[ 0.96382774 0.00475073 -0.26648361 -0.11102612] [-0.00524526 0.99998559 -0.00114406 -0.34977038] [ 0.26647433 0.00250046 0.96383877 -0.42690958] [ 0. 0. 0. 1. ]] SLAMing on 339.84463044 meters Centerline goodness : 0.097831 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.35, Z:-0.43 [[ 9.63780519e-01 4.71670702e-03 -2.66654954e-01 -1.10370396e-01] [-5.15312218e-03 9.99986284e-01 -9.36927798e-04 -3.52652740e-01] [ 2.66646877e-01 2.27709832e-03 9.63791605e-01 -4.26922677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87463044000003 meters Centerline goodness : 0.316586 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.35, Z:-0.43 [[ 9.63742411e-01 4.67702402e-03 -2.66793348e-01 -1.09930251e-01] [-5.12022508e-03 9.99986425e-01 -9.65607047e-04 -3.53065604e-01] [ 2.66785210e-01 2.29663845e-03 9.63753276e-01 -4.26965273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90463044 meters Centerline goodness : 0.474186 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.35, Z:-0.43 [[ 9.63701758e-01 4.74786456e-03 -2.66938906e-01 -1.09477602e-01] [-5.20011707e-03 9.99985992e-01 -9.87356690e-04 -3.52613424e-01] [ 2.66930479e-01 2.33963094e-03 9.63712948e-01 -4.26987117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93463044000003 meters Centerline goodness : 0.475867 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.35, Z:-0.43 [[ 9.63669051e-01 4.96873445e-03 -2.67052939e-01 -1.09102220e-01] [-5.41741164e-03 9.99984881e-01 -9.43380770e-04 -3.51692203e-01] [ 2.67044214e-01 2.35584255e-03 9.63681398e-01 -4.26999588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96463044 meters Centerline goodness : 0.096560 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:-0.44 [[ 9.63150149e-01 6.85706884e-03 -2.68876870e-01 -1.52254909e-01] [-7.10191407e-03 9.99974779e-01 6.20592768e-05 -3.51271859e-01] [ 2.68870515e-01 1.84976803e-03 9.63174556e-01 -4.38407122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99463044000004 meters Centerline goodness : 0.106065 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:-0.44 [[ 9.63120944e-01 7.07483677e-03 -2.68975825e-01 -1.52065306e-01] [-7.34725572e-03 9.99973009e-01 -6.13458140e-06 -3.49640886e-01] [ 2.68968521e-01 1.98214251e-03 9.63146928e-01 -4.38338945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02463044 meters Centerline goodness : 0.096333 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:-0.44 [[ 9.63235876e-01 7.34361477e-03 -2.68556733e-01 -1.53775869e-01] [-7.67906499e-03 9.99970496e-01 -1.98664879e-04 -3.46955118e-01] [ 2.68547350e-01 2.25362574e-03 9.63263848e-01 -4.38002980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05463044000004 meters Centerline goodness : 0.317500 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:-0.44 [[ 9.63257003e-01 7.28569171e-03 -2.68482522e-01 -1.54285338e-01] [-7.66515251e-03 9.99970556e-01 -3.65143496e-04 -3.45956596e-01] [ 2.68471956e-01 2.40968651e-03 9.63284487e-01 -4.37783755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08463044 meters Centerline goodness : 0.317500 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:-0.44 [[ 9.63257003e-01 7.28569171e-03 -2.68482522e-01 -1.54285338e-01] [-7.66515251e-03 9.99970556e-01 -3.65143496e-04 -3.45956596e-01] [ 2.68471956e-01 2.40968651e-03 9.63284487e-01 -4.37783755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11463044000004 meters Centerline goodness : 0.486927 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:-0.44 [[ 9.63231441e-01 7.21301744e-03 -2.68576179e-01 -1.54329137e-01] [-7.63200974e-03 9.99970743e-01 -5.16000078e-04 -3.45160015e-01] [ 2.68564599e-01 2.54680351e-03 9.63258309e-01 -4.37556292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14463044 meters Centerline goodness : 0.090841 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.35, Z:-0.44 [[ 9.63295040e-01 7.32595526e-03 -2.68344919e-01 -1.55605156e-01] [-7.69939885e-03 9.99970302e-01 -3.39320882e-04 -3.45737352e-01] [ 2.68334464e-01 2.39296069e-03 9.63322837e-01 -4.37050025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17463044 meters Centerline goodness : 0.104507 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.35, Z:-0.44 [[ 9.63336244e-01 7.31733363e-03 -2.68197199e-01 -1.56329127e-01] [-7.64964087e-03 9.99970722e-01 -1.94099393e-04 -3.47049226e-01] [ 2.68187926e-01 2.23859523e-03 9.63364015e-01 -4.36760626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.23463044 meters Centerline goodness : 0.095526 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.35, Z:-0.44 [[ 0.96355456 0.00395449 -0.26748265 -0.16007445] [-0.0048107 0.99998519 -0.00254574 -0.35113504] [ 0.26746862 0.00373974 0.96355931 -0.43565108] [ 0. 0. 0. 1. ]] SLAMing on 340.26463044 meters Centerline goodness : 0.453437 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.35, Z:-0.44 [[ 0.96358337 0.00399124 -0.26737831 -0.16073334] [-0.00478588 0.99998586 -0.00232035 -0.35296656] [ 0.26736527 0.00351549 0.96358884 -0.43533652] [ 0. 0. 0. 1. ]] SLAMing on 340.29463044 meters Centerline goodness : 0.089024 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.35, Z:-0.44 [[ 0.96357628 0.00414559 -0.26740152 -0.16080564] [-0.00487574 0.99998598 -0.0020666 -0.35422104] [ 0.2673892 0.00329511 0.96358298 -0.43520564] [ 0. 0. 0. 1. ]] SLAMing on 340.32463044 meters Centerline goodness : 0.089537 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.36, Z:-0.44 [[ 0.96356861 0.00439382 -0.26742517 -0.16070044] [-0.00505109 0.99998568 -0.00176989 -0.35543413] [ 0.26741356 0.00305619 0.96357701 -0.43518452] [ 0. 0. 0. 1. ]] SLAMing on 340.35463044 meters Centerline goodness : 0.473823 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.36, Z:-0.44 [[ 0.96357602 0.00435553 -0.2673991 -0.16057904] [-0.00504078 0.99998554 -0.00187625 -0.35502679] [ 0.26738706 0.00315581 0.96358404 -0.43538509] [ 0. 0. 0. 1. ]] SLAMing on 340.38463044 meters Centerline goodness : 0.469688 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.35, Z:-0.44 [[ 0.96353954 0.00433165 -0.26753092 -0.16024886] [-0.00505098 0.99998524 -0.00200063 -0.35438319] [ 0.26751831 0.00327898 0.9635472 -0.43536189] [ 0. 0. 0. 1. ]] SLAMing on 340.41463044 meters Centerline goodness : 0.467167 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.35, Z:-0.44 [[ 0.9634196 0.0045298 -0.26795923 -0.15897598] [-0.00523368 0.99998448 -0.00191262 -0.35417108] [ 0.26794641 0.00324507 0.96342835 -0.43541009] [ 0. 0. 0. 1. ]] SLAMing on 340.44463044 meters Centerline goodness : 0.475027 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.36, Z:-0.44 [[ 0.96341884 0.00464233 -0.26796003 -0.15885698] [-0.00529938 0.99998446 -0.00172885 -0.35516642] [ 0.26794784 0.00308563 0.96342848 -0.43551251] [ 0. 0. 0. 1. ]] SLAMing on 340.47463044 meters Centerline goodness : 0.474655 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.36, Z:-0.44 [[ 0.96343125 0.004792 -0.26791278 -0.15909797] [-0.00537168 0.99998455 -0.00143076 -0.35700881] [ 0.26790178 0.00281758 0.96344211 -0.43537765] [ 0. 0. 0. 1. ]] SLAMing on 340.50463044 meters Centerline goodness : 0.474039 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.45 [[ 0.96288074 0.00386363 -0.26989952 -0.20250528] [-0.00456388 0.99998765 -0.00196699 -0.36139195] [ 0.26988859 0.00312577 0.96288648 -0.44690204] [ 0. 0. 0. 1. ]] SLAMing on 340.53463044 meters Centerline goodness : 0.200367 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.45 [[ 0.96280144 0.00395616 -0.27018093 -0.20149708] [-0.00458445 0.99998806 -0.00169444 -0.36348056] [ 0.270171 0.00287004 0.96280808 -0.44700973] [ 0. 0. 0. 1. ]] SLAMing on 340.56463044000003 meters Centerline goodness : 0.473667 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.37, Z:-0.45 [[ 0.96267361 0.00405121 -0.27063463 -0.19994823] [-0.00462145 0.99998824 -0.00146985 -0.36511241] [ 0.27062549 0.00266571 0.96268101 -0.4471915 ] [ 0. 0. 0. 1. ]] SLAMing on 340.59463044 meters Centerline goodness : 0.095287 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.37, Z:-0.45 [[ 0.96255703 0.0041117 -0.27104808 -0.19861493] [-0.0046588 0.9999882 -0.00137505 -0.36580097] [ 0.27103923 0.00258633 0.96256483 -0.44726324] [ 0. 0. 0. 1. ]] SLAMing on 340.62463044000003 meters Centerline goodness : 0.467688 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.37, Z:-0.45 [[ 0.96258952 0.00432008 -0.27092944 -0.19921717] [-0.00486622 0.99998726 -0.00134406 -0.36534132] [ 0.27092018 0.00261218 0.96259827 -0.44705642] [ 0. 0. 0. 1. ]] SLAMing on 340.65463044 meters Centerline goodness : 0.090581 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.45 [[ 0.96270221 0.00441639 -0.27052716 -0.20065448] [-0.00497823 0.99998664 -0.00139067 -0.36441686] [ 0.27051741 0.00268554 0.96271134 -0.44687043] [ 0. 0. 0. 1. ]] SLAMing on 340.68463044000003 meters Centerline goodness : 0.135312 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.45 [[ 0.96290202 0.00484908 -0.26980768 -0.20308007] [-0.00539822 0.99998459 -0.00129335 -0.36301349] [ 0.26979725 0.00270185 0.96291336 -0.44668641] [ 0. 0. 0. 1. ]] SLAMing on 340.71463044 meters Centerline goodness : 0.099120 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.62683208e-01 -2.31728675e-03 -2.70620899e-01 -2.20812604e-01] [ 2.37606113e-03 9.99997171e-01 -1.10435074e-04 -3.59263474e-01] [ 2.70620390e-01 -5.36697809e-04 9.62685991e-01 -4.52895372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74463044000004 meters Centerline goodness : 0.361317 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.62557296e-01 -2.29849808e-03 -2.71068569e-01 -2.19671348e-01] [ 2.35073604e-03 9.99997228e-01 -1.31972454e-04 -3.59163346e-01] [ 2.71068121e-01 -5.10179607e-04 9.62560031e-01 -4.52720257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77463044 meters Centerline goodness : 0.412027 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.37, Z:-0.46 [[ 0.96223164 0.00469614 -0.27219149 -0.23685924] [-0.00529186 0.99998494 -0.00145458 -0.36528114] [ 0.27218056 0.00284005 0.962242 -0.45879813] [ 0. 0. 0. 1. ]] SLAMing on 340.80463044000004 meters Centerline goodness : 0.460268 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.37, Z:-0.46 [[ 0.96215038 0.0047364 -0.27247791 -0.23616189] [-0.00529485 0.99998512 -0.00131427 -0.3663728 ] [ 0.27246763 0.00270726 0.96216114 -0.45865607] [ 0. 0. 0. 1. ]] SLAMing on 340.83463044 meters Centerline goodness : 0.472882 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.37, Z:-0.46 [[ 0.96212662 0.00480062 -0.27256068 -0.23613758] [-0.00531053 0.99998526 -0.00113315 -0.36769865] [ 0.27255122 0.00253768 0.96213793 -0.45842269] [ 0. 0. 0. 1. ]] SLAMing on 340.86463044000004 meters Centerline goodness : 0.087176 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.37, Z:-0.46 [[ 9.62148867e-01 4.85188826e-03 -2.72481222e-01 -2.36887206e-01] [-5.29761465e-03 9.99985562e-01 -9.00156413e-04 -3.69472345e-01] [ 2.72472921e-01 2.30958499e-03 9.62160680e-01 -4.57937858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89463044 meters Centerline goodness : 0.100846 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.37, Z:-0.45 [[ 9.62090551e-01 -1.66299077e-03 -2.72725149e-01 -2.20010988e-01] [ 1.93909711e-03 9.99997844e-01 7.42871775e-04 -3.65115553e-01] [ 2.72723325e-01 -1.24355046e-03 9.62091701e-01 -4.51107433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92463044 meters Centerline goodness : 0.378888 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.37, Z:-0.45 [[ 9.62100055e-01 -1.58649161e-03 -2.72692076e-01 -2.20166700e-01] [ 1.88903014e-03 9.99997857e-01 8.46917888e-04 -3.65410965e-01] [ 2.72690148e-01 -1.32994330e-03 9.62100990e-01 -4.51049814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95463044 meters Centerline goodness : 0.091932 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.37, Z:-0.45 [[ 9.62136000e-01 -1.57899065e-03 -2.72565265e-01 -2.20735120e-01] [ 1.88395915e-03 9.99997858e-01 8.57180607e-04 -3.65326701e-01] [ 2.72563327e-01 -1.33822615e-03 9.62136914e-01 -4.50869462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98463044 meters Centerline goodness : 0.100730 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.62218530e-01 -1.64481657e-03 -2.72273384e-01 -2.21896838e-01] [ 1.92597724e-03 9.99997852e-01 7.65399633e-04 -3.64913547e-01] [ 2.72271540e-01 -1.26087405e-03 9.62219631e-01 -4.50628167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01463044 meters Centerline goodness : 0.120754 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.62211253e-01 -1.76734125e-03 -2.72298333e-01 -2.21832627e-01] [ 2.00623068e-03 9.99997808e-01 5.98903274e-04 -3.64327964e-01] [ 2.72296677e-01 -1.12256474e-03 9.62212689e-01 -4.50631154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 341.07463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 341.10463044 meters Centerline goodness : 0.461774 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.62026554e-01 -1.85074840e-03 -2.72949600e-01 -2.19650295e-01] [ 1.98299644e-03 9.99998012e-01 2.08648444e-04 -3.61024748e-01] [ 2.72948671e-01 -7.41983428e-04 9.62028312e-01 -4.50926650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13463044 meters Centerline goodness : 0.234571 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.61987790e-01 -1.89820649e-03 -2.73085865e-01 -2.19283599e-01] [ 1.99469001e-03 9.99998008e-01 7.56711608e-05 -3.59922814e-01] [ 2.73085177e-01 -6.17516380e-04 9.61989659e-01 -4.50881887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16463044 meters Centerline goodness : 0.092585 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.61943500e-01 -2.24924655e-03 -2.73239168e-01 -2.18825858e-01] [ 2.27512428e-03 9.99997387e-01 -2.22148462e-04 -3.59442048e-01] [ 2.73238954e-01 -4.07958797e-04 9.61946104e-01 -4.50857855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 341.22463044 meters Centerline goodness : 0.088546 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.61951555e-01 -2.62781471e-03 -2.73207430e-01 -2.19393482e-01] [ 2.64651410e-03 9.99996453e-01 -3.00090811e-04 -3.60754220e-01] [ 2.73207250e-01 -4.34374493e-04 9.61955098e-01 -4.50407172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25463044 meters Centerline goodness : 0.168469 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.61948396e-01 -2.64448425e-03 -2.73218394e-01 -2.19501306e-01] [ 2.69772100e-03 9.99996345e-01 -1.80830412e-04 -3.61663793e-01] [ 2.73217873e-01 -5.63117473e-04 9.61952014e-01 -4.50252883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28463044 meters Centerline goodness : 0.090104 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.61989612e-01 -2.84907763e-03 -2.73071178e-01 -2.19758890e-01] [ 2.93825152e-03 9.99995680e-01 -8.23883444e-05 -3.63452314e-01] [ 2.73070233e-01 -7.23095072e-04 9.61993828e-01 -4.50286641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31463044000003 meters Centerline goodness : 0.093376 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.62000668e-01 -2.84624527e-03 -2.73032259e-01 -2.19836607e-01] [ 2.96553986e-03 9.99995602e-01 2.42409997e-05 -3.64420633e-01] [ 2.73030989e-01 -8.33007906e-04 9.62004878e-01 -4.50229594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34463044 meters Centerline goodness : 0.474576 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.37, Z:-0.45 [[ 9.62032470e-01 -2.79782023e-03 -2.72920682e-01 -2.20221923e-01] [ 2.94831950e-03 9.99995644e-01 1.41326956e-04 -3.65209863e-01] [ 2.72919098e-01 -9.40618489e-04 9.62036528e-01 -4.50158714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37463044000003 meters Centerline goodness : 0.475743 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.37, Z:-0.45 [[ 9.62005105e-01 -2.77338881e-03 -2.73017372e-01 -2.19958742e-01] [ 2.93290150e-03 9.99995684e-01 1.76140349e-04 -3.65412085e-01] [ 2.73015705e-01 -9.70180975e-04 9.62009087e-01 -4.50109919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40463044 meters Centerline goodness : 0.475632 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.37, Z:-0.45 [[ 9.61938156e-01 -2.73324029e-03 -2.73253571e-01 -2.19179849e-01] [ 2.89815327e-03 9.99995780e-01 1.99870960e-04 -3.65501437e-01] [ 2.73251872e-01 -9.84194234e-04 9.61942018e-01 -4.50171872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43463044000003 meters Centerline goodness : 0.471672 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.61754436e-01 -2.58111163e-03 -2.73900972e-01 -2.17037306e-01] [ 2.73901714e-03 9.99996230e-01 1.94084699e-04 -3.64847274e-01] [ 2.73899439e-01 -9.36881279e-04 9.61757880e-01 -4.50365775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46463044 meters Centerline goodness : 0.089747 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:-0.45 [[ 9.61685345e-01 -2.50431131e-03 -2.74144171e-01 -2.16379504e-01] [ 2.63962553e-03 9.99996508e-01 1.24703088e-04 -3.63792445e-01] [ 2.74142902e-01 -8.43563085e-04 9.61688597e-01 -4.50357487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49463044000004 meters Centerline goodness : 0.253909 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96174426 0.00487418 -0.27390549 -0.19783657] [-0.00538784 0.99998485 -0.00112307 -0.36466798] [ 0.27389587 0.00255586 0.96175596 -0.44375706] [ 0. 0. 0. 1. ]] SLAMing on 341.52463044 meters Centerline goodness : 0.413097 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96176948 0.0049501 -0.27381557 -0.19823273] [-0.0055154 0.99998395 -0.00129477 -0.36278254] [ 0.27380477 0.00275547 0.96178135 -0.44371566] [ 0. 0. 0. 1. ]] SLAMing on 341.55463044000004 meters Centerline goodness : 0.472148 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96195235 0.00539946 -0.27316392 -0.20000128] [-0.00600459 0.99998102 -0.0013793 -0.35964333] [ 0.27315129 0.00296706 0.96196651 -0.44392763] [ 0. 0. 0. 1. ]] SLAMing on 341.58463044 meters Centerline goodness : 0.191418 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96202178 0.00532129 -0.27292085 -0.20100233] [-0.00599429 0.9999807 -0.00163214 -0.35802491] [ 0.27290689 0.00320612 0.96203511 -0.44374359] [ 0. 0. 0. 1. ]] SLAMing on 341.61463044000004 meters Centerline goodness : 0.472040 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96207946 0.00527954 -0.27271825 -0.2021715 ] [-0.00599528 0.99998042 -0.00179122 -0.35694042] [ 0.27270345 0.00335831 0.96209228 -0.4432831 ] [ 0. 0. 0. 1. ]] SLAMing on 341.64463044 meters Centerline goodness : 0.421725 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.9621253 0.00522093 -0.27255762 -0.20306941] [-0.00597552 0.99998027 -0.00193858 -0.35589396] [ 0.27254212 0.00349382 0.96213751 -0.44295606] [ 0. 0. 0. 1. ]] SLAMing on 341.67463044 meters Centerline goodness : 0.107726 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96213538 0.00526889 -0.27252111 -0.20339713] [-0.00601545 0.99998009 -0.00190403 -0.35561606] [ 0.27250565 0.00347127 0.96214792 -0.44274182] [ 0. 0. 0. 1. ]] SLAMing on 341.70463044 meters Centerline goodness : 0.091188 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.35, Z:-0.44 [[ 9.62544526e-01 -2.55613411e-03 -2.71111605e-01 -1.84958468e-01] [ 2.32224183e-03 9.99996603e-01 -1.18351359e-03 -3.51435463e-01] [ 2.71113710e-01 5.09597813e-04 9.62547192e-01 -4.36923266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73463044 meters Centerline goodness : 0.090164 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.35, Z:-0.44 [[ 9.62590534e-01 -2.73603487e-03 -2.70946450e-01 -1.85576034e-01] [ 2.50030693e-03 9.99996136e-01 -1.21519406e-03 -3.52246480e-01] [ 2.70948728e-01 4.92285011e-04 9.62593655e-01 -4.36750408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76463044 meters Centerline goodness : 0.092084 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.35, Z:-0.44 [[ 9.62545329e-01 -2.76894641e-03 -2.71106664e-01 -1.85439470e-01] [ 2.55697141e-03 9.99996087e-01 -1.13510559e-03 -3.53146792e-01] [ 2.71108746e-01 3.99378591e-04 9.62548642e-01 -4.36409104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79463044 meters Centerline goodness : 0.104055 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.35, Z:-0.44 [[ 9.62509418e-01 -2.73444734e-03 -2.71234478e-01 -1.85008732e-01] [ 2.54116349e-03 9.99996205e-01 -1.06381448e-03 -3.53352534e-01] [ 2.71236358e-01 3.34680305e-04 9.62512715e-01 -4.36437862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82463044 meters Centerline goodness : 0.100054 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96235218 0.00432848 -0.27177114 -0.20206771] [-0.00516956 0.99998381 -0.00237891 -0.35856609] [ 0.27175644 0.00369429 0.96235897 -0.44297868] [ 0. 0. 0. 1. ]] SLAMing on 341.85463044 meters Centerline goodness : 0.470319 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.35, Z:-0.44 [[ 9.62372958e-01 -2.87836175e-03 -2.71716773e-01 -1.83447700e-01] [ 2.53704075e-03 9.99995490e-01 -1.60744346e-03 -3.53739301e-01] [ 2.71720174e-01 8.57603594e-04 9.62375920e-01 -4.36824265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88463044 meters Centerline goodness : 0.089371 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96231286 0.00439999 -0.27190919 -0.20199124] [-0.00535379 0.99998184 -0.00276603 -0.35869553] [ 0.27189208 0.00411753 0.96231894 -0.44315714] [ 0. 0. 0. 1. ]] SLAMing on 341.91463044 meters Centerline goodness : 0.465477 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96228815 0.00440523 -0.27199652 -0.20172317] [-0.00537506 0.99998158 -0.00282067 -0.3580602 ] [ 0.27197909 0.0041763 0.9622941 -0.44318464] [ 0. 0. 0. 1. ]] SLAMing on 341.94463044 meters Centerline goodness : 0.090056 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96228407 0.0042823 -0.27201294 -0.20143989] [-0.00531266 0.99998123 -0.00305158 -0.35669596] [ 0.27199477 0.0043816 0.96228876 -0.44335301] [ 0. 0. 0. 1. ]] SLAMing on 341.97463044 meters Centerline goodness : 0.090056 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.44 [[ 0.96228407 0.0042823 -0.27201294 -0.20143989] [-0.00531266 0.99998123 -0.00305158 -0.35669596] [ 0.27199477 0.0043816 0.96228876 -0.44335301] [ 0. 0. 0. 1. ]] SLAMing on 342.00463044 meters Centerline goodness : 0.290434 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:-0.46 [[ 0.96197995 0.00350264 -0.2730976 -0.24566539] [-0.00472341 0.99998158 -0.00381272 -0.35844057] [ 0.27307921 0.00495771 0.96197878 -0.45511786] [ 0. 0. 0. 1. ]] SLAMing on 342.03463044 meters Centerline goodness : 0.153967 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:-0.45 [[ 0.96197045 0.00348704 -0.27313129 -0.24583749] [-0.00471095 0.99998159 -0.00382534 -0.35859979] [ 0.27311292 0.00496658 0.96196916 -0.45486644] [ 0. 0. 0. 1. ]] SLAMing on 342.06463044000003 meters Centerline goodness : 0.091178 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:-0.45 [[ 0.96193297 0.00357081 -0.27326215 -0.24541932] [-0.00477397 0.99998162 -0.00373814 -0.35878848] [ 0.27324378 0.00490039 0.96193234 -0.45489324] [ 0. 0. 0. 1. ]] SLAMing on 342.09463044 meters Centerline goodness : 0.124099 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.46 [[ 0.96188827 0.00360122 -0.27341906 -0.2445751 ] [-0.00479772 0.99998162 -0.00370757 -0.35872263] [ 0.27340068 0.00487806 0.96188787 -0.45519396] [ 0. 0. 0. 1. ]] SLAMing on 342.12463044000003 meters Centerline goodness : 0.293077 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.46 [[ 0.96181401 0.00352463 -0.27368116 -0.2436842 ] [-0.00471753 0.99998202 -0.00370071 -0.3595361 ] [ 0.2736632 0.00485049 0.96181335 -0.4552863 ] [ 0. 0. 0. 1. ]] SLAMing on 342.15463044 meters Centerline goodness : 0.277488 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.46 [[ 0.9617709 0.00338587 -0.27383437 -0.24334483] [-0.00460124 0.99998221 -0.00379618 -0.35979479] [ 0.27381665 0.00491103 0.96176937 -0.45514851] [ 0. 0. 0. 1. ]] SLAMing on 342.18463044000003 meters Centerline goodness : 0.468364 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.46 [[ 0.9617414 0.00334106 -0.27393852 -0.24296188] [-0.00455855 0.99998236 -0.00380794 -0.35999994] [ 0.27392096 0.00491102 0.96173967 -0.45523869] [ 0. 0. 0. 1. ]] SLAMing on 342.21463044 meters Centerline goodness : 0.260820 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.46 [[ 0.96173611 0.00343698 -0.27395591 -0.24264384] [-0.00463362 0.99998234 -0.00372106 -0.36000474] [ 0.27393828 0.00484809 0.96173505 -0.45545916] [ 0. 0. 0. 1. ]] SLAMing on 342.24463044000004 meters Centerline goodness : 0.436103 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.46 [[ 0.96178435 0.00366203 -0.27378358 -0.2432568 ] [-0.00480904 0.99998225 -0.00351848 -0.35993468] [ 0.27376583 0.00470066 0.96178489 -0.45536253] [ 0. 0. 0. 1. ]] SLAMing on 342.27463044 meters Centerline goodness : 0.133547 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.46 [[ 0.96179243 0.00367631 -0.27375502 -0.24371156] [-0.00480792 0.99998245 -0.00346285 -0.36043176] [ 0.27373748 0.00464674 0.96179322 -0.45504321] [ 0. 0. 0. 1. ]] SLAMing on 342.30463044000004 meters Centerline goodness : 0.105516 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.45 [[ 0.96174658 0.00360516 -0.27391699 -0.24358354] [-0.00473088 0.99998286 -0.00344925 -0.3612265 ] [ 0.27389986 0.00461318 0.96174715 -0.45474258] [ 0. 0. 0. 1. ]] SLAMing on 342.33463044 meters Centerline goodness : 0.270806 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:-0.45 [[ 0.96158479 0.00369712 -0.27448321 -0.24203052] [-0.00473562 0.99998392 -0.00312094 -0.36394488] [ 0.27446725 0.00430089 0.96158683 -0.45462683] [ 0. 0. 0. 1. ]] SLAMing on 342.36463044000004 meters Centerline goodness : 0.124453 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.37, Z:-0.45 [[ 0.96154674 0.00373555 -0.27461592 -0.24131262] [-0.00472958 0.99998444 -0.00295765 -0.36528332] [ 0.2746006 0.00414274 0.96154945 -0.45482756] [ 0. 0. 0. 1. ]] SLAMing on 342.39463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 342.42463044 meters Centerline goodness : 0.421137 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:-0.45 [[ 0.96186915 0.00159451 -0.27350538 -0.24574036] [-0.00290735 0.99998612 -0.0043948 -0.3693253 ] [ 0.27349457 0.0050224 0.96186043 -0.45434834] [ 0. 0. 0. 1. ]] SLAMing on 342.45463044 meters Centerline goodness : 0.088836 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.47 [[ 0.96177605 0.00148555 -0.27383319 -0.29163782] [-0.00278253 0.99998668 -0.00434806 -0.37282582] [ 0.27382308 0.00494381 0.96176737 -0.46599233] [ 0. 0. 0. 1. ]] SLAMing on 342.48463044 meters Centerline goodness : 0.462534 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.47 [[ 0.96179255 0.00156366 -0.2737748 -0.29197649] [-0.00284438 0.99998679 -0.00428113 -0.37313903] [ 0.27376449 0.00489628 0.96178429 -0.46583218] [ 0. 0. 0. 1. ]] SLAMing on 342.51463044 meters Centerline goodness : 0.089878 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.38, Z:-0.47 [[ 0.9613913 0.00984878 -0.27500866 -0.31078569] [-0.0116389 0.99992037 -0.00487816 -0.37641936] [ 0.27493872 0.00789062 0.96142937 -0.47222386] [ 0. 0. 0. 1. ]] SLAMing on 342.54463044 meters Centerline goodness : 0.088725 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.38, Z:-0.47 [[ 0.96133723 0.00990876 -0.27519547 -0.31009409] [-0.01173437 0.99991871 -0.00498821 -0.3753332 ] [ 0.27512367 0.0080246 0.96137535 -0.4724064 ] [ 0. 0. 0. 1. ]] SLAMing on 342.57463044 meters Centerline goodness : 0.470011 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:-0.47 [[ 0.96130148 0.00998891 -0.27531742 -0.30950059] [-0.01184942 0.99991681 -0.00509517 -0.37409353] [ 0.27524362 0.00816035 0.96133988 -0.47264414] [ 0. 0. 0. 1. ]] SLAMing on 342.60463044 meters Centerline goodness : 0.464043 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:-0.47 [[ 0.96131361 0.01001169 -0.27527425 -0.30961741] [-0.01191296 0.99991533 -0.00523571 -0.37282609] [ 0.27519853 0.00831249 0.96135148 -0.47270582] [ 0. 0. 0. 1. ]] SLAMing on 342.63463044 meters Centerline goodness : 0.229182 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:-0.47 [[ 0.96134512 0.00998407 -0.27516517 -0.31002957] [-0.01191824 0.99991462 -0.00535796 -0.37205187] [ 0.27508818 0.00843033 0.96138204 -0.47266547] [ 0. 0. 0. 1. ]] SLAMing on 342.66463044 meters Centerline goodness : 0.473811 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:-0.47 [[ 0.96150479 0.00987298 -0.27461075 -0.31213144] [-0.01181665 0.99991547 -0.00542448 -0.37228799] [ 0.27453398 0.00846064 0.96154018 -0.47234304] [ 0. 0. 0. 1. ]] SLAMing on 342.69463044 meters Centerline goodness : 0.090161 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:-0.47 [[ 0.96157619 0.00983543 -0.27436199 -0.31295307] [-0.01176257 0.99991635 -0.00537976 -0.37286203] [ 0.27428612 0.00840025 0.96161144 -0.47223661] [ 0. 0. 0. 1. ]] SLAMing on 342.72463044 meters Centerline goodness : 0.471630 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:-0.48 [[ 0.96181596 0.00199195 -0.27368976 -0.33309081] [-0.00337622 0.99998378 -0.00458687 -0.37024668] [ 0.27367618 0.00533576 0.96180709 -0.47912287] [ 0. 0. 0. 1. ]] SLAMing on 342.75463044 meters Centerline goodness : 0.412676 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:-0.48 [[ 0.96177421 0.00198126 -0.27383652 -0.33249013] [-0.00334589 0.9999842 -0.00451639 -0.37080714] [ 0.27382324 0.00525998 0.96176565 -0.47921679] [ 0. 0. 0. 1. ]] SLAMing on 342.78463044 meters Centerline goodness : 0.089691 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:-0.48 [[ 0.96164005 0.00170464 -0.27430914 -0.33092313] [-0.00311407 0.99998409 -0.00470272 -0.37084909] [ 0.27429676 0.00537654 0.96163006 -0.47934563] [ 0. 0. 0. 1. ]] SLAMing on 342.81463044000003 meters Centerline goodness : 0.089398 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:-0.48 [[ 0.9616023 0.00157502 -0.27444224 -0.33070208] [-0.00302058 0.9999837 -0.00484474 -0.3703363 ] [ 0.27443013 0.00548769 0.96159138 -0.47918405] [ 0. 0. 0. 1. ]] SLAMing on 342.84463044 meters Centerline goodness : 0.089261 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:-0.48 [[ 0.96158972 0.00152131 -0.27448662 -0.33080623] [-0.00299946 0.99998317 -0.00496552 -0.36941535] [ 0.27447445 0.00559811 0.9615781 -0.47901728] [ 0. 0. 0. 1. ]] SLAMing on 342.87463044000003 meters Centerline goodness : 0.104307 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:-0.48 [[ 0.96160504 0.00152624 -0.27443291 -0.33117672] [-0.00302585 0.99998272 -0.00504115 -0.36841606] [ 0.27442047 0.00567799 0.96159304 -0.47880534] [ 0. 0. 0. 1. ]] SLAMing on 342.90463044 meters Centerline goodness : 0.089853 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96208727 -0.00536074 -0.27268909 -0.35043022] [ 0.00437769 0.99998154 -0.00421331 -0.36235164] [ 0.27270665 0.00285982 0.96209298 -0.48580913] [ 0. 0. 0. 1. ]] SLAMing on 342.93463044000003 meters Centerline goodness : 0.413712 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96211133 -0.0055378 -0.27260066 -0.35089168] [ 0.00450196 0.99998007 -0.00442516 -0.3615666 ] [ 0.27261973 0.00303026 0.96211709 -0.48563947] [ 0. 0. 0. 1. ]] SLAMing on 342.96463044 meters Centerline goodness : 0.296200 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96210793 -0.0056835 -0.27260967 -0.35096656] [ 0.00460192 0.9999788 -0.00460671 -0.36084285] [ 0.27263007 0.00317763 0.96211369 -0.48557859] [ 0. 0. 0. 1. ]] SLAMing on 342.99463044000004 meters Centerline goodness : 0.312429 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96210826 -0.00571711 -0.27260779 -0.35087066] [ 0.00461535 0.99997839 -0.00468263 -0.36018173] [ 0.27262867 0.00324702 0.96211385 -0.48568023] [ 0. 0. 0. 1. ]] SLAMing on 343.02463044 meters Centerline goodness : 0.091333 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96207173 -0.0056923 -0.2727372 -0.35079618] [ 0.00457569 0.99997835 -0.00472994 -0.35916892] [ 0.27275822 0.00330258 0.96207694 -0.48543313] [ 0. 0. 0. 1. ]] SLAMing on 343.05463044000004 meters Centerline goodness : 0.477857 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96201483 -0.00575985 -0.27293642 -0.35021696] [ 0.0046294 0.99997783 -0.00478562 -0.35911922] [ 0.27295793 0.0033403 0.96202017 -0.48539784] [ 0. 0. 0. 1. ]] SLAMing on 343.08463044 meters Centerline goodness : 0.336665 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96196544 -0.0059093 -0.27310724 -0.34975862] [ 0.00475537 0.99997675 -0.00488696 -0.3593931 ] [ 0.27312977 0.00340236 0.96197118 -0.48533119] [ 0. 0. 0. 1. ]] SLAMing on 343.11463044000004 meters Centerline goodness : 0.092885 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96191393 -0.0060842 -0.2732848 -0.3491468 ] [ 0.00489618 0.99997537 -0.00502899 -0.35947629] [ 0.27330866 0.00349941 0.96192002 -0.48539345] [ 0. 0. 0. 1. ]] SLAMing on 343.14463044 meters Centerline goodness : 0.096988 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96188927 -0.00613614 -0.27337041 -0.3487755 ] [ 0.00493755 0.99997495 -0.00507228 -0.35945558] [ 0.27339469 0.00352919 0.96189547 -0.48549942] [ 0. 0. 0. 1. ]] SLAMing on 343.17463044 meters Centerline goodness : 0.119146 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96189042 -0.00573584 -0.27337505 -0.34867136] [ 0.00463482 0.99997834 -0.00467316 -0.36010439] [ 0.27339594 0.00322802 0.96189617 -0.48557107] [ 0. 0. 0. 1. ]] SLAMing on 343.20463044 meters Centerline goodness : 0.472574 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.9618932 -0.00565359 -0.273367 -0.34873747] [ 0.00458496 0.99997915 -0.00454784 -0.36071116] [ 0.27338701 0.00312116 0.96189906 -0.48552684] [ 0. 0. 0. 1. ]] SLAMing on 343.23463044 meters Centerline goodness : 0.472430 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96188614 -0.00564691 -0.27339196 -0.34886382] [ 0.00460604 0.9999795 -0.00444894 -0.36188718] [ 0.27341148 0.00302012 0.96189243 -0.48530688] [ 0. 0. 0. 1. ]] SLAMing on 343.26463044 meters Centerline goodness : 0.098468 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.49 [[ 0.96184334 -0.00570239 -0.27354136 -0.34848849] [ 0.00467491 0.99997936 -0.0044079 -0.3629962 ] [ 0.27356085 0.00296093 0.96185014 -0.48523627] [ 0. 0. 0. 1. ]] SLAMing on 343.29463044 meters Centerline goodness : 0.088846 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.36, Z:-0.48 [[ 0.96177292 -0.00550084 -0.27379298 -0.34803317] [ 0.00455749 0.99998129 -0.00408143 -0.36485897] [ 0.27381031 0.0026776 0.96177999 -0.48497555] [ 0. 0. 0. 1. ]] SLAMing on 343.32463044 meters Centerline goodness : 0.089621 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:-0.48 [[ 0.9618262 -0.00529317 -0.27360983 -0.34874168] [ 0.00442267 0.99998301 -0.00379824 -0.36595234] [ 0.27362529 0.00244316 0.96183327 -0.48484376] [ 0. 0. 0. 1. ]] SLAMing on 343.35463044 meters Centerline goodness : 0.089197 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:-0.48 [[ 0.96188866 -0.00518954 -0.27339217 -0.34967807] [ 0.00437092 0.99998396 -0.00360333 -0.36714701] [ 0.27340648 0.00227103 0.96189591 -0.48458017] [ 0. 0. 0. 1. ]] SLAMing on 343.38463044 meters Centerline goodness : 0.095953 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:-0.48 [[ 0.96196379 -0.00509906 -0.27312939 -0.3505885 ] [ 0.00434054 0.99998486 -0.00338132 -0.36877152] [ 0.2731425 0.00206718 0.96197136 -0.4844334 ] [ 0. 0. 0. 1. ]] SLAMing on 343.41463044 meters Centerline goodness : 0.087787 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:-0.48 [[ 0.96198018 -0.00481276 -0.27307684 -0.35072785] [ 0.00418375 0.99998708 -0.00288569 -0.37175365] [ 0.2730872 0.00163349 0.9619879 -0.48442692] [ 0. 0. 0. 1. ]] SLAMing on 343.44463044 meters Centerline goodness : 0.089574 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:-0.48 [[ 0.96194504 -0.00457709 -0.27320465 -0.35018151] [ 0.00404088 0.99998865 -0.00252533 -0.3736687 ] [ 0.27321311 0.00132524 0.96195262 -0.48453992] [ 0. 0. 0. 1. ]] SLAMing on 343.47463044 meters Centerline goodness : 0.090630 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:-0.48 [[ 0.96189045 -0.00438735 -0.27339991 -0.34963244] [ 0.00394633 0.99998987 -0.00216302 -0.37607696] [ 0.27340663 0.00100167 0.96189803 -0.48447299] [ 0. 0. 0. 1. ]] SLAMing on 343.50463044 meters Centerline goodness : 0.089148 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:-0.48 [[ 9.61843828e-01 -4.24115288e-03 -2.73566195e-01 -3.49078265e-01] [ 3.89854246e-03 9.99990788e-01 -1.79599971e-03 -3.79005854e-01] [ 2.73571292e-01 6.60961809e-04 9.61851502e-01 -4.84479969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53463044 meters Centerline goodness : 0.112522 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 9.61757196e-01 -3.48848381e-04 -2.73903221e-01 -3.30145745e-01] [-1.07772454e-03 9.99986628e-01 -5.05781950e-03 -3.86704255e-01] [ 2.73901322e-01 5.15958652e-03 9.61743960e-01 -4.77786574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56463044000003 meters Centerline goodness : 0.091181 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 9.61797351e-01 -1.13512385e-04 -2.73762383e-01 -3.30578485e-01] [-1.21602089e-03 9.99988277e-01 -4.68682625e-03 -3.88798673e-01] [ 2.73759706e-01 4.84067785e-03 9.61785938e-01 -4.77784557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59463044 meters Centerline goodness : 0.341692 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 9.61833071e-01 1.70018934e-04 -2.73636830e-01 -3.30768113e-01] [-1.40026718e-03 9.99989772e-01 -4.30061292e-03 -3.90581605e-01] [ 2.73633300e-01 4.51963640e-03 9.61823471e-01 -4.77967766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62463044000003 meters Centerline goodness : 0.272515 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 9.61810394e-01 4.07426628e-04 -2.73716275e-01 -3.30505321e-01] [-1.55518213e-03 9.99990885e-01 -3.97626128e-03 -3.92138007e-01] [ 2.73712160e-01 4.25008809e-03 9.61802261e-01 -4.77971783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65463044 meters Centerline goodness : 0.399329 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 9.61592354e-01 7.01713830e-04 -2.74480694e-01 -3.27963914e-01] [-1.76095870e-03 9.99991924e-01 -3.61269947e-03 -3.94361163e-01] [ 2.74475942e-01 3.95729335e-03 9.61585824e-01 -4.78162522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68463044000003 meters Centerline goodness : 0.093898 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 9.61501949e-01 8.53107555e-04 -2.74796787e-01 -3.27067509e-01] [-1.88678527e-03 9.99992104e-01 -3.49730032e-03 -3.94733111e-01] [ 2.74791634e-01 3.88114360e-03 9.61495967e-01 -4.78184172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71463044 meters Centerline goodness : 0.456094 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96146885 0.00830903 -0.27478831 -0.30850488] [-0.00995934 0.99993977 -0.00461105 -0.39768377] [ 0.27473345 0.00717009 0.96149369 -0.47142916] [ 0. 0. 0. 1. ]] SLAMing on 343.74463044000004 meters Centerline goodness : 0.493448 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96154146 0.00840523 -0.2745312 -0.3093066 ] [-0.01004237 0.99993918 -0.00455845 -0.3978116 ] [ 0.27447619 0.00714008 0.96156739 -0.47142489] [ 0. 0. 0. 1. ]] SLAMing on 343.77463044 meters Centerline goodness : 0.509659 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96160743 0.00852723 -0.27429626 -0.31019301] [-0.01013589 0.99993874 -0.00444787 -0.39820129] [ 0.27424152 0.00705734 0.96163495 -0.4712993 ] [ 0. 0. 0. 1. ]] SLAMing on 343.80463044000004 meters Centerline goodness : 0.441538 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96164968 0.0086126 -0.27414544 -0.31058409] [-0.01020502 0.99993832 -0.00438302 -0.39845374] [ 0.27409078 0.00701259 0.96167826 -0.47139023] [ 0. 0. 0. 1. ]] SLAMing on 343.83463044 meters Centerline goodness : 0.095236 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96164722 0.00865551 -0.27415272 -0.31053695] [-0.0102353 0.99993823 -0.00433255 -0.39853641] [ 0.27409829 0.00697242 0.96167641 -0.47140909] [ 0. 0. 0. 1. ]] SLAMing on 343.86463044000004 meters Centerline goodness : 0.115697 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96168288 0.00864026 -0.27402808 -0.31110143] [-0.01021827 0.99993841 -0.00433171 -0.39865187] [ 0.27397377 0.00696583 0.96171194 -0.47125796] [ 0. 0. 0. 1. ]] SLAMing on 343.89463044 meters Centerline goodness : 0.115697 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96168288 0.00864026 -0.27402808 -0.31110143] [-0.01021827 0.99993841 -0.00433171 -0.39865187] [ 0.27397377 0.00696583 0.96171194 -0.47125796] [ 0. 0. 0. 1. ]] SLAMing on 343.92463044 meters Centerline goodness : 0.507531 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96175368 0.00844279 -0.27378564 -0.31241074] [-0.01006476 0.99993913 -0.00452009 -0.39846446] [ 0.27373081 0.0071028 0.96178012 -0.47078611] [ 0. 0. 0. 1. ]] SLAMing on 343.95463044 meters Centerline goodness : 0.476819 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96177829 0.00835617 -0.27370184 -0.31276226] [-0.00999949 0.99993938 -0.0046095 -0.39820993] [ 0.27364673 0.00717019 0.96180354 -0.47071476] [ 0. 0. 0. 1. ]] SLAMing on 343.98463044 meters Centerline goodness : 0.097330 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.40, Z:-0.47 [[ 0.96181607 0.00836477 -0.27356877 -0.31349562] [-0.01000286 0.99993942 -0.00459355 -0.39811323] [ 0.27351377 0.00715462 0.96184148 -0.47041448] [ 0. 0. 0. 1. ]] SLAMing on 344.01463044 meters Centerline goodness : 0.494806 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 0.96278302 0.00265217 -0.27026251 -0.32948392] [-0.00382758 0.99998537 -0.00382219 -0.39384362] [ 0.27024842 0.00471439 0.96277908 -0.47742909] [ 0. 0. 0. 1. ]] SLAMing on 344.04463044 meters Centerline goodness : 0.465633 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 0.96279612 0.00266313 -0.27021571 -0.32968556] [-0.00383566 0.99998538 -0.00381128 -0.39370753] [ 0.27020161 0.00470594 0.96279226 -0.47738929] [ 0. 0. 0. 1. ]] SLAMing on 344.07463044 meters Centerline goodness : 0.083593 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 0.96278226 0.00261949 -0.27026552 -0.32945168] [-0.00380172 0.99998536 -0.00385094 -0.39365927] [ 0.27025147 0.00473509 0.96277813 -0.47742051] [ 0. 0. 0. 1. ]] SLAMing on 344.10463044 meters Centerline goodness : 0.048926 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:-0.48 [[ 0.96253102 0.00239798 -0.27116099 -0.32630503] [-0.00362703 0.9999853 -0.0040315 -0.39343891] [ 0.27114734 0.00486395 0.96252556 -0.47777708] [ 0. 0. 0. 1. ]] SLAMing on 344.13463044 meters Centerline goodness : 0.227626 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:-0.49 [[ 0.96169785 0.0016904 -0.27410653 -0.36706712] [-0.00298399 0.99998629 -0.00430243 -0.39696841] [ 0.2740955 0.00495556 0.96168971 -0.48964057] [ 0. 0. 0. 1. ]] SLAMing on 344.16463044 meters Centerline goodness : 0.086716 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:-0.49 [[ 0.96162103 0.00159253 -0.2743765 -0.36633835] [-0.00289226 0.99998643 -0.00433254 -0.39751504] [ 0.27436588 0.00495983 0.96161259 -0.48954994] [ 0. 0. 0. 1. ]] SLAMing on 344.19463044 meters Centerline goodness : 0.108890 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:-0.49 [[ 0.96168829 0.00161704 -0.2741405 -0.36757374] [-0.00289593 0.99998673 -0.00426045 -0.39802195] [ 0.27412997 0.00489112 0.96168022 -0.48910985] [ 0. 0. 0. 1. ]] SLAMing on 344.22463044 meters Centerline goodness : 0.283110 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:-0.49 [[ 0.96172735 0.00160977 -0.27400348 -0.36773979] [-0.00291097 0.99998634 -0.00434233 -0.39727966] [ 0.27399275 0.00497375 0.9617189 -0.48931273] [ 0. 0. 0. 1. ]] SLAMing on 344.25463044 meters Centerline goodness : 0.266826 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:-0.49 [[ 0.96173037 0.00153329 -0.27399332 -0.36749862] [-0.0028791 0.99998569 -0.00450976 -0.39629293] [ 0.27398248 0.00512603 0.96172102 -0.48955209] [ 0. 0. 0. 1. ]] SLAMing on 344.28463044 meters Centerline goodness : 0.445113 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.39, Z:-0.49 [[ 0.96171992 0.00144164 -0.27403052 -0.36711737] [-0.00284774 0.99998474 -0.00473345 -0.39490433] [ 0.27401951 0.00533262 0.96170935 -0.48981032] [ 0. 0. 0. 1. ]] SLAMing on 344.31463044000003 meters Centerline goodness : 0.441630 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.39, Z:-0.49 [[ 0.96170187 0.00135953 -0.27409427 -0.3669415 ] [-0.00283041 0.99998364 -0.00497092 -0.39331897] [ 0.27408302 0.00555634 0.96168998 -0.48981566] [ 0. 0. 0. 1. ]] SLAMing on 344.34463044 meters Centerline goodness : 0.470584 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.39, Z:-0.49 [[ 0.96161679 0.00164906 -0.274391 -0.36645875] [-0.00321081 0.9999811 -0.00524267 -0.38887208] [ 0.27437717 0.00592246 0.96160392 -0.48956386] [ 0. 0. 0. 1. ]] SLAMing on 344.37463044000003 meters Centerline goodness : 0.227540 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.39, Z:-0.49 [[ 0.96159816 0.00156293 -0.27445682 -0.3662545 ] [-0.00324106 0.99997872 -0.00566101 -0.38566478] [ 0.27444213 0.00633315 0.96158276 -0.48966498] [ 0. 0. 0. 1. ]] SLAMing on 344.40463044 meters Centerline goodness : 0.366991 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.38, Z:-0.49 [[ 0.96163453 0.00145674 -0.27432994 -0.36656736] [-0.00325624 0.99997607 -0.00610434 -0.38241638] [ 0.27431448 0.00676343 0.96161626 -0.48978575] [ 0. 0. 0. 1. ]] SLAMing on 344.43463044000003 meters Centerline goodness : 0.227740 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.38, Z:-0.49 [[ 0.96170083 0.00132281 -0.2740981 -0.36725946] [-0.0032458 0.9999732 -0.00656229 -0.37909007] [ 0.27408208 0.00720062 0.96167935 -0.4898539 ] [ 0. 0. 0. 1. ]] SLAMing on 344.46463044 meters Centerline goodness : 0.057515 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:-0.49 [[ 0.96176865 0.00150907 -0.27385905 -0.36851895] [-0.0035619 0.99996916 -0.00699887 -0.37149828] [ 0.27384005 0.00770676 0.96174437 -0.48955113] [ 0. 0. 0. 1. ]] SLAMing on 344.49463044000004 meters Centerline goodness : 0.474462 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:-0.49 [[ 0.9617685 0.00132189 -0.27386056 -0.36855299] [-0.00347793 0.99996666 -0.00738739 -0.36890123] [ 0.27384166 0.00805743 0.96174104 -0.48959209] [ 0. 0. 0. 1. ]] SLAMing on 344.52463044 meters Centerline goodness : 0.092201 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:-0.49 [[ 0.96174036 0.00108169 -0.27396042 -0.36836405] [-0.00334836 0.99996392 -0.00780627 -0.36645651] [ 0.2739421 0.00842492 0.96170928 -0.48953889] [ 0. 0. 0. 1. ]] SLAMing on 344.55463044000004 meters Centerline goodness : 0.456387 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.36, Z:-0.49 [[ 9.61739661e-01 8.43012328e-04 -2.73963708e-01 -3.68279127e-01] [-3.20235205e-03 9.99961540e-01 -8.16476419e-03 -3.64390160e-01] [ 2.73946288e-01 8.72970579e-03 9.61705373e-01 -4.89584622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58463044 meters Centerline goodness : 0.087405 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.36, Z:-0.49 [[ 9.61713373e-01 1.69890970e-04 -2.74057218e-01 -3.68437020e-01] [-2.74326993e-03 9.99955676e-01 -9.00671748e-03 -3.61031693e-01] [ 2.74043540e-01 9.41369357e-03 9.61671212e-01 -4.89231240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61463044000004 meters Centerline goodness : 0.203049 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.36, Z:-0.49 [[ 9.61636420e-01 -1.13565610e-04 -2.74327145e-01 -3.67920621e-01] [-2.55751076e-03 9.99952744e-01 -9.37915107e-03 -3.59392232e-01] [ 2.74315247e-01 9.72092789e-03 9.61590687e-01 -4.89000129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64463044 meters Centerline goodness : 0.441075 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.36, Z:-0.49 [[ 9.61574447e-01 -2.63851768e-04 -2.74544193e-01 -3.67221907e-01] [-2.49101251e-03 9.99949990e-01 -9.68562663e-03 -3.57316481e-01] [ 2.74533019e-01 9.99734408e-03 9.61525702e-01 -4.89064453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67463044 meters Centerline goodness : 0.279040 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.35, Z:-0.49 [[ 9.61514899e-01 -4.06624020e-04 -2.74752497e-01 -3.66669760e-01] [-2.43661124e-03 9.99946960e-01 -1.00069717e-02 -3.54929917e-01] [ 2.74741993e-01 1.02913174e-02 9.61462909e-01 -4.88992457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70463044 meters Centerline goodness : 0.465732 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.35, Z:-0.49 [[ 9.61599969e-01 -8.41603337e-04 -2.74453622e-01 -3.67812922e-01] [-2.20268530e-03 9.99939427e-01 -1.07838055e-02 -3.49981694e-01] [ 2.74446074e-01 1.09742420e-02 9.61539869e-01 -4.88787688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73463044 meters Centerline goodness : 0.260744 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.35, Z:-0.49 [[ 0.9616163 -0.00118281 -0.27439516 -0.36836814] [-0.00199189 0.99993427 -0.01129088 -0.34748585] [ 0.27439047 0.01140406 0.96155073 -0.48848207] [ 0. 0. 0. 1. ]] SLAMing on 344.76463044 meters Centerline goodness : 0.087686 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 0.9616378 -0.00142859 -0.27431861 -0.36880977] [-0.00185624 0.99992966 -0.01171455 -0.34491609] [ 0.27431605 0.01177436 0.96156751 -0.48835933] [ 0. 0. 0. 1. ]] SLAMing on 344.79463044 meters Centerline goodness : 0.265779 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 0.96160985 -0.00159741 -0.27441565 -0.36864578] [-0.00178481 0.9999255 -0.01207504 -0.3424375 ] [ 0.2744145 0.01210125 0.96153536 -0.4882721 ] [ 0. 0. 0. 1. ]] SLAMing on 344.82463044 meters Centerline goodness : 0.428080 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 0.96156709 -0.00210465 -0.27456204 -0.36848187] [-0.00146727 0.99991696 -0.01280347 -0.33884709] [ 0.27456618 0.01271425 0.96148414 -0.48802711] [ 0. 0. 0. 1. ]] SLAMing on 344.85463044 meters Centerline goodness : 0.110318 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 0.961605 -0.00248831 -0.274426 -0.36901084] [-0.00117805 0.99991225 -0.0131945 -0.33787534] [ 0.27443476 0.01301118 0.96151769 -0.48791942] [ 0. 0. 0. 1. ]] SLAMing on 344.88463044 meters Centerline goodness : 0.298284 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 0.96165088 -0.00269217 -0.27426328 -0.37001997] [-0.00101359 0.99991012 -0.01336908 -0.33745405] [ 0.27427462 0.01313438 0.96156171 -0.48746341] [ 0. 0. 0. 1. ]] SLAMing on 344.91463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 344.94463044 meters Centerline goodness : 0.153365 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 0.96172824 -0.00267549 -0.27399204 -0.37131548] [-0.00100465 0.99991117 -0.01329034 -0.33657706] [ 0.27400326 0.01305696 0.96164012 -0.48701403] [ 0. 0. 0. 1. ]] SLAMing on 344.97463044 meters Centerline goodness : 0.205389 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 9.61666388e-01 -2.81916183e-03 -2.74207605e-01 -3.70458099e-01] [-8.94189605e-04 9.99909599e-01 -1.34161817e-02 -3.36457154e-01] [ 2.74220639e-01 1.31470846e-02 9.61576932e-01 -4.87168076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00463044 meters Centerline goodness : 0.127816 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 9.61603724e-01 -2.90483780e-03 -2.74426383e-01 -3.69502513e-01] [-8.15231799e-04 9.99909336e-01 -1.34407790e-02 -3.36926640e-01] [ 2.74440546e-01 1.31484243e-02 9.61514173e-01 -4.87372637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03463044 meters Centerline goodness : 0.437417 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 9.61584636e-01 -2.94124811e-03 -2.74492874e-01 -3.69316846e-01] [-7.64835340e-04 9.99910010e-01 -1.33935621e-02 -3.37718986e-01] [ 2.74507566e-01 1.30889853e-02 9.61495853e-01 -4.87348216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06463044000003 meters Centerline goodness : 0.130273 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.34, Z:-0.49 [[ 9.61621382e-01 -2.87728321e-03 -2.74364791e-01 -3.69744442e-01] [-7.78602046e-04 9.99912374e-01 -1.32150756e-02 -3.38915608e-01] [ 2.74378773e-01 1.29215203e-02 9.61534879e-01 -4.87259151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09463044 meters Centerline goodness : 0.105019 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.34, Z:-0.50 [[ 9.61200321e-01 -3.54124258e-03 -2.75828575e-01 -4.13595711e-01] [-2.22750585e-04 9.99907306e-01 -1.36136086e-02 -3.43939943e-01] [ 2.75851216e-01 1.31468459e-02 9.61110434e-01 -4.98979477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12463044000003 meters Centerline goodness : 0.248625 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.34, Z:-0.50 [[ 9.61113521e-01 -3.53421381e-03 -2.76130965e-01 -4.12635256e-01] [-2.18407803e-04 9.99908061e-01 -1.35580722e-02 -3.44698431e-01] [ 2.76153495e-01 1.30911557e-02 9.61024385e-01 -4.99002915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15463044 meters Centerline goodness : 0.294203 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61073417e-01 -3.47233501e-03 -2.76271298e-01 -4.11836558e-01] [-2.61153879e-04 9.99909162e-01 -1.34759117e-02 -3.45316614e-01] [ 2.76292995e-01 1.30234899e-02 9.60985208e-01 -4.99351028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18463044000003 meters Centerline goodness : 0.461956 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61131028e-01 -3.00700730e-03 -2.76076266e-01 -4.12163840e-01] [-6.60436055e-04 9.99912787e-01 -1.31902343e-02 -3.45337967e-01] [ 2.76091851e-01 1.28598742e-02 9.61045219e-01 -4.99594272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21463044 meters Centerline goodness : 0.227853 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61208239e-01 -2.89451215e-03 -2.75808525e-01 -4.13112676e-01] [-7.56025036e-04 9.99913531e-01 -1.31285259e-02 -3.45298496e-01] [ 2.75822677e-01 1.28277654e-02 9.61122937e-01 -4.99492073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24463044000004 meters Centerline goodness : 0.088941 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61230472e-01 -2.88178219e-03 -2.75731166e-01 -4.13470948e-01] [-7.70801725e-04 9.99913401e-01 -1.31376180e-02 -3.45353234e-01] [ 2.75745147e-01 1.28408128e-02 9.61145008e-01 -4.99424785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27463044 meters Centerline goodness : 0.088620 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61210642e-01 -2.92379063e-03 -2.75799843e-01 -4.13367791e-01] [-7.42057710e-04 9.99912780e-01 -1.31864085e-02 -3.45511879e-01] [ 2.75814342e-01 1.28795755e-02 9.61124636e-01 -4.99372322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30463044000004 meters Centerline goodness : 0.085213 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61096930e-01 -2.78815164e-03 -2.76197243e-01 -4.12142700e-01] [-8.34001981e-04 9.99915200e-01 -1.29960455e-02 -3.46797477e-01] [ 2.76210057e-01 1.27208085e-02 9.61013104e-01 -4.99405214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33463044 meters Centerline goodness : 0.409171 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61049861e-01 -2.69952527e-03 -2.76361858e-01 -4.12064572e-01] [-8.76650306e-04 9.99917490e-01 -1.28158322e-02 -3.48013638e-01] [ 2.76373652e-01 1.25589264e-02 9.60968198e-01 -4.99041970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36463044000004 meters Centerline goodness : 0.458464 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61028827e-01 -2.62643281e-03 -2.76435698e-01 -4.12221090e-01] [-9.03372463e-04 9.99919693e-01 -1.26408741e-02 -3.49117865e-01] [ 2.76446699e-01 1.23979688e-02 9.60949277e-01 -4.98684230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39463044 meters Centerline goodness : 0.089117 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61051523e-01 -2.53955339e-03 -2.76357595e-01 -4.12539897e-01] [-9.34224720e-04 9.99922215e-01 -1.24374868e-02 -3.50472263e-01] [ 2.76367684e-01 1.22112458e-02 9.60974395e-01 -4.98575240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42463044 meters Centerline goodness : 0.093807 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61076965e-01 -2.44402094e-03 -2.76269967e-01 -4.12758438e-01] [-9.73669641e-04 9.99924700e-01 -1.22329923e-02 -3.51806005e-01] [ 2.76279061e-01 1.20258428e-02 9.61002216e-01 -4.98588856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45463044 meters Centerline goodness : 0.282092 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.35, Z:-0.50 [[ 9.61125392e-01 -2.40166036e-03 -2.76101815e-01 -4.13261044e-01] [-9.71290785e-04 9.99926575e-01 -1.20789364e-02 -3.53093738e-01] [ 2.76110552e-01 1.18775476e-02 9.61052489e-01 -4.98564389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.51463044 meters Centerline goodness : 0.111271 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.36, Z:-0.50 [[ 9.61049607e-01 -2.49808290e-03 -2.76364637e-01 -4.12892741e-01] [-7.86050947e-04 9.99930400e-01 -1.17719221e-02 -3.59063719e-01] [ 2.76374809e-01 1.15306378e-02 9.60980754e-01 -4.98176207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54463044 meters Centerline goodness : 0.220209 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.36, Z:-0.50 [[ 9.60976309e-01 -2.32987162e-03 -2.76620869e-01 -4.12393192e-01] [-8.84025329e-04 9.99933561e-01 -1.14931467e-02 -3.60491829e-01] [ 2.76629268e-01 1.12891815e-02 9.60910403e-01 -4.97920850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57463044 meters Centerline goodness : 0.087835 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.36, Z:-0.50 [[ 0.96098051 -0.0021011 -0.2766081 -0.41274928] [-0.00102005 0.99993744 -0.01113927 -0.36210255] [ 0.2766142 0.01098678 0.96091825 -0.49764843] [ 0. 0. 0. 1. ]] SLAMing on 345.60463044 meters Centerline goodness : 0.296542 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.37, Z:-0.50 [[ 0.9611115 -0.0017903 -0.27615483 -0.41444464] [-0.00116524 0.99994379 -0.01053802 -0.36552202] [ 0.27615817 0.01045 0.96105539 -0.49732497] [ 0. 0. 0. 1. ]] SLAMing on 345.63463044 meters Centerline goodness : 0.299559 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.37, Z:-0.50 [[ 0.9611538 -0.00177002 -0.27600767 -0.41504444] [-0.00113328 0.9999457 -0.01035905 -0.36717853] [ 0.27601102 0.01026943 0.96109961 -0.4971499 ] [ 0. 0. 0. 1. ]] SLAMing on 345.66463044 meters Centerline goodness : 0.088513 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.37, Z:-0.50 [[ 0.96118719 -0.00182477 -0.27589101 -0.41534889] [-0.0010484 0.99994675 -0.01026632 -0.36855839] [ 0.27589505 0.0101571 0.9611341 -0.49718509] [ 0. 0. 0. 1. ]] SLAMing on 345.69463044 meters Centerline goodness : 0.343513 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.37, Z:-0.50 [[ 0.96116477 -0.00178276 -0.2759694 -0.4148969 ] [-0.00103787 0.99994871 -0.01007444 -0.37010157] [ 0.27597321 0.00996961 0.96111362 -0.49731681] [ 0. 0. 0. 1. ]] SLAMing on 345.72463044 meters Centerline goodness : 0.091585 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.37, Z:-0.50 [[ 9.61216237e-01 -1.75258570e-03 -2.75790272e-01 -4.15221222e-01] [-9.28123315e-04 9.99953591e-01 -9.58928518e-03 -3.74267797e-01] [ 2.75794278e-01 9.47334400e-03 9.61170001e-01 -4.97370547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75463044 meters Centerline goodness : 0.089167 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.38, Z:-0.50 [[ 9.61272976e-01 -1.86577913e-03 -2.75591698e-01 -4.15775122e-01] [-7.46449377e-04 9.99955790e-01 -9.37342551e-03 -3.77044035e-01] [ 2.75597003e-01 9.21613589e-03 9.61229086e-01 -4.97304674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78463044 meters Centerline goodness : 0.089167 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.38, Z:-0.50 [[ 9.61272976e-01 -1.86577913e-03 -2.75591698e-01 -4.15775122e-01] [-7.46449377e-04 9.99955790e-01 -9.37342551e-03 -3.77044035e-01] [ 2.75597003e-01 9.21613589e-03 9.61229086e-01 -4.97304674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81463044000003 meters Centerline goodness : 0.093451 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.38, Z:-0.50 [[ 9.61554743e-01 -3.81412256e-03 -2.74586832e-01 -4.18893790e-01] [ 9.50884391e-04 9.99943792e-01 -1.05597954e-02 -3.81461937e-01] [ 2.74611675e-01 9.89272105e-03 9.61504323e-01 -4.97297467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84463044 meters Centerline goodness : 0.098430 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.38, Z:-0.50 [[ 0.96151774 -0.00393221 -0.2747147 -0.41878431] [ 0.0011452 0.99994625 -0.01030476 -0.3846838 ] [ 0.27474046 0.00959361 0.96147056 -0.4970198 ] [ 0. 0. 0. 1. ]] SLAMing on 345.87463044000003 meters Centerline goodness : 0.099678 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.39, Z:-0.50 [[ 0.9614002 -0.0038418 -0.27512704 -0.4178323 ] [ 0.00117623 0.99995077 -0.00985282 -0.38797535] [ 0.27515135 0.00914889 0.96135739 -0.49671789] [ 0. 0. 0. 1. ]] SLAMing on 345.90463044 meters Centerline goodness : 0.301311 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.40, Z:-0.50 [[ 0.96097366 -0.00499241 -0.27659482 -0.41277939] [ 0.00229196 0.99994651 -0.01008565 -0.39568299] [ 0.27663038 0.0090581 0.9609337 -0.49697908] [ 0. 0. 0. 1. ]] SLAMing on 345.93463044000003 meters Centerline goodness : 0.263790 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.40, Z:-0.50 [[ 0.96089086 -0.00492258 -0.27688358 -0.41181051] [ 0.00232281 0.99995009 -0.00971661 -0.39903327] [ 0.27691759 0.00869346 0.96085434 -0.49701065] [ 0. 0. 0. 1. ]] SLAMing on 345.96463044 meters Centerline goodness : 0.071957 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.40, Z:-0.50 [[ 0.96087652 -0.00496984 -0.27693251 -0.41142553] [ 0.0024405 0.99995211 -0.00947732 -0.40225521] [ 0.27696635 0.00843068 0.96084263 -0.49708682] [ 0. 0. 0. 1. ]] SLAMing on 345.99463044000004 meters Centerline goodness : 0.302000 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.50 [[ 0.96088189 -0.0048783 -0.27691551 -0.41160827] [ 0.00244044 0.99995518 -0.00914759 -0.40509597] [ 0.27694772 0.00811396 0.96085073 -0.49691606] [ 0. 0. 0. 1. ]] SLAMing on 346.02463044 meters Centerline goodness : 0.296359 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.50 [[ 0.96088335 -0.00453806 -0.27691623 -0.41155372] [ 0.00228528 0.99996162 -0.00845742 -0.40981826] [ 0.27694398 0.00749376 0.96085684 -0.496904 ] [ 0. 0. 0. 1. ]] SLAMing on 346.05463044000004 meters Centerline goodness : 0.302482 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.50 [[ 0.96083223 -0.00435106 -0.27709655 -0.41092334] [ 0.00218895 0.9999647 -0.00811159 -0.41195175] [ 0.27712207 0.00718732 0.96080784 -0.49695583] [ 0. 0. 0. 1. ]] SLAMing on 346.08463044 meters Centerline goodness : 0.102680 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.50 [[ 0.96079703 -0.00417398 -0.27722129 -0.41055873] [ 0.00210265 0.99996761 -0.00776862 -0.41419407] [ 0.27724474 0.00688117 0.96077469 -0.49692695] [ 0. 0. 0. 1. ]] SLAMing on 346.11463044000004 meters Centerline goodness : 0.235260 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.42, Z:-0.50 [[ 0.96077259 -0.00401689 -0.2773083 -0.41054006] [ 0.00203783 0.99997036 -0.00742452 -0.41657365] [ 0.2773299 0.00656817 0.9607523 -0.49665826] [ 0. 0. 0. 1. ]] SLAMing on 346.14463044 meters Centerline goodness : 0.279743 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.42, Z:-0.50 [[ 0.96074589 -0.00355582 -0.2774071 -0.41067805] [ 0.00178601 0.99997641 -0.00663226 -0.42159349] [ 0.27742414 0.00587647 0.96072957 -0.496264 ] [ 0. 0. 0. 1. ]] SLAMing on 346.17463044 meters Centerline goodness : 0.299462 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.42, Z:-0.50 [[ 0.96067457 -0.00339565 -0.27765596 -0.40986194] [ 0.00171021 0.99997862 -0.00631221 -0.42405856] [ 0.27767146 0.00558913 0.96065984 -0.49621954] [ 0. 0. 0. 1. ]] SLAMing on 346.20463044 meters Centerline goodness : 0.098710 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.43, Z:-0.50 [[ 0.96066164 -0.00325018 -0.27770245 -0.40963259] [ 0.00165285 0.99998072 -0.00598588 -0.42674302] [ 0.27771655 0.00529141 0.96064849 -0.49625503] [ 0. 0. 0. 1. ]] SLAMing on 346.23463044 meters Centerline goodness : 0.301482 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.43, Z:-0.50 [[ 0.96068428 -0.00301295 -0.27762679 -0.40990546] [ 0.00152252 0.99998325 -0.0055839 -0.42918093] [ 0.27763897 0.00494167 0.96067278 -0.4962236 ] [ 0. 0. 0. 1. ]] SLAMing on 346.26463044 meters Centerline goodness : 0.101322 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.43, Z:-0.50 [[ 0.96072946 -0.00224531 -0.27747769 -0.41060637] [ 0.00102603 0.99998917 -0.00453928 -0.43428512] [ 0.27748487 0.00407632 0.96072136 -0.4959507 ] [ 0. 0. 0. 1. ]] SLAMing on 346.29463044 meters Centerline goodness : 0.091358 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.50 [[ 9.60743379e-01 -2.03182649e-03 -2.77431130e-01 -4.10398330e-01] [ 9.10966353e-04 9.99990895e-01 -4.16897374e-03 -4.36711224e-01] [ 2.77437075e-01 3.75258349e-03 9.60736482e-01 -4.96185972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32463044 meters Centerline goodness : 0.296470 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.50 [[ 9.60692866e-01 -1.90645366e-03 -2.77606887e-01 -4.09589936e-01] [ 8.53168575e-04 9.99991973e-01 -3.91490790e-03 -4.39081154e-01] [ 2.77612122e-01 3.52417861e-03 9.60686780e-01 -4.96323385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35463044 meters Centerline goodness : 0.100036 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.50 [[ 9.60658113e-01 -1.87076410e-03 -2.77727366e-01 -4.08814376e-01] [ 8.53267364e-04 9.99992475e-01 -3.78447332e-03 -4.40768666e-01] [ 2.77732356e-01 3.39860930e-03 9.60652480e-01 -4.96644983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38463044 meters Centerline goodness : 0.097998 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.50 [[ 9.60605960e-01 -1.13239516e-03 -2.77911690e-01 -4.07732232e-01] [ 2.62906139e-04 9.99994954e-01 -3.16589864e-03 -4.42345145e-01] [ 2.77913873e-01 2.96811642e-03 9.60601410e-01 -4.97120063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41463044 meters Centerline goodness : 0.051675 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.50 [[ 9.60573575e-01 -7.73783858e-04 -2.78024835e-01 -4.07238244e-01] [-4.20535321e-05 9.99995711e-01 -2.92842922e-03 -4.42232034e-01] [ 2.78025908e-01 2.82466365e-03 9.60569423e-01 -4.97230592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44463044 meters Centerline goodness : 0.295934 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 9.60031174e-01 -6.46604916e-05 -2.79893087e-01 -4.51208939e-01] [-5.39948064e-04 9.99997685e-01 -2.08303578e-03 -4.45434233e-01] [ 2.79892574e-01 2.15090702e-03 9.60028917e-01 -5.08999078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47463044 meters Centerline goodness : 0.128727 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 9.60077386e-01 3.09415986e-05 -2.79734539e-01 -4.51621941e-01] [-6.14761850e-04 9.99997812e-01 -1.99931486e-03 -4.45918008e-01] [ 2.79733865e-01 2.09146710e-03 9.60075305e-01 -5.09026916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50463044 meters Centerline goodness : 0.088984 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 9.60119468e-01 -2.21049701e-05 -2.79590068e-01 -4.52473024e-01] [-5.65698138e-04 9.99997796e-01 -2.02168382e-03 -4.46271272e-01] [ 2.79589497e-01 2.09922158e-03 9.60117340e-01 -5.08694324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53463044 meters Centerline goodness : 0.089475 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 9.60224432e-01 2.40831125e-04 -2.79229265e-01 -4.54115619e-01] [-7.43094651e-04 9.99998291e-01 -1.69289893e-03 -4.47420842e-01] [ 2.79228381e-01 1.83305669e-03 9.60222970e-01 -5.08227127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56463044000003 meters Centerline goodness : 0.091312 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 9.60218145e-01 2.34659971e-04 -2.79250889e-01 -4.53941675e-01] [-7.36611139e-04 9.99998296e-01 -1.69255615e-03 -4.47488776e-01] [ 2.79250016e-01 1.83092245e-03 9.60216682e-01 -5.08294906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59463044 meters Centerline goodness : 0.084103 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.50 [[ 0.96023621 0.00721513 -0.27909563 -0.43533287] [-0.00845147 0.99995908 -0.00322676 -0.44988909] [ 0.27906093 0.00545722 0.96025789 -0.50158026] [ 0. 0. 0. 1. ]] SLAMing on 346.62463044000003 meters Centerline goodness : 0.085689 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.50 [[ 0.96027597 0.00707385 -0.2789624 -0.43576324] [-0.00834319 0.99995954 -0.00336318 -0.4498903 ] [ 0.27892732 0.00555702 0.96029614 -0.50154999] [ 0. 0. 0. 1. ]] SLAMing on 346.65463044 meters Centerline goodness : 0.085606 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.50 [[ 0.9605604 0.00736509 -0.27797389 -0.43927298] [-0.00860229 0.99995778 -0.00323136 -0.44899374] [ 0.27793835 0.00549512 0.9605832 -0.5011435 ] [ 0. 0. 0. 1. ]] SLAMing on 346.68463044000003 meters Centerline goodness : 0.085103 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.50 [[ 0.96056758 0.00746792 -0.2779463 -0.43962082] [-0.0086996 0.99995704 -0.00319831 -0.44835549] [ 0.27791048 0.00549021 0.96059129 -0.50090291] [ 0. 0. 0. 1. ]] SLAMing on 346.71463044 meters Centerline goodness : 0.096913 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.45, Z:-0.51 [[ 9.60242856e-01 1.31226004e-04 -2.79165974e-01 -4.57875533e-01] [-6.81510090e-04 9.99998012e-01 -1.87411613e-03 -4.45426139e-01] [ 2.79165173e-01 1.98986105e-03 9.60241036e-01 -5.07142875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74463044000004 meters Centerline goodness : 0.091058 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.45, Z:-0.51 [[ 9.60134628e-01 -4.50924672e-05 -2.79538001e-01 -4.56709541e-01] [-5.56293709e-04 9.99997699e-01 -2.07202318e-03 -4.45082700e-01] [ 2.79537451e-01 2.14492644e-03 9.60132393e-01 -5.07153180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77463044 meters Centerline goodness : 0.089429 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.44, Z:-0.51 [[ 9.60022282e-01 -2.64884116e-04 -2.79923469e-01 -4.55645016e-01] [-3.95790664e-04 9.99997268e-01 -2.30366982e-03 -4.44808027e-01] [ 2.79923315e-01 2.32236545e-03 9.60019554e-01 -5.07041221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80463044000004 meters Centerline goodness : 0.085693 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.44, Z:-0.51 [[ 9.60004762e-01 -3.15148365e-04 -2.79983494e-01 -4.55460284e-01] [-3.82033410e-04 9.99996961e-01 -2.43550536e-03 -4.44010391e-01] [ 2.79983411e-01 2.44505979e-03 9.60001725e-01 -5.07067979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83463044 meters Centerline goodness : 0.083486 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.44, Z:-0.51 [[ 9.60056581e-01 -2.83799766e-04 -2.79805790e-01 -4.55974934e-01] [-4.23460898e-04 9.99996867e-01 -2.46723021e-03 -4.43315094e-01] [ 2.79805613e-01 2.48716742e-03 9.60053453e-01 -5.07085198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86463044000004 meters Centerline goodness : 0.086344 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.44, Z:-0.51 [[ 9.60171243e-01 -2.95783538e-04 -2.79412056e-01 -4.57005586e-01] [-4.19236354e-04 9.99996789e-01 -2.49925250e-03 -4.42992958e-01] [ 2.79411899e-01 2.51685007e-03 9.60168036e-01 -5.07225411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89463044 meters Centerline goodness : 0.093387 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.44, Z:-0.51 [[ 9.60274311e-01 -3.85273633e-04 -2.79057520e-01 -4.58074767e-01] [-3.22433986e-04 9.99996848e-01 -2.49015863e-03 -4.43614097e-01] [ 2.79057600e-01 2.48121299e-03 9.60271159e-01 -5.07215323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92463044 meters Centerline goodness : 0.094649 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.45, Z:-0.51 [[ 9.60323090e-01 -4.82900099e-04 -2.78889459e-01 -4.58865135e-01] [-1.84921935e-04 9.99997179e-01 -2.36826284e-03 -4.45084231e-01] [ 2.78889815e-01 2.32587026e-03 9.60320291e-01 -5.06927936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95463044 meters Centerline goodness : 0.085090 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.45, Z:-0.51 [[ 9.60278768e-01 -5.67053864e-04 -2.79041872e-01 -4.58801300e-01] [-3.40226651e-05 9.99997690e-01 -2.14922511e-03 -4.47164435e-01] [ 2.79042446e-01 2.07334899e-03 9.60276530e-01 -5.06476238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98463044 meters Centerline goodness : 0.076562 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.45, Z:-0.51 [[ 0.95985526 -0.01032825 -0.28030557 -0.47850163] [ 0.01024538 0.99994596 -0.00176098 -0.45202091] [ 0.28030861 -0.00118156 0.95990921 -0.51201661] [ 0. 0. 0. 1. ]] SLAMing on 347.01463044 meters Centerline goodness : 0.091638 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.46, Z:-0.51 [[ 0.95975082 -0.01078808 -0.28064564 -0.47762881] [ 0.01074592 0.99994083 -0.00168906 -0.45646253] [ 0.28064726 -0.00139472 0.95980997 -0.51175076] [ 0. 0. 0. 1. ]] SLAMing on 347.04463044 meters Centerline goodness : 0.095425 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.47, Z:-0.51 [[ 9.59943865e-01 -1.51943261e-02 -2.79780108e-01 -4.80256331e-01] [ 1.45694788e-02 9.99884558e-01 -4.31299545e-03 -4.65501123e-01] [ 2.79813343e-01 6.39831776e-05 9.60054420e-01 -5.11346400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07463044 meters Centerline goodness : 0.302894 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.47, Z:-0.51 [[ 9.60241152e-01 -1.60838154e-02 -2.78708164e-01 -4.83577450e-01] [ 1.54574999e-02 9.99870646e-01 -4.44481922e-03 -4.71951814e-01] [ 2.78743602e-01 -4.00330861e-05 9.60365557e-01 -5.11119291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10463044 meters Centerline goodness : 0.290230 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.48, Z:-0.51 [[ 9.60343435e-01 -1.60388503e-02 -2.78358118e-01 -4.84809196e-01] [ 1.55634295e-02 9.99871207e-01 -3.91778512e-03 -4.77176023e-01] [ 2.78385104e-01 -5.69787710e-04 9.60469369e-01 -5.10849569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13463044 meters Centerline goodness : 0.304510 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.48, Z:-0.51 [[ 0.96026419 -0.01603032 -0.27863185 -0.48425993] [ 0.01569039 0.99987095 -0.00345019 -0.48234837] [ 0.2786512 -0.00105875 0.96039179 -0.51052176] [ 0. 0. 0. 1. ]] SLAMing on 347.16463044 meters Centerline goodness : 0.269924 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.49, Z:-0.51 [[ 0.96000277 -0.01630926 -0.27951508 -0.48219226] [ 0.01601052 0.9998662 -0.003352 -0.48785848] [ 0.27953235 -0.00125725 0.96013545 -0.50990718] [ 0. 0. 0. 1. ]] SLAMing on 347.19463044 meters Centerline goodness : 0.306794 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.50, Z:-0.52 [[ 0.96036795 -0.01049338 -0.27853778 -0.49482324] [ 0.00959805 0.99994346 -0.00457795 -0.49996456] [ 0.27857007 0.0017231 0.96041436 -0.51633899] [ 0. 0. 0. 1. ]] SLAMing on 347.22463044 meters Centerline goodness : 0.099543 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.51, Z:-0.52 [[ 0.96011815 -0.01257983 -0.27931144 -0.49307485] [ 0.01158158 0.99991929 -0.00522403 -0.51007592] [ 0.27935461 0.00178082 0.96018635 -0.5161504 ] [ 0. 0. 0. 1. ]] SLAMing on 347.25463044 meters Centerline goodness : 0.298332 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.51, Z:-0.52 [[ 0.96016468 -0.01264331 -0.2791486 -0.4937785 ] [ 0.011792 0.99991929 -0.00472878 -0.51456246] [ 0.27918585 0.00124869 0.96023627 -0.51618561] [ 0. 0. 0. 1. ]] SLAMing on 347.28463044 meters Centerline goodness : 0.097966 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.53, Z:-0.52 [[ 0.96097652 -0.00710697 -0.27653862 -0.50897117] [ 0.00575985 0.99996726 -0.00568331 -0.52580325] [ 0.27656996 0.00386871 0.960986 -0.52297449] [ 0. 0. 0. 1. ]] SLAMing on 347.31463044000003 meters Centerline goodness : 0.300722 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.53 [[ 9.61313784e-01 -6.62363780e-04 -2.75454842e-01 -5.24541294e-01] [-1.35918710e-03 9.99973529e-01 -7.14800120e-03 -5.35947940e-01] [ 2.75452285e-01 7.24586675e-03 9.61287437e-01 -5.29235145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34463044 meters Centerline goodness : 0.288541 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.53 [[ 9.61064911e-01 -2.84653213e-03 -2.76308040e-01 -5.20373081e-01] [ 5.83652122e-04 9.99965619e-01 -8.27158952e-03 -5.42874969e-01] [ 2.76322086e-01 7.78826668e-03 9.61033531e-01 -5.30140704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37463044000003 meters Centerline goodness : 0.284789 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.53 [[ 9.60966506e-01 -2.62249860e-03 -2.76652305e-01 -5.19348103e-01] [ 4.68062863e-04 9.99969053e-01 -7.85326807e-03 -5.45156039e-01] [ 2.76664338e-01 7.41723690e-03 9.60937994e-01 -5.30112886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40463044 meters Centerline goodness : 0.300541 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.53 [[ 9.60881978e-01 -2.39100827e-03 -2.76947842e-01 -5.18400164e-01] [ 3.43754317e-04 9.99972260e-01 -7.44051512e-03 -5.47259901e-01] [ 2.76957950e-01 7.05425487e-03 9.60856145e-01 -5.30119820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43463044000003 meters Centerline goodness : 0.298078 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.53 [[ 9.60812166e-01 -2.18010025e-03 -2.77191683e-01 -5.17587894e-01] [ 2.32459190e-04 9.99975058e-01 -7.05900063e-03 -5.49471104e-01] [ 2.77200158e-01 6.71793793e-03 9.60788708e-01 -5.30203253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46463044 meters Centerline goodness : 0.298490 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.53 [[ 9.60613302e-01 -2.08490835e-03 -2.77880798e-01 -5.15541520e-01] [ 2.50096944e-04 9.99977936e-01 -6.63815531e-03 -5.53077563e-01] [ 2.77888507e-01 6.30720315e-03 9.60592628e-01 -5.30145544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49463044000004 meters Centerline goodness : 0.264559 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.53 [[ 9.60595193e-01 -1.96571704e-03 -2.77944258e-01 -5.15347114e-01] [ 1.87510016e-04 9.99979347e-01 -6.42414863e-03 -5.54377427e-01] [ 2.77951146e-01 6.11888896e-03 9.60575723e-01 -5.30071539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52463044 meters Centerline goodness : 0.102418 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.56, Z:-0.52 [[ 0.9611102 0.00347774 -0.27614325 -0.49514958] [-0.00620849 0.99994009 -0.00901531 -0.55687542] [ 0.27609535 0.01037914 0.96107421 -0.52491807] [ 0. 0. 0. 1. ]] SLAMing on 347.55463044000004 meters Centerline goodness : 0.300878 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.56, Z:-0.52 [[ 0.96118684 0.00354836 -0.27587547 -0.49604601] [-0.00625721 0.99994046 -0.00893957 -0.55733154] [ 0.27582732 0.01031881 0.96115181 -0.52482482] [ 0. 0. 0. 1. ]] SLAMing on 347.58463044 meters Centerline goodness : 0.279603 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.56, Z:-0.52 [[ 0.96121573 0.0035385 -0.27577491 -0.49614361] [-0.00626563 0.99993979 -0.00900856 -0.55678913] [ 0.27572643 0.01038708 0.96118003 -0.52492529] [ 0. 0. 0. 1. ]] SLAMing on 347.61463044000004 meters Centerline goodness : 0.299665 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.56, Z:-0.53 [[ 0.9610255 0.00389 -0.27643238 -0.49381151] [-0.00661182 0.9999384 -0.0089149 -0.55534672] [ 0.27638067 0.01039517 0.96099202 -0.5251804 ] [ 0. 0. 0. 1. ]] SLAMing on 347.64463044 meters Centerline goodness : 0.301207 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.96089137 0.00389642 -0.27689817 -0.49201808] [-0.00668344 0.99993606 -0.00912207 -0.55337663] [ 0.27684492 0.01061595 0.96085597 -0.52544659] [ 0. 0. 0. 1. ]] SLAMing on 347.67463044 meters Centerline goodness : 0.301207 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.96089137 0.00389642 -0.27689817 -0.49201808] [-0.00668344 0.99993606 -0.00912207 -0.55337663] [ 0.27684492 0.01061595 0.96085597 -0.52544659] [ 0. 0. 0. 1. ]] SLAMing on 347.70463044 meters Centerline goodness : 0.087967 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.96075932 0.00391748 -0.27735569 -0.49028748] [-0.00676801 0.99993366 -0.00932092 -0.55149818] [ 0.27730077 0.01083231 0.96072209 -0.52570046] [ 0. 0. 0. 1. ]] SLAMing on 347.73463044 meters Centerline goodness : 0.102966 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.96072368 0.00393726 -0.27747885 -0.48985047] [-0.0068372 0.99993165 -0.00948421 -0.54990145] [ 0.27742255 0.01100888 0.96068493 -0.52574077] [ 0. 0. 0. 1. ]] SLAMing on 347.76463044 meters Centerline goodness : 0.095522 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.96073093 0.00404482 -0.2774522 -0.49023756] [-0.00699807 0.9999289 -0.00965473 -0.54766457] [ 0.27739343 0.01121723 0.96069093 -0.52546261] [ 0. 0. 0. 1. ]] SLAMing on 347.79463044 meters Centerline goodness : 0.300701 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.96073324 0.00394566 -0.27744562 -0.49047944] [-0.00694781 0.99992746 -0.00983839 -0.54669919] [ 0.27738668 0.01137971 0.96069097 -0.52523812] [ 0. 0. 0. 1. ]] SLAMing on 347.82463044 meters Centerline goodness : 0.298371 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.96076999 0.00384595 -0.27731974 -0.49105981] [-0.00688714 0.99992635 -0.00999313 -0.54589114] [ 0.27726089 0.01151104 0.96072571 -0.52502903] [ 0. 0. 0. 1. ]] SLAMing on 347.85463044 meters Centerline goodness : 0.300454 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.54, Z:-0.52 [[ 0.96097002 0.0038805 -0.27662533 -0.493505 ] [-0.00693271 0.9999254 -0.0100566 -0.54490513] [ 0.27656566 0.01158186 0.96092523 -0.5247309 ] [ 0. 0. 0. 1. ]] SLAMing on 347.88463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 347.91463044 meters Centerline goodness : 0.301310 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.52 [[ 9.61340971e-01 -1.78456451e-03 -2.75354959e-01 -4.77919457e-01] [-4.81721229e-04 9.99966570e-01 -8.16256665e-03 -5.38657648e-01] [ 2.75360320e-01 7.97965408e-03 9.61307973e-01 -5.18045634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94463044 meters Centerline goodness : 0.299380 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:-0.51 [[ 0.96131416 0.00563969 -0.27539658 -0.46185594] [-0.00832315 0.99992858 -0.00857626 -0.54302164] [ 0.27532854 0.01053665 0.96129245 -0.51250623] [ 0. 0. 0. 1. ]] SLAMing on 347.97463044 meters Centerline goodness : 0.477095 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:-0.51 [[ 0.96133127 0.0056212 -0.27533724 -0.46226671] [-0.00833765 0.99992743 -0.00869641 -0.54212588] [ 0.27526838 0.0106558 0.96130837 -0.51231726] [ 0. 0. 0. 1. ]] SLAMing on 348.00463044 meters Centerline goodness : 0.296598 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:-0.51 [[ 0.96131156 0.00559633 -0.27540656 -0.46210892] [-0.00835681 0.99992591 -0.00885088 -0.54079065] [ 0.27533662 0.01080997 0.9612871 -0.51222294] [ 0. 0. 0. 1. ]] SLAMing on 348.03463044 meters Centerline goodness : 0.302401 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:-0.51 [[ 0.96128037 0.00604511 -0.27550591 -0.4619025 ] [-0.00881076 0.99992245 -0.00880189 -0.53850955] [ 0.27543133 0.0108885 0.96125908 -0.51211879] [ 0. 0. 0. 1. ]] SLAMing on 348.06463044000003 meters Centerline goodness : 0.106573 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:-0.51 [[ 0.96121022 0.0059925 -0.27575171 -0.46134482] [-0.0088047 0.99992108 -0.00896145 -0.53768407] [ 0.27567625 0.01104175 0.96118712 -0.51189098] [ 0. 0. 0. 1. ]] SLAMing on 348.09463044 meters Centerline goodness : 0.300568 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:-0.51 [[ 0.96120008 0.00592208 -0.27578858 -0.46117982] [-0.00876057 0.99992057 -0.00906146 -0.53740736] [ 0.27571301 0.01112594 0.96117561 -0.51195649] [ 0. 0. 0. 1. ]] SLAMing on 348.12463044000003 meters Centerline goodness : 0.092982 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96095215 0.01258453 -0.27642827 -0.44442581] [-0.01595919 0.99982302 -0.00996177 -0.54330023] [ 0.27625399 0.01398436 0.96098292 -0.50610318] [ 0. 0. 0. 1. ]] SLAMing on 348.15463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 348.18463044000003 meters Centerline goodness : 0.253077 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96084632 0.01286458 -0.27678302 -0.44307019] [-0.01616776 0.99982267 -0.00965533 -0.54452512] [ 0.27660973 0.01375225 0.96088393 -0.50622136] [ 0. 0. 0. 1. ]] SLAMing on 348.21463044 meters Centerline goodness : 0.301510 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96075173 0.01287437 -0.27711075 -0.44213971] [-0.01617232 0.99982295 -0.00961885 -0.5451681 ] [ 0.27693785 0.01372285 0.96078984 -0.50614537] [ 0. 0. 0. 1. ]] SLAMing on 348.24463044000004 meters Centerline goodness : 0.301983 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96064658 0.01283926 -0.27747667 -0.44094632] [-0.01613469 0.99982378 -0.00959628 -0.54587898] [ 0.27730456 0.01369564 0.96068445 -0.5061951 ] [ 0. 0. 0. 1. ]] SLAMing on 348.27463044 meters Centerline goodness : 0.298885 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96056497 0.0128084 -0.2777605 -0.44005438] [-0.016113 0.99982392 -0.00961777 -0.54621844] [ 0.2775884 0.01371405 0.96060221 -0.50616862] [ 0. 0. 0. 1. ]] SLAMing on 348.30463044000004 meters Centerline goodness : 0.298126 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96055241 0.01286315 -0.27780136 -0.43999752] [-0.01614836 0.99982409 -0.00954084 -0.54670679] [ 0.27762977 0.01365052 0.96059116 -0.50608668] [ 0. 0. 0. 1. ]] SLAMing on 348.33463044 meters Centerline goodness : 0.300379 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96062673 0.01311869 -0.27753233 -0.44087367] [-0.01634441 0.99982305 -0.00931246 -0.54716572] [ 0.27736105 0.0134819 0.96067116 -0.50598608] [ 0. 0. 0. 1. ]] SLAMing on 348.36463044000004 meters Centerline goodness : 0.100828 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96062802 0.01306865 -0.27753022 -0.44084025] [-0.01630485 0.99982329 -0.00935591 -0.54746684] [ 0.27735891 0.01351264 0.96067135 -0.50597486] [ 0. 0. 0. 1. ]] SLAMing on 348.39463044 meters Centerline goodness : 0.299068 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96059214 0.01302936 -0.2776562 -0.44030121] [-0.01627512 0.99982348 -0.00938819 -0.54774563] [ 0.27748487 0.0135371 0.96063463 -0.50605279] [ 0. 0. 0. 1. ]] SLAMing on 348.42463044 meters Centerline goodness : 0.299211 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.9604705 0.01308699 -0.27807399 -0.43859766] [-0.01630365 0.99982422 -0.00925828 -0.54860625] [ 0.27790394 0.01342592 0.96051504 -0.50642423] [ 0. 0. 0. 1. ]] SLAMing on 348.45463044 meters Centerline goodness : 0.298662 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96045577 0.01308222 -0.27812508 -0.43845947] [-0.01628622 0.99982493 -0.00921263 -0.54918664] [ 0.27795587 0.01337793 0.96050069 -0.50639117] [ 0. 0. 0. 1. ]] SLAMing on 348.48463044 meters Centerline goodness : 0.297142 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96045405 0.01303715 -0.27813314 -0.43863225] [-0.0162411 0.99982561 -0.00921845 -0.54946361] [ 0.27796446 0.01337109 0.9604983 -0.50621287] [ 0. 0. 0. 1. ]] SLAMing on 348.51463044 meters Centerline goodness : 0.299389 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96046135 0.01300717 -0.27810935 -0.43881102] [-0.01621513 0.99982585 -0.00923773 -0.54949099] [ 0.27794076 0.01338206 0.960505 -0.50607358] [ 0. 0. 0. 1. ]] SLAMing on 348.54463044 meters Centerline goodness : 0.088821 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96048218 0.01298298 -0.27803853 -0.43913783] [-0.01620085 0.9998257 -0.009279 -0.54935999] [ 0.2778696 0.01341677 0.9605251 -0.50597381] [ 0. 0. 0. 1. ]] SLAMing on 348.57463044 meters Centerline goodness : 0.088808 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96048109 0.01299908 -0.27804155 -0.43931889] [-0.01623243 0.99982471 -0.00933004 -0.54874424] [ 0.27787153 0.01347461 0.96052373 -0.50575377] [ 0. 0. 0. 1. ]] SLAMing on 348.60463044 meters Centerline goodness : 0.299691 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96064733 0.01317313 -0.27745843 -0.44112396] [-0.01637869 0.99982318 -0.00923867 -0.54831759] [ 0.27728767 0.01341951 0.96069322 -0.50572361] [ 0. 0. 0. 1. ]] SLAMing on 348.63463044 meters Centerline goodness : 0.094602 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96068008 0.0131403 -0.27734655 -0.44170406] [-0.01635553 0.99982315 -0.00928245 -0.54812972] [ 0.27717553 0.01345361 0.96072511 -0.50553123] [ 0. 0. 0. 1. ]] SLAMing on 348.66463044 meters Centerline goodness : 0.304759 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96065476 0.01307032 -0.27743757 -0.44151874] [-0.01629999 0.99982354 -0.00933778 -0.54813753] [ 0.27726657 0.01349261 0.96069829 -0.50541384] [ 0. 0. 0. 1. ]] SLAMing on 348.69463044 meters Centerline goodness : 0.288616 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96061655 0.01301041 -0.27757265 -0.44111042] [-0.01625839 0.99982361 -0.0094028 -0.54808006] [ 0.27740135 0.01354537 0.96065864 -0.50537249] [ 0. 0. 0. 1. ]] SLAMing on 348.72463044 meters Centerline goodness : 0.301586 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96059091 0.01308089 -0.27765805 -0.44093084] [-0.01631648 0.9998232 -0.00934562 -0.54841835] [ 0.27748671 0.01350772 0.96063451 -0.50527048] [ 0. 0. 0. 1. ]] SLAMing on 348.75463044 meters Centerline goodness : 0.096798 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.51 [[ 0.96054917 0.01303711 -0.27780448 -0.44077334] [-0.01629866 0.99982266 -0.00943424 -0.54821549] [ 0.27763222 0.01358989 0.96059131 -0.5050065 ] [ 0. 0. 0. 1. ]] SLAMing on 348.78463044 meters Centerline goodness : 0.089265 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.50 [[ 0.960585 0.01295243 -0.27768452 -0.44113925] [-0.01624888 0.99982215 -0.0095731 -0.54767162] [ 0.27751114 0.01370784 0.96062462 -0.50496059] [ 0. 0. 0. 1. ]] SLAMing on 348.81463044000003 meters Centerline goodness : 0.090729 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.50 [[ 0.96061209 0.01287677 -0.2775943 -0.44148234] [-0.01621132 0.99982134 -0.00972037 -0.54708994] [ 0.27741953 0.01383767 0.96064922 -0.50485883] [ 0. 0. 0. 1. ]] SLAMing on 348.84463044 meters Centerline goodness : 0.092534 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.55, Z:-0.50 [[ 0.96060207 0.01282599 -0.27763133 -0.44154183] [-0.01620087 0.99982009 -0.00986528 -0.54624562] [ 0.27745485 0.01397448 0.96063704 -0.50466557] [ 0. 0. 0. 1. ]] SLAMing on 348.87463044000003 meters Centerline goodness : 0.091242 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.50 [[ 0.96051479 0.01335165 -0.2779084 -0.44026807] [-0.01668582 0.99981435 -0.00963558 -0.54499491] [ 0.27772816 0.01389225 0.96055925 -0.50488145] [ 0. 0. 0. 1. ]] SLAMing on 348.90463044 meters Centerline goodness : 0.097587 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.50 [[ 0.96037569 0.01338392 -0.27838714 -0.43859697] [-0.01675638 0.99981218 -0.00973828 -0.5442217 ] [ 0.27820452 0.01401717 0.96041958 -0.50495023] [ 0. 0. 0. 1. ]] SLAMing on 348.93463044000003 meters Centerline goodness : 0.094006 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.50 [[ 0.96023515 0.01323127 -0.27887882 -0.4371314 ] [-0.01666636 0.9998116 -0.00995001 -0.54388135] [ 0.27869463 0.01420225 0.96027475 -0.50484122] [ 0. 0. 0. 1. ]] SLAMing on 348.96463044 meters Centerline goodness : 0.266433 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.50 [[ 0.96017458 0.01301593 -0.2790974 -0.43648889] [-0.01651157 0.99981188 -0.01017749 -0.54347094] [ 0.27891242 0.01438051 0.96020886 -0.50475713] [ 0. 0. 0. 1. ]] SLAMing on 348.99463044000004 meters Centerline goodness : 0.093807 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.50 [[ 0.96030613 0.01330624 -0.27863074 -0.43770124] [-0.01672855 0.99981097 -0.00990844 -0.54361889] [ 0.27844623 0.01417623 0.96034719 -0.50493129] [ 0. 0. 0. 1. ]] SLAMing on 349.02463044 meters Centerline goodness : 0.095449 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96039558 0.01325602 -0.27832463 -0.43832257] [-0.01669023 0.99981097 -0.00997292 -0.54343516] [ 0.27813982 0.01422324 0.96043529 -0.50516522] [ 0. 0. 0. 1. ]] SLAMing on 349.05463044000004 meters Centerline goodness : 0.088903 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96046099 0.01306807 -0.27810773 -0.43865339] [-0.01655207 0.99981115 -0.01018314 -0.54288546] [ 0.27792213 0.01438377 0.96049591 -0.50542258] [ 0. 0. 0. 1. ]] SLAMing on 349.08463044 meters Centerline goodness : 0.088211 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96047408 0.01298204 -0.27806656 -0.43869677] [-0.01650654 0.99981032 -0.01033757 -0.54211645] [ 0.27787961 0.01451888 0.96050618 -0.5054553 ] [ 0. 0. 0. 1. ]] SLAMing on 349.11463044000004 meters Centerline goodness : 0.300123 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96048826 0.01305278 -0.27801425 -0.43864244] [-0.01659494 0.99980829 -0.01039144 -0.54100832] [ 0.27782532 0.01459449 0.96052074 -0.50559063] [ 0. 0. 0. 1. ]] SLAMing on 349.14463044 meters Centerline goodness : 0.093162 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96050472 0.01319795 -0.27795052 -0.43842587] [-0.01674582 0.99980575 -0.01039415 -0.53978755] [ 0.27775935 0.01463814 0.96053916 -0.50591207] [ 0. 0. 0. 1. ]] SLAMing on 349.17463044 meters Centerline goodness : 0.167347 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96043481 0.01316248 -0.27819367 -0.43734897] [-0.01677154 0.99980319 -0.01059723 -0.53827122] [ 0.27799943 0.01484368 0.96046654 -0.50612115] [ 0. 0. 0. 1. ]] SLAMing on 349.20463044 meters Centerline goodness : 0.083838 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96035567 0.01293814 -0.27847728 -0.43667625] [-0.01661227 0.99980327 -0.01083786 -0.53809362] [ 0.27828227 0.01503434 0.96038167 -0.50592522] [ 0. 0. 0. 1. ]] SLAMing on 349.23463044 meters Centerline goodness : 0.087554 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96034177 0.01282495 -0.27853046 -0.43636797] [-0.01652547 0.99980357 -0.01094195 -0.53800584] [ 0.27833541 0.01511086 0.96036507 -0.50604471] [ 0. 0. 0. 1. ]] SLAMing on 349.26463044 meters Centerline goodness : 0.083983 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96034444 0.01285007 -0.27852008 -0.43577574] [-0.01654876 0.99980329 -0.01093265 -0.53763618] [ 0.27832481 0.01510828 0.96036818 -0.50651703] [ 0. 0. 0. 1. ]] SLAMing on 349.29463044 meters Centerline goodness : 0.135383 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.54, Z:-0.51 [[ 0.96031241 0.01267412 -0.27863856 -0.43526655] [-0.01642131 0.99980334 -0.0111182 -0.53728319] [ 0.27844285 0.01525256 0.96033168 -0.5066431 ] [ 0. 0. 0. 1. ]] SLAMing on 349.32463044 meters Centerline goodness : 0.298258 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.96020958 0.01252375 -0.2789995 -0.43433492] [-0.01631784 0.99980322 -0.01128052 -0.53706739] [ 0.27880332 0.01538433 0.96022499 -0.50647522] [ 0. 0. 0. 1. ]] SLAMing on 349.35463044 meters Centerline goodness : 0.290975 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.96015883 0.01247344 -0.27917636 -0.43361853] [-0.0162978 0.9998024 -0.01138172 -0.53652881] [ 0.27897923 0.01547822 0.96017239 -0.50658324] [ 0. 0. 0. 1. ]] SLAMing on 349.38463044 meters Centerline goodness : 0.172145 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.96014171 0.01254488 -0.27923201 -0.43343142] [-0.01637082 0.9998013 -0.0113738 -0.5359037 ] [ 0.27903384 0.01549171 0.9601563 -0.50659144] [ 0. 0. 0. 1. ]] SLAMing on 349.41463044 meters Centerline goodness : 0.083777 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.96017434 0.01256521 -0.27911888 -0.43354774] [-0.01640168 0.99980034 -0.0114137 -0.53515268] [ 0.27891974 0.01553716 0.96018872 -0.50676328] [ 0. 0. 0. 1. ]] SLAMing on 349.44463044 meters Centerline goodness : 0.087156 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.96010196 0.01240284 -0.279375 -0.43253695] [-0.01630763 0.99979907 -0.0116569 -0.53376427] [ 0.27917428 0.01574776 0.96011131 -0.50692628] [ 0. 0. 0. 1. ]] SLAMing on 349.47463044 meters Centerline goodness : 0.093540 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.96005948 0.01223814 -0.27952822 -0.43212856] [-0.01619133 0.99979884 -0.01183766 -0.5333421 ] [ 0.27932712 0.01589079 0.9600645 -0.50686934] [ 0. 0. 0. 1. ]] SLAMing on 349.50463044 meters Centerline goodness : 0.084386 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.96005866 0.01210003 -0.27953704 -0.43219082] [-0.01609452 0.99979848 -0.01199874 -0.53263294] [ 0.27933552 0.01601851 0.96005993 -0.50677947] [ 0. 0. 0. 1. ]] SLAMing on 349.53463044 meters Centerline goodness : 0.085672 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.96007355 0.01189812 -0.27949458 -0.43206175] [-0.01596767 0.999797 -0.012288 -0.53092409] [ 0.27929163 0.01626026 0.96006864 -0.50697939] [ 0. 0. 0. 1. ]] SLAMing on 349.56463044000003 meters Centerline goodness : 0.088404 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.96002451 0.01169536 -0.27967151 -0.43114571] [-0.01583799 0.99979572 -0.01255719 -0.52984327] [ 0.27946752 0.01648464 0.96001363 -0.50727096] [ 0. 0. 0. 1. ]] SLAMing on 349.59463044 meters Centerline goodness : 0.088404 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.96002451 0.01169536 -0.27967151 -0.43114571] [-0.01583799 0.99979572 -0.01255719 -0.52984327] [ 0.27946752 0.01648464 0.96001363 -0.50727096] [ 0. 0. 0. 1. ]] SLAMing on 349.62463044000003 meters Centerline goodness : 0.085066 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95998464 0.01150078 -0.27981642 -0.430598 ] [-0.01571924 0.99979405 -0.01283634 -0.52860931] [ 0.27961116 0.01672119 0.95996771 -0.50733327] [ 0. 0. 0. 1. ]] SLAMing on 349.65463044 meters Centerline goodness : 0.084187 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95994631 0.01136631 -0.27995335 -0.43019078] [-0.01564079 0.99979265 -0.01303919 -0.52747988] [ 0.2797471 0.01689561 0.95992505 -0.50728859] [ 0. 0. 0. 1. ]] SLAMing on 349.68463044000003 meters Centerline goodness : 0.093193 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95998305 0.01142101 -0.27982512 -0.43035344] [-0.01569549 0.99979179 -0.01303948 -0.52680634] [ 0.27961793 0.01690967 0.95996243 -0.50747314] [ 0. 0. 0. 1. ]] SLAMing on 349.71463044 meters Centerline goodness : 0.085094 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.96004855 0.01146989 -0.27959834 -0.43096359] [-0.01572619 0.99979203 -0.01298433 -0.52680539] [ 0.27939126 0.0168626 0.96002926 -0.50756697] [ 0. 0. 0. 1. ]] SLAMing on 349.74463044000004 meters Centerline goodness : 0.095532 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96033329 0.00276496 -0.27884105 -0.45224456] [-0.0065643 0.9998979 -0.01269268 -0.52483763] [ 0.27877749 0.0140196 0.96025338 -0.51379785] [ 0. 0. 0. 1. ]] SLAMing on 349.77463044 meters Centerline goodness : 0.084578 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96032807 0.00263308 -0.27886029 -0.45237215] [-0.00642218 0.99989904 -0.0126751 -0.52594728] [ 0.27879876 0.01396315 0.96024803 -0.5135965 ] [ 0. 0. 0. 1. ]] SLAMing on 349.80463044000004 meters Centerline goodness : 0.090381 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96028563 0.00258722 -0.27900684 -0.45205682] [-0.0063602 0.99990016 -0.01261846 -0.52683407] [ 0.27894634 0.01389187 0.9602062 -0.51347304] [ 0. 0. 0. 1. ]] SLAMing on 349.83463044 meters Centerline goodness : 0.075375 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96028712 0.00269612 -0.27900069 -0.45184613] [-0.00642354 0.99990191 -0.01244651 -0.52762723] [ 0.27893976 0.01374439 0.96021024 -0.51363098] [ 0. 0. 0. 1. ]] SLAMing on 349.86463044000004 meters Centerline goodness : 0.109864 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96034365 0.00284456 -0.27880455 -0.45202217] [-0.00651436 0.9999039 -0.01223704 -0.52856869] [ 0.27874295 0.013568 0.9602699 -0.51386922] [ 0. 0. 0. 1. ]] SLAMing on 349.89463044 meters Centerline goodness : 0.088466 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.9603475 0.00282792 -0.27879147 -0.45204156] [-0.00649771 0.99990398 -0.01224 -0.52899274] [ 0.27873009 0.01356616 0.96027366 -0.51386325] [ 0. 0. 0. 1. ]] SLAMing on 349.92463044 meters Centerline goodness : 0.088801 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.9603703 0.00280401 -0.27871315 -0.45209452] [-0.00648075 0.9999037 -0.01227131 -0.52916837] [ 0.2786519 0.01359127 0.96029599 -0.51399514] [ 0. 0. 0. 1. ]] SLAMing on 349.95463044 meters Centerline goodness : 0.088607 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.9603445 0.00292728 -0.27880077 -0.45183759] [-0.00659652 0.99990353 -0.01222354 -0.52892357] [ 0.2787381 0.01357792 0.96027117 -0.51397934] [ 0. 0. 0. 1. ]] SLAMing on 349.98463044 meters Centerline goodness : 0.110158 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96032591 0.00311919 -0.27886274 -0.45148938] [-0.00676507 0.99990375 -0.01211271 -0.52867332] [ 0.27879811 0.01351867 0.96025458 -0.51409969] [ 0. 0. 0. 1. ]] SLAMing on 350.01463044 meters Centerline goodness : 0.249421 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96033045 0.0032961 -0.27884504 -0.45135351] [-0.00691751 0.99990402 -0.01200417 -0.5285068 ] [ 0.27877871 0.01345688 0.96026108 -0.51427583] [ 0. 0. 0. 1. ]] SLAMing on 350.04463044 meters Centerline goodness : 0.083845 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96039739 0.00336972 -0.27861354 -0.45206376] [-0.00700098 0.99990302 -0.01203936 -0.52834509] [ 0.27854595 0.01351314 0.96032783 -0.51424822] [ 0. 0. 0. 1. ]] SLAMing on 350.07463044 meters Centerline goodness : 0.110738 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96039699 0.00331 -0.27861561 -0.45207269] [-0.00698392 0.99990125 -0.0121948 -0.5275546 ] [ 0.27854774 0.01365768 0.96032527 -0.51422635] [ 0. 0. 0. 1. ]] SLAMing on 350.10463044 meters Centerline goodness : 0.097940 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.96043919 0.00340063 -0.27846901 -0.45215502] [-0.00710937 0.99989896 -0.01230957 -0.52607158] [ 0.27839901 0.01380234 0.96036633 -0.51455939] [ 0. 0. 0. 1. ]] SLAMing on 350.13463044 meters Centerline goodness : 0.097345 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96051212 0.00429845 -0.27820496 -0.45253859] [-0.00795715 0.99989606 -0.01202328 -0.5220074 ] [ 0.27812436 0.01376223 0.96044648 -0.51491967] [ 0. 0. 0. 1. ]] SLAMing on 350.16463044 meters Centerline goodness : 0.418502 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96053745 0.00416863 -0.27811945 -0.45278739] [-0.00791087 0.99989263 -0.01233463 -0.52001676] [ 0.27803817 0.01404804 0.9604673 -0.51493942] [ 0. 0. 0. 1. ]] SLAMing on 350.19463044 meters Centerline goodness : 0.111624 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96052468 0.00390351 -0.2781674 -0.4527009 ] [-0.007749 0.99988899 -0.01272627 -0.51829963] [ 0.27808684 0.01437941 0.9604483 -0.51490099] [ 0. 0. 0. 1. ]] SLAMing on 350.22463044 meters Centerline goodness : 0.122077 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96046203 0.0036461 -0.27838714 -0.45224703] [-0.00757401 0.99988635 -0.0130353 -0.5173044 ] [ 0.27830797 0.01462842 0.96038049 -0.51473395] [ 0. 0. 0. 1. ]] SLAMing on 350.25463044 meters Centerline goodness : 0.107733 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96037354 0.00343494 -0.27869493 -0.45138335] [-0.00742564 0.99988445 -0.01326483 -0.51651213] [ 0.27861716 0.01480868 0.96028807 -0.51468634] [ 0. 0. 0. 1. ]] SLAMing on 350.28463044 meters Centerline goodness : 0.084393 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96032044 0.00329984 -0.27887947 -0.45043935] [-0.00731123 0.99988422 -0.01334505 -0.51598501] [ 0.27880314 0.01485448 0.96023338 -0.51492623] [ 0. 0. 0. 1. ]] SLAMing on 350.31463044000003 meters Centerline goodness : 0.086934 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.9603341 0.00317476 -0.2788339 -0.45042361] [-0.00720072 0.99988408 -0.01341554 -0.51603329] [ 0.27875898 0.01489121 0.96024564 -0.51500282] [ 0. 0. 0. 1. ]] SLAMing on 350.34463044 meters Centerline goodness : 0.085626 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.96037517 0.00303123 -0.278694 -0.45067278] [-0.00706554 0.99988428 -0.01347245 -0.51639779] [ 0.27862091 0.01490773 0.96028545 -0.51513106] [ 0. 0. 0. 1. ]] SLAMing on 350.37463044000003 meters Centerline goodness : 0.084406 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96034102 0.00281419 -0.27881393 -0.45049674] [-0.00687758 0.99988391 -0.01359674 -0.51656659] [ 0.2787433 0.01497507 0.96024888 -0.51493808] [ 0. 0. 0. 1. ]] SLAMing on 350.40463044 meters Centerline goodness : 0.108522 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96027725 0.00277339 -0.27903389 -0.4500634 ] [-0.00683256 0.9998845 -0.01357571 -0.51680318] [ 0.27896401 0.01494297 0.96018529 -0.51471574] [ 0. 0. 0. 1. ]] SLAMing on 350.43463044000003 meters Centerline goodness : 0.114398 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.96013334 0.00266487 -0.27952971 -0.44816965] [-0.00671822 0.99988571 -0.01354353 -0.5171953 ] [ 0.27946167 0.01488154 0.96004152 -0.51500626] [ 0. 0. 0. 1. ]] SLAMing on 350.46463044 meters Centerline goodness : 0.083764 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.96011093 0.00258426 -0.27960744 -0.44779296] [-0.00663001 0.99988656 -0.0135246 -0.5178662 ] [ 0.27954077 0.01483892 0.96001915 -0.5150813 ] [ 0. 0. 0. 1. ]] SLAMing on 350.49463044000004 meters Centerline goodness : 0.472613 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.96015758 0.0025228 -0.27944778 -0.44836605] [-0.00652743 0.9998889 -0.01340086 -0.51938638] [ 0.27938292 0.01469102 0.96006737 -0.51499871] [ 0. 0. 0. 1. ]] SLAMing on 350.52463044 meters Centerline goodness : 0.124027 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.51 [[ 0.9601998 0.00241009 -0.27930368 -0.44914806] [-0.00637577 0.99989135 -0.01329085 -0.52115442] [ 0.2792413 0.01454265 0.96011083 -0.51468673] [ 0. 0. 0. 1. ]] SLAMing on 350.55463044000004 meters Centerline goodness : 0.085234 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 9.60473385e-01 1.11410893e-04 -2.78371808e-01 -4.52789297e-01] [-4.35939548e-03 9.99883309e-01 -1.46411573e-02 -5.26094127e-01] [ 2.78337694e-01 1.52759748e-02 9.60361793e-01 -5.14193139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58463044 meters Centerline goodness : 0.086037 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.96051945 -0.00668959 -0.27813241 -0.43460654] [ 0.00312783 0.99990735 -0.01324772 -0.52419115] [ 0.27819526 0.01185474 0.96045138 -0.50731188] [ 0. 0. 0. 1. ]] SLAMing on 350.61463044000004 meters Centerline goodness : 0.096060 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 9.60995748e-01 -9.29361893e-04 -2.76561583e-01 -4.51414646e-01] [-3.10817883e-03 9.99894906e-01 -1.41603574e-02 -5.32463991e-01] [ 2.76545678e-01 1.44676461e-02 9.60891865e-01 -5.14417370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64463044 meters Centerline goodness : 0.303941 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 9.60989035e-01 -8.36894511e-04 -2.76585203e-01 -4.51446589e-01] [-3.11020361e-03 9.99899498e-01 -1.38318389e-02 -5.34808969e-01] [ 2.76568981e-01 1.41524818e-02 9.60889851e-01 -5.14304779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67463044 meters Centerline goodness : 0.302713 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:-0.51 [[ 9.60976698e-01 -8.48767580e-04 -2.76628028e-01 -4.51409610e-01] [-3.03635977e-03 9.99902688e-01 -1.36159593e-02 -5.37107387e-01] [ 2.76612665e-01 1.39245618e-02 9.60880606e-01 -5.14219981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70463044 meters Centerline goodness : 0.469836 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:-0.51 [[ 9.60961033e-01 -8.53236241e-04 -2.76682427e-01 -4.51363775e-01] [-2.97017372e-03 9.99905813e-01 -1.33993949e-02 -5.39308173e-01] [ 2.76667799e-01 1.36980912e-02 9.60867988e-01 -5.14116749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73463044 meters Centerline goodness : 0.244288 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.55, Z:-0.51 [[ 0.96082772 -0.00191969 -0.2771397 -0.44993717] [-0.00196733 0.99990357 -0.01374675 -0.54580275] [ 0.27713936 0.01375348 0.96073129 -0.51416302] [ 0. 0. 0. 1. ]] SLAMing on 350.76463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 350.79463044 meters Centerline goodness : 0.300314 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.55, Z:-0.51 [[ 9.60875298e-01 -3.81683599e-03 -2.76955040e-01 -4.49564394e-01] [-2.10770831e-04 9.99894684e-01 -1.45112308e-02 -5.53509253e-01] [ 2.76981259e-01 1.40018572e-02 9.60773298e-01 -5.14742851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82463044 meters Centerline goodness : 0.473816 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.56, Z:-0.51 [[ 9.60894620e-01 -3.74542525e-03 -2.76888968e-01 -4.49785123e-01] [-2.18822391e-04 9.99897943e-01 -1.42848171e-02 -5.55389350e-01] [ 2.76914212e-01 1.37867934e-02 9.60795734e-01 -5.14703116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85463044 meters Centerline goodness : 0.473615 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.56, Z:-0.51 [[ 9.60951660e-01 -3.79609478e-03 -2.76690254e-01 -4.50377302e-01] [-1.41576987e-04 9.99899023e-01 -1.42099696e-02 -5.56480230e-01] [ 2.76716257e-01 1.36942669e-02 9.60854089e-01 -5.14686863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88463044 meters Centerline goodness : 0.470874 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.56, Z:-0.51 [[ 9.60940906e-01 -3.78816807e-03 -2.76727710e-01 -4.50200736e-01] [-1.08638296e-04 9.99901076e-01 -1.40650472e-02 -5.57737359e-01] [ 2.76753615e-01 1.35457425e-02 9.60845435e-01 -5.14798610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91463044 meters Centerline goodness : 0.112408 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.57, Z:-0.52 [[ 0.96152155 0.00255016 -0.27471767 -0.4640601 ] [-0.00692413 0.99986422 -0.01495314 -0.56646541] [ 0.27464224 0.01627994 0.96140866 -0.52201568] [ 0. 0. 0. 1. ]] SLAMing on 350.94463044 meters Centerline goodness : 0.473466 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.57, Z:-0.52 [[ 0.96145244 0.00267223 -0.27495831 -0.46283989] [-0.00691826 0.99987132 -0.01447379 -0.57011963] [ 0.27488424 0.0158181 0.9613472 -0.52245203] [ 0. 0. 0. 1. ]] SLAMing on 350.97463044 meters Centerline goodness : 0.091101 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.57, Z:-0.52 [[ 0.96140899 0.00268786 -0.27511003 -0.46228743] [-0.00685981 0.99987559 -0.01420362 -0.5726762 ] [ 0.27503763 0.01554269 0.96130782 -0.52252599] [ 0. 0. 0. 1. ]] SLAMing on 351.00463044 meters Centerline goodness : 0.089923 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.58, Z:-0.52 [[ 0.96135688 0.00263848 -0.27529254 -0.46160908] [-0.00674685 0.99987954 -0.01397774 -0.57534269] [ 0.2752225 0.01529495 0.96125888 -0.52265187] [ 0. 0. 0. 1. ]] SLAMing on 351.03463044 meters Centerline goodness : 0.093094 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.58, Z:-0.52 [[ 0.96131485 0.00266649 -0.27543901 -0.46106337] [-0.00668859 0.99988427 -0.01366421 -0.57815065] [ 0.27537069 0.01497791 0.96122143 -0.52277203] [ 0. 0. 0. 1. ]] SLAMing on 351.06463044000003 meters Centerline goodness : 0.097742 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.58, Z:-0.52 [[ 0.96123074 0.00283102 -0.27573076 -0.46007451] [-0.00673714 0.99988991 -0.01322027 -0.5811072 ] [ 0.27566297 0.01456537 0.96114399 -0.5228536 ] [ 0. 0. 0. 1. ]] SLAMing on 351.09463044 meters Centerline goodness : 0.114606 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.59, Z:-0.52 [[ 0.96130517 -0.00432692 -0.27545172 -0.43891935] [ 0.00107888 0.99992811 -0.01194212 -0.58535582] [ 0.27548359 0.01118284 0.96124073 -0.51695073] [ 0. 0. 0. 1. ]] SLAMing on 351.12463044000003 meters Centerline goodness : 0.471333 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.59, Z:-0.52 [[ 0.96165733 0.00299932 -0.27423746 -0.45430054] [-0.00680597 0.99989324 -0.01293044 -0.59450232] [ 0.2741694 0.0143011 0.96157507 -0.52336835] [ 0. 0. 0. 1. ]] SLAMing on 351.15463044 meters Centerline goodness : 0.314764 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.9616724 0.003274 -0.27418148 -0.45439263] [-0.00693959 0.99989903 -0.01240031 -0.59792226] [ 0.27411319 0.01382774 0.96159802 -0.52343062] [ 0. 0. 0. 1. ]] SLAMing on 351.18463044000003 meters Centerline goodness : 0.471966 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.9616703 0.0036342 -0.2741843 -0.45447066] [-0.00715769 0.99990415 -0.01185146 -0.60073542] [ 0.27411495 0.01335972 0.96160413 -0.52337479] [ 0. 0. 0. 1. ]] SLAMing on 351.21463044 meters Centerline goodness : 0.469729 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.96160532 0.00408603 -0.27440575 -0.45382086] [-0.00748359 0.99990774 -0.01133577 -0.60346514] [ 0.27433411 0.01295408 0.96154718 -0.5232969 ] [ 0. 0. 0. 1. ]] SLAMing on 351.24463044000004 meters Centerline goodness : 0.251170 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.96154717 0.0042029 -0.27460766 -0.45313575] [-0.00758327 0.99990797 -0.01124934 -0.60375873] [ 0.27453511 0.01289919 0.96149055 -0.52333481] [ 0. 0. 0. 1. ]] SLAMing on 351.27463044 meters Centerline goodness : 0.474247 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.96154674 0.00438313 -0.27460638 -0.45298672] [-0.00775109 0.99990745 -0.01118078 -0.60341285] [ 0.27453195 0.01287934 0.96149172 -0.52341542] [ 0. 0. 0. 1. ]] SLAMing on 351.30463044000004 meters Centerline goodness : 0.128187 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.96160371 0.00455835 -0.27440395 -0.45305013] [-0.00791304 0.99990686 -0.01111966 -0.6029563 ] [ 0.27432771 0.01286408 0.96155022 -0.5238458 ] [ 0. 0. 0. 1. ]] SLAMing on 351.33463044 meters Centerline goodness : 0.213807 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.96162604 0.00461868 -0.27432468 -0.45291839] [-0.00799069 0.99990562 -0.01117585 -0.60207661] [ 0.27424717 0.01293903 0.96157219 -0.52412087] [ 0. 0. 0. 1. ]] SLAMing on 351.36463044000004 meters Centerline goodness : 0.093268 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.96172843 0.0046128 -0.2739656 -0.45350903] [-0.008024 0.9999036 -0.01133191 -0.60075468] [ 0.27388692 0.01309652 0.96167273 -0.52452777] [ 0. 0. 0. 1. ]] SLAMing on 351.39463044 meters Centerline goodness : 0.472316 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.9617398 0.00454097 -0.27392687 -0.45351361] [-0.00796945 0.99990321 -0.01140456 -0.60057775] [ 0.27384856 0.01315126 0.9616829 -0.52461912] [ 0. 0. 0. 1. ]] SLAMing on 351.42463044 meters Centerline goodness : 0.329588 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.60, Z:-0.52 [[ 0.96174147 0.0043792 -0.27392365 -0.45344021] [-0.00784561 0.9999024 -0.01156042 -0.60026986] [ 0.27384629 0.01326724 0.96168196 -0.52466324] [ 0. 0. 0. 1. ]] SLAMing on 351.45463044 meters Centerline goodness : 0.090203 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.61, Z:-0.52 [[ 0.96149442 0.01035654 -0.27462925 -0.43919163] [-0.01428203 0.99982238 -0.01229801 -0.60689631] [ 0.27445311 0.01574673 0.96147155 -0.51978464] [ 0. 0. 0. 1. ]] SLAMing on 351.48463044 meters Centerline goodness : 0.090203 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.61, Z:-0.52 [[ 0.96149442 0.01035654 -0.27462925 -0.43919163] [-0.01428203 0.99982238 -0.01229801 -0.60689631] [ 0.27445311 0.01574673 0.96147155 -0.51978464] [ 0. 0. 0. 1. ]] SLAMing on 351.51463044 meters Centerline goodness : 0.156109 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.61, Z:-0.52 [[ 0.96144526 0.01012364 -0.27480998 -0.43853711] [-0.01410345 0.99982228 -0.01250997 -0.60620004] [ 0.2746345 0.01590342 0.96141717 -0.51987069] [ 0. 0. 0. 1. ]] SLAMing on 351.54463044 meters Centerline goodness : 0.473055 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.61, Z:-0.52 [[ 0.96141824 0.01001665 -0.2749084 -0.4380731 ] [-0.01401292 0.99982272 -0.01257659 -0.60601026] [ 0.27473369 0.01594363 0.96138816 -0.52000401] [ 0. 0. 0. 1. ]] SLAMing on 351.57463044 meters Centerline goodness : 0.466588 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.61, Z:-0.52 [[ 0.96137856 0.00987881 -0.27505214 -0.43764416] [-0.01389787 0.99982318 -0.01266686 -0.60590844] [ 0.27487837 0.01600028 0.96134587 -0.51991717] [ 0. 0. 0. 1. ]] SLAMing on 351.60463044 meters Centerline goodness : 0.471850 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.61, Z:-0.52 [[ 0.96142531 0.00963349 -0.27489739 -0.43798751] [-0.01368677 0.99982401 -0.01283027 -0.60611361] [ 0.27472541 0.0160978 0.96138796 -0.51999087] [ 0. 0. 0. 1. ]] SLAMing on 351.63463044 meters Centerline goodness : 0.465366 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.61, Z:-0.52 [[ 0.96147025 0.0095551 -0.27474289 -0.43839934] [-0.01363628 0.99982318 -0.01294837 -0.60559856] [ 0.27457058 0.01619595 0.96143054 -0.52001178] [ 0. 0. 0. 1. ]] SLAMing on 351.66463044 meters Centerline goodness : 0.093304 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.60, Z:-0.52 [[ 0.96154589 0.00952545 -0.27447907 -0.43881733] [-0.01363855 0.99982143 -0.01308056 -0.60461007] [ 0.27430546 0.01632106 0.9615041 -0.52028173] [ 0. 0. 0. 1. ]] SLAMing on 351.69463044 meters Centerline goodness : 0.474135 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.60, Z:-0.52 [[ 0.96161579 0.00953119 -0.27423391 -0.4392396 ] [-0.01367353 0.99981941 -0.01319755 -0.6034746 ] [ 0.2740586 0.01644071 0.96157246 -0.52049596] [ 0. 0. 0. 1. ]] SLAMing on 351.72463044 meters Centerline goodness : 0.149637 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.60, Z:-0.52 [[ 0.96162558 0.00949939 -0.27420067 -0.43910216] [-0.01368686 0.99981704 -0.01336242 -0.60200059] [ 0.27402356 0.01660259 0.96157966 -0.52060308] [ 0. 0. 0. 1. ]] SLAMing on 351.75463044 meters Centerline goodness : 0.119451 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.60, Z:-0.52 [[ 0.9615745 0.00977823 -0.27436996 -0.43756615] [-0.01402268 0.99981037 -0.0135127 -0.59897914] [ 0.2741858 0.01684087 0.96152927 -0.52138544] [ 0. 0. 0. 1. ]] SLAMing on 351.78463044 meters Centerline goodness : 0.123481 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.60, Z:-0.52 [[ 0.96155825 0.00980699 -0.27442585 -0.43691137] [-0.01410883 0.99980652 -0.01370632 -0.59716089] [ 0.27423834 0.01705125 0.96151058 -0.52174505] [ 0. 0. 0. 1. ]] SLAMing on 351.81463044000003 meters Centerline goodness : 0.098685 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.60, Z:-0.52 [[ 0.96157649 0.00974132 -0.27436428 -0.43681943] [-0.01411627 0.99980268 -0.01397586 -0.59544008] [ 0.274174 0.01731185 0.96152427 -0.52180718] [ 0. 0. 0. 1. ]] SLAMing on 351.84463044 meters Centerline goodness : 0.123113 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.59, Z:-0.52 [[ 0.96165011 0.00966273 -0.27410893 -0.43760191] [-0.01408957 0.9998001 -0.01418575 -0.59410505] [ 0.27391706 0.01750381 0.96159402 -0.52175959] [ 0. 0. 0. 1. ]] SLAMing on 351.87463044000003 meters Centerline goodness : 0.212600 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.59, Z:-0.53 [[ 0.96196058 0.00216515 -0.2731797 -0.45604826] [-0.00589647 0.9999002 -0.01283857 -0.59032306] [ 0.27312464 0.013961 0.96187734 -0.52861199] [ 0. 0. 0. 1. ]] SLAMing on 351.90463044 meters Centerline goodness : 0.339954 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.59, Z:-0.53 [[ 0.96199738 0.00229195 -0.27304907 -0.45596499] [-0.00592406 0.99990459 -0.01247837 -0.59256395] [ 0.27299441 0.01362172 0.96191917 -0.52900408] [ 0. 0. 0. 1. ]] SLAMing on 351.93463044000003 meters Centerline goodness : 0.094124 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.59, Z:-0.53 [[ 0.96198842 0.00246031 -0.27307916 -0.45528007] [-0.0059806 0.9999094 -0.01205944 -0.59464785] [ 0.27302475 0.01323422 0.96191597 -0.52952752] [ 0. 0. 0. 1. ]] SLAMing on 351.96463044 meters Centerline goodness : 0.095282 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.60, Z:-0.54 [[ 0.96278487 0.00769974 -0.27015923 -0.46829104] [-0.01165287 0.99984718 -0.01303174 -0.60346715] [ 0.27001761 0.01569489 0.96272746 -0.53723775] [ 0. 0. 0. 1. ]] SLAMing on 351.99463044000004 meters Centerline goodness : 0.097331 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.61, Z:-0.54 [[ 0.96277271 0.00763118 -0.2702045 -0.46776199] [-0.0115187 0.99985167 -0.01280452 -0.60670329] [ 0.27006671 0.01544025 0.96271781 -0.53755839] [ 0. 0. 0. 1. ]] SLAMing on 352.02463044 meters Centerline goodness : 0.114133 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.61, Z:-0.54 [[ 0.96276868 0.00766534 -0.27021791 -0.46720993] [-0.0115327 0.9998525 -0.01272719 -0.60732812] [ 0.27008049 0.01536969 0.96271507 -0.53799309] [ 0. 0. 0. 1. ]] SLAMing on 352.05463044000004 meters Centerline goodness : 0.140319 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.61, Z:-0.53 [[ 0.96241276 0.01457449 -0.27119967 -0.45009306] [-0.01882703 0.99973713 -0.01308524 -0.61395563] [ 0.27093767 0.01769928 0.96243416 -0.53301067] [ 0. 0. 0. 1. ]] SLAMing on 352.08463044 meters Centerline goodness : 0.068717 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.61, Z:-0.53 [[ 0.96237117 0.01455653 -0.27134819 -0.44935386] [-0.01882119 0.99973677 -0.01312067 -0.61398755] [ 0.27108578 0.01773405 0.96239182 -0.53324704] [ 0. 0. 0. 1. ]] SLAMing on 352.11463044000004 meters Centerline goodness : 0.095047 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.61, Z:-0.54 [[ 0.96207402 0.0073578 -0.27268929 -0.46525519] [-0.01088182 0.99987566 -0.01141309 -0.61090101] [ 0.27257141 0.01394759 0.96203446 -0.53984787] [ 0. 0. 0. 1. ]] SLAMing on 352.14463044 meters Centerline goodness : 0.094736 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.61, Z:-0.54 [[ 0.96202149 0.00745794 -0.27287182 -0.46437013] [-0.01098022 0.99987492 -0.01138339 -0.61066351] [ 0.27275279 0.01394725 0.96198305 -0.54011986] [ 0. 0. 0. 1. ]] SLAMing on 352.17463044 meters Centerline goodness : 0.125178 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.61, Z:-0.54 [[ 0.96198791 0.00749166 -0.27298926 -0.46355676] [-0.01103904 0.99987339 -0.01146095 -0.61003477] [ 0.27286883 0.01403883 0.96194881 -0.54037306] [ 0. 0. 0. 1. ]] SLAMing on 352.20463044 meters Centerline goodness : 0.120781 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.61, Z:-0.54 [[ 0.96196366 0.0073643 -0.27307817 -0.46305624] [-0.01099025 0.99987056 -0.01175076 -0.60861162] [ 0.27295628 0.01430501 0.96192008 -0.54045766] [ 0. 0. 0. 1. ]] SLAMing on 352.23463044 meters Centerline goodness : 0.140849 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.61, Z:-0.54 [[ 0.9619484 0.00725338 -0.27313488 -0.46261256] [-0.01095247 0.99986776 -0.01202075 -0.60710566] [ 0.27301158 0.01455484 0.96190064 -0.54054422] [ 0. 0. 0. 1. ]] SLAMing on 352.26463044 meters Centerline goodness : 0.098315 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.60, Z:-0.54 [[ 0.96212441 0.00769431 -0.27250214 -0.46343327] [-0.01137881 0.99986393 -0.01194328 -0.60470371] [ 0.27237316 0.01459167 0.96208105 -0.54136669] [ 0. 0. 0. 1. ]] SLAMing on 352.29463044 meters Centerline goodness : 0.116751 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.60, Z:-0.54 [[ 0.96220811 0.00765731 -0.27220751 -0.46386072] [-0.01139574 0.99986118 -0.01215553 -0.6028741 ] [ 0.27207664 0.01479816 0.96216179 -0.54170645] [ 0. 0. 0. 1. ]] SLAMing on 352.32463044 meters Centerline goodness : 0.139560 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.60, Z:-0.54 [[ 0.96220588 0.00756869 -0.27221786 -0.46362299] [-0.01138325 0.99985787 -0.01243641 -0.6008732 ] [ 0.27208504 0.01506511 0.96215527 -0.54180032] [ 0. 0. 0. 1. ]] SLAMing on 352.35463044 meters Centerline goodness : 0.115768 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.60, Z:-0.54 [[ 0.96221622 0.00744746 -0.27218465 -0.46338586] [-0.01131571 0.99985602 -0.01264501 -0.59978572] [ 0.27205129 0.01524719 0.96216195 -0.54206596] [ 0. 0. 0. 1. ]] SLAMing on 352.38463044 meters Centerline goodness : 0.099751 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.60, Z:-0.54 [[ 0.96218824 0.00739576 -0.27228494 -0.46231598] [-0.01128854 0.99985521 -0.01273304 -0.59924789] [ 0.27215135 0.01532528 0.96213241 -0.54268923] [ 0. 0. 0. 1. ]] SLAMing on 352.41463044 meters Centerline goodness : 0.116645 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.60, Z:-0.54 [[ 0.96218915 0.00728544 -0.27228469 -0.46216555] [-0.01119991 0.99985503 -0.01282498 -0.59930594] [ 0.27215178 0.01538962 0.96213126 -0.54277058] [ 0. 0. 0. 1. ]] SLAMing on 352.44463044 meters Centerline goodness : 0.139632 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.60, Z:-0.54 [[ 0.96221227 0.00713501 -0.27220698 -0.46225597] [-0.01108177 0.99985455 -0.01296457 -0.59893655] [ 0.27207489 0.0154912 0.96215138 -0.54288591] [ 0. 0. 0. 1. ]] SLAMing on 352.47463044 meters Centerline goodness : 0.067038 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62369775e-01 1.40907358e-04 -2.71743253e-01 -4.80366110e-01] [-3.25164635e-03 9.99934243e-01 -1.09971013e-02 -5.94462475e-01] [ 2.71723835e-01 1.14668908e-02 9.62306951e-01 -5.50637273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50463044 meters Centerline goodness : 0.166421 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62449349e-01 1.93496499e-04 -2.71461255e-01 -4.80462599e-01] [-3.30994750e-03 9.99933773e-01 -1.10224685e-02 -5.93616566e-01] [ 2.71441144e-01 1.15070901e-02 9.62386249e-01 -5.51249952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53463044 meters Centerline goodness : 0.117465 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62524481e-01 2.39206804e-04 -2.71194701e-01 -4.80620028e-01] [-3.35926492e-03 9.99933407e-01 -1.10407166e-02 -5.92853771e-01] [ 2.71174001e-01 1.15379749e-02 9.62461187e-01 -5.51745606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56463044000003 meters Centerline goodness : 0.116938 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62575473e-01 1.41875616e-04 -2.71013723e-01 -4.80587247e-01] [-3.30468091e-03 9.99931661e-01 -1.12139667e-02 -5.91970852e-01] [ 2.70993611e-01 1.16899032e-02 9.62510160e-01 -5.52223828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59463044 meters Centerline goodness : 0.120367 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62582425e-01 7.04957096e-05 -2.70989058e-01 -4.80212726e-01] [-3.26513657e-03 9.99930392e-01 -1.13379939e-02 -5.91394702e-01] [ 2.70969396e-01 1.17985699e-02 9.62515652e-01 -5.52605873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62463044000003 meters Centerline goodness : 0.119855 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62579869e-01 1.00401716e-04 -2.70998130e-01 -4.79492870e-01] [-3.30802581e-03 9.99929779e-01 -1.13795781e-02 -5.90840090e-01] [ 2.70977957e-01 1.18502216e-02 9.62512607e-01 -5.53219250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65463044 meters Centerline goodness : 0.084534 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62602977e-01 3.31329589e-05 -2.70916052e-01 -4.79059365e-01] [-3.24936763e-03 9.99929474e-01 -1.14231708e-02 -5.90945760e-01] [ 2.70896567e-01 1.18762841e-02 9.62535196e-01 -5.53788139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68463044000003 meters Centerline goodness : 0.117848 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62568326e-01 -2.41418264e-05 -2.71039145e-01 -4.78039669e-01] [-3.18507555e-03 9.99929939e-01 -1.14005413e-02 -5.91551596e-01] [ 2.71020431e-01 1.18370801e-02 9.62500810e-01 -5.54285063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71463044 meters Centerline goodness : 0.122513 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.55 [[ 9.62546414e-01 6.81515061e-06 -2.71116951e-01 -4.77128203e-01] [-3.17891818e-03 9.99931540e-01 -1.12609765e-02 -5.92640391e-01] [ 2.71098314e-01 1.17010711e-02 9.62480540e-01 -5.54820535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74463044000004 meters Centerline goodness : 0.121829 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.59, Z:-0.56 [[ 9.62553413e-01 -7.30629495e-06 -2.71092102e-01 -4.76547037e-01] [-3.13327980e-03 9.99932904e-01 -1.11521322e-02 -5.93662695e-01] [ 2.71073994e-01 1.15839303e-02 9.62488806e-01 -5.55289375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77463044 meters Centerline goodness : 0.120303 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.60, Z:-0.56 [[ 9.62499993e-01 -1.25259414e-04 -2.71281675e-01 -4.75390564e-01] [-2.96468519e-03 9.99935319e-01 -1.09803244e-02 -5.96372238e-01] [ 2.71265504e-01 1.13728269e-02 9.62437367e-01 -5.55713944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80463044000004 meters Centerline goodness : 0.125847 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.60, Z:-0.56 [[ 9.62441869e-01 -1.05838277e-04 -2.71487822e-01 -4.74435815e-01] [-2.95181413e-03 9.99936735e-01 -1.08541925e-02 -5.97740163e-01] [ 2.71471795e-01 1.12479109e-02 9.62380668e-01 -5.55959561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83463044 meters Centerline goodness : 0.121528 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.60, Z:-0.56 [[ 0.96244472 0.00606744 -0.27140993 -0.49126453] [-0.00975829 0.99987733 -0.0122513 -0.60376718] [ 0.2713023 0.01443969 0.96238587 -0.5634472 ] [ 0. 0. 0. 1. ]] SLAMing on 352.86463044000004 meters Centerline goodness : 0.185847 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.60, Z:-0.56 [[ 0.96246209 0.0060864 -0.27134789 -0.49103359] [-0.00975538 0.9998783 -0.01217451 -0.60464426] [ 0.27124077 0.0143646 0.96240433 -0.56379641] [ 0. 0. 0. 1. ]] SLAMing on 352.89463044 meters Centerline goodness : 0.114999 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:-0.56 [[ 0.96258378 0.00611985 -0.27091514 -0.49158408] [-0.00976426 0.99987904 -0.0121064 -0.6055743 ] [ 0.27080828 0.01429871 0.9625271 -0.56433411] [ 0. 0. 0. 1. ]] SLAMing on 352.92463044 meters Centerline goodness : 0.116205 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:-0.56 [[ 0.96262893 0.00608053 -0.27075554 -0.49167959] [-0.00973574 0.99987868 -0.01215896 -0.6056182 ] [ 0.27064876 0.01434058 0.96257135 -0.56466024] [ 0. 0. 0. 1. ]] SLAMing on 352.95463044 meters Centerline goodness : 0.124413 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:-0.56 [[ 0.9626626 0.00605367 -0.27063641 -0.49169162] [-0.00972963 0.99987771 -0.01224308 -0.60512822] [ 0.2705292 0.01441915 0.96260378 -0.56493052] [ 0. 0. 0. 1. ]] SLAMing on 352.98463044 meters Centerline goodness : 0.123697 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.60, Z:-0.57 [[ 0.96271204 0.00604789 -0.27046064 -0.49152656] [-0.00975581 0.99987593 -0.01236741 -0.604103 ] [ 0.27035229 0.01454482 0.96265159 -0.56548709] [ 0. 0. 0. 1. ]] SLAMing on 353.01463044 meters Centerline goodness : 0.117872 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.60, Z:-0.57 [[ 0.96273218 0.00606854 -0.27038845 -0.49044685] [-0.0098746 0.99987036 -0.01271816 -0.60103917] [ 0.27027622 0.01491416 0.9626673 -0.56656353] [ 0. 0. 0. 1. ]] SLAMing on 353.04463044 meters Centerline goodness : 0.121282 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.60, Z:-0.57 [[ 0.96266324 0.00585974 -0.27063842 -0.48944247] [-0.00978842 0.99986537 -0.01316887 -0.59839468] [ 0.27052482 0.0153263 0.962591 -0.56678387] [ 0. 0. 0. 1. ]] SLAMing on 353.07463044 meters Centerline goodness : 0.124887 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.60, Z:-0.57 [[ 0.96264036 0.00585693 -0.27071983 -0.48867629] [-0.00985517 0.99986149 -0.01341192 -0.59597652] [ 0.27060378 0.01557885 0.96256475 -0.56724833] [ 0. 0. 0. 1. ]] SLAMing on 353.10463044 meters Centerline goodness : 0.123084 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.59, Z:-0.57 [[ 0.9626514 0.00594032 -0.27067876 -0.48833499] [-0.00999694 0.9998574 -0.01361057 -0.59333869] [ 0.27055931 0.01580819 0.96257351 -0.56763014] [ 0. 0. 0. 1. ]] SLAMing on 353.13463044 meters Centerline goodness : 0.123993 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.59, Z:-0.57 [[ 0.96271005 0.00586469 -0.27047176 -0.48842769] [-0.00999582 0.99985344 -0.01389883 -0.5908898 ] [ 0.2703506 0.01608413 0.96262758 -0.56801737] [ 0. 0. 0. 1. ]] SLAMing on 353.16463044 meters Centerline goodness : 0.302304 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.59, Z:-0.57 [[ 0.96278577 0.00561739 -0.27020736 -0.48895513] [-0.00984901 0.99984914 -0.0143073 -0.58874064] [ 0.27008622 0.01643614 0.96269584 -0.56826887] [ 0. 0. 0. 1. ]] SLAMing on 353.19463044 meters Centerline goodness : 0.122663 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.58, Z:-0.57 [[ 0.96286738 0.00508966 -0.26992687 -0.48919685] [-0.00953754 0.99983945 -0.01516906 -0.58402481] [ 0.26980632 0.01718023 0.96276133 -0.56878941] [ 0. 0. 0. 1. ]] SLAMing on 353.22463044 meters Centerline goodness : 0.098119 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.58, Z:-0.57 [[ 0.96287337 0.00500297 -0.2699071 -0.48884 ] [-0.00953968 0.99983437 -0.01549927 -0.5807396 ] [ 0.26978485 0.01749866 0.96276162 -0.56905271] [ 0. 0. 0. 1. ]] SLAMing on 353.25463044 meters Centerline goodness : 0.127141 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.57, Z:-0.57 [[ 0.96286649 0.00551037 -0.26992176 -0.487863 ] [-0.01010765 0.99982652 -0.01564493 -0.57243513] [ 0.26978872 0.01779226 0.96275515 -0.56965542] [ 0. 0. 0. 1. ]] SLAMing on 353.28463044 meters Centerline goodness : 0.148895 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.57, Z:-0.57 [[ 0.96289866 0.0051195 -0.26981467 -0.48814903] [-0.00986153 0.99981977 -0.01622254 -0.56955081] [ 0.26968299 0.01828145 0.96277561 -0.56963324] [ 0. 0. 0. 1. ]] SLAMing on 353.31463044000003 meters Centerline goodness : 0.126933 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.57, Z:-0.57 [[ 0.96290623 0.00469068 -0.26979545 -0.48820005] [-0.00958508 0.99981248 -0.01682659 -0.56661056] [ 0.26966593 0.01878845 0.96277063 -0.56956976] [ 0. 0. 0. 1. ]] SLAMing on 353.34463044 meters Centerline goodness : 0.125775 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.56, Z:-0.57 [[ 0.96287014 0.00433994 -0.26993009 -0.48736443] [-0.00936906 0.99980566 -0.01734557 -0.56372613] [ 0.26980235 0.01923052 0.96272368 -0.56984061] [ 0. 0. 0. 1. ]] SLAMing on 353.37463044000003 meters Centerline goodness : 0.124823 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.56, Z:-0.57 [[ 0.96280732 0.00411306 -0.27015763 -0.48603547] [-0.00925215 0.99979961 -0.01775186 -0.5609697 ] [ 0.27003048 0.01959116 0.96265244 -0.57030982] [ 0. 0. 0. 1. ]] SLAMing on 353.40463044 meters Centerline goodness : 0.124823 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.56, Z:-0.57 [[ 0.96280732 0.00411306 -0.27015763 -0.48603547] [-0.00925215 0.99979961 -0.01775186 -0.5609697 ] [ 0.27003048 0.01959116 0.96265244 -0.57030982] [ 0. 0. 0. 1. ]] SLAMing on 353.43463044000003 meters Centerline goodness : 0.127838 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.56, Z:-0.57 [[ 0.96276373 0.00390317 -0.27031605 -0.48501303] [-0.00914267 0.9997939 -0.01812641 -0.5583125 ] [ 0.27018959 0.01992286 0.96260099 -0.57068367] [ 0. 0. 0. 1. ]] SLAMing on 353.46463044 meters Centerline goodness : 0.096823 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.55, Z:-0.57 [[ 0.96271077 0.00312083 -0.27051476 -0.48400593] [-0.00858792 0.99978205 -0.01902867 -0.55433523] [ 0.27039642 0.02064226 0.96252775 -0.57079624] [ 0. 0. 0. 1. ]] SLAMing on 353.49463044000004 meters Centerline goodness : 0.127531 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.55, Z:-0.57 [[ 0.96265765 0.00273931 -0.27070785 -0.48335914] [-0.00832753 0.99977524 -0.01949653 -0.55246041] [ 0.2705936 0.02102282 0.9624641 -0.57075208] [ 0. 0. 0. 1. ]] SLAMing on 353.52463044 meters Centerline goodness : 0.123421 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.55, Z:-0.57 [[ 0.96260312 0.00242018 -0.27090475 -0.4825792 ] [-0.0081162 0.99976888 -0.01990759 -0.55044079] [ 0.27079396 0.02136182 0.96240028 -0.57079884] [ 0. 0. 0. 1. ]] SLAMing on 353.55463044000004 meters Centerline goodness : 0.133285 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.55, Z:-0.57 [[ 0.96254877 0.00206591 -0.27110072 -0.4819565 ] [-0.00788273 0.99976145 -0.02036916 -0.54806147] [ 0.27099397 0.02174333 0.96233544 -0.57070528] [ 0. 0. 0. 1. ]] SLAMing on 353.58463044 meters Centerline goodness : 0.128187 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.57 [[ 0.96251027 0.0014959 -0.2712411 -0.48147089] [-0.00750415 0.99974889 -0.02111516 -0.54406969] [ 0.2711414 0.022359 0.9622798 -0.57057958] [ 0. 0. 0. 1. ]] SLAMing on 353.61463044000004 meters Centerline goodness : 0.153485 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.57 [[ 0.96249472 0.00123635 -0.27129758 -0.48150991] [-0.00733741 0.99974245 -0.02147528 -0.54205024] [ 0.27120116 0.02266047 0.96225591 -0.57029436] [ 0. 0. 0. 1. ]] SLAMing on 353.64463044 meters Centerline goodness : 0.134826 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.57 [[ 0.96250368 0.00103986 -0.27126662 -0.4815383 ] [-0.00722223 0.99973641 -0.02179344 -0.54011622] [ 0.27117245 0.02293542 0.96225748 -0.57026442] [ 0. 0. 0. 1. ]] SLAMing on 353.67463044 meters Centerline goodness : 0.149511 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.57 [[ 9.62475427e-01 8.42571019e-04 -2.71367540e-01 -4.81091692e-01] [-7.09873611e-03 9.99731149e-01 -2.20734380e-02 -5.38533730e-01] [ 2.71275984e-01 2.31715082e-02 9.62222647e-01 -5.70285120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70463044 meters Centerline goodness : 0.134900 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.57 [[ 9.62319360e-01 1.63033979e-04 -2.71921721e-01 -4.79114625e-01] [-6.58226762e-03 9.99720767e-01 -2.26949693e-02 -5.37233284e-01] [ 2.71842091e-01 2.36296699e-02 9.62051722e-01 -5.70354995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73463044 meters Centerline goodness : 0.130155 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.57 [[ 9.62202293e-01 -1.52359030e-04 -2.72335682e-01 -4.77849300e-01] [-6.31332469e-03 9.99718623e-01 -2.28652067e-02 -5.37753502e-01] [ 2.72262536e-01 2.37202979e-02 9.61930589e-01 -5.70256938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76463044 meters Centerline goodness : 0.136406 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.57 [[ 9.61990282e-01 -4.68466833e-04 -2.73083279e-01 -4.75709458e-01] [-6.03762542e-03 9.99717608e-01 -2.29837270e-02 -5.38570641e-01] [ 2.73016930e-01 2.37588965e-02 9.61715795e-01 -5.70007303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79463044 meters Centerline goodness : 0.128685 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.54, Z:-0.57 [[ 9.61794222e-01 -5.64715672e-04 -2.73772819e-01 -4.73617507e-01] [-5.92869036e-03 9.99720404e-01 -2.28902852e-02 -5.39971034e-01] [ 2.73709200e-01 2.36388583e-02 9.61521959e-01 -5.69927159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82463044 meters Centerline goodness : 0.127403 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.54, Z:-0.57 [[ 9.61640592e-01 -6.00460602e-04 -2.74311887e-01 -4.71902599e-01] [-5.86520844e-03 9.99723987e-01 -2.27497155e-02 -5.41503418e-01] [ 2.74249834e-01 2.34859462e-02 9.61371645e-01 -5.69892296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85463044 meters Centerline goodness : 0.145350 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.54, Z:-0.57 [[ 9.61565656e-01 -7.66378334e-04 -2.74574036e-01 -4.71559093e-01] [-5.69433384e-03 9.99725375e-01 -2.27320974e-02 -5.43140253e-01] [ 2.74516052e-01 2.34219204e-02 9.61297223e-01 -5.69322314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88463044 meters Centerline goodness : 0.133399 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.54, Z:-0.57 [[ 9.61608448e-01 -6.61168545e-04 -2.74424406e-01 -4.72332738e-01] [-5.79069202e-03 9.99725557e-01 -2.26997501e-02 -5.42745163e-01] [ 2.74364101e-01 2.34173787e-02 9.61340713e-01 -5.68962216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91463044 meters Centerline goodness : 0.064998 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:-0.56 [[ 0.96201638 0.00722837 -0.27289601 -0.45296054] [-0.01426642 0.99961459 -0.02381471 -0.54369549] [ 0.27261869 0.02680339 0.96174873 -0.56304632] [ 0. 0. 0. 1. ]] SLAMing on 353.94463044 meters Centerline goodness : 0.154509 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:-0.56 [[ 0.96197482 0.00733205 -0.27303972 -0.45253512] [-0.01443207 0.99960768 -0.02400427 -0.54143859] [ 0.2727566 0.02703204 0.96170323 -0.56291728] [ 0. 0. 0. 1. ]] SLAMing on 353.97463044 meters Centerline goodness : 0.125497 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:-0.56 [[ 0.96170997 0.00763461 -0.27396286 -0.44984431] [-0.0148588 0.99959419 -0.02430381 -0.53670007] [ 0.27366613 0.02744397 0.96143314 -0.56259057] [ 0. 0. 0. 1. ]] SLAMing on 354.00463044 meters Centerline goodness : 0.165521 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.56 [[ 0.96158965 0.00741056 -0.274391 -0.44897948] [-0.01476081 0.99958513 -0.02473245 -0.53451846] [ 0.27409388 0.0278327 0.9613001 -0.56211685] [ 0. 0. 0. 1. ]] SLAMing on 354.03463044 meters Centerline goodness : 0.181366 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.56 [[ 0.9615252 0.00725204 -0.27462102 -0.44838902] [-0.01468214 0.99957938 -0.02500995 -0.53303636] [ 0.27432414 0.02807972 0.96122723 -0.56188323] [ 0. 0. 0. 1. ]] SLAMing on 354.06463044000003 meters Centerline goodness : 0.148660 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.56 [[ 0.96148635 0.00718642 -0.27475873 -0.44824656] [-0.01465334 0.99957671 -0.02513333 -0.53212817] [ 0.27446181 0.02819149 0.96118466 -0.56150012] [ 0. 0. 0. 1. ]] SLAMing on 354.09463044 meters Centerline goodness : 0.157988 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.55 [[ 9.61546650e-01 5.13550631e-04 -2.74641178e-01 -4.30707780e-01] [-7.35869586e-03 9.99687409e-01 -2.38942292e-02 -5.27568347e-01] [ 2.74543057e-01 2.49964169e-02 9.61249858e-01 -5.54491651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12463044000003 meters Centerline goodness : 0.125502 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.55 [[ 9.61468491e-01 4.11153011e-04 -2.74914845e-01 -4.30566693e-01] [-7.24262072e-03 9.99689676e-01 -2.38347485e-02 -5.28697299e-01] [ 2.74819732e-01 2.49074637e-02 9.61173102e-01 -5.53776738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15463044 meters Centerline goodness : 0.135734 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.55 [[ 0.96124009 -0.00262825 -0.27570015 -0.42801568] [-0.00467951 0.99965501 -0.02584503 -0.53233645] [ 0.27567297 0.02613342 0.96089618 -0.55353681] [ 0. 0. 0. 1. ]] SLAMing on 354.18463044000003 meters Centerline goodness : 0.166807 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.55 [[ 0.96108221 -0.00274177 -0.27624891 -0.42684079] [-0.00452906 0.99966 -0.02567841 -0.53440069] [ 0.27622539 0.02593021 0.96074302 -0.55298374] [ 0. 0. 0. 1. ]] SLAMing on 354.21463044 meters Centerline goodness : 0.108455 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.53, Z:-0.55 [[ 0.96107851 -0.01059338 -0.27607223 -0.40625337] [ 0.00386031 0.99968197 -0.02492087 -0.5334551 ] [ 0.27624843 0.02288519 0.96081376 -0.54624285] [ 0. 0. 0. 1. ]] SLAMing on 354.24463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.27463044 meters Centerline goodness : 0.094133 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.53, Z:-0.55 [[ 0.96097094 -0.01068426 -0.27644292 -0.40562183] [ 0.00396326 0.99968309 -0.02485973 -0.53464158] [ 0.27662092 0.02279386 0.96070875 -0.54558173] [ 0. 0. 0. 1. ]] SLAMing on 354.30463044000004 meters Centerline goodness : 0.083576 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.53, Z:-0.55 [[ 0.96088606 -0.01067483 -0.27673821 -0.4050944 ] [ 0.003942 0.99968282 -0.02487414 -0.53435208] [ 0.27691596 0.02281031 0.96062336 -0.54513744] [ 0. 0. 0. 1. ]] SLAMing on 354.33463044 meters Centerline goodness : 0.126302 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.53, Z:-0.54 [[ 0.9607476 -0.01067791 -0.27721837 -0.40404925] [ 0.00391851 0.99968163 -0.02492552 -0.53366664] [ 0.27739627 0.02286085 0.96048357 -0.54462358] [ 0. 0. 0. 1. ]] SLAMing on 354.36463044000004 meters Centerline goodness : 0.116711 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.53, Z:-0.54 [[ 0.9606414 -0.01058837 -0.27758962 -0.4032946 ] [ 0.00381105 0.99968161 -0.02494309 -0.53263021] [ 0.27776534 0.02290346 0.96037589 -0.54415209] [ 0. 0. 0. 1. ]] SLAMing on 354.39463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.42463044 meters Centerline goodness : 0.119795 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.53, Z:-0.54 [[ 0.96031883 -0.01084389 -0.27869366 -0.40121304] [ 0.00391539 0.99966957 -0.02540526 -0.53056333] [ 0.27887706 0.02330596 0.96004397 -0.54278255] [ 0. 0. 0. 1. ]] SLAMing on 354.45463044 meters Centerline goodness : 0.112609 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.53, Z:-0.54 [[ 0.96023667 -0.01093503 -0.27897306 -0.40096904] [ 0.0039677 0.99966625 -0.02552737 -0.5301206 ] [ 0.2791591 0.02340544 0.95995957 -0.5421237 ] [ 0. 0. 0. 1. ]] SLAMing on 354.48463044 meters Centerline goodness : 0.136585 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.53, Z:-0.54 [[ 0.96015301 -0.01091355 -0.2792617 -0.40075633] [ 0.00394351 0.99966683 -0.02550848 -0.52990186] [ 0.27944705 0.02339078 0.95987615 -0.54132983] [ 0. 0. 0. 1. ]] SLAMing on 354.51463044 meters Centerline goodness : 0.134902 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.54 [[ 0.96060849 -0.0037851 -0.27787948 -0.38236256] [-0.00386512 0.99962856 -0.02697774 -0.53172274] [ 0.27787838 0.02698909 0.96023705 -0.53510997] [ 0. 0. 0. 1. ]] SLAMing on 354.54463044 meters Centerline goodness : 0.130637 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.96053281 -0.00369934 -0.27814211 -0.38316845] [-0.00394505 0.99962983 -0.02691904 -0.53159065] [ 0.27813874 0.0269539 0.96016266 -0.53351315] [ 0. 0. 0. 1. ]] SLAMing on 354.57463044 meters Centerline goodness : 0.098600 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.96041303 -0.0037281 -0.27855505 -0.3821829 ] [-0.00394846 0.99962784 -0.02699235 -0.53112654] [ 0.27855201 0.02702367 0.96004088 -0.53303441] [ 0. 0. 0. 1. ]] SLAMing on 354.60463044 meters Centerline goodness : 0.096965 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.96023988 -0.00374372 -0.27915114 -0.38053021] [-0.00396816 0.99962604 -0.02705596 -0.53059564] [ 0.27914804 0.02708793 0.95986594 -0.53267758] [ 0. 0. 0. 1. ]] SLAMing on 354.63463044 meters Centerline goodness : 0.095392 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.96002956 -0.0036707 -0.27987457 -0.37866078] [-0.00406714 0.99962549 -0.02706174 -0.53011878] [ 0.27986909 0.02711836 0.95965509 -0.53221567] [ 0. 0. 0. 1. ]] SLAMing on 354.66463044 meters Centerline goodness : 0.084867 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95986553 -0.00355627 -0.28043807 -0.37725177] [-0.0041995 0.99962526 -0.02705014 -0.52945781] [ 0.28042917 0.02714219 0.9594909 -0.53177132] [ 0. 0. 0. 1. ]] SLAMing on 354.69463044 meters Centerline goodness : 0.094457 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95979709 -0.00344741 -0.28067358 -0.3767326 ] [-0.00430904 0.99962579 -0.02701332 -0.52890264] [ 0.28066168 0.02713674 0.95942307 -0.53140789] [ 0. 0. 0. 1. ]] SLAMing on 354.72463044 meters Centerline goodness : 0.113225 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95986401 -0.00326911 -0.28044676 -0.37880623] [-0.00445081 0.9996286 -0.02688593 -0.52915909] [ 0.2804305 0.02705505 0.95949297 -0.53000442] [ 0. 0. 0. 1. ]] SLAMing on 354.75463044 meters Centerline goodness : 0.128709 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95981926 -0.00324414 -0.2806002 -0.37925835] [-0.00446658 0.99962988 -0.02683553 -0.529645 ] [ 0.2805834 0.02701058 0.95944952 -0.52904974] [ 0. 0. 0. 1. ]] SLAMing on 354.78463044 meters Centerline goodness : 0.112732 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.9597512 -0.00317621 -0.28083367 -0.37913444] [-0.00451647 0.9996322 -0.02674086 -0.53011957] [ 0.28081532 0.02693295 0.95938385 -0.52845693] [ 0. 0. 0. 1. ]] SLAMing on 354.81463044000003 meters Centerline goodness : 0.125231 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95942772 -0.00277649 -0.28194103 -0.37596705] [-0.00489577 0.99963671 -0.0265042 -0.52960007] [ 0.28191219 0.02680918 0.95906558 -0.5279518 ] [ 0. 0. 0. 1. ]] SLAMing on 354.84463044 meters Centerline goodness : 0.126587 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95938351 -0.00273937 -0.2820918 -0.3757041 ] [-0.00495649 0.99963482 -0.02656421 -0.52877946] [ 0.28206155 0.02688345 0.95901958 -0.52769012] [ 0. 0. 0. 1. ]] SLAMing on 354.87463044000003 meters Centerline goodness : 0.109038 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95938893 -0.00275144 -0.28207323 -0.37622455] [-0.00496807 0.99963253 -0.02664819 -0.52804811] [ 0.2820429 0.02696734 0.95902271 -0.52708403] [ 0. 0. 0. 1. ]] SLAMing on 354.90463044 meters Centerline goodness : 0.095670 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95940113 -0.00272317 -0.28203202 -0.37726668] [-0.00500851 0.99963122 -0.02668964 -0.52745436] [ 0.28200069 0.02701863 0.95903368 -0.52614256] [ 0. 0. 0. 1. ]] SLAMing on 354.93463044000003 meters Centerline goodness : 0.117082 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.53, Z:-0.53 [[ 0.95939881 -0.00262076 -0.28204088 -0.37799018] [-0.00510981 0.99963122 -0.02667037 -0.52684546] [ 0.28200677 0.02702869 0.95903161 -0.5253409 ] [ 0. 0. 0. 1. ]] SLAMing on 354.96463044 meters Centerline goodness : 0.124026 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.53, Z:-0.52 [[ 0.95945033 0.00516289 -0.28183044 -0.35704921] [-0.01356937 0.99951905 -0.0278846 -0.52605598] [ 0.28155093 0.03057815 0.95905894 -0.51835898] [ 0. 0. 0. 1. ]] SLAMing on 354.99463044000004 meters Centerline goodness : 0.124715 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.52, Z:-0.52 [[ 0.95933328 0.00498998 -0.28223173 -0.35596054] [-0.01349648 0.99951107 -0.02820407 -0.52432347] [ 0.281953 0.03086624 0.95893158 -0.51810894] [ 0. 0. 0. 1. ]] SLAMing on 355.02463044 meters Centerline goodness : 0.124349 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.52, Z:-0.52 [[ 0.95924768 0.00479429 -0.28252592 -0.35541292] [-0.01341753 0.99950102 -0.02859501 -0.52190335] [ 0.28224786 0.0312205 0.95883337 -0.51766367] [ 0. 0. 0. 1. ]] SLAMing on 355.05463044000004 meters Centerline goodness : 0.126710 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.52, Z:-0.52 [[ 0.95918778 0.00472521 -0.28273041 -0.35496398] [-0.01342845 0.99949347 -0.02885288 -0.51968607] [ 0.28245086 0.03147196 0.95876537 -0.51728515] [ 0. 0. 0. 1. ]] SLAMing on 355.08463044 meters Centerline goodness : 0.135737 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.52, Z:-0.52 [[ 0.95918808 0.00476313 -0.28272875 -0.35607136] [-0.01354841 0.99948392 -0.02912617 -0.51582032] [ 0.28244411 0.031768 0.95875759 -0.51612557] [ 0. 0. 0. 1. ]] SLAMing on 355.11463044000004 meters Centerline goodness : 0.113731 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.51, Z:-0.52 [[ 0.95918165 0.00457574 -0.28275364 -0.35655103] [-0.01343991 0.99947685 -0.02941771 -0.51407176] [ 0.2824711 0.03201711 0.95874135 -0.51549671] [ 0. 0. 0. 1. ]] SLAMing on 355.14463044 meters Centerline goodness : 0.128016 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.51, Z:-0.51 [[ 0.95916842 0.00441429 -0.2828011 -0.35702176] [-0.01333038 0.9994726 -0.02961132 -0.51320681] [ 0.28252123 0.03217209 0.95872139 -0.51482921] [ 0. 0. 0. 1. ]] SLAMing on 355.17463044 meters Centerline goodness : 0.150740 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.51, Z:-0.51 [[ 0.95888513 -0.00190964 -0.28378805 -0.3404256 ] [-0.00649545 0.99956772 -0.02867355 -0.50665952] [ 0.28372013 0.02933797 0.95845823 -0.50726498] [ 0. 0. 0. 1. ]] SLAMing on 355.20463044 meters Centerline goodness : 0.118904 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.51, Z:-0.51 [[ 0.95880626 -0.00209311 -0.28405311 -0.34008831] [-0.00637862 0.99956207 -0.0288962 -0.50550955] [ 0.2839892 0.02951773 0.95837302 -0.50673671] [ 0. 0. 0. 1. ]] SLAMing on 355.23463044 meters Centerline goodness : 0.123616 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.50, Z:-0.51 [[ 0.95872315 -0.00227777 -0.28433209 -0.33978335] [-0.00626843 0.99955558 -0.02914355 -0.50434191] [ 0.28427211 0.02972291 0.9582828 -0.50616694] [ 0. 0. 0. 1. ]] SLAMing on 355.26463044 meters Centerline goodness : 0.101435 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.50, Z:-0.51 [[ 0.9586337 -0.00264179 -0.28463038 -0.3398112 ] [-0.00602572 0.9995445 -0.02957183 -0.50234462] [ 0.28457886 0.03006365 0.95818112 -0.50511968] [ 0. 0. 0. 1. ]] SLAMing on 355.29463044 meters Centerline goodness : 0.101435 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.50, Z:-0.51 [[ 0.9586337 -0.00264179 -0.28463038 -0.3398112 ] [-0.00602572 0.9995445 -0.02957183 -0.50234462] [ 0.28457886 0.03006365 0.95818112 -0.50511968] [ 0. 0. 0. 1. ]] SLAMing on 355.32463044 meters Centerline goodness : 0.119314 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.50, Z:-0.50 [[ 9.58247782e-01 -8.86691270e-03 -2.85801620e-01 -3.22487765e-01] [ 7.50353232e-04 9.99593617e-01 -2.84962871e-02 -4.95682572e-01] [ 2.85938149e-01 2.70920517e-02 9.57865020e-01 -4.97670106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35463044 meters Centerline goodness : 0.098530 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.50 [[ 9.58172660e-01 -8.87079600e-03 -2.86053250e-01 -3.22066480e-01] [ 7.35368060e-04 9.99592519e-01 -2.85351478e-02 -4.94939410e-01] [ 2.86189818e-01 2.71312440e-02 9.57788747e-01 -4.97262070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38463044 meters Centerline goodness : 0.085065 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.50 [[ 9.58088354e-01 -8.90832002e-03 -2.86334327e-01 -3.21547826e-01] [ 7.46973049e-04 9.99590673e-01 -2.85994610e-02 -4.94263776e-01] [ 2.86471896e-01 2.71869265e-02 9.57702837e-01 -4.96843857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41463044 meters Centerline goodness : 0.102218 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.50 [[ 0.95789239 -0.00951412 -0.28696978 -0.32076604] [ 0.00119735 0.99957454 -0.02914293 -0.49299829] [ 0.28712496 0.02757219 0.95749623 -0.495498 ] [ 0. 0. 0. 1. ]] SLAMing on 355.44463044 meters Centerline goodness : 0.107401 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.95784978 -0.00965023 -0.28710742 -0.32093525] [ 0.00130221 0.99957119 -0.02925304 -0.49284537] [ 0.2872666 0.02764615 0.95745161 -0.49494071] [ 0. 0. 0. 1. ]] SLAMing on 355.47463044 meters Centerline goodness : 0.117337 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.95782417 -0.00959998 -0.28719455 -0.32115685] [ 0.00126641 0.99957311 -0.02918887 -0.49275028] [ 0.28735216 0.0275941 0.95742744 -0.49442808] [ 0. 0. 0. 1. ]] SLAMing on 355.50463044 meters Centerline goodness : 0.081432 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.95785058 -0.00952895 -0.2871088 -0.32190974] [ 0.00122838 0.99957641 -0.02907717 -0.49292475] [ 0.28726426 0.0274989 0.95745655 -0.49387021] [ 0. 0. 0. 1. ]] SLAMing on 355.53463044 meters Centerline goodness : 0.300056 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.95790691 -0.00947146 -0.28692273 -0.32303564] [ 0.00121558 0.99958046 -0.02893839 -0.49342276] [ 0.28707644 0.02737151 0.95751654 -0.49317067] [ 0. 0. 0. 1. ]] SLAMing on 355.56463044000003 meters Centerline goodness : 0.114166 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.9579608 -0.00962592 -0.2867376 -0.32466124] [ 0.00135827 0.99957795 -0.02901847 -0.49366308] [ 0.28689591 0.02740909 0.95756957 -0.49210402] [ 0. 0. 0. 1. ]] SLAMing on 355.59463044 meters Centerline goodness : 0.101320 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.9578815 -0.00960086 -0.28700323 -0.32395525] [ 0.001317 0.99957731 -0.02904243 -0.49318397] [ 0.28716075 0.02744123 0.95748926 -0.49193447] [ 0. 0. 0. 1. ]] SLAMing on 355.62463044000003 meters Centerline goodness : 0.118411 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.9578099 -0.00953928 -0.28724413 -0.32311649] [ 0.00123075 0.99957599 -0.02909169 -0.49211141] [ 0.28739985 0.02751078 0.95741552 -0.49189476] [ 0. 0. 0. 1. ]] SLAMing on 355.65463044 meters Centerline goodness : 0.090196 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 0.9577828 -0.00942316 -0.28733831 -0.32293382] [ 0.00110028 0.99957552 -0.02911316 -0.49082651] [ 0.28749067 0.02756793 0.95738661 -0.49174167] [ 0. 0. 0. 1. ]] SLAMing on 355.68463044000003 meters Centerline goodness : 0.090025 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.49, Z:-0.49 [[ 9.57906586e-01 -9.24046638e-03 -2.86931328e-01 -3.24301553e-01] [ 8.60393370e-04 9.99569758e-01 -2.93182146e-02 -4.87820429e-01] [ 2.87078792e-01 2.78372371e-02 9.57502405e-01 -4.91430325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 355.74463044000004 meters Centerline goodness : 0.113241 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.48, Z:-0.49 [[ 9.57899000e-01 -9.37431688e-03 -2.86952309e-01 -3.24771796e-01] [ 8.75672121e-04 9.99557554e-01 -2.97309467e-02 -4.84911370e-01] [ 2.87104056e-01 2.82279679e-02 9.57483390e-01 -4.90917133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77463044 meters Centerline goodness : 0.111835 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.48, Z:-0.49 [[ 9.57883662e-01 -9.43236236e-03 -2.87001605e-01 -3.24627597e-01] [ 8.22212401e-04 9.99546370e-01 -3.01061025e-02 -4.81378279e-01] [ 2.87155384e-01 2.86021674e-02 9.57456893e-01 -4.90736664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80463044000004 meters Centerline goodness : 0.066740 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.48, Z:-0.49 [[ 9.57869542e-01 -9.51208461e-03 -2.87046096e-01 -3.24687452e-01] [ 8.39649693e-04 9.99539870e-01 -3.03206804e-02 -4.79786849e-01] [ 2.87202431e-01 2.88022381e-02 9.57436784e-01 -4.90490630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83463044 meters Centerline goodness : 0.118774 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.48, Z:-0.49 [[ 9.57866772e-01 -9.61004231e-03 -2.87052074e-01 -3.24864419e-01] [ 8.83590064e-04 9.99533939e-01 -3.05143305e-02 -4.78516949e-01] [ 2.87211534e-01 2.89750270e-02 9.57428839e-01 -4.90259136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86463044000004 meters Centerline goodness : 0.121961 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.48, Z:-0.49 [[ 9.57863815e-01 -9.66295995e-03 -2.87060167e-01 -3.25103450e-01] [ 9.06149911e-04 9.99530615e-01 -3.06223472e-02 -4.77850432e-01] [ 2.87221328e-01 2.90719188e-02 9.57422964e-01 -4.90010594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89463044 meters Centerline goodness : 0.051356 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95785867 -0.00284765 -0.28722581 -0.34326033] [-0.00654491 0.99947487 -0.03173549 -0.48279901] [ 0.28716535 0.03227798 0.95733703 -0.4963926 ] [ 0. 0. 0. 1. ]] SLAMing on 355.92463044 meters Centerline goodness : 0.124249 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95773034 -0.00294915 -0.28765238 -0.34201163] [-0.0064852 0.99947196 -0.03183934 -0.48221558] [ 0.28759438 0.03235898 0.9572055 -0.49621053] [ 0. 0. 0. 1. ]] SLAMing on 355.95463044 meters Centerline goodness : 0.125902 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95756844 -0.00299614 -0.2881904 -0.34011606] [-0.00647816 0.99946957 -0.03191582 -0.48161534] [ 0.28813316 0.03242853 0.9570411 -0.49627914] [ 0. 0. 0. 1. ]] SLAMing on 355.98463044 meters Centerline goodness : 0.102330 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95752589 -0.00307527 -0.28833092 -0.33964354] [-0.00642842 0.99946693 -0.03200838 -0.48136801] [ 0.28827565 0.03250236 0.95699569 -0.49626673] [ 0. 0. 0. 1. ]] SLAMing on 356.01463044 meters Centerline goodness : 0.121242 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95754346 -0.00311303 -0.28827216 -0.34007312] [-0.00641041 0.99946454 -0.03208641 -0.48086498] [ 0.28821768 0.03257207 0.95701078 -0.49600738] [ 0. 0. 0. 1. ]] SLAMing on 356.04463044 meters Centerline goodness : 0.101218 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95758794 -0.00297555 -0.2881258 -0.34074109] [-0.00651688 0.99946724 -0.03198065 -0.48070624] [ 0.28806746 0.03250197 0.95705839 -0.49575934] [ 0. 0. 0. 1. ]] SLAMing on 356.07463044 meters Centerline goodness : 0.124201 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95761572 -0.00285069 -0.28803473 -0.34126576] [-0.00662746 0.99946827 -0.03192576 -0.48022692] [ 0.28797259 0.03248155 0.95708763 -0.49549914] [ 0. 0. 0. 1. ]] SLAMing on 356.10463044 meters Centerline goodness : 0.089655 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.50 [[ 0.95762828 -0.00282145 -0.28799327 -0.34178106] [-0.00669492 0.99946373 -0.03205349 -0.47875233] [ 0.28792926 0.03262342 0.95709584 -0.49505846] [ 0. 0. 0. 1. ]] SLAMing on 356.13463044 meters Centerline goodness : 0.124199 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.49 [[ 0.95763689 -0.00289441 -0.28796389 -0.34222508] [-0.00666641 0.99945872 -0.03221532 -0.47776767] [ 0.28790127 0.03277026 0.95709925 -0.49475184] [ 0. 0. 0. 1. ]] SLAMing on 356.16463044 meters Centerline goodness : 0.142489 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.49 [[ 0.95769862 -0.00287619 -0.28775871 -0.34310231] [-0.00670258 0.99945585 -0.03229677 -0.47675041] [ 0.28769501 0.0328593 0.95715821 -0.49452169] [ 0. 0. 0. 1. ]] SLAMing on 356.19463044 meters Centerline goodness : 0.128232 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.48, Z:-0.49 [[ 0.95779074 -0.00272907 -0.28745338 -0.34427715] [-0.00683872 0.99945562 -0.0322753 -0.47574376] [ 0.28738498 0.0328788 0.95725068 -0.49425097] [ 0. 0. 0. 1. ]] SLAMing on 356.22463044 meters Centerline goodness : 0.132540 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.95789559 -0.00263898 -0.28710464 -0.34525831] [-0.00693889 0.99945292 -0.03233757 -0.47435135] [ 0.28703291 0.0329682 0.95735323 -0.4942955 ] [ 0. 0. 0. 1. ]] SLAMing on 356.25463044 meters Centerline goodness : 0.132920 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.95797526 -0.00282884 -0.28683689 -0.34585381] [-0.00686696 0.99943865 -0.03279084 -0.47160647] [ 0.28676863 0.03338251 0.95741807 -0.49435778] [ 0. 0. 0. 1. ]] SLAMing on 356.28463044 meters Centerline goodness : 0.102149 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.95796756 -0.00299005 -0.28686096 -0.34585823] [-0.00676993 0.99943158 -0.0330255 -0.47053389] [ 0.28679665 0.03357938 0.95740279 -0.49426197] [ 0. 0. 0. 1. ]] SLAMing on 356.31463044000003 meters Centerline goodness : 0.139117 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.95797523 -0.00298559 -0.28683541 -0.34604496] [-0.0068006 0.9994284 -0.03311548 -0.46953969] [ 0.28677032 0.03367446 0.95740734 -0.49418654] [ 0. 0. 0. 1. ]] SLAMing on 356.34463044 meters Centerline goodness : 0.107227 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.95799486 -0.0029485 -0.28677023 -0.34636013] [-0.00685263 0.9994263 -0.033168 -0.46859754] [ 0.2867035 0.0337399 0.95742505 -0.49406931] [ 0. 0. 0. 1. ]] SLAMing on 356.37463044000003 meters Centerline goodness : 0.130097 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.95812569 -0.00283313 -0.28633397 -0.34811585] [-0.00694482 0.99942701 -0.03312744 -0.46763375] [ 0.28626376 0.03372879 0.95755701 -0.49357548] [ 0. 0. 0. 1. ]] SLAMing on 356.40463044 meters Centerline goodness : 0.131722 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.9581499 -0.00294498 -0.28625181 -0.34855723] [-0.00685805 0.99942395 -0.03323762 -0.46723681] [ 0.28618479 0.03380975 0.95757776 -0.49337699] [ 0. 0. 0. 1. ]] SLAMing on 356.43463044000003 meters Centerline goodness : 0.104939 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.47, Z:-0.49 [[ 0.95815382 -0.00314211 -0.28623657 -0.34848679] [-0.00672033 0.99941724 -0.03346669 -0.46646492] [ 0.28617492 0.03398984 0.95757433 -0.49342718] [ 0. 0. 0. 1. ]] SLAMing on 356.46463044 meters Centerline goodness : 0.092098 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.46, Z:-0.49 [[ 0.95812082 -0.00327572 -0.28634552 -0.34807184] [-0.0066561 0.99940968 -0.03370451 -0.46496996] [ 0.28628689 0.03419893 0.95753342 -0.49348734] [ 0. 0. 0. 1. ]] SLAMing on 356.49463044000004 meters Centerline goodness : 0.102715 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.46, Z:-0.49 [[ 0.95813806 -0.00330883 -0.28628747 -0.34803967] [-0.00667833 0.99940286 -0.03390164 -0.46313284] [ 0.28622869 0.03439438 0.95754382 -0.49361054] [ 0. 0. 0. 1. ]] SLAMing on 356.52463044 meters Centerline goodness : 0.126513 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.46, Z:-0.49 [[ 0.95823078 -0.00306693 -0.28597966 -0.34886466] [-0.00697964 0.9993939 -0.03410444 -0.45691401] [ 0.28591092 0.03467596 0.95762859 -0.49354153] [ 0. 0. 0. 1. ]] SLAMing on 356.55463044000004 meters Centerline goodness : 0.091476 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.45, Z:-0.49 [[ 0.95820282 -0.00326243 -0.28607117 -0.34876763] [-0.00688972 0.99938183 -0.03447452 -0.45470846] [ 0.2860068 0.03500454 0.95758801 -0.49339162] [ 0. 0. 0. 1. ]] SLAMing on 356.58463044 meters Centerline goodness : 0.097946 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.45, Z:-0.49 [[ 0.9581231 -0.0034765 -0.28633553 -0.34820035] [-0.00678402 0.99937008 -0.03483409 -0.4527842 ] [ 0.28627626 0.03531785 0.95749598 -0.49318814] [ 0. 0. 0. 1. ]] SLAMing on 356.61463044000004 meters Centerline goodness : 0.103546 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.45, Z:-0.49 [[ 0.95805223 -0.0036203 -0.28657078 -0.34762783] [-0.00671868 0.99936169 -0.03508675 -0.45130949] [ 0.28651489 0.03554032 0.95741637 -0.49305146] [ 0. 0. 0. 1. ]] SLAMing on 356.64463044 meters Centerline goodness : 0.128097 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.45, Z:-0.49 [[ 0.9580436 -0.00392487 -0.28659565 -0.34791954] [-0.00651918 0.99934918 -0.03547847 -0.44949747] [ 0.28654837 0.03585829 0.95739449 -0.49269729] [ 0. 0. 0. 1. ]] SLAMing on 356.67463044 meters Centerline goodness : 0.087272 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.45, Z:-0.49 [[ 0.95803835 -0.00416238 -0.28660984 -0.34800243] [-0.00633735 0.99934257 -0.03569683 -0.44877207] [ 0.28657 0.03601528 0.95738213 -0.49245638] [ 0. 0. 0. 1. ]] SLAMing on 356.70463044 meters Centerline goodness : 0.126291 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.44, Z:-0.50 [[ 0.95810521 -0.0113943 -0.28618977 -0.36614289] [ 0.00155102 0.99940013 -0.03459741 -0.44464384] [ 0.2864123 0.03270408 0.95754814 -0.49956611] [ 0. 0. 0. 1. ]] SLAMing on 356.73463044 meters Centerline goodness : 0.098788 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.44, Z:-0.50 [[ 0.95808158 -0.01142326 -0.28626769 -0.36605224] [ 0.00154907 0.99939673 -0.03469561 -0.4437334 ] [ 0.28649133 0.03279778 0.95752129 -0.49944981] [ 0. 0. 0. 1. ]] SLAMing on 356.76463044 meters Centerline goodness : 0.129452 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.44, Z:-0.50 [[ 0.95807818 -0.0113577 -0.28628167 -0.36600429] [ 0.00146993 0.99939565 -0.03472988 -0.44262437] [ 0.28650311 0.03285312 0.95751587 -0.4993828 ] [ 0. 0. 0. 1. ]] SLAMing on 356.79463044 meters Centerline goodness : 0.128024 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.44, Z:-0.50 [[ 0.95806982 -0.01132648 -0.28631091 -0.36590661] [ 0.00141252 0.99939297 -0.03480939 -0.44147929] [ 0.28653138 0.0329454 0.95750424 -0.49938389] [ 0. 0. 0. 1. ]] SLAMing on 356.82463044 meters Centerline goodness : 0.130841 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.44, Z:-0.50 [[ 0.95796164 -0.01155101 -0.28666369 -0.36535406] [ 0.00151375 0.99937875 -0.03521101 -0.43940961] [ 0.28689233 0.03329686 0.95738399 -0.49892463] [ 0. 0. 0. 1. ]] SLAMing on 356.85463044 meters Centerline goodness : 0.131735 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95759549 -0.01144381 -0.28788871 -0.40904382] [ 0.00142028 0.99938623 -0.03500217 -0.44164207] [ 0.28811257 0.03310904 0.957024 -0.51110683] [ 0. 0. 0. 1. ]] SLAMing on 356.88463044 meters Centerline goodness : 0.102543 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95759378 -0.01128076 -0.28790084 -0.40955011] [ 0.00126977 0.99938877 -0.03493542 -0.440932 ] [ 0.28811896 0.03308837 0.95702279 -0.51066044] [ 0. 0. 0. 1. ]] SLAMing on 356.91463044 meters Centerline goodness : 0.136395 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95767324 -0.01110529 -0.28764325 -0.41065854] [ 0.00111304 0.99939094 -0.0348786 -0.44002025] [ 0.2878554 0.03308214 0.95710232 -0.51033369] [ 0. 0. 0. 1. ]] SLAMing on 356.94463044 meters Centerline goodness : 0.129166 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95779423 -0.011218 -0.28723574 -0.41242512] [ 0.00118003 0.99938324 -0.03509612 -0.43872116] [ 0.2874523 0.03327591 0.95721674 -0.50984443] [ 0. 0. 0. 1. ]] SLAMing on 356.97463044 meters Centerline goodness : 0.127793 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95777536 -0.01132735 -0.28729436 -0.41237127] [ 0.00124259 0.99937738 -0.0352606 -0.43793945] [ 0.28751489 0.03341474 0.95719311 -0.509761 ] [ 0. 0. 0. 1. ]] SLAMing on 357.00463044 meters Centerline goodness : 0.125627 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95777889 -0.01129391 -0.28728391 -0.41265791] [ 0.00120552 0.99937712 -0.03526914 -0.43750091] [ 0.2875033 0.03343371 0.95719593 -0.50951721] [ 0. 0. 0. 1. ]] SLAMing on 357.03463044 meters Centerline goodness : 0.126754 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.9578201 -0.011219 -0.28714942 -0.413432 ] [ 0.00113906 0.999378 -0.03524647 -0.43701832] [ 0.28736624 0.0334327 0.95723712 -0.50922342] [ 0. 0. 0. 1. ]] SLAMing on 357.06463044000003 meters Centerline goodness : 0.131132 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95782259 -0.01110943 -0.28714539 -0.41392358] [ 0.00105265 0.99938135 -0.03515402 -0.43690771] [ 0.28735829 0.03336905 0.95724173 -0.50886016] [ 0. 0. 0. 1. ]] SLAMing on 357.09463044 meters Centerline goodness : 0.094273 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.9577712 -0.01115369 -0.28731504 -0.41392517] [ 0.00109611 0.99938171 -0.0351425 -0.4371275 ] [ 0.28752936 0.03334355 0.95719124 -0.50838779] [ 0. 0. 0. 1. ]] SLAMing on 357.12463044000003 meters Centerline goodness : 0.135284 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.44, Z:-0.51 [[ 0.95782784 -0.01119082 -0.2871247 -0.4147048 ] [ 0.00113468 0.99938084 -0.03516613 -0.43725731] [ 0.28734046 0.0333573 0.95724749 -0.50819889] [ 0. 0. 0. 1. ]] SLAMing on 357.15463044 meters Centerline goodness : 0.126393 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.44, Z:-0.51 [[ 0.9578925 -0.01124587 -0.28690675 -0.41588659] [ 0.00117664 0.99937804 -0.03524414 -0.43700449] [ 0.28712466 0.03342251 0.95730996 -0.50775366] [ 0. 0. 0. 1. ]] SLAMing on 357.18463044000003 meters Centerline goodness : 0.115560 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.44, Z:-0.51 [[ 0.95808191 -0.0112152 -0.28627482 -0.41804197] [ 0.00109632 0.99936969 -0.03548256 -0.43504708] [ 0.28649232 0.03368135 0.95749032 -0.50745671] [ 0. 0. 0. 1. ]] SLAMing on 357.21463044 meters Centerline goodness : 0.115560 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.44, Z:-0.51 [[ 0.95808191 -0.0112152 -0.28627482 -0.41804197] [ 0.00109632 0.99936969 -0.03548256 -0.43504708] [ 0.28649232 0.03368135 0.95749032 -0.50745671] [ 0. 0. 0. 1. ]] SLAMing on 357.24463044000004 meters Centerline goodness : 0.111138 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.58114903e-01 -1.10571692e-02 -2.86170528e-01 -4.18298390e-01] [ 9.24619213e-04 9.99368598e-01 -3.55183194e-02 -4.33456293e-01] [ 2.86382572e-01 3.37660324e-02 9.57520171e-01 -5.07510014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27463044 meters Centerline goodness : 0.152750 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.58162295e-01 -1.08991106e-02 -2.86017876e-01 -4.18461029e-01] [ 7.45800563e-04 9.99366417e-01 -3.55838148e-02 -4.31689300e-01] [ 2.86224492e-01 3.38817574e-02 9.57563349e-01 -5.07779667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30463044000004 meters Centerline goodness : 0.121618 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.58185334e-01 -1.08790286e-02 -2.85941449e-01 -4.18592207e-01] [ 6.75524162e-04 9.99360238e-01 -3.57583390e-02 -4.29977966e-01] [ 2.86147531e-01 3.40699556e-02 9.57579672e-01 -5.07835757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33463044 meters Centerline goodness : 0.110369 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.58204200e-01 -1.10187054e-02 -2.85872871e-01 -4.19004616e-01] [ 7.44360693e-04 9.99350646e-01 -3.60240577e-02 -4.28562242e-01] [ 2.86084177e-01 3.43056108e-02 9.57590188e-01 -5.07684185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36463044000004 meters Centerline goodness : 0.089300 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.58185988e-01 -1.11603103e-02 -2.85928417e-01 -4.18930691e-01] [ 8.22624449e-04 9.99342435e-01 -3.62494379e-02 -4.27478883e-01] [ 2.86144955e-01 3.44984918e-02 9.57565099e-01 -5.07592951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39463044 meters Centerline goodness : 0.119475 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.58091422e-01 -1.11945665e-02 -2.86243792e-01 -4.18240943e-01] [ 8.24042784e-04 9.99339707e-01 -3.63245135e-02 -4.26955702e-01] [ 2.86461425e-01 3.45663276e-02 9.57468026e-01 -5.07410477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42463044 meters Centerline goodness : 0.125427 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.57944294e-01 -1.09848039e-02 -2.86743899e-01 -4.16861896e-01] [ 6.45290090e-04 9.99346963e-01 -3.61279822e-02 -4.26777483e-01] [ 2.86953503e-01 3.44235614e-02 9.57325809e-01 -5.07312590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45463044 meters Centerline goodness : 0.173819 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.57905710e-01 -1.09712248e-02 -2.86873286e-01 -4.16437106e-01] [ 6.34591150e-04 9.99347973e-01 -3.61002340e-02 -4.26813706e-01] [ 2.87082300e-01 3.43985731e-02 9.57288092e-01 -5.07337872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48463044 meters Centerline goodness : 0.471009 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.51 [[ 9.57912815e-01 -1.12112820e-02 -2.86840279e-01 -4.16559664e-01] [ 7.99556421e-04 9.99337366e-01 -3.63894072e-02 -4.25833514e-01] [ 2.87058181e-01 3.46285345e-02 9.57287034e-01 -5.07313807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51463044 meters Centerline goodness : 0.477332 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.51 [[ 9.57920324e-01 -1.12226233e-02 -2.86814758e-01 -4.16862277e-01] [ 7.89385548e-04 9.99334582e-01 -3.64660004e-02 -4.24928646e-01] [ 2.87033151e-01 3.47051155e-02 9.57291766e-01 -5.07070397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54463044 meters Centerline goodness : 0.095902 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.51 [[ 9.57951423e-01 -1.11277864e-02 -2.86714569e-01 -4.17455433e-01] [ 6.99174816e-04 9.99335250e-01 -3.64495383e-02 -4.24030593e-01] [ 2.86929578e-01 3.47164235e-02 9.57322405e-01 -5.06804792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57463044 meters Centerline goodness : 0.480468 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.51 [[ 9.57944935e-01 -1.10447841e-02 -2.86739453e-01 -4.17649572e-01] [ 6.19455253e-04 9.99336253e-01 -3.64234813e-02 -4.23423027e-01] [ 2.86951420e-01 3.47140671e-02 9.57315944e-01 -5.06530480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60463044 meters Centerline goodness : 0.274831 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.51 [[ 9.57948197e-01 -1.11573847e-02 -2.86724195e-01 -4.17778490e-01] [ 6.97128464e-04 9.99331284e-01 -3.65581657e-02 -4.22902128e-01] [ 2.86940351e-01 3.48209453e-02 9.57315380e-01 -5.06450803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63463044 meters Centerline goodness : 0.362835 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.51 [[ 9.57905333e-01 -1.13797867e-02 -2.86858629e-01 -4.17595377e-01] [ 8.50696743e-04 9.99322187e-01 -3.68027500e-02 -4.22271147e-01] [ 2.87083000e-01 3.50095208e-02 9.57265733e-01 -5.06184429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66463044 meters Centerline goodness : 0.475083 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.51 [[ 0.95784705 -0.01174523 -0.28703848 -0.41701259] [ 0.00109858 0.99930633 -0.03722433 -0.42086942] [ 0.28727658 0.03533988 0.95719552 -0.50616834] [ 0. 0. 0. 1. ]] SLAMing on 357.69463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 357.72463044 meters Centerline goodness : 0.479558 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.51 [[ 9.58009264e-01 -9.36542717e-03 -2.86584263e-01 -4.19530114e-01] [-8.60922521e-04 9.99367999e-01 -3.55367733e-02 -4.16963244e-01] [ 2.86735958e-01 3.42912848e-02 9.57395738e-01 -5.05516698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75463044 meters Centerline goodness : 0.478975 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.41, Z:-0.51 [[ 9.57998157e-01 -9.42093027e-03 -2.86619569e-01 -4.19558279e-01] [-8.89190763e-04 9.99357861e-01 -3.58200379e-02 -4.14206557e-01] [ 2.86772977e-01 3.45703898e-02 9.57374612e-01 -5.05329492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78463044 meters Centerline goodness : 0.407029 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.41, Z:-0.51 [[ 9.58065220e-01 -9.75999827e-03 -2.86383966e-01 -4.20332385e-01] [-7.25340412e-04 9.99333975e-01 -3.64839604e-02 -4.09722495e-01] [ 2.86549311e-01 3.51617394e-02 9.57420046e-01 -5.05211448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81463044000003 meters Centerline goodness : 0.214388 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.95816114 -0.01705509 -0.28572075 -0.43971944] [ 0.00714162 0.99933694 -0.03570252 -0.40444391] [ 0.28614021 0.03216826 0.95764763 -0.51204811] [ 0. 0. 0. 1. ]] SLAMing on 357.84463044 meters Centerline goodness : 0.480174 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.95817302 -0.0171546 -0.28567498 -0.44022591] [ 0.00719694 0.99933054 -0.03587015 -0.40324529] [ 0.28609907 0.03231382 0.95765502 -0.51171668] [ 0. 0. 0. 1. ]] SLAMing on 357.87463044000003 meters Centerline goodness : 0.480202 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.9581722 -0.0172344 -0.28567292 -0.44028886] [ 0.00725289 0.99932685 -0.03596169 -0.40265064] [ 0.2861004 0.03238554 0.9576522 -0.51163394] [ 0. 0. 0. 1. ]] SLAMing on 357.90463044 meters Centerline goodness : 0.239378 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.95816106 -0.01787085 -0.28567117 -0.44016788] [ 0.00782122 0.99931101 -0.03628139 -0.40318986] [ 0.28612273 0.03252912 0.95764066 -0.51165315] [ 0. 0. 0. 1. ]] SLAMing on 357.93463044000003 meters Centerline goodness : 0.096283 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.95814916 -0.01796089 -0.28570544 -0.44027804] [ 0.00793526 0.9993127 -0.03620996 -0.404227 ] [ 0.28615943 0.0324274 0.95763315 -0.5114367 ] [ 0. 0. 0. 1. ]] SLAMing on 357.96463044 meters Centerline goodness : 0.094998 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.41, Z:-0.51 [[ 0.95818501 -0.01796171 -0.28558513 -0.44073147] [ 0.00799289 0.9993186 -0.03603407 -0.40551802] [ 0.28603777 0.03224465 0.95767566 -0.51126592] [ 0. 0. 0. 1. ]] SLAMing on 357.99463044000004 meters Centerline goodness : 0.102291 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.41, Z:-0.51 [[ 0.95821709 -0.01789362 -0.28548176 -0.44107108] [ 0.00798835 0.9993262 -0.03582362 -0.40684005] [ 0.28593042 0.03204628 0.95771438 -0.51117371] [ 0. 0. 0. 1. ]] SLAMing on 358.02463044 meters Centerline goodness : 0.392608 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.41, Z:-0.51 [[ 0.95818145 -0.01790303 -0.28560074 -0.44104775] [ 0.00801876 0.99932892 -0.03574076 -0.4077017 ] [ 0.28604895 0.03195597 0.957682 -0.51086082] [ 0. 0. 0. 1. ]] SLAMing on 358.05463044000004 meters Centerline goodness : 0.256742 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.41, Z:-0.51 [[ 0.95811115 -0.01791684 -0.28583562 -0.44013536] [ 0.00803207 0.99932966 -0.03571706 -0.40811653] [ 0.28628395 0.03192506 0.95761281 -0.51101594] [ 0. 0. 0. 1. ]] SLAMing on 358.08463044 meters Centerline goodness : 0.291532 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.51 [[ 0.95760791 -0.01566874 -0.28764836 -0.43242962] [ 0.00612546 0.99940146 -0.03404701 -0.40735578] [ 0.28800967 0.0308417 0.95713072 -0.51233092] [ 0. 0. 0. 1. ]] SLAMing on 358.11463044000004 meters Centerline goodness : 0.296812 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.51 [[ 0.95746188 -0.01550517 -0.28814292 -0.43050239] [ 0.00593923 0.99940271 -0.03404326 -0.40649271] [ 0.28849866 0.03088378 0.95698209 -0.51269032] [ 0. 0. 0. 1. ]] SLAMing on 358.14463044 meters Centerline goodness : 0.297543 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.51 [[ 0.95738367 -0.01547804 -0.28840412 -0.4297671 ] [ 0.00587405 0.99939993 -0.03413624 -0.40561332] [ 0.28875942 0.03098738 0.95690009 -0.5126552 ] [ 0. 0. 0. 1. ]] SLAMing on 358.17463044 meters Centerline goodness : 0.224500 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.40, Z:-0.51 [[ 0.95735835 -0.01528816 -0.28849829 -0.43031282] [ 0.00564962 0.99939861 -0.03421251 -0.40394957] [ 0.28884783 0.03112372 0.95686898 -0.51198348] [ 0. 0. 0. 1. ]] SLAMing on 358.20463044 meters Centerline goodness : 0.298294 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.40, Z:-0.51 [[ 0.95738754 -0.01526678 -0.28840254 -0.43055435] [ 0.00559361 0.99939473 -0.03433495 -0.40276492] [ 0.28875217 0.03125864 0.95689345 -0.51204537] [ 0. 0. 0. 1. ]] SLAMing on 358.23463044 meters Centerline goodness : 0.368966 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.40, Z:-0.51 [[ 0.95739499 -0.01533407 -0.28837424 -0.43061382] [ 0.00560366 0.99938769 -0.03453765 -0.40139929] [ 0.28872727 0.03145022 0.95689469 -0.51203213] [ 0. 0. 0. 1. ]] SLAMing on 358.26463044 meters Centerline goodness : 0.206428 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.40, Z:-0.51 [[ 0.95743752 -0.01534345 -0.28823249 -0.43122974] [ 0.00558035 0.99938346 -0.03466352 -0.40014268] [ 0.28858664 0.03157972 0.95693285 -0.51190951] [ 0. 0. 0. 1. ]] SLAMing on 358.29463044 meters Centerline goodness : 0.098205 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.40, Z:-0.51 [[ 0.95753195 -0.01523177 -0.28792455 -0.43269056] [ 0.00547848 0.99938449 -0.03464994 -0.39906452] [ 0.28827511 0.03160103 0.95702604 -0.51150357] [ 0. 0. 0. 1. ]] SLAMing on 358.32463044 meters Centerline goodness : 0.094589 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.40, Z:-0.51 [[ 0.95764162 -0.01511303 -0.28756586 -0.4342564 ] [ 0.00536761 0.99938517 -0.03464767 -0.39782537] [ 0.28791269 0.03163651 0.95713396 -0.51111586] [ 0. 0. 0. 1. ]] SLAMing on 358.35463044 meters Centerline goodness : 0.266960 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.39, Z:-0.51 [[ 0.9576628 -0.01547428 -0.28747611 -0.43490198] [ 0.00555529 0.99936176 -0.03528751 -0.3940173 ] [ 0.28783868 0.03219652 0.95713754 -0.51073752] [ 0. 0. 0. 1. ]] SLAMing on 358.38463044 meters Centerline goodness : 0.098485 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.39, Z:-0.51 [[ 0.95757425 -0.01573409 -0.28775682 -0.43413281] [ 0.00569188 0.99934628 -0.0357017 -0.39184285] [ 0.28813044 0.03254915 0.95703783 -0.51063598] [ 0. 0. 0. 1. ]] SLAMing on 358.41463044 meters Centerline goodness : 0.254681 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.39, Z:-0.51 [[ 0.95747766 -0.01587066 -0.28807058 -0.43317756] [ 0.00572317 0.99933418 -0.03603386 -0.38925417] [ 0.28845065 0.03285294 0.95693098 -0.51062615] [ 0. 0. 0. 1. ]] SLAMing on 358.44463044 meters Centerline goodness : 0.092843 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.39, Z:-0.51 [[ 0.95741501 -0.01590747 -0.28827668 -0.43245956] [ 0.0057012 0.99932796 -0.03620953 -0.3872608 ] [ 0.28865895 0.03302402 0.95686228 -0.51065302] [ 0. 0. 0. 1. ]] SLAMing on 358.47463044 meters Centerline goodness : 0.091571 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.38, Z:-0.51 [[ 0.95747206 -0.0162782 -0.28806645 -0.43347112] [ 0.00597668 0.99931196 -0.03660439 -0.38490317] [ 0.28846411 0.03332599 0.95691057 -0.51018235] [ 0. 0. 0. 1. ]] SLAMing on 358.50463044 meters Centerline goodness : 0.092842 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.38, Z:-0.51 [[ 0.95761343 -0.01668846 -0.28757262 -0.43555683] [ 0.00634552 0.99930025 -0.03686105 -0.38494342] [ 0.28798655 0.03347384 0.95704924 -0.50965906] [ 0. 0. 0. 1. ]] SLAMing on 358.53463044 meters Centerline goodness : 0.248209 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.39, Z:-0.51 [[ 0.95773862 -0.01701131 -0.28713645 -0.43736305] [ 0.00666742 0.99929436 -0.03696382 -0.38565896] [ 0.28756264 0.03348722 0.95717623 -0.50919065] [ 0. 0. 0. 1. ]] SLAMing on 358.56463044000003 meters Centerline goodness : 0.090421 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.39, Z:-0.51 [[ 0.95775632 -0.01704145 -0.28707564 -0.43770081] [ 0.00673758 0.99929838 -0.03684232 -0.38652653] [ 0.28750206 0.03335177 0.95719916 -0.50900836] [ 0. 0. 0. 1. ]] SLAMing on 358.59463044 meters Centerline goodness : 0.100345 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.39, Z:-0.51 [[ 0.95766941 -0.01691924 -0.28737266 -0.43683864] [ 0.00667699 0.99930828 -0.0365838 -0.38774357] [ 0.28779285 0.0331164 0.95711994 -0.5089619 ] [ 0. 0. 0. 1. ]] SLAMing on 358.62463044000003 meters Centerline goodness : 0.301324 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.39, Z:-0.51 [[ 0.95753682 -0.01720296 -0.28779733 -0.43564487] [ 0.00698666 0.99930967 -0.03648783 -0.39028361] [ 0.28822635 0.0329277 0.956996 -0.50878507] [ 0. 0. 0. 1. ]] SLAMing on 358.65463044 meters Centerline goodness : 0.258009 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.39, Z:-0.51 [[ 0.95752929 -0.01726794 -0.28781848 -0.43566558] [ 0.00709192 0.99931356 -0.03636098 -0.39216203] [ 0.28824879 0.03277552 0.95699446 -0.50861959] [ 0. 0. 0. 1. ]] SLAMing on 358.68463044000003 meters Centerline goodness : 0.259196 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.40, Z:-0.52 [[ 9.58052755e-01 -1.07445343e-02 -2.86390421e-01 -4.53102935e-01] [ 8.61109585e-05 9.99307723e-01 -3.72030503e-02 -4.00512208e-01] [ 2.86591889e-01 3.56178235e-02 9.57390443e-01 -5.15576574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71463044 meters Centerline goodness : 0.271523 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.40, Z:-0.52 [[ 9.58090173e-01 -1.03960723e-02 -2.86278085e-01 -4.53537460e-01] [-7.95198197e-05 9.99331586e-01 -3.65564504e-02 -4.04562735e-01] [ 2.86466776e-01 3.50471407e-02 9.57448946e-01 -5.15538165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74463044000004 meters Centerline goodness : 0.261473 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 9.58008316e-01 -1.01955253e-02 -2.86559099e-01 -4.52222843e-01] [-2.04926241e-04 9.99343063e-01 -3.62408611e-02 -4.06439576e-01] [ 2.86740342e-01 3.47777698e-02 9.57376876e-01 -5.15928771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77463044 meters Centerline goodness : 0.098310 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 9.57871509e-01 -9.99325429e-03 -2.87023181e-01 -4.50435937e-01] [-3.56816669e-04 9.99352262e-01 -3.59851276e-02 -4.07798523e-01] [ 2.87196874e-01 3.45715431e-02 9.57247494e-01 -5.16252705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80463044000004 meters Centerline goodness : 0.251817 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 9.57738561e-01 -9.73993042e-03 -2.87475184e-01 -4.48802670e-01] [-5.76404328e-04 9.99359540e-01 -3.57795650e-02 -4.08371007e-01] [ 2.87639559e-01 3.44331710e-02 9.57119554e-01 -5.16453589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83463044 meters Centerline goodness : 0.239785 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 9.57639386e-01 -9.49490336e-03 -2.87813572e-01 -4.47697595e-01] [-8.07135349e-04 9.99363855e-01 -3.56543569e-02 -4.08287834e-01] [ 2.87969016e-01 3.43763210e-02 9.57022526e-01 -5.16520557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86463044000004 meters Centerline goodness : 0.252914 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 0.95762232 -0.00926635 -0.2878778 -0.44759648] [-0.00101185 0.99936795 -0.03553406 -0.40821935] [ 0.28802511 0.0343195 0.95700768 -0.51648748] [ 0. 0. 0. 1. ]] SLAMing on 358.89463044 meters Centerline goodness : 0.284592 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 0.957722 -0.00902266 -0.28755375 -0.44879357] [-0.00120392 0.99937365 -0.03536741 -0.40883561] [ 0.28769275 0.03421833 0.95711127 -0.51638016] [ 0. 0. 0. 1. ]] SLAMing on 358.92463044 meters Centerline goodness : 0.234711 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 0.95774326 -0.00885549 -0.28748812 -0.4491061 ] [-0.00131491 0.99938068 -0.03516442 -0.40978113] [ 0.28762147 0.03405651 0.95713847 -0.51634016] [ 0. 0. 0. 1. ]] SLAMing on 358.95463044 meters Centerline goodness : 0.300682 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 0.95773866 -0.00863457 -0.28751017 -0.44909519] [-0.00144811 0.99939193 -0.03483782 -0.41128469] [ 0.28763615 0.03378188 0.95714379 -0.51632642] [ 0. 0. 0. 1. ]] SLAMing on 358.98463044 meters Centerline goodness : 0.232172 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.52 [[ 0.95771728 -0.00840828 -0.28758808 -0.44896654] [-0.0015732 0.99940488 -0.03445888 -0.41324902] [ 0.28770667 0.0334543 0.9571341 -0.51625552] [ 0. 0. 0. 1. ]] SLAMing on 359.01463044 meters Centerline goodness : 0.302531 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.42, Z:-0.52 [[ 9.57717053e-01 -9.08764832e-03 -2.87568186e-01 -4.48961003e-01] [-8.68712009e-04 9.99405146e-01 -3.44760766e-02 -4.20272110e-01] [ 2.87710431e-01 3.32681404e-02 9.57139456e-01 -5.16341162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04463044 meters Centerline goodness : 0.303583 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.42, Z:-0.52 [[ 9.57753067e-01 -9.07981537e-03 -2.87448463e-01 -4.49542505e-01] [-7.81051152e-04 9.99415676e-01 -3.41715654e-02 -4.23301821e-01] [ 2.87590771e-01 3.29524335e-02 9.57186338e-01 -5.16159015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07463044 meters Centerline goodness : 0.304164 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 9.57826111e-01 -8.97612532e-03 -2.87208236e-01 -4.50523601e-01] [-7.77432034e-04 9.99427373e-01 -3.38278254e-02 -4.25831043e-01] [ 2.87347415e-01 3.26244593e-02 9.57270655e-01 -5.15977925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10463044 meters Centerline goodness : 0.304164 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 9.57826111e-01 -8.97612532e-03 -2.87208236e-01 -4.50523601e-01] [-7.77432034e-04 9.99427373e-01 -3.38278254e-02 -4.25831043e-01] [ 2.87347415e-01 3.26244593e-02 9.57270655e-01 -5.15977925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13463044 meters Centerline goodness : 0.308957 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95783793 -0.00853016 -0.28718239 -0.45080687] [-0.00102688 0.99945113 -0.0331116 -0.42940913] [ 0.28730722 0.03201045 0.95730345 -0.51582315] [ 0. 0. 0. 1. ]] SLAMing on 359.16463044 meters Centerline goodness : 0.280279 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95776501 -0.00840934 -0.28742907 -0.44953422] [-0.00109927 0.99945791 -0.03290421 -0.43063691] [ 0.28754996 0.03183046 0.95723656 -0.51622533] [ 0. 0. 0. 1. ]] SLAMing on 359.19463044 meters Centerline goodness : 0.303771 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95767363 -0.00836886 -0.28773457 -0.44836827] [-0.00112735 0.99946058 -0.03282182 -0.43133995] [ 0.28785404 0.03175696 0.95714761 -0.51640502] [ 0. 0. 0. 1. ]] SLAMing on 359.22463044 meters Centerline goodness : 0.096769 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95761078 -0.0082314 -0.28794764 -0.44750661] [-0.00123163 0.99946553 -0.03266714 -0.43192541] [ 0.28806263 0.03163705 0.95708882 -0.51659047] [ 0. 0. 0. 1. ]] SLAMing on 359.25463044 meters Centerline goodness : 0.094538 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95759166 -0.0080371 -0.2880167 -0.447432 ] [-0.00137573 0.99947195 -0.03246422 -0.43250286] [ 0.28812553 0.0314837 0.95707495 -0.51649323] [ 0. 0. 0. 1. ]] SLAMing on 359.28463044 meters Centerline goodness : 0.097460 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95759971 -0.00790785 -0.28799352 -0.44786722] [-0.00146236 0.99947694 -0.0323065 -0.43309319] [ 0.28809836 0.03135784 0.95708726 -0.51618827] [ 0. 0. 0. 1. ]] SLAMing on 359.31463044000003 meters Centerline goodness : 0.305289 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.95778405 -0.00777306 -0.28738352 -0.44982995] [-0.00148494 0.99948732 -0.03198279 -0.43537051] [ 0.28748479 0.03105936 0.95728147 -0.516119 ] [ 0. 0. 0. 1. ]] SLAMing on 359.34463044 meters Centerline goodness : 0.305518 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.95788107 -0.00768597 -0.28706232 -0.45056931] [-0.00150539 0.99949362 -0.03178425 -0.43667451] [ 0.28716125 0.03087767 0.95738445 -0.51633482] [ 0. 0. 0. 1. ]] SLAMing on 359.37463044000003 meters Centerline goodness : 0.305952 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.95790183 -0.00766415 -0.28699364 -0.45058944] [-0.00148794 0.99949766 -0.03165783 -0.43778456] [ 0.2870921 0.03075212 0.95740923 -0.51648151] [ 0. 0. 0. 1. ]] SLAMing on 359.40463044 meters Centerline goodness : 0.306395 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.95788612 -0.00765912 -0.28704619 -0.45017252] [-0.00146135 0.99950124 -0.03154583 -0.43902102] [ 0.28714463 0.03063679 0.95739717 -0.5166902 ] [ 0. 0. 0. 1. ]] SLAMing on 359.43463044000003 meters Centerline goodness : 0.307734 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.95781616 -0.0076068 -0.28728095 -0.44941728] [-0.00148473 0.9995053 -0.03141574 -0.44008021] [ 0.2873778 0.03051704 0.95733103 -0.5167325 ] [ 0. 0. 0. 1. ]] SLAMing on 359.46463044 meters Centerline goodness : 0.302346 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.95770881 -0.00743554 -0.28764309 -0.44804122] [-0.00158285 0.99951479 -0.03110742 -0.44211777] [ 0.28773482 0.03024715 0.95723236 -0.51694553] [ 0. 0. 0. 1. ]] SLAMing on 359.49463044000004 meters Centerline goodness : 0.305495 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.95767029 -0.00728714 -0.28777511 -0.44762866] [-0.00167288 0.99952178 -0.03087732 -0.44349881] [ 0.28786249 0.03005171 0.95720013 -0.51696618] [ 0. 0. 0. 1. ]] SLAMing on 359.52463044 meters Centerline goodness : 0.303002 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95773949 -0.00697532 -0.28755247 -0.44834687] [-0.00184188 0.99953669 -0.03038102 -0.44648227] [ 0.28763116 0.02962674 0.95728291 -0.5169797 ] [ 0. 0. 0. 1. ]] SLAMing on 359.55463044000004 meters Centerline goodness : 0.303821 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95776324 -0.00678423 -0.28747791 -0.44847708] [-0.0019626 0.99954415 -0.03012699 -0.44777701] [ 0.28755126 0.02941873 0.95731333 -0.51707836] [ 0. 0. 0. 1. ]] SLAMing on 359.58463044 meters Centerline goodness : 0.304342 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.9577321 -0.00660839 -0.28758574 -0.44812834] [-0.00207792 0.99955108 -0.02988851 -0.44901392] [ 0.28765415 0.02922277 0.95728842 -0.51713351] [ 0. 0. 0. 1. ]] SLAMing on 359.61463044000004 meters Centerline goodness : 0.304851 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95767146 -0.00649027 -0.2877903 -0.44709546] [-0.00215707 0.99955593 -0.02972008 -0.45012843] [ 0.2878554 0.02908286 0.95723219 -0.51746869] [ 0. 0. 0. 1. ]] SLAMing on 359.64463044 meters Centerline goodness : 0.480955 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95754443 -0.0063858 -0.288215 -0.44558502] [-0.00223597 0.99956006 -0.02957527 -0.45124004] [ 0.28827706 0.02896408 0.95710889 -0.51761538] [ 0. 0. 0. 1. ]] SLAMing on 359.67463044 meters Centerline goodness : 0.087992 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.52 [[ 0.95746996 -0.00625835 -0.2884651 -0.44458731] [-0.00232697 0.99956474 -0.02940953 -0.45224254] [ 0.2885236 0.02882999 0.95703864 -0.51782049] [ 0. 0. 0. 1. ]] SLAMing on 359.70463044 meters Centerline goodness : 0.087381 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.52 [[ 0.9574439 -0.00569843 -0.28856317 -0.44455776] [-0.00274487 0.99958008 -0.0288467 -0.45383008] [ 0.28860637 0.02841117 0.95702621 -0.517666 ] [ 0. 0. 0. 1. ]] SLAMing on 359.73463044 meters Centerline goodness : 0.089545 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.52 [[ 0.95745569 -0.00552858 -0.28852735 -0.44481878] [-0.00287362 0.99958425 -0.02868929 -0.45426508] [ 0.28856601 0.02829785 0.95704174 -0.51754513] [ 0. 0. 0. 1. ]] SLAMing on 359.76463044 meters Centerline goodness : 0.082283 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.52 [[ 0.95743144 -0.00548231 -0.28860869 -0.44464693] [-0.00292485 0.99958406 -0.02869065 -0.45427359] [ 0.28864593 0.02831347 0.95701717 -0.51744843] [ 0. 0. 0. 1. ]] SLAMing on 359.79463044 meters Centerline goodness : 0.087540 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.52 [[ 0.95742294 -0.00552247 -0.28863613 -0.44438797] [-0.0029246 0.99958017 -0.02882603 -0.45365404] [ 0.28867414 0.02844285 0.95700483 -0.51761059] [ 0. 0. 0. 1. ]] SLAMing on 359.82463044 meters Centerline goodness : 0.087813 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.45, Z:-0.52 [[ 0.95741472 -0.00484116 -0.28867562 -0.44422741] [-0.00353982 0.99958743 -0.02850341 -0.45204595] [ 0.28869451 0.02831145 0.95700258 -0.51773712] [ 0. 0. 0. 1. ]] SLAMing on 359.85463044 meters Centerline goodness : 0.080237 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.45, Z:-0.52 [[ 0.95744203 -0.00931252 -0.28847538 -0.4656012 ] [ 0.00211619 0.99967898 -0.0252479 -0.45023485] [ 0.2886179 0.02356293 0.95715438 -0.5242626 ] [ 0. 0. 0. 1. ]] SLAMing on 359.88463044 meters Centerline goodness : 0.092402 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95772666 -0.0020747 -0.28767229 -0.44828589] [-0.00583507 0.99962818 -0.02663561 -0.45178168] [ 0.28762059 0.02718822 0.95735845 -0.51707222] [ 0. 0. 0. 1. ]] SLAMing on 359.91463044 meters Centerline goodness : 0.088012 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95777075 -0.00229642 -0.28752375 -0.44901963] [-0.00567154 0.99962268 -0.02687634 -0.45144498] [ 0.28747698 0.02737207 0.95739634 -0.51684807] [ 0. 0. 0. 1. ]] SLAMing on 359.94463044 meters Centerline goodness : 0.120950 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95780339 -0.00273926 -0.28741113 -0.45037194] [-0.00535529 0.99961092 -0.02737373 -0.45036505] [ 0.28737429 0.02775783 0.95741606 -0.51610515] [ 0. 0. 0. 1. ]] SLAMing on 359.97463044 meters Centerline goodness : 0.492711 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95781555 -0.0027234 -0.28737075 -0.45076963] [-0.00539669 0.99960832 -0.02746058 -0.44920395] [ 0.28733298 0.02785302 0.9574257 -0.51587696] [ 0. 0. 0. 1. ]] SLAMing on 360.00463044 meters Centerline goodness : 0.078688 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.95782779 -0.00265877 -0.28733056 -0.45091022] [-0.00548666 0.99960565 -0.02753971 -0.44765206] [ 0.28729048 0.02795478 0.95743549 -0.51586723] [ 0. 0. 0. 1. ]] SLAMing on 360.03463044 meters Centerline goodness : 0.310208 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.52 [[ 0.9578504 -0.00274243 -0.28725439 -0.45087221] [-0.00546927 0.99959909 -0.02778048 -0.44586766] [ 0.28721541 0.02818062 0.95745139 -0.51608747] [ 0. 0. 0. 1. ]] SLAMing on 360.06463044000003 meters Centerline goodness : 0.348184 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.9578419 -0.00297161 -0.28728046 -0.4508711 ] [-0.00534895 0.99958872 -0.02817398 -0.44358646] [ 0.28724603 0.02852287 0.95743207 -0.51599695] [ 0. 0. 0. 1. ]] SLAMing on 360.09463044 meters Centerline goodness : 0.095658 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.52 [[ 0.9577082 -0.00285631 -0.28772704 -0.44995164] [-0.00559203 0.99957712 -0.0285362 -0.43741793] [ 0.28768687 0.02893833 0.95728723 -0.51563036] [ 0. 0. 0. 1. ]] SLAMing on 360.12463044000003 meters Centerline goodness : 0.142039 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95760833 -0.00291111 -0.28805868 -0.44894746] [-0.00563751 0.99956807 -0.02884263 -0.43466415] [ 0.28801822 0.02924388 0.9571783 -0.51562857] [ 0. 0. 0. 1. ]] SLAMing on 360.15463044 meters Centerline goodness : 0.312271 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95752544 -0.00309045 -0.28833223 -0.44815809] [-0.00557963 0.99955676 -0.02924306 -0.43201525] [ 0.28829481 0.02960976 0.95708378 -0.51556611] [ 0. 0. 0. 1. ]] SLAMing on 360.18463044000003 meters Centerline goodness : 0.095273 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.52 [[ 0.95746588 -0.00335234 -0.28852704 -0.44790524] [-0.00543721 0.99954536 -0.02965669 -0.42994597] [ 0.28849529 0.02996405 0.95701234 -0.51526521] [ 0. 0. 0. 1. ]] SLAMing on 360.21463044 meters Centerline goodness : 0.096469 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:-0.51 [[ 0.95762786 -0.0037959 -0.28798347 -0.4505684 ] [-0.00513417 0.99952926 -0.03024735 -0.42717803] [ 0.28796272 0.03044427 0.95715757 -0.51445457] [ 0. 0. 0. 1. ]] SLAMing on 360.24463044000004 meters Centerline goodness : 0.310364 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:-0.51 [[ 0.95776661 -0.01020443 -0.2873656 -0.43527992] [ 0.0020548 0.99958748 -0.02864711 -0.42088777] [ 0.28753938 0.02684677 0.95739248 -0.50687909] [ 0. 0. 0. 1. ]] SLAMing on 360.27463044 meters Centerline goodness : 0.310227 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:-0.51 [[ 0.95777873 -0.01020163 -0.2873253 -0.43574091] [ 0.0020398 0.99958624 -0.02869129 -0.4200791 ] [ 0.28749911 0.02689382 0.95740325 -0.5065883 ] [ 0. 0. 0. 1. ]] SLAMing on 360.30463044000004 meters Centerline goodness : 0.311495 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95763496 -0.01047131 -0.28779443 -0.43418791] [ 0.00222654 0.99957808 -0.02896052 -0.41905194] [ 0.28797626 0.02709283 0.95725423 -0.5066154 ] [ 0. 0. 0. 1. ]] SLAMing on 360.33463044 meters Centerline goodness : 0.480534 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95759912 -0.01057317 -0.28790994 -0.4339452 ] [ 0.00230368 0.99957542 -0.02904617 -0.41899178] [ 0.28809481 0.02715133 0.9572169 -0.50650363] [ 0. 0. 0. 1. ]] SLAMing on 360.36463044000004 meters Centerline goodness : 0.306619 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95760017 -0.01059778 -0.28790555 -0.43443328] [ 0.00233849 0.9995762 -0.02901632 -0.41942283] [ 0.28809105 0.02711277 0.95721912 -0.50612701] [ 0. 0. 0. 1. ]] SLAMing on 360.39463044 meters Centerline goodness : 0.439524 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:-0.51 [[ 0.95763127 -0.01049329 -0.2878059 -0.43505982] [ 0.00228336 0.99958124 -0.02884679 -0.42012467] [ 0.28798807 0.02696742 0.95725421 -0.50582059] [ 0. 0. 0. 1. ]] SLAMing on 360.42463044 meters Centerline goodness : 0.096306 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:-0.51 [[ 0.9576578 -0.01041874 -0.28772031 -0.43529769] [ 0.00225498 0.99958579 -0.02869081 -0.42096216] [ 0.28790006 0.02682717 0.95728463 -0.50582008] [ 0. 0. 0. 1. ]] SLAMing on 360.45463044 meters Centerline goodness : 0.082536 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95763075 -0.01033299 -0.28781343 -0.43492533] [ 0.0022066 0.99959007 -0.02854503 -0.42159868] [ 0.28799041 0.02670051 0.95726099 -0.5058424 ] [ 0. 0. 0. 1. ]] SLAMing on 360.48463044 meters Centerline goodness : 0.314368 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95766342 -0.01022088 -0.28770873 -0.43468198] [ 0.00215373 0.99959597 -0.02834187 -0.42277972] [ 0.28788216 0.02652232 0.9572985 -0.50626715] [ 0. 0. 0. 1. ]] SLAMing on 360.51463044 meters Centerline goodness : 0.095620 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:-0.51 [[ 0.95772483 -0.01012203 -0.28750771 -0.43513599] [ 0.00209812 0.99960002 -0.02820291 -0.42341965] [ 0.28767819 0.02640741 0.957363 -0.50640474] [ 0. 0. 0. 1. ]] SLAMing on 360.54463044 meters Centerline goodness : 0.095238 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:-0.51 [[ 0.95775156 -0.01008901 -0.28741985 -0.43531937] [ 0.00209298 0.99960254 -0.02811371 -0.42414947] [ 0.28758925 0.02632439 0.95739201 -0.50647365] [ 0. 0. 0. 1. ]] SLAMing on 360.57463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 360.60463044 meters Centerline goodness : 0.309661 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.43, Z:-0.51 [[ 0.95760194 -0.00986659 -0.28792565 -0.43268332] [ 0.00191856 0.99960961 -0.02787361 -0.42522834] [ 0.28808827 0.02613942 0.95724703 -0.5073964 ] [ 0. 0. 0. 1. ]] SLAMing on 360.63463044 meters Centerline goodness : 0.091952 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95754833 -0.00980351 -0.28810603 -0.43154852] [ 0.0018428 0.99960932 -0.0278894 -0.42457779] [ 0.28826688 0.02617453 0.9571923 -0.50785265] [ 0. 0. 0. 1. ]] SLAMing on 360.66463044 meters Centerline goodness : 0.300386 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95756749 -0.00981626 -0.2880419 -0.43146361] [ 0.00182649 0.99960643 -0.02799388 -0.42365274] [ 0.28820333 0.02627992 0.95720855 -0.50809489] [ 0. 0. 0. 1. ]] SLAMing on 360.69463044 meters Centerline goodness : 0.095382 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95763176 -0.00987375 -0.2878262 -0.43221496] [ 0.00184353 0.99960181 -0.02815726 -0.42262956] [ 0.2879896 0.02643368 0.95726864 -0.50805015] [ 0. 0. 0. 1. ]] SLAMing on 360.72463044 meters Centerline goodness : 0.415737 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95766369 -0.0100936 -0.28771232 -0.43285237] [ 0.00198456 0.9995929 -0.02846229 -0.42143629] [ 0.28788247 0.02668632 0.95729385 -0.50783241] [ 0. 0. 0. 1. ]] SLAMing on 360.75463044 meters Centerline goodness : 0.241181 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95763846 -0.01024035 -0.2877911 -0.4326379 ] [ 0.00205888 0.99958547 -0.0287168 -0.42008479] [ 0.28796587 0.02690779 0.95726257 -0.50782843] [ 0. 0. 0. 1. ]] SLAMing on 360.78463044 meters Centerline goodness : 0.088945 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95749666 -0.01027345 -0.28826133 -0.43065119] [ 0.00203746 0.99958148 -0.02885676 -0.4187288 ] [ 0.28843714 0.02704293 0.95711687 -0.50827525] [ 0. 0. 0. 1. ]] SLAMing on 360.81463044000003 meters Centerline goodness : 0.454802 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95745942 -0.01033242 -0.28838292 -0.43017708] [ 0.00211682 0.99958336 -0.02878584 -0.41961801] [ 0.2885602 0.02695082 0.95708237 -0.50833412] [ 0. 0. 0. 1. ]] SLAMing on 360.84463044 meters Centerline goodness : 0.243717 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95742404 -0.01054777 -0.28849255 -0.4301105 ] [ 0.0023634 0.99958519 -0.02870307 -0.42171636] [ 0.28867564 0.02679918 0.95705182 -0.50805104] [ 0. 0. 0. 1. ]] SLAMing on 360.87463044000003 meters Centerline goodness : 0.306139 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.43, Z:-0.51 [[ 0.9573117 -0.01499732 -0.2886683 -0.42973337] [ 0.00608115 0.99947704 -0.03175935 -0.42605421] [ 0.28899365 0.02864816 0.95690227 -0.50779121] [ 0. 0. 0. 1. ]] SLAMing on 360.90463044 meters Centerline goodness : 0.306590 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.43, Z:-0.51 [[ 0.95724419 -0.01502867 -0.28889046 -0.42913017] [ 0.00620333 0.99948638 -0.03144044 -0.42909667] [ 0.28921459 0.0283041 0.95684576 -0.50764924] [ 0. 0. 0. 1. ]] SLAMing on 360.93463044000003 meters Centerline goodness : 0.304337 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.43, Z:-0.51 [[ 0.95725731 -0.01493276 -0.28885196 -0.42921111] [ 0.00621877 0.99949812 -0.03106195 -0.4319802 ] [ 0.28917083 0.02793798 0.95686974 -0.50764525] [ 0. 0. 0. 1. ]] SLAMing on 360.96463044 meters Centerline goodness : 0.303121 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.43, Z:-0.51 [[ 0.95732492 -0.01476237 -0.28863658 -0.4299138 ] [ 0.0061724 0.99951118 -0.0306481 -0.43468442] [ 0.28894793 0.02755861 0.95694807 -0.50761332] [ 0. 0. 0. 1. ]] SLAMing on 360.99463044000004 meters Centerline goodness : 0.310425 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.51 [[ 9.57935031e-01 -8.23275589e-03 -2.86867040e-01 -4.48529164e-01] [-7.80956199e-04 9.99509960e-01 -3.12926393e-02 -4.42958837e-01] [ 2.86984088e-01 3.02003460e-02 9.57459175e-01 -5.14820484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02463044 meters Centerline goodness : 0.310425 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.51 [[ 9.57935031e-01 -8.23275589e-03 -2.86867040e-01 -4.48529164e-01] [-7.80956199e-04 9.99509960e-01 -3.12926393e-02 -4.42958837e-01] [ 2.86984088e-01 3.02003460e-02 9.57459175e-01 -5.14820484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05463044000004 meters Centerline goodness : 0.301487 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.44, Z:-0.51 [[ 9.57990314e-01 -7.94951473e-03 -2.86690363e-01 -4.49406203e-01] [-9.41415734e-04 9.99523238e-01 -3.08611415e-02 -4.44902800e-01] [ 2.86799011e-01 2.98345695e-02 9.57526097e-01 -5.14502916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08463044 meters Centerline goodness : 0.253371 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 0.95797355 -0.00744552 -0.2867599 -0.44945633] [-0.0012367 0.99954661 -0.03008393 -0.44916124] [ 0.28685388 0.02917425 0.95753001 -0.51438665] [ 0. 0. 0. 1. ]] SLAMing on 361.11463044000004 meters Centerline goodness : 0.310653 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 0.95791499 -0.00724614 -0.28696058 -0.44870255] [-0.00135401 0.99955616 -0.02976 -0.45107631] [ 0.28704886 0.0288961 0.95748001 -0.5145387 ] [ 0. 0. 0. 1. ]] SLAMing on 361.14463044 meters Centerline goodness : 0.310718 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 0.95787646 -0.00709156 -0.28709302 -0.44840028] [-0.00144599 0.99956329 -0.02951499 -0.45255667] [ 0.28717695 0.02868685 0.95744789 -0.51447726] [ 0. 0. 0. 1. ]] SLAMing on 361.17463044 meters Centerline goodness : 0.310653 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.45, Z:-0.51 [[ 0.9579321 -0.00697054 -0.28691028 -0.44876879] [-0.0015084 0.99956891 -0.02932096 -0.45390194] [ 0.28699098 0.02852027 0.95750863 -0.51465337] [ 0. 0. 0. 1. ]] SLAMing on 361.20463044 meters Centerline goodness : 0.094109 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.46, Z:-0.51 [[ 0.9581915 -0.00648142 -0.28605427 -0.45150065] [-0.00182404 0.99958472 -0.02875857 -0.45624221] [ 0.28612187 0.02807799 0.95778176 -0.51456442] [ 0. 0. 0. 1. ]] SLAMing on 361.23463044 meters Centerline goodness : 0.106968 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.46, Z:-0.51 [[ 0.95827742 -0.00620823 -0.28577237 -0.45237134] [-0.00200788 0.99959324 -0.02844854 -0.45716679] [ 0.28583274 0.02783539 0.95787517 -0.5145723 ] [ 0. 0. 0. 1. ]] SLAMing on 361.26463044 meters Centerline goodness : 0.306080 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.46, Z:-0.51 [[ 0.95828824 -0.0060146 -0.28574023 -0.45217463] [-0.00213619 0.99959988 -0.02820491 -0.4581547 ] [ 0.28579554 0.02763883 0.95789196 -0.51481183] [ 0. 0. 0. 1. ]] SLAMing on 361.29463044 meters Centerline goodness : 0.315565 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.46, Z:-0.52 [[ 0.95824541 -0.00595897 -0.28588497 -0.45142757] [-0.00216719 0.99960277 -0.02809978 -0.45902877] [ 0.28593886 0.02754605 0.95785186 -0.51507702] [ 0. 0. 0. 1. ]] SLAMing on 361.32463044 meters Centerline goodness : 0.095309 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.46, Z:-0.52 [[ 0.95815733 -0.00594191 -0.28618041 -0.45043411] [-0.00216174 0.9996058 -0.02799233 -0.46024674] [ 0.28623393 0.0274397 0.95776678 -0.51514641] [ 0. 0. 0. 1. ]] SLAMing on 361.35463044 meters Centerline goodness : 0.313941 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.46, Z:-0.51 [[ 0.95803325 -0.00561813 -0.28660204 -0.44964694] [-0.00233269 0.99962203 -0.02739269 -0.4638438 ] [ 0.28664761 0.02691166 0.95765803 -0.5148193 ] [ 0. 0. 0. 1. ]] SLAMing on 361.38463044 meters Centerline goodness : 0.095628 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.47, Z:-0.51 [[ 0.95793043 -0.00553403 -0.28694715 -0.4487744 ] [-0.00234094 0.99963016 -0.02709363 -0.46602454] [ 0.28699096 0.02662554 0.95756319 -0.51467944] [ 0. 0. 0. 1. ]] SLAMing on 361.41463044 meters Centerline goodness : 0.088925 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.47, Z:-0.51 [[ 0.95782781 -0.00545589 -0.28729101 -0.44778518] [-0.00233172 0.99963922 -0.02675792 -0.46881058] [ 0.28733335 0.02629937 0.95746952 -0.51463039] [ 0. 0. 0. 1. ]] SLAMing on 361.44463044 meters Centerline goodness : 0.102609 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.47, Z:-0.51 [[ 0.95775695 -0.00548566 -0.28752657 -0.44695255] [-0.00222117 0.99964712 -0.02647081 -0.47190485] [ 0.28757031 0.02599125 0.95740679 -0.51470594] [ 0. 0. 0. 1. ]] SLAMing on 361.47463044 meters Centerline goodness : 0.086514 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.48, Z:-0.52 [[ 9.57823609e-01 -9.10451784e-03 -2.87212539e-01 -4.47180102e-01] [ 9.17987680e-04 9.99589794e-01 -2.86251877e-02 -4.79190571e-01] [ 2.87355341e-01 2.71542230e-02 9.57439061e-01 -5.15202124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50463044 meters Centerline goodness : 0.310792 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.48, Z:-0.52 [[ 9.57865726e-01 -8.89650310e-03 -2.87078566e-01 -4.47440036e-01] [ 8.90509952e-04 9.99607349e-01 -2.80063434e-02 -4.83876003e-01] [ 2.87215003e-01 2.65706701e-02 9.57497541e-01 -5.15317927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 361.56463044000003 meters Centerline goodness : 0.307648 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.49, Z:-0.52 [[ 0.95775681 -0.01297253 -0.28728663 -0.44634988] [ 0.00432289 0.99951862 -0.03072196 -0.48996858] [ 0.28754688 0.02818225 0.95735184 -0.51556936] [ 0. 0. 0. 1. ]] SLAMing on 361.59463044 meters Centerline goodness : 0.060197 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.49, Z:-0.52 [[ 0.95768219 -0.01267886 -0.28754837 -0.44529364] [ 0.00414721 0.99953346 -0.03026007 -0.49265434] [ 0.28779788 0.02778701 0.95728797 -0.5158023 ] [ 0. 0. 0. 1. ]] SLAMing on 361.62463044000003 meters Centerline goodness : 0.086456 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.52 [[ 0.95760699 -0.0117544 -0.28783795 -0.4442444 ] [ 0.00345496 0.99956397 -0.02932478 -0.49567956] [ 0.28805714 0.02708715 0.95723005 -0.51598288] [ 0. 0. 0. 1. ]] SLAMing on 361.65463044 meters Centerline goodness : 0.063234 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.52 [[ 0.95761538 -0.01155338 -0.28781819 -0.4442362 ] [ 0.00330452 0.99957019 -0.02912934 -0.4965549 ] [ 0.28803103 0.0269436 0.95724196 -0.51604976] [ 0. 0. 0. 1. ]] SLAMing on 361.68463044000003 meters Centerline goodness : 0.089658 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.52 [[ 0.9576125 -0.0114581 -0.28783158 -0.4442385 ] [ 0.00324 0.99957381 -0.02901194 -0.49760948] [ 0.28804133 0.02684963 0.9572415 -0.51605063] [ 0. 0. 0. 1. ]] SLAMing on 361.71463044 meters Centerline goodness : 0.086675 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.52 [[ 0.9575936 -0.0113031 -0.28790058 -0.44396819] [ 0.00313838 0.99958011 -0.02880528 -0.49887726] [ 0.28810529 0.02668021 0.95722699 -0.51613969] [ 0. 0. 0. 1. ]] SLAMing on 361.74463044000004 meters Centerline goodness : 0.117933 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.52 [[ 0.95752753 -0.01060621 -0.28814672 -0.4428953 ] [ 0.00267594 0.99960709 -0.02790162 -0.5026359 ] [ 0.28832943 0.0259455 0.9571797 -0.51643963] [ 0. 0. 0. 1. ]] SLAMing on 361.77463044 meters Centerline goodness : 0.085033 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.51, Z:-0.52 [[ 0.95753262 -0.01032156 -0.28814014 -0.44289333] [ 0.00253103 0.99962143 -0.02739677 -0.50558875] [ 0.28831384 0.02550401 0.95719626 -0.51645987] [ 0. 0. 0. 1. ]] SLAMing on 361.80463044000004 meters Centerline goodness : 0.093736 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.51, Z:-0.52 [[ 0.95762399 -0.01034155 -0.28783563 -0.44393867] [ 0.00266241 0.99963033 -0.02705758 -0.5091233 ] [ 0.28800904 0.02514466 0.95729752 -0.51634427] [ 0. 0. 0. 1. ]] SLAMing on 361.83463044 meters Centerline goodness : 0.110809 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.95796604 -0.01290372 -0.28659129 -0.44965616] [ 0.00499296 0.99958653 -0.02831664 -0.51732453] [ 0.28683819 0.02569544 0.95763438 -0.51504322] [ 0. 0. 0. 1. ]] SLAMing on 361.86463044000004 meters Centerline goodness : 0.059329 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.95797694 -0.01269052 -0.28656435 -0.44971793] [ 0.00491795 0.99960066 -0.0278268 -0.52053273] [ 0.28680305 0.02524812 0.9576568 -0.51501528] [ 0. 0. 0. 1. ]] SLAMing on 361.89463044 meters Centerline goodness : 0.095860 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.95792708 -0.01258813 -0.2867355 -0.44885768] [ 0.00489943 0.99960935 -0.02751635 -0.52300225] [ 0.28696987 0.02495382 0.95761454 -0.51531029] [ 0. 0. 0. 1. ]] SLAMing on 361.92463044 meters Centerline goodness : 0.099942 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.52, Z:-0.52 [[ 0.95783735 -0.01251334 -0.28703838 -0.44777909] [ 0.00487212 0.99961487 -0.02731977 -0.52474494] [ 0.28726969 0.02476941 0.95752942 -0.51539497] [ 0. 0. 0. 1. ]] SLAMing on 361.95463044 meters Centerline goodness : 0.093513 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.52 [[ 0.95779555 -0.01234058 -0.28718531 -0.44742993] [ 0.00475357 0.9996214 -0.02710084 -0.52576711] [ 0.28741102 0.02459191 0.95749159 -0.51531673] [ 0. 0. 0. 1. ]] SLAMing on 361.98463044 meters Centerline goodness : 0.093689 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:-0.51 [[ 0.9580735 -0.00926189 -0.28637281 -0.45131063] [ 0.00229769 0.99969362 -0.02464515 -0.52656666] [ 0.28651333 0.02295387 0.95780125 -0.51466931] [ 0. 0. 0. 1. ]] SLAMing on 362.01463044 meters Centerline goodness : 0.168815 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95838832 -0.00115789 -0.28546539 -0.43329633] [-0.00645396 0.99964829 -0.0257225 -0.52761706] [ 0.28539477 0.02649453 0.95804377 -0.508089 ] [ 0. 0. 0. 1. ]] SLAMing on 362.04463044 meters Centerline goodness : 0.099048 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 9.58459063e-01 -9.85853399e-04 -2.85228422e-01 -4.33796687e-01] [-6.64008866e-03 9.99645898e-01 -2.57679701e-02 -5.26407640e-01] [ 2.85152826e-01 2.65914865e-02 9.58113124e-01 -5.08310553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07463044 meters Centerline goodness : 0.089764 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 9.58437042e-01 -9.17898227e-04 -2.85302635e-01 -4.33142329e-01] [-6.76052089e-03 9.99640973e-01 -2.59272135e-02 -5.24846058e-01] [ 2.85224002e-01 2.67783962e-02 9.58086732e-01 -5.08678904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10463044 meters Centerline goodness : 0.091462 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.95838223 -0.00102239 -0.28548634 -0.4323014 ] [-0.00673756 0.99963407 -0.02619799 -0.52334548] [ 0.28540865 0.02703117 0.95802464 -0.50893717] [ 0. 0. 0. 1. ]] SLAMing on 362.13463044 meters Centerline goodness : 0.090231 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.95830553 -0.00118769 -0.28574307 -0.43156076] [-0.00667643 0.9996253 -0.0265459 -0.52149071] [ 0.28566753 0.02734682 0.95793852 -0.50895434] [ 0. 0. 0. 1. ]] SLAMing on 362.16463044 meters Centerline goodness : 0.173988 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.95832512 -0.00115987 -0.28567746 -0.43158536] [-0.00669774 0.99962567 -0.0265266 -0.52130408] [ 0.28560129 0.0273345 0.95795863 -0.50911081] [ 0. 0. 0. 1. ]] SLAMing on 362.19463044 meters Centerline goodness : 0.091288 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.95831321 -0.00108877 -0.28571771 -0.43119872] [-0.0067442 0.99962793 -0.02642967 -0.52143951] [ 0.28564017 0.02725484 0.9579493 -0.50933664] [ 0. 0. 0. 1. ]] SLAMing on 362.22463044 meters Centerline goodness : 0.095562 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.95830137 -0.00108417 -0.28575743 -0.43085598] [-0.00672009 0.99963075 -0.02632875 -0.52221594] [ 0.28568046 0.02715119 0.95794023 -0.50947597] [ 0. 0. 0. 1. ]] SLAMing on 362.25463044 meters Centerline goodness : 0.092649 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.95828123 -0.0056158 -0.28577185 -0.4302557 ] [-0.00302438 0.99955178 -0.02978424 -0.52364098] [ 0.28581102 0.02940596 0.95783472 -0.5098306 ] [ 0. 0. 0. 1. ]] SLAMing on 362.28463044 meters Centerline goodness : 0.089900 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.52, Z:-0.51 [[ 0.95807807 -0.00586447 -0.28644723 -0.42844363] [-0.00280016 0.99955108 -0.02982963 -0.52485565] [ 0.28649357 0.02938121 0.95763155 -0.50957553] [ 0. 0. 0. 1. ]] SLAMing on 362.31463044000003 meters Centerline goodness : 0.305457 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95793264 -0.00590712 -0.28693234 -0.42700484] [-0.00274676 0.99955365 -0.02974812 -0.52589224] [ 0.28697999 0.02928483 0.95748884 -0.50949472] [ 0. 0. 0. 1. ]] SLAMing on 362.34463044 meters Centerline goodness : 0.079103 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95784393 -0.00569415 -0.28723264 -0.42607496] [-0.00287955 0.99956305 -0.02941805 -0.52717635] [ 0.28727464 0.029005 0.957409 -0.5095259 ] [ 0. 0. 0. 1. ]] SLAMing on 362.37463044000003 meters Centerline goodness : 0.093689 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.9578718 -0.0056585 -0.28714036 -0.42650918] [-0.00289982 0.99956436 -0.02937133 -0.52723244] [ 0.28718147 0.02896663 0.95743811 -0.50936515] [ 0. 0. 0. 1. ]] SLAMing on 362.40463044 meters Centerline goodness : 0.077621 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95791 -0.00566071 -0.28701286 -0.42681815] [-0.00288686 0.99956505 -0.02934921 -0.52753559] [ 0.28705417 0.02894247 0.95747702 -0.50942386] [ 0. 0. 0. 1. ]] SLAMing on 362.43463044000003 meters Centerline goodness : 0.287037 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95790841 -0.00576744 -0.28701604 -0.42663059] [-0.00280644 0.99956225 -0.0294521 -0.52755036] [ 0.28706026 0.02901791 0.95747291 -0.50956275] [ 0. 0. 0. 1. ]] SLAMing on 362.46463044 meters Centerline goodness : 0.079237 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95788087 -0.00581419 -0.28710699 -0.42605096] [-0.00277414 0.999561 -0.02949748 -0.52759798] [ 0.28715246 0.02905155 0.95744424 -0.50980655] [ 0. 0. 0. 1. ]] SLAMing on 362.49463044000004 meters Centerline goodness : 0.096629 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95790398 -0.00560379 -0.28703406 -0.42634422] [-0.00292291 0.99956729 -0.02926913 -0.52821012] [ 0.28707388 0.02887599 0.95747311 -0.50981465] [ 0. 0. 0. 1. ]] SLAMing on 362.52463044 meters Centerline goodness : 0.095854 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95793077 -0.00546928 -0.28694725 -0.4268591 ] [-0.00299854 0.99957311 -0.02906227 -0.52913713] [ 0.28698371 0.02870007 0.95750544 -0.5096135 ] [ 0. 0. 0. 1. ]] SLAMing on 362.55463044000004 meters Centerline goodness : 0.094948 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95796781 -0.00546073 -0.28682375 -0.42740208] [-0.00297667 0.99957578 -0.02897238 -0.53004115] [ 0.28686028 0.02860839 0.95754516 -0.5094486 ] [ 0. 0. 0. 1. ]] SLAMing on 362.58463044 meters Centerline goodness : 0.160469 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95803916 -0.00549431 -0.2865847 -0.42809016] [-0.00290764 0.99957855 -0.02888368 -0.53123229] [ 0.28662261 0.02850498 0.95761941 -0.5094906 ] [ 0. 0. 0. 1. ]] SLAMing on 362.61463044000004 meters Centerline goodness : 0.310187 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95804834 -0.00557343 -0.28655247 -0.42835121] [-0.00282009 0.99957919 -0.02887034 -0.53201516] [ 0.2865928 0.02846728 0.95762946 -0.50931814] [ 0. 0. 0. 1. ]] SLAMing on 362.64463044 meters Centerline goodness : 0.086318 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95812035 -0.00532927 -0.28631625 -0.4293681 ] [-0.00296408 0.9995887 -0.02852449 -0.53336213] [ 0.2863505 0.02817856 0.95771048 -0.50912328] [ 0. 0. 0. 1. ]] SLAMing on 362.67463044 meters Centerline goodness : 0.082983 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.95815462 -0.00511059 -0.28620552 -0.42971789] [-0.00311932 0.99959484 -0.02829192 -0.53383741] [ 0.28623415 0.0280008 0.95775047 -0.50909447] [ 0. 0. 0. 1. ]] SLAMing on 362.70463044 meters Centerline goodness : 0.076660 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.53, Z:-0.51 [[ 0.9581789 -0.00500757 -0.28612606 -0.4300877 ] [-0.00318735 0.99959812 -0.02816803 -0.53441659] [ 0.28615212 0.02790199 0.95777787 -0.50902039] [ 0. 0. 0. 1. ]] SLAMing on 362.73463044 meters Centerline goodness : 0.114377 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.53, Z:-0.50 [[ 0.95825489 -0.01188458 -0.28566819 -0.41099135] [ 0.00428731 0.99962067 -0.02720546 -0.53171195] [ 0.28588315 0.02484502 0.95794235 -0.50250976] [ 0. 0. 0. 1. ]] SLAMing on 362.76463044 meters Centerline goodness : 0.095333 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.95841986 -0.00559488 -0.28530697 -0.42784952] [-0.00258689 0.99959635 -0.02829213 -0.53887339] [ 0.2853501 0.02785379 0.95801852 -0.50950796] [ 0. 0. 0. 1. ]] SLAMing on 362.79463044 meters Centerline goodness : 0.094735 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.95830602 -0.00566252 -0.28568776 -0.42694069] [-0.00250399 0.99959882 -0.02821206 -0.54005548] [ 0.28573291 0.02775115 0.9579074 -0.50929465] [ 0. 0. 0. 1. ]] SLAMing on 362.82463044 meters Centerline goodness : 0.093511 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.95824064 -0.00566286 -0.28590699 -0.4261894 ] [-0.00246251 0.99960343 -0.02805211 -0.54146073] [ 0.28595246 0.02758472 0.95784669 -0.50934696] [ 0. 0. 0. 1. ]] SLAMing on 362.85463044 meters Centerline goodness : 0.094565 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.54, Z:-0.51 [[ 0.958123 -0.00570047 -0.28630022 -0.42521487] [-0.00237807 0.99960897 -0.02786139 -0.54325245] [ 0.28634709 0.02737548 0.95773479 -0.50915738] [ 0. 0. 0. 1. ]] SLAMing on 362.88463044 meters Centerline goodness : 0.098595 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.54, Z:-0.51 [[ 0.95809709 -0.00568523 -0.28638724 -0.42472341] [-0.00238013 0.99961049 -0.02780643 -0.54357639] [ 0.28643377 0.0273229 0.95771037 -0.50933361] [ 0. 0. 0. 1. ]] SLAMing on 362.91463044 meters Centerline goodness : 0.098595 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.54, Z:-0.51 [[ 0.95809709 -0.00568523 -0.28638724 -0.42472341] [-0.00238013 0.99961049 -0.02780643 -0.54357639] [ 0.28643377 0.0273229 0.95771037 -0.50933361] [ 0. 0. 0. 1. ]] SLAMing on 362.94463044 meters Centerline goodness : 0.113064 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.54, Z:-0.51 [[ 0.95804205 -0.00577097 -0.28656958 -0.42403904] [-0.00230755 0.9996096 -0.02784468 -0.54371687] [ 0.2866184 0.02733765 0.95765471 -0.50941365] [ 0. 0. 0. 1. ]] SLAMing on 362.97463044 meters Centerline goodness : 0.084314 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.54, Z:-0.51 [[ 0.95806146 -0.00577029 -0.2865047 -0.42415851] [-0.00229898 0.9996103 -0.02782016 -0.54388675] [ 0.28655358 0.02731209 0.95767484 -0.50949679] [ 0. 0. 0. 1. ]] SLAMing on 363.00463044 meters Centerline goodness : 0.101464 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.54, Z:-0.51 [[ 0.95812655 -0.00578928 -0.28628658 -0.42493003] [-0.00227256 0.99961037 -0.02781975 -0.54402172] [ 0.28633609 0.02730544 0.95774008 -0.50941324] [ 0. 0. 0. 1. ]] SLAMing on 363.03463044 meters Centerline goodness : 0.089608 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.55, Z:-0.51 [[ 0.95816018 -0.00599698 -0.28616971 -0.42525768] [-0.00205378 0.99961072 -0.02782437 -0.5452943 ] [ 0.28622517 0.02724794 0.95777487 -0.50945796] [ 0. 0. 0. 1. ]] SLAMing on 363.06463044000003 meters Centerline goodness : 0.472412 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.55, Z:-0.51 [[ 0.95802231 -0.00617936 -0.28662706 -0.42377431] [-0.00188579 0.99961024 -0.02785354 -0.54610436] [ 0.28668746 0.02722483 0.95763725 -0.50945897] [ 0. 0. 0. 1. ]] SLAMing on 363.09463044 meters Centerline goodness : 0.092385 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.55, Z:-0.51 [[ 0.95789781 -0.00626794 -0.28704095 -0.42233319] [-0.00177316 0.99961345 -0.02774524 -0.54751612] [ 0.2871039 0.02708608 0.95751642 -0.50961508] [ 0. 0. 0. 1. ]] SLAMing on 363.12463044000003 meters Centerline goodness : 0.311653 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.55, Z:-0.51 [[ 0.95785073 -0.00628859 -0.28719756 -0.42189105] [-0.00170017 0.99961875 -0.02755838 -0.5491995 ] [ 0.28726137 0.0268851 0.95747486 -0.5096328 ] [ 0. 0. 0. 1. ]] SLAMing on 363.15463044 meters Centerline goodness : 0.477723 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.55, Z:-0.51 [[ 0.95781982 -0.00640256 -0.2872981 -0.42174888] [-0.00153598 0.99962343 -0.02739781 -0.55103665] [ 0.28736533 0.02668345 0.9574493 -0.50947261] [ 0. 0. 0. 1. ]] SLAMing on 363.18463044000003 meters Centerline goodness : 0.091661 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.56, Z:-0.51 [[ 0.95785049 -0.01040895 -0.28707856 -0.42235798] [ 0.00185144 0.99954625 -0.03006434 -0.55533246] [ 0.28726124 0.02826563 0.95743513 -0.50949686] [ 0. 0. 0. 1. ]] SLAMing on 363.21463044 meters Centerline goodness : 0.091568 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.56, Z:-0.51 [[ 0.95777721 -0.01058215 -0.28731659 -0.42162306] [ 0.00209798 0.99955306 -0.02982086 -0.55825408] [ 0.28750375 0.02795896 0.95737134 -0.50951003] [ 0. 0. 0. 1. ]] SLAMing on 363.24463044000004 meters Centerline goodness : 0.160610 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.57, Z:-0.51 [[ 0.95767042 -0.01378443 -0.2875367 -0.42037228] [ 0.0049703 0.99949575 -0.03136146 -0.56502865] [ 0.28782401 0.0286048 0.95725603 -0.51065023] [ 0. 0. 0. 1. ]] SLAMing on 363.27463044 meters Centerline goodness : 0.296226 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.57, Z:-0.52 [[ 0.95853375 -0.00723637 -0.28488714 -0.43596831] [-0.00191333 0.99949161 -0.03182553 -0.57388174] [ 0.2849726 0.03105093 0.9580326 -0.51757646] [ 0. 0. 0. 1. ]] SLAMing on 363.30463044000004 meters Centerline goodness : 0.091494 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.58, Z:-0.52 [[ 9.59217332e-01 4.64296069e-04 -2.82669232e-01 -4.53784071e-01] [-9.99930486e-03 9.99428512e-01 -3.22903053e-02 -5.80876000e-01] [ 2.82492697e-01 3.37999163e-02 9.58673793e-01 -5.24240225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33463044 meters Centerline goodness : 0.115473 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.58, Z:-0.52 [[ 0.95935035 -0.00604435 -0.28215311 -0.43672947] [-0.0027984 0.99951774 -0.03092678 -0.57830102] [ 0.28220397 0.03045919 0.95887077 -0.51719345] [ 0. 0. 0. 1. ]] SLAMing on 363.36463044000004 meters Centerline goodness : 0.300417 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.58, Z:-0.52 [[ 0.95935335 0.00220872 -0.28219898 -0.45233913] [-0.01185034 0.99940266 -0.03246382 -0.58192913] [ 0.2819587 0.03448843 0.95880647 -0.5227905 ] [ 0. 0. 0. 1. ]] SLAMing on 363.39463044 meters Centerline goodness : 0.092873 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.58, Z:-0.52 [[ 0.9588141 -0.00332206 -0.28401494 -0.4356819 ] [-0.00581368 0.99949258 -0.03131741 -0.57643985] [ 0.28397487 0.03167875 0.95830827 -0.5157406 ] [ 0. 0. 0. 1. ]] SLAMing on 363.42463044 meters Centerline goodness : 0.098936 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.58, Z:-0.52 [[ 0.95852941 0.00587098 -0.28493315 -0.44924314] [-0.01570815 0.99935634 -0.03225152 -0.57943714] [ 0.2845604 0.0353898 0.95800467 -0.52111309] [ 0. 0. 0. 1. ]] SLAMing on 363.45463044 meters Centerline goodness : 0.315093 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.58, Z:-0.52 [[ 0.95851547 0.00581206 -0.28498125 -0.44881718] [-0.01571056 0.99934955 -0.03246015 -0.57788321] [ 0.28460722 0.03559077 0.95798331 -0.52125516] [ 0. 0. 0. 1. ]] SLAMing on 363.48463044 meters Centerline goodness : 0.314192 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.58, Z:-0.52 [[ 0.95853261 0.0056785 -0.28492628 -0.44899879] [-0.01565468 0.99934103 -0.03274797 -0.57620246] [ 0.28455257 0.03585043 0.95798987 -0.52116338] [ 0. 0. 0. 1. ]] SLAMing on 363.51463044 meters Centerline goodness : 0.320744 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.57, Z:-0.53 [[ 9.59182666e-01 -2.71299779e-04 -2.82787093e-01 -4.64887832e-01] [-9.11112864e-03 9.99450724e-01 -3.18627958e-02 -5.66749814e-01] [ 2.82640410e-01 3.31387510e-02 9.58653338e-01 -5.27787664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54463044 meters Centerline goodness : 0.095096 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.56, Z:-0.52 [[ 0.95859506 -0.0053051 -0.28472332 -0.44996001] [-0.00357289 0.99952371 -0.03065266 -0.55942797] [ 0.28475033 0.03040077 0.95811954 -0.52036117] [ 0. 0. 0. 1. ]] SLAMing on 363.57463044 meters Centerline goodness : 0.315369 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.56, Z:-0.51 [[ 0.95843962 0.00284082 -0.28528132 -0.43128604] [-0.01211827 0.99945332 -0.03076038 -0.56186302] [ 0.28503798 0.03293908 0.95795009 -0.51475657] [ 0. 0. 0. 1. ]] SLAMing on 363.60463044 meters Centerline goodness : 0.478772 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.56, Z:-0.51 [[ 0.95838764 0.0026732 -0.2854575 -0.43043613] [-0.01204356 0.99944448 -0.03107533 -0.55975699] [ 0.28521585 0.03322013 0.95788744 -0.51488575] [ 0. 0. 0. 1. ]] SLAMing on 363.63463044 meters Centerline goodness : 0.089946 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.56, Z:-0.52 [[ 0.9582736 0.00221659 -0.28584399 -0.42882372] [-0.01175742 0.99942936 -0.03166586 -0.55704442] [ 0.28561068 0.03370535 0.95775283 -0.51516124] [ 0. 0. 0. 1. ]] SLAMing on 363.66463044 meters Centerline goodness : 0.099397 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.56, Z:-0.52 [[ 0.95828923 0.00954956 -0.2856406 -0.44635287] [-0.01980535 0.99925787 -0.03303725 -0.56139983] [ 0.28511313 0.03731646 0.95776719 -0.52141269] [ 0. 0. 0. 1. ]] SLAMing on 363.69463044 meters Centerline goodness : 0.257282 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.56, Z:-0.51 [[ 0.95834429 0.00279045 -0.2856019 -0.42833033] [-0.01250914 0.99940283 -0.03221017 -0.5554173 ] [ 0.28534147 0.03444106 0.9578069 -0.51433964] [ 0. 0. 0. 1. ]] SLAMing on 363.72463044 meters Centerline goodness : 0.306977 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.55, Z:-0.51 [[ 0.95830639 0.00266261 -0.28573024 -0.42819739] [-0.01244649 0.99939647 -0.03243112 -0.55396723] [ 0.28547145 0.03463529 0.95776117 -0.51404509] [ 0. 0. 0. 1. ]] SLAMing on 363.75463044 meters Centerline goodness : 0.092141 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.55, Z:-0.51 [[ 0.95824198 0.00254411 -0.28594727 -0.4276136 ] [-0.01239446 0.9993902 -0.03264354 -0.55234107] [ 0.28568985 0.03482457 0.95768918 -0.51383993] [ 0. 0. 0. 1. ]] SLAMing on 363.78463044 meters Centerline goodness : 0.312019 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.55, Z:-0.51 [[ 0.95811058 0.00227854 -0.28638946 -0.42604662] [-0.01228759 0.99937463 -0.0331568 -0.54899208] [ 0.28613481 0.03528691 0.9575394 -0.51383708] [ 0. 0. 0. 1. ]] SLAMing on 363.81463044000003 meters Centerline goodness : 0.106513 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.54, Z:-0.51 [[ 0.95769888 -0.00401727 -0.2877442 -0.40797468] [-0.00554217 0.99945963 -0.03239972 -0.54252254] [ 0.28771887 0.0326239 0.95715909 -0.50673598] [ 0. 0. 0. 1. ]] SLAMing on 363.84463044 meters Centerline goodness : 0.463289 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.55, Z:-0.51 [[ 0.9577333 0.00402562 -0.2876295 -0.42653836] [-0.01417906 0.99934728 -0.03322596 -0.54522388] [ 0.28730801 0.03589992 0.95716524 -0.51278347] [ 0. 0. 0. 1. ]] SLAMing on 363.87463044000003 meters Centerline goodness : 0.269291 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.54, Z:-0.51 [[ 0.95763816 -0.00186129 -0.28796819 -0.41153623] [-0.00761426 0.99946584 -0.0317813 -0.53915711] [ 0.28787353 0.03262765 0.95711246 -0.50518267] [ 0. 0. 0. 1. ]] SLAMing on 363.90463044 meters Centerline goodness : 0.090647 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.54, Z:-0.50 [[ 0.95785322 0.00521289 -0.28721079 -0.39552066] [-0.0153874 0.99933095 -0.03317937 -0.54177571] [ 0.28684567 0.0362004 0.95729258 -0.49888721] [ 0. 0. 0. 1. ]] SLAMing on 363.93463044000003 meters Centerline goodness : 0.293861 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.54, Z:-0.50 [[ 0.95786921 0.00506312 -0.28716013 -0.39597136] [-0.01533073 0.99932051 -0.03351842 -0.53971994] [ 0.2867953 0.03650864 0.95729597 -0.49853945] [ 0. 0. 0. 1. ]] SLAMing on 363.96463044 meters Centerline goodness : 0.306652 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.54, Z:-0.50 [[ 0.95781793 0.00484639 -0.28733486 -0.39551079] [-0.01524343 0.999307 -0.03395829 -0.53709126] [ 0.28697116 0.03690583 0.95722804 -0.49834955] [ 0. 0. 0. 1. ]] SLAMing on 363.99463044000004 meters Centerline goodness : 0.308316 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.53, Z:-0.50 [[ 0.95773051 0.00482008 -0.28762657 -0.39464136] [-0.01530466 0.99929732 -0.03421465 -0.53488894] [ 0.28725954 0.03717044 0.95713129 -0.49819846] [ 0. 0. 0. 1. ]] SLAMing on 364.02463044 meters Centerline goodness : 0.303641 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.53, Z:-0.50 [[ 0.95772777 0.00646862 -0.28760333 -0.39493437] [-0.01678351 0.99930067 -0.03341386 -0.52855997] [ 0.28718606 0.03682838 0.95716657 -0.49781686] [ 0. 0. 0. 1. ]] SLAMing on 364.05463044000004 meters Centerline goodness : 0.306028 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.53, Z:-0.50 [[ 0.95772079 0.00632558 -0.28762977 -0.39505798] [-0.01672799 0.99929123 -0.03372267 -0.52650746] [ 0.28721259 0.03710837 0.95714779 -0.49756903] [ 0. 0. 0. 1. ]] SLAMing on 364.08463044 meters Centerline goodness : 0.308525 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.52, Z:-0.50 [[ 0.95773146 0.00614365 -0.28759815 -0.39517886] [-0.016633 0.99928195 -0.03404302 -0.52472726] [ 0.2871825 0.0373877 0.95714595 -0.49749675] [ 0. 0. 0. 1. ]] SLAMing on 364.11463044000004 meters Centerline goodness : 0.301582 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.52, Z:-0.49 [[ 9.57333440e-01 -3.96051068e-05 -2.88985612e-01 -3.79637466e-01] [-9.96210480e-03 9.99401109e-01 -3.31388036e-02 -5.17631968e-01] [ 2.88813853e-01 3.46037898e-02 9.56759706e-01 -4.90067877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14463044 meters Centerline goodness : 0.303878 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.51, Z:-0.50 [[ 0.95767807 -0.00533807 -0.28779198 -0.4011168 ] [-0.0036976 0.99951738 -0.03084384 -0.51220979] [ 0.28781773 0.03060261 0.95719613 -0.49630582] [ 0. 0. 0. 1. ]] SLAMing on 364.17463044 meters Centerline goodness : 0.308219 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.51, Z:-0.50 [[ 0.95768575 -0.0053 -0.28776713 -0.40125291] [-0.00374788 0.99951602 -0.03088167 -0.51142445] [ 0.28779153 0.03065345 0.95720238 -0.49621952] [ 0. 0. 0. 1. ]] SLAMing on 364.20463044 meters Centerline goodness : 0.307395 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.51, Z:-0.50 [[ 0.95768979 -0.00533184 -0.28775307 -0.40119227] [-0.00373853 0.99951355 -0.03096266 -0.51085998] [ 0.28777819 0.0307284 0.95720399 -0.49626824] [ 0. 0. 0. 1. ]] SLAMing on 364.23463044 meters Centerline goodness : 0.105519 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.51, Z:-0.50 [[ 0.95768712 -0.00545437 -0.28775967 -0.40118421] [-0.00365797 0.99950898 -0.03111932 -0.51036916] [ 0.28778811 0.03085518 0.95719693 -0.49623628] [ 0. 0. 0. 1. ]] SLAMing on 364.26463044 meters Centerline goodness : 0.296844 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.51, Z:-0.50 [[ 0.95773317 -0.00548491 -0.28760578 -0.40193786] [-0.00366118 0.99950479 -0.03125331 -0.5092485 ] [ 0.28763477 0.0309853 0.95723882 -0.49594683] [ 0. 0. 0. 1. ]] SLAMing on 364.29463044 meters Centerline goodness : 0.089360 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.51, Z:-0.50 [[ 0.95773458 -0.01105303 -0.28744097 -0.42364551] [ 0.00291224 0.99958286 -0.02873381 -0.50683268] [ 0.28763866 0.02668227 0.95736725 -0.50200497] [ 0. 0. 0. 1. ]] SLAMing on 364.32463044 meters Centerline goodness : 0.275601 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.51, Z:-0.50 [[ 0.95778216 -0.01112455 -0.28727961 -0.42423359] [ 0.0029365 0.9995775 -0.02891719 -0.50574209] [ 0.28747992 0.02685277 0.95741016 -0.5019135 ] [ 0. 0. 0. 1. ]] SLAMing on 364.35463044 meters Centerline goodness : 0.100339 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.50, Z:-0.50 [[ 0.95775665 -0.01129624 -0.28735795 -0.42426614] [ 0.0030288 0.99956903 -0.02919884 -0.5045324 ] [ 0.28756395 0.02709504 0.9573781 -0.50169811] [ 0. 0. 0. 1. ]] SLAMing on 364.38463044 meters Centerline goodness : 0.101200 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.51, Z:-0.49 [[ 0.9576234 -0.00424853 -0.28799196 -0.40617389] [-0.00480493 0.99951641 -0.03072236 -0.50634024] [ 0.28798322 0.03080423 0.95713989 -0.49460466] [ 0. 0. 0. 1. ]] SLAMing on 364.41463044 meters Centerline goodness : 0.311479 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.51, Z:-0.51 [[ 0.95669814 -0.00349528 -0.29106091 -0.44602132] [-0.00542134 0.9995405 -0.02982281 -0.50730925] [ 0.2910314 0.03010937 0.95623959 -0.50686061] [ 0. 0. 0. 1. ]] SLAMing on 364.44463044 meters Centerline goodness : 0.306582 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.51, Z:-0.51 [[ 0.9566831 -0.00346768 -0.29111068 -0.4459805 ] [-0.00544833 0.99954069 -0.02981141 -0.50729103] [ 0.29108035 0.03010614 0.95622479 -0.50673978] [ 0. 0. 0. 1. ]] SLAMing on 364.47463044 meters Centerline goodness : 0.091966 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.51, Z:-0.51 [[ 0.95667463 -0.00349411 -0.29113819 -0.44608552] [-0.00542026 0.99954098 -0.0298069 -0.50773416] [ 0.2911087 0.03009355 0.95621656 -0.50660337] [ 0. 0. 0. 1. ]] SLAMing on 364.50463044 meters Centerline goodness : 0.310694 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.51, Z:-0.51 [[ 0.95666148 -0.00347839 -0.29118157 -0.44619465] [-0.00541445 0.99954332 -0.02972922 -0.50853259] [ 0.291152 0.03001738 0.95620577 -0.50640096] [ 0. 0. 0. 1. ]] SLAMing on 364.53463044 meters Centerline goodness : 0.088915 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.51, Z:-0.51 [[ 0.95665159 -0.00325735 -0.29121664 -0.44617038] [-0.00556148 0.99955079 -0.02944987 -0.50957339] [ 0.29118175 0.02979286 0.95620373 -0.50633591] [ 0. 0. 0. 1. ]] SLAMing on 364.56463044000003 meters Centerline goodness : 0.304655 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.51, Z:-0.51 [[ 0.95663474 -0.00316836 -0.29127296 -0.44566961] [-0.00563604 0.99955233 -0.02938333 -0.50927829] [ 0.29123566 0.02975074 0.95618862 -0.50657898] [ 0. 0. 0. 1. ]] SLAMing on 364.59463044 meters Centerline goodness : 0.090750 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.51, Z:-0.51 [[ 0.95658364 -0.00306107 -0.29144188 -0.44490071] [-0.00573143 0.99955392 -0.02931045 -0.50908681] [ 0.29140159 0.02970828 0.95613939 -0.5067366 ] [ 0. 0. 0. 1. ]] SLAMing on 364.62463044000003 meters Centerline goodness : 0.306089 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.51, Z:-0.51 [[ 0.9563524 -0.00310151 -0.29219938 -0.44252971] [-0.00580705 0.99954449 -0.02961569 -0.50658458] [ 0.29215813 0.03001986 0.95589876 -0.50673519] [ 0. 0. 0. 1. ]] SLAMing on 364.65463044 meters Centerline goodness : 0.091406 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.51 [[ 0.95621784 -0.00323629 -0.29263796 -0.44122882] [-0.00580077 0.99953282 -0.03000832 -0.50390842] [ 0.29259836 0.03039202 0.95575233 -0.50664601] [ 0. 0. 0. 1. ]] SLAMing on 364.68463044000003 meters Centerline goodness : 0.088375 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.51 [[ 0.95610494 -0.00328141 -0.29300611 -0.43986337] [-0.00588149 0.99952095 -0.03038558 -0.50054703] [ 0.29296545 0.03077512 0.95562761 -0.50677363] [ 0. 0. 0. 1. ]] SLAMing on 364.71463044 meters Centerline goodness : 0.093858 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.50, Z:-0.51 [[ 0.95603791 -0.00328242 -0.29322474 -0.43891366] [-0.00600262 0.99950878 -0.03075982 -0.49700637] [ 0.29318166 0.03116768 0.95554858 -0.50696002] [ 0. 0. 0. 1. ]] SLAMing on 364.74463044000004 meters Centerline goodness : 0.307112 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.49, Z:-0.51 [[ 0.95643331 -0.00278904 -0.29193756 -0.44245426] [-0.00652776 0.99950009 -0.03093475 -0.49004489] [ 0.29187789 0.03149273 0.95593698 -0.50719792] [ 0. 0. 0. 1. ]] SLAMing on 364.77463044 meters Centerline goodness : 0.164659 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56715600e-01 -9.19396357e-03 -2.90879238e-01 -4.26582828e-01] [ 5.57424903e-04 9.99556915e-01 -2.97600916e-02 -4.82936726e-01] [ 2.91023967e-01 2.83098006e-02 9.56296819e-01 -4.99753737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80463044000004 meters Centerline goodness : 0.088686 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56825169e-01 -9.22847586e-03 -2.90517523e-01 -4.28293521e-01] [ 5.58120678e-04 9.99552343e-01 -2.99132413e-02 -4.81392507e-01] [ 2.90663524e-01 2.84595983e-02 9.56401990e-01 -4.99280338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83463044 meters Centerline goodness : 0.088686 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56825169e-01 -9.22847586e-03 -2.90517523e-01 -4.28293521e-01] [ 5.58120678e-04 9.99552343e-01 -2.99132413e-02 -4.81392507e-01] [ 2.90663524e-01 2.84595983e-02 9.56401990e-01 -4.99280338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86463044000004 meters Centerline goodness : 0.091872 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56916440e-01 -9.16447761e-03 -2.90218778e-01 -4.29655138e-01] [ 5.00946407e-04 9.99552412e-01 -2.99119578e-02 -4.80536201e-01] [ 2.90363007e-01 2.84778601e-02 9.56492726e-01 -4.98928377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89463044 meters Centerline goodness : 0.090959 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56979254e-01 -9.21848745e-03 -2.90009872e-01 -4.30389243e-01] [ 5.53181116e-04 9.99551331e-01 -2.99471479e-02 -4.80036551e-01] [ 2.90155821e-01 2.84983713e-02 9.56554987e-01 -4.98764589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92463044 meters Centerline goodness : 0.093484 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.57012463e-01 -9.34646545e-03 -2.89896171e-01 -4.30921789e-01] [ 6.73839581e-04 9.99549620e-01 -3.00017178e-02 -4.80264375e-01] [ 2.90046017e-01 2.85166743e-02 9.56587741e-01 -4.98593362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95463044 meters Centerline goodness : 0.091741 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 0.95680745 -0.00993184 -0.2905527 -0.42961643] [ 0.00117869 0.9995406 -0.03028539 -0.48119658] [ 0.29072001 0.02863481 0.95637959 -0.49799505] [ 0. 0. 0. 1. ]] SLAMing on 364.98463044 meters Centerline goodness : 0.092695 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 0.95671655 -0.00980012 -0.29085631 -0.42896916] [ 0.00110067 0.99954754 -0.03005834 -0.48223235] [ 0.29101928 0.02843718 0.95629446 -0.49774128] [ 0. 0. 0. 1. ]] SLAMing on 365.01463044 meters Centerline goodness : 0.094060 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 0.95668344 -0.00967434 -0.29096941 -0.42852853] [ 0.00102593 0.99955354 -0.02986065 -0.48318903] [ 0.29112839 0.02826868 0.95626625 -0.4978095 ] [ 0. 0. 0. 1. ]] SLAMing on 365.04463044 meters Centerline goodness : 0.093807 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 0.95662574 -0.00976758 -0.29115596 -0.42773985] [ 0.00113576 0.99955521 -0.02980099 -0.48488623] [ 0.29131754 0.02817771 0.95621133 -0.4979096 ] [ 0. 0. 0. 1. ]] SLAMing on 365.07463044 meters Centerline goodness : 0.300889 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.49, Z:-0.50 [[ 0.95655054 -0.00982227 -0.29140108 -0.42674775] [ 0.00118109 0.99955474 -0.02981501 -0.48542406] [ 0.29156418 0.02817539 0.95613622 -0.49807535] [ 0. 0. 0. 1. ]] SLAMing on 365.10463044 meters Centerline goodness : 0.093603 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.49, Z:-0.50 [[ 0.95640707 -0.00966077 -0.291877 -0.42508181] [ 0.00103043 0.9995581 -0.02970767 -0.48551043] [ 0.29203501 0.02811187 0.95599439 -0.49819138] [ 0. 0. 0. 1. ]] SLAMing on 365.13463044 meters Centerline goodness : 0.093948 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.48, Z:-0.50 [[ 9.56290716e-01 -9.45148264e-03 -2.92264839e-01 -4.23590552e-01] [ 8.26378881e-04 9.99560871e-01 -2.96206475e-02 -4.84834332e-01] [ 2.92416456e-01 2.80844287e-02 9.55878591e-01 -4.98391877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16463044 meters Centerline goodness : 0.094634 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.48, Z:-0.50 [[ 9.56231972e-01 -9.22085315e-03 -2.92464341e-01 -4.22808151e-01] [ 6.06268031e-04 9.99563647e-01 -2.95321361e-02 -4.84035011e-01] [ 2.92609035e-01 2.80622610e-02 9.55820309e-01 -4.98514058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19463044 meters Centerline goodness : 0.092736 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.48, Z:-0.50 [[ 9.56398488e-01 -8.75945552e-03 -2.91933563e-01 -4.24588484e-01] [ 1.72521944e-04 9.99566924e-01 -2.94267717e-02 -4.82442656e-01] [ 2.92064896e-01 2.80933550e-02 9.55985805e-01 -4.98371515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22463044 meters Centerline goodness : 0.111613 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56485848e-01 -8.80897995e-03 -2.91645716e-01 -4.25501312e-01] [ 1.62303925e-04 9.99560068e-01 -2.96588042e-02 -4.80929171e-01] [ 2.91778675e-01 2.83208912e-02 9.56066489e-01 -4.98347425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25463044 meters Centerline goodness : 0.087845 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56522498e-01 -8.80579505e-03 -2.91525590e-01 -4.25886409e-01] [ 1.13798776e-04 9.99555306e-01 -2.98190909e-02 -4.79648645e-01] [ 2.91658531e-01 2.84894560e-02 9.56098139e-01 -4.98362428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28463044 meters Centerline goodness : 0.111090 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.56491291e-01 -8.72935176e-03 -2.91630261e-01 -4.25809477e-01] [ 6.80372021e-06 9.99552977e-01 -2.98972466e-02 -4.78459351e-01] [ 2.91760879e-01 2.85944718e-02 9.56063777e-01 -4.98184633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31463044000003 meters Centerline goodness : 0.304625 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.48, Z:-0.50 [[ 9.56356953e-01 -8.60019804e-03 -2.92074332e-01 -4.24517159e-01] [-1.83838213e-04 9.99548864e-01 -3.00339063e-02 -4.76510925e-01] [ 2.92200865e-01 2.87768295e-02 9.55923924e-01 -4.98143153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34463044 meters Centerline goodness : 0.242571 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95666076 -0.00216529 -0.29119669 -0.44212055] [-0.00724986 0.99948531 -0.0312498 -0.48183191] [ 0.29111448 0.0320066 0.95615268 -0.5052804 ] [ 0. 0. 0. 1. ]] SLAMing on 365.37463044000003 meters Centerline goodness : 0.088343 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95675465 -0.00226788 -0.29088724 -0.4432244 ] [-0.00716103 0.99948295 -0.03134569 -0.48176453] [ 0.29080793 0.03207318 0.95624372 -0.50513168] [ 0. 0. 0. 1. ]] SLAMing on 365.40463044 meters Centerline goodness : 0.094666 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95687008 -0.00232006 -0.29050691 -0.44453233] [-0.00709236 0.99948353 -0.03134291 -0.48211302] [ 0.29042959 0.03205148 0.95635943 -0.50497007] [ 0. 0. 0. 1. ]] SLAMing on 365.43463044000003 meters Centerline goodness : 0.087303 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.50 [[ 9.57010695e-01 -8.96528881e-03 -2.89914043e-01 -4.27221794e-01] [ 2.28639545e-04 9.99545204e-01 -3.01551482e-02 -4.77593490e-01] [ 2.90052541e-01 2.87925135e-02 9.56577500e-01 -4.98099239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46463044 meters Centerline goodness : 0.086870 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95689774 -0.0024682 -0.29041457 -0.44429804] [-0.00697048 0.99948065 -0.03146178 -0.48370795] [ 0.29034139 0.03213004 0.95638357 -0.50481007] [ 0. 0. 0. 1. ]] SLAMing on 365.49463044000004 meters Centerline goodness : 0.416239 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.956805 -0.00252122 -0.2907195 -0.44361648] [-0.00694308 0.99947905 -0.03151863 -0.48346289] [ 0.29064752 0.03217567 0.95628905 -0.50457017] [ 0. 0. 0. 1. ]] SLAMing on 365.52463044 meters Centerline goodness : 0.089194 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95676858 -0.00248222 -0.29083969 -0.44347284] [-0.00698548 0.99947902 -0.03151021 -0.48319721] [ 0.29076639 0.03217964 0.95625278 -0.50436854] [ 0. 0. 0. 1. ]] SLAMing on 365.55463044000004 meters Centerline goodness : 0.091236 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95682366 -0.00236023 -0.29065944 -0.44410979] [-0.00707946 0.99948117 -0.03142096 -0.48305173] [ 0.2905828 0.03212203 0.95631052 -0.50429374] [ 0. 0. 0. 1. ]] SLAMing on 365.58463044 meters Centerline goodness : 0.096808 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.48, Z:-0.50 [[ 0.95700864 -0.00231849 -0.29005015 -0.4458803 ] [-0.00710774 0.99948034 -0.03144095 -0.48230155] [ 0.28997232 0.03215086 0.95649484 -0.50433363] [ 0. 0. 0. 1. ]] SLAMing on 365.61463044000004 meters Centerline goodness : 0.084193 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.48, Z:-0.50 [[ 0.9570041 -0.00236272 -0.29006475 -0.44582793] [-0.00708398 0.99947823 -0.03151324 -0.48185679] [ 0.28998786 0.03221312 0.95648803 -0.50431934] [ 0. 0. 0. 1. ]] SLAMing on 365.64463044 meters Centerline goodness : 0.088627 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.48, Z:-0.50 [[ 0.95698601 -0.00243804 -0.29012383 -0.44547932] [-0.00704296 0.99947481 -0.03163055 -0.48117396] [ 0.29004857 0.03231332 0.95646624 -0.50440082] [ 0. 0. 0. 1. ]] SLAMing on 365.67463044 meters Centerline goodness : 0.118724 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.48, Z:-0.50 [[ 0.95694899 -0.00248561 -0.29024552 -0.44527856] [-0.00701962 0.99947268 -0.03170319 -0.48077111] [ 0.29017127 0.03237575 0.95642692 -0.50427046] [ 0. 0. 0. 1. ]] SLAMing on 365.70463044 meters Centerline goodness : 0.088628 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.9569145 -0.00259173 -0.29035826 -0.44496738] [-0.00693834 0.99947057 -0.03178747 -0.48055207] [ 0.29028692 0.0324325 0.9563899 -0.50422651] [ 0. 0. 0. 1. ]] SLAMing on 365.73463044 meters Centerline goodness : 0.065180 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95686191 -0.00269138 -0.29053063 -0.44413691] [-0.00687216 0.99946769 -0.0318922 -0.48022335] [ 0.29046181 0.03251301 0.95633406 -0.5044217 ] [ 0. 0. 0. 1. ]] SLAMing on 365.76463044 meters Centerline goodness : 0.095344 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95680678 -0.00273489 -0.29071174 -0.44325308] [-0.00684629 0.99946649 -0.03193544 -0.48006631] [ 0.29064398 0.03254634 0.95627758 -0.50466367] [ 0. 0. 0. 1. ]] SLAMing on 365.79463044 meters Centerline goodness : 0.100694 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95674493 -0.00279411 -0.29091465 -0.4423741 ] [-0.00681275 0.9994645 -0.03200483 -0.4799291 ] [ 0.29084828 0.03260239 0.95621355 -0.50485503] [ 0. 0. 0. 1. ]] SLAMing on 365.82463044 meters Centerline goodness : 0.088886 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95673088 -0.00291241 -0.29095969 -0.44216938] [-0.00672392 0.9994616 -0.03211383 -0.47987997] [ 0.29089656 0.03268068 0.9561962 -0.50488006] [ 0. 0. 0. 1. ]] SLAMing on 365.85463044 meters Centerline goodness : 0.053499 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.50 [[ 0.95671825 -0.00288076 -0.29100152 -0.44209888] [-0.0067474 0.99946261 -0.03207742 -0.48015888] [ 0.29093755 0.03265256 0.95618469 -0.50483032] [ 0. 0. 0. 1. ]] SLAMing on 365.88463044 meters Centerline goodness : 0.064450 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95672585 -0.00274419 -0.29097786 -0.44187026] [-0.00684663 0.99946642 -0.03193739 -0.48052794] [ 0.29091024 0.03254755 0.95619658 -0.50508453] [ 0. 0. 0. 1. ]] SLAMing on 365.91463044 meters Centerline goodness : 0.087195 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95672226 -0.00263841 -0.29099065 -0.441614 ] [-0.00691316 0.99947062 -0.03179135 -0.48126072] [ 0.29092049 0.03242715 0.95619755 -0.50521727] [ 0. 0. 0. 1. ]] SLAMing on 365.94463044 meters Centerline goodness : 0.087393 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95670989 -0.00258606 -0.29103177 -0.44116076] [-0.00692956 0.99947465 -0.03166074 -0.48233963] [ 0.29096075 0.03230686 0.95618937 -0.50547183] [ 0. 0. 0. 1. ]] SLAMing on 365.97463044 meters Centerline goodness : 0.086194 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95665767 -0.0026978 -0.29120237 -0.44047465] [-0.00681188 0.99947618 -0.03163787 -0.48391792] [ 0.29113519 0.03225024 0.95613818 -0.50561021] [ 0. 0. 0. 1. ]] SLAMing on 366.00463044 meters Centerline goodness : 0.085759 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95666702 -0.00263305 -0.29117225 -0.44061691] [-0.00684764 0.99947914 -0.03153662 -0.48463072] [ 0.29110363 0.03216389 0.9561507 -0.50555283] [ 0. 0. 0. 1. ]] SLAMing on 366.03463044 meters Centerline goodness : 0.101189 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.9567276 -0.00251259 -0.29097421 -0.44110692] [-0.00693508 0.99948179 -0.03143327 -0.48478669] [ 0.29090241 0.03209101 0.95621439 -0.50564471] [ 0. 0. 0. 1. ]] SLAMing on 366.06463044000003 meters Centerline goodness : 0.086245 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.9568171 -0.00232302 -0.29068135 -0.44190076] [-0.00708257 0.99948492 -0.03130073 -0.48465757] [ 0.29060434 0.03200785 0.9563078 -0.50570365] [ 0. 0. 0. 1. ]] SLAMing on 366.09463044 meters Centerline goodness : 0.086588 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95700674 -0.00190866 -0.29005941 -0.44393834] [-0.0074541 0.99948629 -0.03117051 -0.48331166] [ 0.2899699 0.03199252 0.95650088 -0.50561327] [ 0. 0. 0. 1. ]] SLAMing on 366.12463044000003 meters Centerline goodness : 0.089479 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95701658 -0.00198364 -0.29002643 -0.44421044] [-0.00745571 0.9994779 -0.03143797 -0.48146682] [ 0.28993737 0.03224901 0.95650213 -0.50543038] [ 0. 0. 0. 1. ]] SLAMing on 366.15463044 meters Centerline goodness : 0.085610 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95699082 -0.00206756 -0.29011083 -0.44399196] [-0.00748309 0.999466 -0.03180752 -0.47875145] [ 0.29002168 0.03261043 0.95646431 -0.50541689] [ 0. 0. 0. 1. ]] SLAMing on 366.18463044000003 meters Centerline goodness : 0.088776 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.48, Z:-0.51 [[ 0.95698391 -0.00210198 -0.29013338 -0.44379141] [-0.00755679 0.99945396 -0.03216644 -0.47580025] [ 0.29004257 0.03297525 0.95644547 -0.50552466] [ 0. 0. 0. 1. ]] SLAMing on 366.21463044 meters Centerline goodness : 0.083224 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.47, Z:-0.51 [[ 0.9568076 0.00196057 -0.29071527 -0.44239325] [-0.0109842 0.99950706 -0.02941076 -0.47090592] [ 0.2905143 0.03133371 0.95635748 -0.50517653] [ 0. 0. 0. 1. ]] SLAMing on 366.24463044000004 meters Centerline goodness : 0.083005 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.47, Z:-0.51 [[ 0.95679403 0.00180915 -0.29076091 -0.442358 ] [-0.01092729 0.99949797 -0.02973894 -0.46869598] [ 0.29056114 0.03163127 0.95633346 -0.5050978 ] [ 0. 0. 0. 1. ]] SLAMing on 366.27463044 meters Centerline goodness : 0.097069 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.47, Z:-0.50 [[ 0.95678686 0.00155497 -0.29078598 -0.44255598] [-0.0107671 0.99948942 -0.03008277 -0.4672061 ] [ 0.29059074 0.03191372 0.95631508 -0.5048463 ] [ 0. 0. 0. 1. ]] SLAMing on 366.30463044000004 meters Centerline goodness : 0.050521 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56904719e-01 9.92432859e-04 -2.90400368e-01 -4.44092742e-01] [-1.03592724e-02 9.99474364e-01 -3.07194013e-02 -4.64855352e-01] [ 2.90217237e-01 3.24038766e-02 9.56412016e-01 -5.04465489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33463044 meters Centerline goodness : 0.091376 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56970004e-01 8.47678289e-04 -2.90185618e-01 -4.44810256e-01] [-1.02599847e-02 9.99469338e-01 -3.09156231e-02 -4.63697116e-01] [ 2.90005421e-01 3.25626240e-02 9.56470873e-01 -5.04404222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36463044000004 meters Centerline goodness : 0.190863 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56972312e-01 8.14625955e-04 -2.90178101e-01 -4.44950055e-01] [-1.02627685e-02 9.99465468e-01 -3.10395402e-02 -4.62278183e-01] [ 2.89997706e-01 3.26820112e-02 9.56469141e-01 -5.04258119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39463044 meters Centerline goodness : 0.096026 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56914288e-01 7.59993600e-04 -2.90369536e-01 -4.44101997e-01] [-1.02613238e-02 9.99460477e-01 -3.12003246e-02 -4.60757872e-01] [ 2.90189163e-01 3.28356122e-02 9.56405809e-01 -5.04398331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42463044 meters Centerline goodness : 0.088688 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56740418e-01 4.34659857e-04 -2.90942579e-01 -4.42102425e-01] [-1.00626298e-02 9.99450036e-01 -3.15969697e-02 -4.59065841e-01] [ 2.90768837e-01 3.31577455e-02 9.56218619e-01 -5.04548021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45463044 meters Centerline goodness : 0.505850 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56717256e-01 3.09324303e-04 -2.91018895e-01 -4.41619322e-01] [-9.96227218e-03 9.99448147e-01 -3.16884033e-02 -4.59106542e-01] [ 2.90848493e-01 3.32160517e-02 9.56192370e-01 -5.04721077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48463044 meters Centerline goodness : 0.084976 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56734819e-01 2.79972990e-04 -2.90961179e-01 -4.41822787e-01] [-9.92193424e-03 9.99449338e-01 -3.16634720e-02 -4.59344170e-01] [ 2.90792093e-01 3.31804439e-02 9.56210760e-01 -5.04677079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51463044 meters Centerline goodness : 0.096248 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.46, Z:-0.50 [[ 9.56790103e-01 1.66046756e-04 -2.90779419e-01 -4.42390439e-01] [-9.81489320e-03 9.99448459e-01 -3.17245200e-02 -4.59461420e-01] [ 2.90613775e-01 3.32076757e-02 9.56264024e-01 -5.04614071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54463044 meters Centerline goodness : 0.083749 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.45, Z:-0.50 [[ 0.95691033 -0.00673669 -0.29030542 -0.4252965 ] [-0.00225292 0.99952854 -0.03062068 -0.45488048] [ 0.29037484 0.02995528 0.95644401 -0.49761884] [ 0. 0. 0. 1. ]] SLAMing on 366.57463044 meters Centerline goodness : 0.088030 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.46, Z:-0.50 [[ 0.95699078 -0.0068977 -0.29003632 -0.42611041] [-0.00210134 0.9995263 -0.03070441 -0.45510444] [ 0.29011072 0.02999331 0.95652296 -0.49760051] [ 0. 0. 0. 1. ]] SLAMing on 366.60463044 meters Centerline goodness : 0.272776 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.45, Z:-0.50 [[ 0.95716209 -0.00697588 -0.2894686 -0.42805037] [-0.00202047 0.9995245 -0.03076839 -0.45454934] [ 0.28954559 0.0300352 0.95669286 -0.4974069 ] [ 0. 0. 0. 1. ]] SLAMing on 366.63463044 meters Centerline goodness : 0.085598 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.45, Z:-0.50 [[ 0.95719657 -0.00701286 -0.28935369 -0.42835351] [-0.00201632 0.99952061 -0.03089477 -0.45341107] [ 0.28943163 0.0301558 0.95672355 -0.49741997] [ 0. 0. 0. 1. ]] SLAMing on 366.66463044 meters Centerline goodness : 0.209801 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.45, Z:-0.50 [[ 0.95715514 -0.00710278 -0.28948851 -0.42759892] [-0.00198617 0.99951459 -0.03109071 -0.4520122 ] [ 0.28956882 0.03033361 0.95667642 -0.49761734] [ 0. 0. 0. 1. ]] SLAMing on 366.69463044 meters Centerline goodness : 0.085049 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.45, Z:-0.50 [[ 0.95710034 -0.00725434 -0.28966587 -0.42666746] [-0.00191223 0.99950665 -0.03134976 -0.45061203] [ 0.28975038 0.03055877 0.95661428 -0.49791019] [ 0. 0. 0. 1. ]] SLAMing on 366.72463044 meters Centerline goodness : 0.085049 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.45, Z:-0.50 [[ 0.95710034 -0.00725434 -0.28966587 -0.42666746] [-0.00191223 0.99950665 -0.03134976 -0.45061203] [ 0.28975038 0.03055877 0.95661428 -0.49791019] [ 0. 0. 0. 1. ]] SLAMing on 366.75463044 meters Centerline goodness : 0.087123 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.45, Z:-0.50 [[ 0.95687266 -0.00730035 -0.29041593 -0.42393658] [-0.00199609 0.99949538 -0.03170167 -0.4473477 ] [ 0.29050082 0.03091415 0.95637523 -0.49822096] [ 0. 0. 0. 1. ]] SLAMing on 366.78463044 meters Centerline goodness : 0.087899 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.45, Z:-0.50 [[ 0.95683005 -0.0073757 -0.29055438 -0.42342127] [-0.00198491 0.99948882 -0.03190848 -0.44581292] [ 0.2906412 0.03110771 0.95632631 -0.49827093] [ 0. 0. 0. 1. ]] SLAMing on 366.81463044000003 meters Centerline goodness : 0.087632 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.44, Z:-0.50 [[ 0.95680328 -0.00770756 -0.29063391 -0.42335118] [-0.00180227 0.99947209 -0.03243912 -0.44308978] [ 0.29073051 0.03156165 0.95628429 -0.49808765] [ 0. 0. 0. 1. ]] SLAMing on 366.84463044 meters Centerline goodness : 0.363582 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.44, Z:-0.50 [[ 0.95684026 -0.0078669 -0.29050788 -0.42409963] [-0.00169896 0.99946504 -0.03266118 -0.44213186] [ 0.29060941 0.03174509 0.95631502 -0.49780703] [ 0. 0. 0. 1. ]] SLAMing on 366.87463044000003 meters Centerline goodness : 0.089195 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.44, Z:-0.50 [[ 0.95686833 -0.0079402 -0.29041343 -0.42480396] [-0.00166997 0.9994596 -0.03282854 -0.44096042] [ 0.29051716 0.03189757 0.95633798 -0.49747464] [ 0. 0. 0. 1. ]] SLAMing on 366.90463044 meters Centerline goodness : 0.090488 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.44, Z:-0.50 [[ 0.95689804 -0.0079595 -0.29031499 -0.42516397] [-0.00169177 0.99945465 -0.03297801 -0.4393376 ] [ 0.29041915 0.03204774 0.95636272 -0.49740455] [ 0. 0. 0. 1. ]] SLAMing on 366.93463044000003 meters Centerline goodness : 0.285449 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.44, Z:-0.50 [[ 0.95690639 -0.00791764 -0.29028861 -0.4250574 ] [-0.00177064 0.99945058 -0.03309682 -0.4375711 ] [ 0.29039117 0.03218456 0.95636663 -0.49755962] [ 0. 0. 0. 1. ]] SLAMing on 366.96463044 meters Centerline goodness : 0.233231 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.50 [[ 0.95688192 -0.00816249 -0.29036248 -0.42436602] [-0.0016697 0.99943404 -0.0335979 -0.43390132] [ 0.29047239 0.03263404 0.95632673 -0.49780434] [ 0. 0. 0. 1. ]] SLAMing on 366.99463044000004 meters Centerline goodness : 0.101448 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.50 [[ 0.95681927 -0.00841112 -0.29056175 -0.42371942] [-0.00152345 0.99942245 -0.03394779 -0.43224552] [ 0.29067947 0.03292456 0.95625385 -0.49778932] [ 0. 0. 0. 1. ]] SLAMing on 367.02463044 meters Centerline goodness : 0.317677 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.50 [[ 0.95672714 -0.00853388 -0.2908614 -0.42286377] [-0.00147255 0.99941507 -0.03416649 -0.43085189] [ 0.29098284 0.03311632 0.95615495 -0.49769645] [ 0. 0. 0. 1. ]] SLAMing on 367.05463044000004 meters Centerline goodness : 0.461021 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.50 [[ 0.95665056 -0.00865106 -0.29110972 -0.42209476] [-0.00142431 0.9994078 -0.03438054 -0.42948169] [ 0.29123475 0.03330479 0.95607171 -0.49768191] [ 0. 0. 0. 1. ]] SLAMing on 367.08463044 meters Centerline goodness : 0.112762 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.50 [[ 0.95662305 -0.00883429 -0.29119459 -0.42218421] [-0.0013191 0.99939852 -0.03465331 -0.42774317] [ 0.29132558 0.03353427 0.95603601 -0.49733782] [ 0. 0. 0. 1. ]] SLAMing on 367.11463044000004 meters Centerline goodness : 0.091527 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.50 [[ 0.95663121 -0.00899156 -0.29116298 -0.42260989] [-0.0012118 0.99939202 -0.0348442 -0.42694964] [ 0.29129927 0.03368588 0.9560387 -0.4970324 ] [ 0. 0. 0. 1. ]] SLAMing on 367.14463044 meters Centerline goodness : 0.087721 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.50 [[ 0.95664717 -0.00913679 -0.291106 -0.42283065] [-0.001124 0.99938455 -0.0350609 -0.42585719] [ 0.29124718 0.03386811 0.95604813 -0.49696978] [ 0. 0. 0. 1. ]] SLAMing on 367.17463044 meters Centerline goodness : 0.100106 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.50 [[ 0.95666864 -0.00912498 -0.29103581 -0.42294167] [-0.00115114 0.99938251 -0.03511805 -0.42499042] [ 0.29117655 0.03393136 0.9560674 -0.4970373 ] [ 0. 0. 0. 1. ]] SLAMing on 367.20463044 meters Centerline goodness : 0.096094 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.50 [[ 0.95672168 -0.00912812 -0.29086133 -0.42341066] [-0.00117926 0.9993781 -0.03524245 -0.42365618] [ 0.29100214 0.03406022 0.95611592 -0.49708569] [ 0. 0. 0. 1. ]] SLAMing on 367.23463044 meters Centerline goodness : 0.256640 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.50 [[ 0.95687559 -0.00927128 -0.29035004 -0.42492353] [-0.00112991 0.99936424 -0.03563481 -0.42100446] [ 0.29049583 0.03442615 0.95625677 -0.49705305] [ 0. 0. 0. 1. ]] SLAMing on 367.26463044 meters Centerline goodness : 0.433694 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.50 [[ 0.95690427 -0.009404 -0.29025123 -0.42529678] [-0.00104922 0.99935707 -0.03583777 -0.42005705] [ 0.29040164 0.03459785 0.95627918 -0.49700464] [ 0. 0. 0. 1. ]] SLAMing on 367.29463044 meters Centerline goodness : 0.282460 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.50 [[ 0.95690807 -0.00938979 -0.29023919 -0.42540998] [-0.00107964 0.99935514 -0.03589058 -0.41930629] [ 0.29038903 0.03465734 0.95628086 -0.49694518] [ 0. 0. 0. 1. ]] SLAMing on 367.32463044 meters Centerline goodness : 0.385387 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.50 [[ 0.95687316 -0.00929244 -0.29035738 -0.4248592 ] [-0.00119062 0.99935445 -0.03590648 -0.41825203] [ 0.2905036 0.03470365 0.95624438 -0.4970774 ] [ 0. 0. 0. 1. ]] SLAMing on 367.35463044 meters Centerline goodness : 0.096258 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.42, Z:-0.50 [[ 0.95671191 -0.00921494 -0.2908907 -0.42254812] [-0.00138271 0.99934342 -0.03620514 -0.41510868] [ 0.29103333 0.03504011 0.95607102 -0.4976412 ] [ 0. 0. 0. 1. ]] SLAMing on 367.38463044 meters Centerline goodness : 0.166036 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.41, Z:-0.50 [[ 0.95663989 -0.00942603 -0.29112072 -0.42168419] [-0.00129393 0.99932884 -0.03660862 -0.41308187] [ 0.29127041 0.03539796 0.95598564 -0.49774347] [ 0. 0. 0. 1. ]] SLAMing on 367.41463044 meters Centerline goodness : 0.453001 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.41, Z:-0.50 [[ 0.95664475 -0.0095559 -0.2911005 -0.42152453] [-0.00125984 0.99931652 -0.03694459 -0.41095874] [ 0.29125458 0.03570959 0.95597887 -0.49794633] [ 0. 0. 0. 1. ]] SLAMing on 367.44463044 meters Centerline goodness : 0.100900 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.41, Z:-0.50 [[ 0.95666551 -0.00955031 -0.29103245 -0.42175062] [-0.00133821 0.99930726 -0.03719142 -0.4085327 ] [ 0.29118603 0.03596921 0.95599002 -0.4979225 ] [ 0. 0. 0. 1. ]] SLAMing on 367.47463044 meters Centerline goodness : 0.100450 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.9565269 -0.00655446 -0.29157045 -0.41907288] [-0.00388427 0.99937244 -0.03520851 -0.40402015] [ 0.29161825 0.03481042 0.95590116 -0.49836719] [ 0. 0. 0. 1. ]] SLAMing on 367.50463044 meters Centerline goodness : 0.288781 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.9564635 -0.00672063 -0.29177459 -0.41837883] [-0.0038058 0.99936262 -0.03549472 -0.40257058] [ 0.29182716 0.03505984 0.95582829 -0.49841579] [ 0. 0. 0. 1. ]] SLAMing on 367.53463044 meters Centerline goodness : 0.480926 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.9564092 -0.00701225 -0.29194567 -0.4180543 ] [-0.00364081 0.99934766 -0.03593059 -0.40046223] [ 0.29200718 0.03542726 0.95575976 -0.49826917] [ 0. 0. 0. 1. ]] SLAMing on 367.56463044000003 meters Centerline goodness : 0.481196 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.95640611 -0.00699978 -0.29195609 -0.41799513] [-0.00366985 0.99934571 -0.03598167 -0.3996386 ] [ 0.29201693 0.03548453 0.95575465 -0.49828657] [ 0. 0. 0. 1. ]] SLAMing on 367.59463044 meters Centerline goodness : 0.483354 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.95646147 -0.00699813 -0.29177473 -0.4182763 ] [-0.00367309 0.99934469 -0.03600967 -0.39910249] [ 0.29183553 0.03551357 0.95580898 -0.49844796] [ 0. 0. 0. 1. ]] SLAMing on 367.62463044000003 meters Centerline goodness : 0.095671 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.95650825 -0.00718088 -0.29161688 -0.41875584] [-0.00353077 0.99933872 -0.03618906 -0.39852511] [ 0.29168391 0.03564477 0.95585038 -0.49841586] [ 0. 0. 0. 1. ]] SLAMing on 367.65463044 meters Centerline goodness : 0.139227 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.95652108 -0.00740731 -0.29156913 -0.4188213 ] [-0.00335636 0.99933171 -0.03639885 -0.39795331] [ 0.29164389 0.03579488 0.95585698 -0.49841629] [ 0. 0. 0. 1. ]] SLAMing on 367.68463044000003 meters Centerline goodness : 0.478432 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.40, Z:-0.50 [[ 0.95645513 -0.0075947 -0.29178056 -0.41763964] [-0.00326148 0.99932092 -0.03670224 -0.39582209] [ 0.29186117 0.03605568 0.95578086 -0.49877749] [ 0. 0. 0. 1. ]] SLAMing on 367.71463044 meters Centerline goodness : 0.474860 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.39, Z:-0.50 [[ 0.95641336 -0.00763537 -0.29191641 -0.41667866] [-0.00327513 0.99931476 -0.03686848 -0.39424246] [ 0.29199788 0.03621757 0.95573298 -0.49917075] [ 0. 0. 0. 1. ]] SLAMing on 367.74463044000004 meters Centerline goodness : 0.479353 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.39, Z:-0.50 [[ 0.95641053 -0.00788709 -0.29191899 -0.41632669] [-0.00312105 0.99930205 -0.03722467 -0.39254803] [ 0.29200884 0.03651316 0.95571838 -0.49938833] [ 0. 0. 0. 1. ]] SLAMing on 367.77463044 meters Centerline goodness : 0.478993 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.39, Z:-0.50 [[ 0.95644316 -0.0081472 -0.2918049 -0.41665032] [-0.00294469 0.99929034 -0.03755196 -0.39120992] [ 0.29190376 0.03677559 0.95574042 -0.49938573] [ 0. 0. 0. 1. ]] SLAMing on 367.80463044000004 meters Centerline goodness : 0.295761 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.39, Z:-0.50 [[ 0.95656534 -0.00852421 -0.29139337 -0.41845763] [-0.00260649 0.99928235 -0.03778867 -0.39066793] [ 0.29150637 0.03690685 0.95585664 -0.49885256] [ 0. 0. 0. 1. ]] SLAMing on 367.83463044 meters Centerline goodness : 0.425298 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.39, Z:-0.50 [[ 0.95659898 -0.00849766 -0.29128369 -0.41895728] [-0.00257176 0.99928963 -0.03759828 -0.39167111] [ 0.29139627 0.03671558 0.95589758 -0.49867432] [ 0. 0. 0. 1. ]] SLAMing on 367.86463044000004 meters Centerline goodness : 0.478145 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.39, Z:-0.51 [[ 0.95661227 -0.01616804 -0.29091505 -0.43807235] [ 0.00581141 0.99931934 -0.03642909 -0.39120005] [ 0.29130603 0.03315788 0.9560551 -0.50609359] [ 0. 0. 0. 1. ]] SLAMing on 367.89463044 meters Centerline goodness : 0.366761 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.39, Z:-0.51 [[ 0.95661118 -0.01630149 -0.29091118 -0.43789744] [ 0.00600598 0.99932476 -0.0362485 -0.39346012] [ 0.29130565 0.03292851 0.95606314 -0.50617024] [ 0. 0. 0. 1. ]] SLAMing on 367.92463044 meters Centerline goodness : 0.287771 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.40, Z:-0.51 [[ 9.56928442e-01 -1.21865971e-02 -2.90067999e-01 -4.58072327e-01] [ 8.57894481e-04 9.99232957e-01 -3.91504954e-02 -4.00266703e-01] [ 2.90322616e-01 3.72153748e-02 9.56204892e-01 -5.13006938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95463044 meters Centerline goodness : 0.265314 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.95683962 -0.02010638 -0.28992013 -0.4372289 ] [ 0.00941122 0.99922437 -0.03823727 -0.40071348] [ 0.29046407 0.03385843 0.95628669 -0.50672698] [ 0. 0. 0. 1. ]] SLAMing on 367.98463044 meters Centerline goodness : 0.513270 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.9568269 -0.01993666 -0.28997383 -0.43675071] [ 0.00932317 0.99923664 -0.03793712 -0.40242158] [ 0.29050881 0.03359578 0.95628236 -0.5069741 ] [ 0. 0. 0. 1. ]] SLAMing on 368.01463044 meters Centerline goodness : 0.289642 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.40, Z:-0.51 [[ 0.95681383 -0.01977996 -0.29002767 -0.43654016] [ 0.00925431 0.99924931 -0.03761868 -0.40451606] [ 0.29055404 0.03331007 0.95627861 -0.50702699] [ 0. 0. 0. 1. ]] SLAMing on 368.04463044 meters Centerline goodness : 0.087914 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.41, Z:-0.51 [[ 0.9567755 -0.01967074 -0.29016152 -0.43572706] [ 0.00920937 0.99925886 -0.03737523 -0.4063107 ] [ 0.29068167 0.0330875 0.95624755 -0.50733523] [ 0. 0. 0. 1. ]] SLAMing on 368.07463044 meters Centerline goodness : 0.481194 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.51 [[ 0.95674462 -0.01930564 -0.29028782 -0.43475972] [ 0.00900501 0.99928288 -0.03677832 -0.4098198 ] [ 0.29078968 0.03257342 0.95623237 -0.50782553] [ 0. 0. 0. 1. ]] SLAMing on 368.10463044 meters Centerline goodness : 0.210786 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.51 [[ 0.95674012 -0.01909528 -0.29031657 -0.43440019] [ 0.00889037 0.99929668 -0.03642947 -0.41174257] [ 0.29080802 0.03227251 0.95623699 -0.50806418] [ 0. 0. 0. 1. ]] SLAMing on 368.13463044 meters Centerline goodness : 0.465278 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.42, Z:-0.51 [[ 0.95682746 -0.01867966 -0.29005565 -0.43487101] [ 0.00867497 0.99932347 -0.03573994 -0.41557588] [ 0.29052703 0.03168073 0.95634219 -0.50834961] [ 0. 0. 0. 1. ]] SLAMing on 368.16463044 meters Centerline goodness : 0.087100 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:-0.51 [[ 0.95687067 -0.01839808 -0.28993108 -0.43523382] [ 0.00850671 0.99933915 -0.03533978 -0.41741514] [ 0.29038966 0.03134924 0.95639483 -0.5083644 ] [ 0. 0. 0. 1. ]] SLAMing on 368.19463044 meters Centerline goodness : 0.102509 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.42, Z:-0.52 [[ 0.95647995 -0.01821958 -0.29122871 -0.47870557] [ 0.00840436 0.99935483 -0.03491833 -0.42273927] [ 0.29167702 0.03095109 0.95601598 -0.52140564] [ 0. 0. 0. 1. ]] SLAMing on 368.22463044 meters Centerline goodness : 0.092564 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.42, Z:-0.52 [[ 0.95649871 -0.01802618 -0.29117911 -0.47875988] [ 0.00830247 0.99936691 -0.03459544 -0.42453419] [ 0.29161839 0.03067299 0.95604282 -0.52144526] [ 0. 0. 0. 1. ]] SLAMing on 368.25463044 meters Centerline goodness : 0.087398 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.43, Z:-0.52 [[ 0.95644245 -0.01776257 -0.29138005 -0.47806977] [ 0.00816119 0.99938395 -0.03413385 -0.42801679] [ 0.29180685 0.03026906 0.95599819 -0.52152501] [ 0. 0. 0. 1. ]] SLAMing on 368.28463044 meters Centerline goodness : 0.088546 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.44, Z:-0.53 [[ 9.56670707e-01 -1.07568443e-02 -2.90973277e-01 -4.94621187e-01] [ 5.71399866e-04 9.99384797e-01 -3.50670868e-02 -4.35098407e-01] [ 2.91171481e-01 3.33813927e-02 9.56088307e-01 -5.28826547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31463044000003 meters Centerline goodness : 0.088399 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.44, Z:-0.53 [[ 9.56662826e-01 -1.04287628e-02 -2.91011131e-01 -4.94164861e-01] [ 3.53810861e-04 9.99399388e-01 -3.46516694e-02 -4.36762931e-01] [ 2.91197721e-01 3.30470010e-02 9.56091932e-01 -5.29120069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34463044 meters Centerline goodness : 0.087782 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.44, Z:-0.53 [[ 9.56637819e-01 -1.02167182e-02 -2.91100844e-01 -4.93702866e-01] [ 2.32323345e-04 9.99411119e-01 -3.43126881e-02 -4.38736524e-01] [ 2.91279984e-01 3.27571856e-02 9.56076847e-01 -5.29281245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37463044000003 meters Centerline goodness : 0.088936 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.44, Z:-0.53 [[ 9.56619532e-01 -1.02846955e-02 -2.91158541e-01 -4.92855871e-01] [ 3.85094967e-04 9.99420478e-01 -3.40376275e-02 -4.44788062e-01] [ 2.91339875e-01 3.24489356e-02 9.56069110e-01 -5.29854375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40463044 meters Centerline goodness : 0.087543 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.45, Z:-0.53 [[ 9.56584105e-01 -1.00604276e-02 -2.91282745e-01 -4.92380769e-01] [ 2.66488408e-04 9.99433857e-01 -3.36436454e-02 -4.47241118e-01] [ 2.91456306e-01 3.21053530e-02 9.56045223e-01 -5.29904201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43463044000003 meters Centerline goodness : 0.401321 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.46, Z:-0.54 [[ 0.95667457 -0.00322878 -0.29114144 -0.50970135] [-0.00716816 0.99937424 -0.03463732 -0.45523418] [ 0.29107109 0.03522359 0.95605278 -0.53720969] [ 0. 0. 0. 1. ]] SLAMing on 368.46463044 meters Centerline goodness : 0.084776 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.46, Z:-0.54 [[ 0.95661392 -0.00299697 -0.29134313 -0.50897477] [-0.00731793 0.9993845 -0.03430855 -0.45687982] [ 0.29126663 0.03495207 0.95600319 -0.53731407] [ 0. 0. 0. 1. ]] SLAMing on 368.49463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.52463044 meters Centerline goodness : 0.444442 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.46, Z:-0.54 [[ 0.95651255 -0.00253863 -0.29168014 -0.50756002] [-0.00762897 0.99940233 -0.03371611 -0.45982065] [ 0.29159141 0.0344751 0.9559215 -0.53772695] [ 0. 0. 0. 1. ]] SLAMing on 368.55463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.58463044 meters Centerline goodness : 0.089529 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.46, Z:-0.54 [[ 0.95664079 -0.00214013 -0.29126245 -0.50934311] [-0.0078142 0.99942451 -0.03300899 -0.46383198] [ 0.29116547 0.03385373 0.95607353 -0.53740145] [ 0. 0. 0. 1. ]] SLAMing on 368.61463044000004 meters Centerline goodness : 0.230552 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.46, Z:-0.53 [[ 9.56642532e-01 -8.96260958e-03 -2.91126670e-01 -4.91637277e-01] [-2.79668793e-04 9.99497723e-01 -3.16894736e-02 -4.61113564e-01] [ 2.91264464e-01 3.03969173e-02 9.56159526e-01 -5.30178206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64463044 meters Centerline goodness : 0.230552 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.46, Z:-0.53 [[ 9.56642532e-01 -8.96260958e-03 -2.91126670e-01 -4.91637277e-01] [-2.79668793e-04 9.99497723e-01 -3.16894736e-02 -4.61113564e-01] [ 2.91264464e-01 3.03969173e-02 9.56159526e-01 -5.30178206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67463044 meters Centerline goodness : 0.468651 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.46, Z:-0.53 [[ 9.56658416e-01 -8.91188588e-03 -2.91076026e-01 -4.91796041e-01] [-2.66936543e-04 9.99504372e-01 -3.14791847e-02 -4.62830824e-01] [ 2.91212299e-01 3.01925258e-02 9.56181891e-01 -5.30139100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70463044 meters Centerline goodness : 0.338565 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.54 [[ 9.56097233e-01 -9.85669441e-03 -2.92883811e-01 -5.34872762e-01] [ 5.69457202e-04 9.99494790e-01 -3.17779881e-02 -4.67145049e-01] [ 2.93049069e-01 3.02160617e-02 9.55619816e-01 -5.43152743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73463044 meters Centerline goodness : 0.236992 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.54 [[ 9.56083165e-01 -9.58643794e-03 -2.92938698e-01 -5.34385724e-01] [ 4.12284595e-04 9.99507964e-01 -3.13633629e-02 -4.68880487e-01] [ 2.93095225e-01 2.98652092e-02 9.55616690e-01 -5.43427316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76463044 meters Centerline goodness : 0.088497 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.54 [[ 9.56079130e-01 -9.42176815e-03 -2.92957212e-01 -5.34300083e-01] [ 3.08869390e-04 9.99515069e-01 -3.11372968e-02 -4.69592218e-01] [ 2.93108516e-01 2.96792342e-02 9.55618408e-01 -5.43405880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79463044 meters Centerline goodness : 0.209288 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.54 [[ 9.56076734e-01 -9.30691013e-03 -2.92968703e-01 -5.34370316e-01] [ 2.44491355e-04 9.99520765e-01 -3.09544922e-02 -4.70366826e-01] [ 2.93116393e-01 2.95232415e-02 9.55620824e-01 -5.43287429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82463044 meters Centerline goodness : 0.093734 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.54 [[ 9.56104370e-01 -9.33692796e-03 -2.92877544e-01 -5.34749825e-01] [ 3.07316429e-04 9.99523622e-01 -3.08615449e-02 -4.71398868e-01] [ 2.93026176e-01 2.94168518e-02 9.55651772e-01 -5.43208883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85463044 meters Centerline goodness : 0.473327 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.54 [[ 9.56100740e-01 -9.37597958e-03 -2.92888147e-01 -5.34776966e-01] [ 3.85487094e-04 9.99527382e-01 -3.07386417e-02 -4.72901199e-01] [ 2.93037928e-01 2.92763335e-02 9.55652483e-01 -5.43140746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88463044 meters Centerline goodness : 0.281466 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.47, Z:-0.54 [[ 0.95627975 -0.01725925 -0.29194377 -0.51592963] [ 0.00893636 0.99951539 -0.02981816 -0.47313452] [ 0.29231693 0.02590559 0.95597056 -0.53630042] [ 0. 0. 0. 1. ]] SLAMing on 368.91463044 meters Centerline goodness : 0.089428 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.48, Z:-0.54 [[ 0.95684218 -0.01116771 -0.29039339 -0.53353616] [ 0.0023499 0.999526 -0.03069605 -0.48120866] [ 0.29059855 0.02868888 0.95641488 -0.54356647] [ 0. 0. 0. 1. ]] SLAMing on 368.94463044 meters Centerline goodness : 0.061298 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.48, Z:-0.54 [[ 0.956877 -0.01115079 -0.2902793 -0.53394686] [ 0.0024248 0.99953478 -0.03040299 -0.48361172] [ 0.29048327 0.02838805 0.95645888 -0.54345859] [ 0. 0. 0. 1. ]] SLAMing on 368.97463044 meters Centerline goodness : 0.285986 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.49, Z:-0.54 [[ 0.95687149 -0.01121527 -0.29029497 -0.53395043] [ 0.00255162 0.99954045 -0.03020564 -0.4859523 ] [ 0.29050033 0.02816219 0.95646038 -0.54343068] [ 0. 0. 0. 1. ]] SLAMing on 369.00463044 meters Centerline goodness : 0.058914 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.49, Z:-0.54 [[ 0.95667927 -0.01141278 -0.29092013 -0.53159194] [ 0.00282834 0.99954855 -0.02991135 -0.49036536] [ 0.29113017 0.02779274 0.95627966 -0.54375842] [ 0. 0. 0. 1. ]] SLAMing on 369.03463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.06463044000003 meters Centerline goodness : 0.384313 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.49, Z:-0.54 [[ 0.95661873 -0.01119655 -0.29112753 -0.53072245] [ 0.00274731 0.99956351 -0.02941506 -0.49353504] [ 0.2913298 0.02733918 0.95623194 -0.54396198] [ 0. 0. 0. 1. ]] SLAMing on 369.09463044 meters Centerline goodness : 0.422368 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.49, Z:-0.54 [[ 0.95660516 -0.01118161 -0.29117269 -0.53039947] [ 0.00276989 0.99956726 -0.0292853 -0.49491905] [ 0.29137415 0.02720796 0.95622217 -0.54411989] [ 0. 0. 0. 1. ]] SLAMing on 369.12463044000003 meters Centerline goodness : 0.095402 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.50, Z:-0.54 [[ 0.9564788 -0.01115145 -0.29158868 -0.52921135] [ 0.00279579 0.99957386 -0.02905662 -0.49711556] [ 0.29178844 0.02697682 0.95610238 -0.54406449] [ 0. 0. 0. 1. ]] SLAMing on 369.15463044 meters Centerline goodness : 0.081107 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.50, Z:-0.55 [[ 0.95646194 -0.00440153 -0.29182388 -0.54548249] [-0.00461106 0.99953358 -0.03018871 -0.50288862] [ 0.29182064 0.03021997 0.95599554 -0.55142035] [ 0. 0. 0. 1. ]] SLAMing on 369.18463044000003 meters Centerline goodness : 0.350160 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.50, Z:-0.55 [[ 0.95637435 -0.00410642 -0.29211511 -0.54436527] [-0.00478761 0.99954663 -0.02972563 -0.50486031] [ 0.29210474 0.02982737 0.9559211 -0.55160846] [ 0. 0. 0. 1. ]] SLAMing on 369.21463044 meters Centerline goodness : 0.400877 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.51, Z:-0.55 [[ 0.95639842 -0.0040094 -0.29203765 -0.54478892] [-0.00483329 0.99955157 -0.02955151 -0.50584341] [ 0.29202517 0.02967452 0.95595017 -0.55147005] [ 0. 0. 0. 1. ]] SLAMing on 369.24463044000004 meters Centerline goodness : 0.240530 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.51, Z:-0.55 [[ 0.95641561 -0.0039847 -0.2919817 -0.54530298] [-0.0048301 0.99955422 -0.0294625 -0.50657626] [ 0.29196894 0.0295887 0.95597 -0.5511902 ] [ 0. 0. 0. 1. ]] SLAMing on 369.27463044 meters Centerline goodness : 0.185600 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.51, Z:-0.55 [[ 0.95641699 -0.00398509 -0.29197715 -0.54567729] [-0.00481357 0.99955584 -0.0294102 -0.50714517] [ 0.29196466 0.02953386 0.95597301 -0.55090173] [ 0. 0. 0. 1. ]] SLAMing on 369.30463044000004 meters Centerline goodness : 0.317180 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.51, Z:-0.55 [[ 0.95635823 -0.00400901 -0.29216923 -0.54481904] [-0.00475977 0.99955946 -0.02929566 -0.50826299] [ 0.29215796 0.02940781 0.95591783 -0.55111441] [ 0. 0. 0. 1. ]] SLAMing on 369.33463044 meters Centerline goodness : 0.311108 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.51, Z:-0.55 [[ 0.95635182 -0.00388911 -0.29219183 -0.54444515] [-0.00482052 0.9995654 -0.02908203 -0.50932061] [ 0.29217795 0.02922117 0.95591745 -0.55138382] [ 0. 0. 0. 1. ]] SLAMing on 369.36463044000004 meters Centerline goodness : 0.461648 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.51, Z:-0.55 [[ 0.95636045 -0.0037922 -0.29216488 -0.54470093] [-0.00482952 0.99957402 -0.0287829 -0.51123092] [ 0.29214957 0.02893785 0.95593474 -0.55126535] [ 0. 0. 0. 1. ]] SLAMing on 369.39463044 meters Centerline goodness : 0.099548 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.51, Z:-0.55 [[ 0.95636464 -0.00375336 -0.29215167 -0.54508785] [-0.00476558 0.99958408 -0.02844217 -0.51384572] [ 0.29213691 0.02859336 0.95594898 -0.55102546] [ 0. 0. 0. 1. ]] SLAMing on 369.42463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.45463044 meters Centerline goodness : 0.301801 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.52, Z:-0.55 [[ 9.56395403e-01 -8.59622492e-03 -2.91948521e-01 -5.46225440e-01] [-6.06416130e-04 9.99506201e-01 -3.14163390e-02 -5.23510673e-01] [ 2.92074419e-01 3.02234845e-02 9.55917923e-01 -5.50759578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48463044 meters Centerline goodness : 0.473275 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.53, Z:-0.55 [[ 9.56421562e-01 -8.63574584e-03 -2.91861644e-01 -5.46628256e-01] [-4.81845800e-04 9.99514508e-01 -3.11531205e-02 -5.25931328e-01] [ 2.91988978e-01 2.99361485e-02 9.55953066e-01 -5.50679027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51463044 meters Centerline goodness : 0.092198 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.53, Z:-0.55 [[ 9.56446083e-01 -8.41820162e-03 -2.91787634e-01 -5.47043166e-01] [-5.66468808e-04 9.99528678e-01 -3.06936613e-02 -5.28308509e-01] [ 2.91908493e-01 2.95221208e-02 9.55990521e-01 -5.50647813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54463044 meters Centerline goodness : 0.092980 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.53, Z:-0.55 [[ 9.56611251e-01 -8.10280353e-03 -2.91254629e-01 -5.48455303e-01] [-6.67128302e-04 9.99549707e-01 -2.99989647e-02 -5.31688024e-01] [ 2.91366555e-01 2.88916513e-02 9.56175090e-01 -5.50978106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57463044 meters Centerline goodness : 0.331118 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.54, Z:-0.55 [[ 0.95650847 -0.00211544 -0.29169688 -0.53333085] [-0.0071589 0.99950229 -0.03072346 -0.53980131] [ 0.2916167 0.03147548 0.95601726 -0.54538141] [ 0. 0. 0. 1. ]] SLAMing on 369.60463044 meters Centerline goodness : 0.249018 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.54, Z:-0.55 [[ 0.95655929 -0.00228782 -0.29152887 -0.53417165] [-0.00696561 0.9995044 -0.03069918 -0.54109592] [ 0.29145462 0.03139626 0.95606928 -0.54521993] [ 0. 0. 0. 1. ]] SLAMing on 369.63463044 meters Centerline goodness : 0.454532 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.54, Z:-0.55 [[ 0.95640722 -0.00624312 -0.2919696 -0.53321925] [-0.00367073 0.99943549 -0.03339492 -0.54479833] [ 0.29201327 0.03301089 0.95584441 -0.54508576] [ 0. 0. 0. 1. ]] SLAMing on 369.66463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.69463044 meters Centerline goodness : 0.438875 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:-0.55 [[ 0.95613423 -0.00631598 -0.29286079 -0.53091332] [-0.003489 0.99945106 -0.03294555 -0.54814564] [ 0.29290811 0.03252216 0.95558733 -0.54514568] [ 0. 0. 0. 1. ]] SLAMing on 369.72463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.75463044 meters Centerline goodness : 0.090616 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:-0.55 [[ 0.95589272 -0.00632518 -0.29364791 -0.52893943] [-0.00332626 0.99947086 -0.03235637 -0.55188818] [ 0.29369719 0.03190597 0.95536588 -0.54534786] [ 0. 0. 0. 1. ]] SLAMing on 369.78463044 meters Centerline goodness : 0.092777 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:-0.55 [[ 0.95586506 -0.00631866 -0.29373809 -0.52872276] [-0.00329414 0.99947539 -0.03221952 -0.55296212] [ 0.29378757 0.03176513 0.95534279 -0.54541748] [ 0. 0. 0. 1. ]] SLAMing on 369.81463044000003 meters Centerline goodness : 0.091947 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:-0.55 [[ 0.95586625 -0.00627956 -0.29373504 -0.52853272] [-0.00330467 0.99947852 -0.03212113 -0.55336309] [ 0.29378357 0.0316742 0.95534704 -0.5456389 ] [ 0. 0. 0. 1. ]] SLAMing on 369.84463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.87463044000003 meters Centerline goodness : 0.462090 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:-0.55 [[ 0.95588604 -0.00596659 -0.29367718 -0.52786858] [-0.00353233 0.99948789 -0.03180373 -0.55324279] [ 0.29371654 0.03143811 0.95537544 -0.54633549] [ 0. 0. 0. 1. ]] SLAMing on 369.90463044 meters Centerline goodness : 0.316858 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.56, Z:-0.55 [[ 0.9559844 0.00238515 -0.29340781 -0.54401271] [-0.01257926 0.99938074 -0.0328618 -0.55616931] [ 0.29314774 0.03510622 0.9554224 -0.55279282] [ 0. 0. 0. 1. ]] SLAMing on 369.93463044000003 meters Centerline goodness : 0.413771 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.95590837 0.00235964 -0.29365562 -0.54306049] [-0.01259981 0.99937644 -0.03298455 -0.55490897] [ 0.29339468 0.03523022 0.95534203 -0.55287787] [ 0. 0. 0. 1. ]] SLAMing on 369.96463044 meters Centerline goodness : 0.117394 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.95576025 0.00224082 -0.29413829 -0.54103572] [-0.01256325 0.99936946 -0.033209 -0.55300051] [ 0.29387841 0.03543517 0.95518576 -0.55317199] [ 0. 0. 0. 1. ]] SLAMing on 369.99463044000004 meters Centerline goodness : 0.101401 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.95579111 0.00212883 -0.29403881 -0.54115797] [-0.01249694 0.99936437 -0.03338672 -0.55194585] [ 0.29378084 0.03558531 0.95521019 -0.5532623 ] [ 0. 0. 0. 1. ]] SLAMing on 370.02463044 meters Centerline goodness : 0.163127 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.55, Z:-0.56 [[ 0.95602719 -0.00481876 -0.29323846 -0.55896051] [-0.00485105 0.99946839 -0.03223974 -0.54527043] [ 0.29323793 0.03224458 0.95549558 -0.55989207] [ 0. 0. 0. 1. ]] SLAMing on 370.05463044000004 meters Centerline goodness : 0.478427 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.956075 -0.0048868 -0.29308143 -0.55958243] [-0.00482706 0.99946295 -0.0324115 -0.54368002] [ 0.29308242 0.03240255 0.95553795 -0.55969318] [ 0. 0. 0. 1. ]] SLAMing on 370.08463044 meters Centerline goodness : 0.119918 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95607327 -0.00500694 -0.29308503 -0.5596992 ] [-0.0047785 0.99945502 -0.03266221 -0.54178344] [ 0.29308884 0.03262797 0.95552831 -0.5595118 ] [ 0. 0. 0. 1. ]] SLAMing on 370.11463044000004 meters Centerline goodness : 0.448935 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95600377 -0.00527987 -0.29330685 -0.55875267] [-0.00464396 0.99944034 -0.03312761 -0.53878785] [ 0.2933176 0.03303223 0.95544422 -0.55961911] [ 0. 0. 0. 1. ]] SLAMing on 370.14463044 meters Centerline goodness : 0.211939 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.9559823 -0.00535856 -0.2933754 -0.55819917] [-0.00459068 0.99943772 -0.03321396 -0.5380062 ] [ 0.29338842 0.03309875 0.95542017 -0.55991366] [ 0. 0. 0. 1. ]] SLAMing on 370.17463044 meters Centerline goodness : 0.269951 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95593745 -0.00540885 -0.29352059 -0.55767832] [-0.00455038 0.99943715 -0.03323679 -0.53757083] [ 0.29353515 0.03310792 0.95537479 -0.55992802] [ 0. 0. 0. 1. ]] SLAMing on 370.20463044 meters Centerline goodness : 0.096334 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95599581 -0.00541042 -0.29333044 -0.558156 ] [-0.00450891 0.9994409 -0.03312951 -0.53795469] [ 0.29334568 0.03299428 0.95543691 -0.56014868] [ 0. 0. 0. 1. ]] SLAMing on 370.23463044 meters Centerline goodness : 0.093587 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95613918 -0.00615189 -0.29284812 -0.55963706] [-0.003874 0.99942639 -0.03364352 -0.53762623] [ 0.29288711 0.03330238 0.95556689 -0.56009509] [ 0. 0. 0. 1. ]] SLAMing on 370.26463044 meters Centerline goodness : 0.473956 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95615578 -0.00641339 -0.29278829 -0.55993553] [-0.00367336 0.99941889 -0.03388785 -0.53687839] [ 0.29283549 0.03347758 0.9555766 -0.55998981] [ 0. 0. 0. 1. ]] SLAMing on 370.29463044 meters Centerline goodness : 0.092389 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95616357 -0.00656524 -0.2927595 -0.5600381 ] [-0.0035758 0.99941234 -0.03409091 -0.53574065] [ 0.29281127 0.03364333 0.9555782 -0.55992793] [ 0. 0. 0. 1. ]] SLAMing on 370.32463044 meters Centerline goodness : 0.095847 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.53, Z:-0.56 [[ 0.95613843 -0.00662762 -0.29284019 -0.55995645] [-0.0035614 0.99940706 -0.03424693 -0.5341933 ] [ 0.29289353 0.03378773 0.95554789 -0.55970814] [ 0. 0. 0. 1. ]] SLAMing on 370.35463044 meters Centerline goodness : 0.408710 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.53, Z:-0.56 [[ 0.95616289 -0.00697062 -0.29275236 -0.5602236 ] [-0.00338573 0.99938667 -0.03485422 -0.52973918] [ 0.29281576 0.03431749 0.95555285 -0.55951009] [ 0. 0. 0. 1. ]] SLAMing on 370.38463044 meters Centerline goodness : 0.468976 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.53, Z:-0.56 [[ 0.95618941 -0.00733763 -0.29265674 -0.56051997] [-0.00315669 0.99936929 -0.03537043 -0.52729386] [ 0.2927317 0.03474466 0.95556317 -0.55938098] [ 0. 0. 0. 1. ]] SLAMing on 370.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 370.44463044 meters Centerline goodness : 0.091532 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.52, Z:-0.56 [[ 0.95628385 -0.00650144 -0.2923678 -0.56088169] [-0.00406563 0.99936066 -0.03552093 -0.5159907 ] [ 0.29241181 0.03515675 0.95564603 -0.5593481 ] [ 0. 0. 0. 1. ]] SLAMing on 370.47463044 meters Centerline goodness : 0.447753 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.51, Z:-0.56 [[ 0.9562107 -0.00672419 -0.29260191 -0.55975171] [-0.00397972 0.9993449 -0.03597121 -0.51264361] [ 0.29265211 0.03556053 0.95555753 -0.5595198 ] [ 0. 0. 0. 1. ]] SLAMing on 370.50463044 meters Centerline goodness : 0.372295 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.51, Z:-0.56 [[ 0.95614811 -0.00696815 -0.29280068 -0.55885852] [-0.00385635 0.99933076 -0.03637536 -0.51000575] [ 0.29285819 0.03590938 0.95548134 -0.55959485] [ 0. 0. 0. 1. ]] SLAMing on 370.53463044 meters Centerline goodness : 0.372295 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.51, Z:-0.56 [[ 0.95614811 -0.00696815 -0.29280068 -0.55885852] [-0.00385635 0.99933076 -0.03637536 -0.51000575] [ 0.29285819 0.03590938 0.95548134 -0.55959485] [ 0. 0. 0. 1. ]] SLAMing on 370.56463044000003 meters Centerline goodness : 0.464884 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.51, Z:-0.56 [[ 0.95610267 -0.00724316 -0.29294234 -0.55828173] [-0.00369522 0.99931696 -0.03676909 -0.50778893] [ 0.29300857 0.03623751 0.95542285 -0.55962241] [ 0. 0. 0. 1. ]] SLAMing on 370.59463044 meters Centerline goodness : 0.298144 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.50, Z:-0.56 [[ 0.9559491 -0.00784753 -0.29342757 -0.55691383] [-0.00330428 0.99929153 -0.03749031 -0.50426607] [ 0.29351389 0.0368084 0.9552459 -0.55932817] [ 0. 0. 0. 1. ]] SLAMing on 370.62463044000003 meters Centerline goodness : 0.260113 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.50, Z:-0.55 [[ 0.95556009 -0.01485406 -0.29442192 -0.53800848] [ 0.00426515 0.99932182 -0.03657466 -0.49921139] [ 0.29476553 0.03369354 0.95497541 -0.55175157] [ 0. 0. 0. 1. ]] SLAMing on 370.65463044 meters Centerline goodness : 0.094090 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.50, Z:-0.55 [[ 0.95547217 -0.01503404 -0.29469798 -0.53703231] [ 0.00435878 0.99931138 -0.03684786 -0.49749261] [ 0.29504902 0.03392258 0.95487975 -0.55177236] [ 0. 0. 0. 1. ]] SLAMing on 370.68463044000003 meters Centerline goodness : 0.142639 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.49, Z:-0.55 [[ 0.95535759 -0.01536892 -0.29505199 -0.53520981] [ 0.00454987 0.99929301 -0.03731984 -0.49449008] [ 0.29541695 0.03431134 0.95475209 -0.55219401] [ 0. 0. 0. 1. ]] SLAMing on 370.71463044 meters Centerline goodness : 0.092605 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.49, Z:-0.55 [[ 0.95535102 -0.01560964 -0.29506062 -0.53508236] [ 0.00468657 0.99927846 -0.03769075 -0.49260391] [ 0.29543606 0.03462508 0.95473485 -0.55216852] [ 0. 0. 0. 1. ]] SLAMing on 370.74463044000004 meters Centerline goodness : 0.101072 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.49, Z:-0.55 [[ 0.95535808 -0.01585076 -0.2950249 -0.53533592] [ 0.00482997 0.99926429 -0.03804678 -0.49074968] [ 0.29541091 0.03492334 0.95473177 -0.55188523] [ 0. 0. 0. 1. ]] SLAMing on 370.77463044 meters Centerline goodness : 0.093053 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.49, Z:-0.55 [[ 0.9553216 -0.01606054 -0.29513167 -0.5351748 ] [ 0.0049333 0.99924994 -0.03840865 -0.48859652] [ 0.29552717 0.03523664 0.95468428 -0.55160249] [ 0. 0. 0. 1. ]] SLAMing on 370.80463044000004 meters Centerline goodness : 0.099985 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.49, Z:-0.55 [[ 0.95522456 -0.01178466 -0.29564702 -0.53383797] [ 0.00143056 0.99937878 -0.03521374 -0.48581271] [ 0.29587834 0.03321409 0.95464802 -0.55140826] [ 0. 0. 0. 1. ]] SLAMing on 370.83463044 meters Centerline goodness : 0.285736 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.48, Z:-0.55 [[ 0.95510574 -0.01187483 -0.29602704 -0.53270919] [ 0.00144152 0.99937084 -0.03543781 -0.48413392] [ 0.29626161 0.03342013 0.95452195 -0.55124271] [ 0. 0. 0. 1. ]] SLAMing on 370.86463044000004 meters Centerline goodness : 0.091821 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.48, Z:-0.55 [[ 0.9550715 -0.01207385 -0.29612945 -0.53225528] [ 0.00155959 0.99936076 -0.03571619 -0.48288829] [ 0.29637138 0.03364968 0.95447981 -0.5512353 ] [ 0. 0. 0. 1. ]] SLAMing on 370.89463044 meters Centerline goodness : 0.091347 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.48, Z:-0.55 [[ 0.95525567 -0.01238916 -0.29552177 -0.53431695] [ 0.0017726 0.99934424 -0.03616568 -0.48106256] [ 0.29577604 0.03402363 0.95465121 -0.55096349] [ 0. 0. 0. 1. ]] SLAMing on 370.92463044 meters Centerline goodness : 0.087638 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.48, Z:-0.55 [[ 0.9553353 -0.01237883 -0.29526467 -0.53560193] [ 0.00174448 0.99934114 -0.03625259 -0.48004789] [ 0.2955189 0.0341183 0.95472746 -0.55045752] [ 0. 0. 0. 1. ]] SLAMing on 370.95463044 meters Centerline goodness : 0.068095 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.48, Z:-0.55 [[ 0.95553064 -0.00881697 -0.29476 -0.53725053] [-0.0010944 0.99944002 -0.03344336 -0.47882431] [ 0.29488981 0.03227874 0.95498591 -0.55044793] [ 0. 0. 0. 1. ]] SLAMing on 370.98463044 meters Centerline goodness : 0.087052 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.48, Z:-0.55 [[ 0.95546839 -0.00887438 -0.29495999 -0.53649907] [-0.00110333 0.99943328 -0.0336437 -0.47687918] [ 0.2950914 0.03247093 0.95491712 -0.55041192] [ 0. 0. 0. 1. ]] SLAMing on 371.01463044 meters Centerline goodness : 0.472747 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.47, Z:-0.55 [[ 0.95539555 -0.00911661 -0.29518848 -0.53524548] [-0.00102489 0.99941506 -0.03418306 -0.47294093] [ 0.29532744 0.03296088 0.95482736 -0.55059117] [ 0. 0. 0. 1. ]] SLAMing on 371.04463044 meters Centerline goodness : 0.098419 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.47, Z:-0.55 [[ 9.55421007e-01 -9.25875454e-03 -2.95101633e-01 -5.35591467e-01] [-9.61202793e-04 9.99405335e-01 -3.44681319e-02 -4.71035756e-01] [ 2.95245279e-01 3.32152298e-02 9.54843953e-01 -5.50423760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07463044 meters Centerline goodness : 0.092003 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.47, Z:-0.55 [[ 9.55449066e-01 -9.42960595e-03 -2.95005364e-01 -5.36059149e-01] [-8.75578195e-04 9.99394588e-01 -3.47806134e-02 -4.69084805e-01] [ 2.95154732e-01 3.34894049e-02 9.54862369e-01 -5.50186721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10463044 meters Centerline goodness : 0.094806 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.55 [[ 9.55356576e-01 -9.68815361e-03 -2.95296381e-01 -5.34931834e-01] [-7.34449316e-04 9.99381283e-01 -3.51640624e-02 -4.66880811e-01] [ 2.95454351e-01 3.38110984e-02 9.54758365e-01 -5.50231298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13463044 meters Centerline goodness : 0.106066 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.55 [[ 9.55314476e-01 -9.76877532e-03 -2.95429895e-01 -5.34336107e-01] [-6.79236614e-04 9.99378571e-01 -3.52421657e-02 -4.66626771e-01] [ 2.95590579e-01 3.38680178e-02 9.54714181e-01 -5.50361108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16463044 meters Centerline goodness : 0.099755 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.55 [[ 9.55287239e-01 -9.96345575e-03 -2.95511455e-01 -5.34114394e-01] [-5.27433509e-04 9.99373090e-01 -3.53998462e-02 -4.66165667e-01] [ 2.95678901e-01 3.39728840e-02 9.54683105e-01 -5.50270765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19463044 meters Centerline goodness : 0.088142 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.47, Z:-0.55 [[ 9.55286806e-01 -9.99224041e-03 -2.95511885e-01 -5.34192020e-01] [-5.23388777e-04 9.99370109e-01 -3.54839629e-02 -4.65303153e-01] [ 2.95680309e-01 3.40520292e-02 9.54679849e-01 -5.50169034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22463044 meters Centerline goodness : 0.099491 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.46, Z:-0.55 [[ 0.95544597 -0.00661743 -0.29509186 -0.5352343 ] [-0.00326452 0.9994506 -0.03298249 -0.4624322 ] [ 0.29514799 0.03247632 0.95489945 -0.55030157] [ 0. 0. 0. 1. ]] SLAMing on 371.25463044 meters Centerline goodness : 0.136756 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.46, Z:-0.55 [[ 0.95544319 -0.00680797 -0.29509651 -0.53542905] [-0.00317227 0.99943942 -0.03332836 -0.46043313] [ 0.29515799 0.03277948 0.954886 -0.55002717] [ 0. 0. 0. 1. ]] SLAMing on 371.28463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 371.31463044000003 meters Centerline goodness : 0.099896 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.46, Z:-0.55 [[ 0.95568719 -0.00482119 -0.29434461 -0.53924891] [-0.00484452 0.99947292 -0.03210011 -0.45579649] [ 0.29434423 0.03210363 0.95516011 -0.54907539] [ 0. 0. 0. 1. ]] SLAMing on 371.34463044 meters Centerline goodness : 0.471214 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.45, Z:-0.55 [[ 0.95547277 -0.00232089 -0.29507015 -0.53597985] [-0.00695392 0.99951425 -0.03037936 -0.45119726] [ 0.29499733 0.03107855 0.95499251 -0.54927219] [ 0. 0. 0. 1. ]] SLAMing on 371.37463044000003 meters Centerline goodness : 0.103359 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.44, Z:-0.56 [[ 9.55414572e-01 -9.18565066e-03 -2.95124752e-01 -5.52422497e-01] [ 5.53484297e-04 9.99569939e-01 -2.93194429e-02 -4.44173571e-01] [ 2.95267148e-01 2.78488761e-02 9.55008770e-01 -5.56127123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40463044 meters Centerline goodness : 0.097094 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.44, Z:-0.56 [[ 9.55366290e-01 -9.39736584e-03 -2.95274348e-01 -5.52045732e-01] [ 6.85721578e-04 9.99561788e-01 -2.95932667e-02 -4.43104749e-01] [ 2.95423054e-01 2.80699334e-02 9.54954082e-01 -5.55945782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43463044000003 meters Centerline goodness : 0.090741 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.44, Z:-0.56 [[ 9.55326704e-01 -9.51390125e-03 -2.95398671e-01 -5.52100362e-01] [ 7.40438256e-04 9.99555664e-01 -2.97980807e-02 -4.41647134e-01] [ 2.95550911e-01 2.82481777e-02 9.54909262e-01 -5.55584784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46463044 meters Centerline goodness : 0.108854 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.44, Z:-0.56 [[ 9.55271897e-01 -9.46822992e-03 -2.95577325e-01 -5.51572937e-01] [ 6.91332930e-04 9.99556105e-01 -2.97844772e-02 -4.41132206e-01] [ 2.95728126e-01 2.82479317e-02 9.54854402e-01 -5.55573453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49463044000004 meters Centerline goodness : 0.105175 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95494849 -0.01670677 -0.29630097 -0.5320749 ] [ 0.00858015 0.99955107 -0.02870617 -0.43826633] [ 0.29664754 0.02487061 0.95466313 -0.54852309] [ 0. 0. 0. 1. ]] SLAMing on 371.52463044 meters Centerline goodness : 0.108104 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95484672 -0.01708055 -0.29660748 -0.53090126] [ 0.00892878 0.99954484 -0.02881642 -0.43963597] [ 0.29696468 0.02486692 0.95456462 -0.54874905] [ 0. 0. 0. 1. ]] SLAMing on 371.55463044000004 meters Centerline goodness : 0.109679 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95485703 -0.01694596 -0.29658201 -0.53114641] [ 0.00887507 0.9995533 -0.02853835 -0.44106246] [ 0.29693314 0.02461786 0.95458089 -0.54866749] [ 0. 0. 0. 1. ]] SLAMing on 371.58463044 meters Centerline goodness : 0.120244 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95485813 -0.01676964 -0.2965885 -0.53129613] [ 0.0087895 0.99956311 -0.02821954 -0.44255973] [ 0.29693216 0.02433879 0.95458835 -0.54856325] [ 0. 0. 0. 1. ]] SLAMing on 371.61463044000004 meters Centerline goodness : 0.104901 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95485999 -0.01664835 -0.29658932 -0.53123047] [ 0.0087331 0.99956998 -0.0279926 -0.44363959] [ 0.29692781 0.02413887 0.95459478 -0.54863966] [ 0. 0. 0. 1. ]] SLAMing on 371.64463044 meters Centerline goodness : 0.105794 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95482671 -0.01663365 -0.29669729 -0.53112119] [ 0.00874673 0.99957273 -0.02789012 -0.44454059] [ 0.29703444 0.0240351 0.95456422 -0.54846817] [ 0. 0. 0. 1. ]] SLAMing on 371.67463044 meters Centerline goodness : 0.257822 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.45, Z:-0.55 [[ 0.95479351 -0.0166119 -0.29680532 -0.53120174] [ 0.00875189 0.99957544 -0.02779125 -0.4454312 ] [ 0.29714097 0.0239373 0.95453352 -0.54812641] [ 0. 0. 0. 1. ]] SLAMing on 371.70463044 meters Centerline goodness : 0.103393 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.45, Z:-0.55 [[ 0.95477087 -0.01653896 -0.29688222 -0.53123896] [ 0.00867862 0.99957653 -0.02777486 -0.44506162] [ 0.29721586 0.0239421 0.95451009 -0.54788442] [ 0. 0. 0. 1. ]] SLAMing on 371.73463044 meters Centerline goodness : 0.103494 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95487354 -0.01655031 -0.29655118 -0.53239911] [ 0.00862499 0.99957034 -0.02801346 -0.44305236] [ 0.29688739 0.02419156 0.95460602 -0.54758506] [ 0. 0. 0. 1. ]] SLAMing on 371.76463044 meters Centerline goodness : 0.473824 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.44, Z:-0.55 [[ 0.95509695 -0.01268586 -0.29602177 -0.53423792] [ 0.00553054 0.99967224 -0.02499647 -0.44196615] [ 0.29624185 0.02223689 0.95485407 -0.54753192] [ 0. 0. 0. 1. ]] SLAMing on 371.79463044 meters Centerline goodness : 0.102660 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.44, Z:-0.55 [[ 0.95530842 -0.00872061 -0.29548227 -0.53613699] [ 0.00233593 0.99975626 -0.02195375 -0.44059349] [ 0.2956017 0.02028238 0.95509594 -0.54737845] [ 0. 0. 0. 1. ]] SLAMing on 371.82463044 meters Centerline goodness : 0.105019 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.44, Z:-0.55 [[ 9.55535342e-01 -5.05870924e-03 -2.94833205e-01 -5.38250850e-01] [-6.42056991e-04 9.99814773e-01 -1.92355552e-02 -4.38211070e-01] [ 2.94875901e-01 1.85695525e-02 9.55355104e-01 -5.47310813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85463044 meters Centerline goodness : 0.174005 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.43, Z:-0.55 [[ 0.95555153 -0.00120979 -0.29482166 -0.53861143] [-0.00388254 0.99985323 -0.01668665 -0.43310724] [ 0.29479857 0.01708961 0.95540659 -0.54692523] [ 0. 0. 0. 1. ]] SLAMing on 371.88463044 meters Centerline goodness : 0.465297 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.43, Z:-0.55 [[ 0.95554405 -0.00136569 -0.29484521 -0.53845787] [-0.00382245 0.99984786 -0.01701908 -0.43070861] [ 0.29482359 0.01738951 0.95539346 -0.54692083] [ 0. 0. 0. 1. ]] SLAMing on 371.91463044 meters Centerline goodness : 0.108893 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.43, Z:-0.55 [[ 0.95553184 -0.00151189 -0.29488407 -0.53831758] [-0.00373927 0.99984434 -0.01724288 -0.42926091] [ 0.29486424 0.01757878 0.95537745 -0.54690742] [ 0. 0. 0. 1. ]] SLAMing on 371.94463044 meters Centerline goodness : 0.103638 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.43, Z:-0.54 [[ 0.95546606 -0.00904928 -0.29496224 -0.52029596] [ 0.00445681 0.99985822 -0.01623824 -0.42527079] [ 0.29506736 0.01420049 0.95537092 -0.53973115] [ 0. 0. 0. 1. ]] SLAMing on 371.97463044 meters Centerline goodness : 0.474210 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95560173 -0.00990447 -0.29449488 -0.52173973] [ 0.00513874 0.9998431 -0.01695217 -0.42376307] [ 0.29461657 0.01468619 0.95550269 -0.53962566] [ 0. 0. 0. 1. ]] SLAMing on 372.00463044 meters Centerline goodness : 0.083371 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95555976 -0.01007571 -0.29462523 -0.52141669] [ 0.00526055 0.99983941 -0.01713133 -0.42295611] [ 0.29475052 0.01482012 0.95545931 -0.53952149] [ 0. 0. 0. 1. ]] SLAMing on 372.03463044 meters Centerline goodness : 0.107569 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95545841 -0.01018521 -0.29494996 -0.5203074 ] [ 0.0053264 0.99983664 -0.01727204 -0.421918 ] [ 0.2950777 0.0149317 0.95535658 -0.53955731] [ 0. 0. 0. 1. ]] SLAMing on 372.06463044000003 meters Centerline goodness : 0.082985 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95524561 -0.01030523 -0.29563427 -0.51754279] [ 0.00538097 0.99983299 -0.01746535 -0.42008064] [ 0.29576488 0.0150929 0.95514153 -0.53988966] [ 0. 0. 0. 1. ]] SLAMing on 372.09463044 meters Centerline goodness : 0.091182 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95520113 -0.01042898 -0.29577364 -0.51714351] [ 0.00545146 0.99982939 -0.0176485 -0.41892527] [ 0.29590723 0.01524547 0.95509501 -0.53979708] [ 0. 0. 0. 1. ]] SLAMing on 372.12463044000003 meters Centerline goodness : 0.125552 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95518525 -0.01055699 -0.29582038 -0.51710638] [ 0.00552683 0.99982567 -0.01783513 -0.41782553] [ 0.29595709 0.01540091 0.95507707 -0.53961785] [ 0. 0. 0. 1. ]] SLAMing on 372.15463044 meters Centerline goodness : 0.127783 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95508391 -0.0106142 -0.29614535 -0.5161035 ] [ 0.00552943 0.99982266 -0.01800212 -0.41583191] [ 0.29628391 0.01555602 0.95497322 -0.53955435] [ 0. 0. 0. 1. ]] SLAMing on 372.18463044000003 meters Centerline goodness : 0.118181 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95498452 -0.01062886 -0.29646517 -0.51498525] [ 0.00554073 0.99982268 -0.01799759 -0.41560636] [ 0.2966039 0.01554478 0.95487407 -0.53955017] [ 0. 0. 0. 1. ]] SLAMing on 372.21463044 meters Centerline goodness : 0.215793 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95493978 -0.01063441 -0.29660903 -0.51423397] [ 0.00554688 0.9998228 -0.01798864 -0.4155469 ] [ 0.29674777 0.01553281 0.95482956 -0.53975854] [ 0. 0. 0. 1. ]] SLAMing on 372.24463044000004 meters Centerline goodness : 0.300573 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95495974 -0.01065085 -0.29654418 -0.51412794] [ 0.00557686 0.99982331 -0.01795108 -0.41593592] [ 0.29668298 0.01548877 0.95485041 -0.54004281] [ 0. 0. 0. 1. ]] SLAMing on 372.27463044 meters Centerline goodness : 0.083970 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95498631 -0.01069028 -0.29645718 -0.5144415 ] [ 0.00564266 0.99982427 -0.01787691 -0.41695241] [ 0.29659619 0.01539939 0.95487882 -0.53998873] [ 0. 0. 0. 1. ]] SLAMing on 372.30463044000004 meters Centerline goodness : 0.100499 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.9549405 -0.01062256 -0.29660714 -0.5138728 ] [ 0.00560269 0.99982642 -0.01776924 -0.41753499] [ 0.29674441 0.01530677 0.95483426 -0.5400651 ] [ 0. 0. 0. 1. ]] SLAMing on 372.33463044 meters Centerline goodness : 0.083299 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95488312 -0.01049423 -0.2967964 -0.51311732] [ 0.00551338 0.99982966 -0.01761413 -0.41818816] [ 0.29693069 0.01518309 0.95477832 -0.54019146] [ 0. 0. 0. 1. ]] SLAMing on 372.36463044000004 meters Centerline goodness : 0.070170 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95484507 -0.01031399 -0.29692509 -0.51275286] [ 0.00537601 0.99983342 -0.01744215 -0.41855607] [ 0.29705552 0.01505828 0.95474146 -0.54011398] [ 0. 0. 0. 1. ]] SLAMing on 372.39463044 meters Centerline goodness : 0.098609 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95498293 -0.01008445 -0.2964893 -0.5149023 ] [ 0.00522793 0.99983894 -0.01716837 -0.42007564] [ 0.29661468 0.01484548 0.95488185 -0.53943936] [ 0. 0. 0. 1. ]] SLAMing on 372.42463044 meters Centerline goodness : 0.098609 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95498293 -0.01008445 -0.2964893 -0.5149023 ] [ 0.00522793 0.99983894 -0.01716837 -0.42007564] [ 0.29661468 0.01484548 0.95488185 -0.53943936] [ 0. 0. 0. 1. ]] SLAMing on 372.45463044 meters Centerline goodness : 0.084065 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95509792 -0.01009354 -0.29611835 -0.51623469] [ 0.00526215 0.9998398 -0.0171082 -0.42089358] [ 0.2962436 0.01478179 0.95499803 -0.53931548] [ 0. 0. 0. 1. ]] SLAMing on 372.48463044 meters Centerline goodness : 0.082860 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.9551718 -0.01001608 -0.29588259 -0.51691593] [ 0.00523204 0.99984255 -0.0169561 -0.42195474] [ 0.29600584 0.01464792 0.95507381 -0.53934858] [ 0. 0. 0. 1. ]] SLAMing on 372.51463044 meters Centerline goodness : 0.107703 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95523931 -0.00976687 -0.29567292 -0.51754221] [ 0.00508296 0.99984919 -0.01660603 -0.42358745] [ 0.29579052 0.01435984 0.95514489 -0.53936414] [ 0. 0. 0. 1. ]] SLAMing on 372.54463044 meters Centerline goodness : 0.060172 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95524104 -0.00983228 -0.29566514 -0.51754052] [ 0.00514083 0.99984832 -0.01664064 -0.42379205] [ 0.2957839 0.01437586 0.9551467 -0.53937089] [ 0. 0. 0. 1. ]] SLAMing on 372.57463044 meters Centerline goodness : 0.116148 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95519727 -0.00990852 -0.29580397 -0.51727685] [ 0.00518602 0.99984634 -0.0167453 -0.42347227] [ 0.29592444 0.01446102 0.95510188 -0.53920887] [ 0. 0. 0. 1. ]] SLAMing on 372.60463044 meters Centerline goodness : 0.302024 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95510883 -0.00988557 -0.29609019 -0.51657225] [ 0.00514197 0.99984573 -0.01679525 -0.42278735] [ 0.29621055 0.01451881 0.95501231 -0.53901036] [ 0. 0. 0. 1. ]] SLAMing on 372.63463044 meters Centerline goodness : 0.100219 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95519456 -0.00549344 -0.29592767 -0.51642767] [ 0.00159895 0.99990893 -0.01340067 -0.42163323] [ 0.29597433 0.01232708 0.95511635 -0.53950144] [ 0. 0. 0. 1. ]] SLAMing on 372.66463044 meters Centerline goodness : 0.111816 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95517484 -0.00554173 -0.29599039 -0.51601831] [ 0.00158427 0.99990615 -0.0136084 -0.42007993] [ 0.29603802 0.01252947 0.95509398 -0.53956749] [ 0. 0. 0. 1. ]] SLAMing on 372.69463044 meters Centerline goodness : 0.083090 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95519128 -0.00569225 -0.2959345 -0.51590666] [ 0.00166447 0.99990255 -0.01386051 -0.41882072] [ 0.29598456 0.01274686 0.95510767 -0.5397254 ] [ 0. 0. 0. 1. ]] SLAMing on 372.72463044 meters Centerline goodness : 0.095363 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.42, Z:-0.54 [[ 0.95518559 -0.00574798 -0.29595176 -0.51564964] [ 0.00169553 0.99990129 -0.01394777 -0.41835117] [ 0.29600271 0.01282091 0.95510105 -0.53989082] [ 0. 0. 0. 1. ]] SLAMing on 372.75463044 meters Centerline goodness : 0.295187 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95508547 -0.00554983 -0.29627849 -0.5147894 ] [ 0.00157373 0.9999055 -0.01365696 -0.41922098] [ 0.29632628 0.0125773 0.95500395 -0.53974781] [ 0. 0. 0. 1. ]] SLAMing on 372.78463044 meters Centerline goodness : 0.478148 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.9550558 -0.00538528 -0.29637716 -0.51440828] [ 0.00148295 0.99990925 -0.01339002 -0.4203198 ] [ 0.29642237 0.01234871 0.95497711 -0.53986778] [ 0. 0. 0. 1. ]] SLAMing on 372.81463044000003 meters Centerline goodness : 0.099582 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.9550133 -0.00534856 -0.29651473 -0.51392189] [ 0.00148978 0.99991126 -0.01323822 -0.42138866] [ 0.29655922 0.01220094 0.95493652 -0.53991998] [ 0. 0. 0. 1. ]] SLAMing on 372.84463044 meters Centerline goodness : 0.477574 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.42, Z:-0.54 [[ 0.95497061 -0.00537463 -0.29665173 -0.51317945] [ 0.00155753 0.99991295 -0.01310214 -0.42289493] [ 0.29669632 0.01205011 0.95489585 -0.54021145] [ 0. 0. 0. 1. ]] SLAMing on 372.87463044000003 meters Centerline goodness : 0.084812 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.43, Z:-0.54 [[ 0.95482673 -0.00515312 -0.29711844 -0.51166888] [ 0.00147153 0.99991937 -0.01261332 -0.42592754] [ 0.29715948 0.01160632 0.95475732 -0.54033244] [ 0. 0. 0. 1. ]] SLAMing on 372.90463044 meters Centerline goodness : 0.083437 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.43, Z:-0.54 [[ 0.95475795 -0.00491788 -0.29734334 -0.51101369] [ 0.0013182 0.99992342 -0.01230544 -0.42717876] [ 0.29738109 0.01135676 0.95469132 -0.54029831] [ 0. 0. 0. 1. ]] SLAMing on 372.93463044000003 meters Centerline goodness : 0.111618 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.43, Z:-0.54 [[ 0.95472713 -0.00471959 -0.29744553 -0.51062988] [ 0.00119102 0.99992677 -0.01204303 -0.42832065] [ 0.29748058 0.01114354 0.95466283 -0.54037518] [ 0. 0. 0. 1. ]] SLAMing on 372.96463044 meters Centerline goodness : 0.112517 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.43, Z:-0.54 [[ 0.95469324 -0.00453891 -0.29755707 -0.51036806] [ 0.0010671 0.99992946 -0.01182912 -0.42937259] [ 0.29758977 0.01097566 0.95463075 -0.54023907] [ 0. 0. 0. 1. ]] SLAMing on 372.99463044000004 meters Centerline goodness : 0.084964 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.43, Z:-0.54 [[ 9.54679693e-01 -4.34511383e-03 -2.97603433e-01 -5.10453097e-01] [ 9.21139605e-04 9.99931777e-01 -1.16444360e-02 -4.29850097e-01] [ 2.97633726e-01 1.08425722e-02 9.54618564e-01 -5.40055162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02463044 meters Centerline goodness : 0.104451 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.43, Z:-0.53 [[ 0.95496043 0.00334956 -0.29671427 -0.49271179] [-0.00736617 0.99989574 -0.01242001 -0.43472688] [ 0.29664174 0.01404626 0.95488553 -0.53315824] [ 0. 0. 0. 1. ]] SLAMing on 373.05463044000004 meters Centerline goodness : 0.084029 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.43, Z:-0.53 [[ 0.95498222 0.00343256 -0.29664319 -0.493181 ] [-0.0074469 0.99989534 -0.01240362 -0.43455788] [ 0.29656956 0.01405431 0.95490783 -0.53296387] [ 0. 0. 0. 1. ]] SLAMing on 373.08463044 meters Centerline goodness : 0.104580 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.43, Z:-0.53 [[ 0.95502624 0.00353309 -0.29650024 -0.49352127] [-0.00751982 0.99989599 -0.01230659 -0.43489328] [ 0.29642592 0.01398274 0.95495348 -0.5330074 ] [ 0. 0. 0. 1. ]] SLAMing on 373.11463044000004 meters Centerline goodness : 0.086229 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.43, Z:-0.54 [[ 9.55169913e-01 -3.07277499e-03 -2.96042219e-01 -5.12002650e-01] [-2.39658245e-04 9.99937784e-01 -1.11521194e-02 -4.29800891e-01] [ 2.96058069e-01 1.07231178e-02 9.55109750e-01 -5.39442832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14463044 meters Centerline goodness : 0.100748 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.43, Z:-0.53 [[ 0.95597613 -0.00701091 -0.29336066 -0.49229066] [ 0.00496597 0.99995791 -0.00771495 -0.43134217] [ 0.2934024 0.00591848 0.95597071 -0.53313186] [ 0. 0. 0. 1. ]] SLAMing on 373.17463044 meters Centerline goodness : 0.107811 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.43, Z:-0.53 [[ 0.95600955 -0.00696114 -0.29325292 -0.49302072] [ 0.00491258 0.99995812 -0.00772155 -0.43099585] [ 0.29329439 0.00594125 0.95600371 -0.53281855] [ 0. 0. 0. 1. ]] SLAMing on 373.20463044 meters Centerline goodness : 0.110066 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.43, Z:-0.53 [[ 0.95602567 -0.007019 -0.29319899 -0.49344055] [ 0.00492127 0.99995675 -0.00789168 -0.4298412 ] [ 0.2932417 0.00610174 0.95601887 -0.53258057] [ 0. 0. 0. 1. ]] SLAMing on 373.23463044 meters Centerline goodness : 0.108422 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.43, Z:-0.53 [[ 0.95614143 -0.00329028 -0.29288692 -0.49462995] [ 0.00182747 0.99998445 -0.00526794 -0.4266677 ] [ 0.2928997 0.00450165 0.95613258 -0.53237836] [ 0. 0. 0. 1. ]] SLAMing on 373.26463044 meters Centerline goodness : 0.108067 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.42, Z:-0.53 [[ 0.95610699 -0.00340886 -0.29299797 -0.49439725] [ 0.00182438 0.9999822 -0.00568093 -0.4235109 ] [ 0.29301212 0.00489704 0.95609619 -0.53220844] [ 0. 0. 0. 1. ]] SLAMing on 373.29463044 meters Centerline goodness : 0.110519 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.42, Z:-0.53 [[ 0.95609644 -0.00354364 -0.29303077 -0.49425742] [ 0.00182791 0.99997955 -0.00612874 -0.42004606] [ 0.29304649 0.00532404 0.95608337 -0.53214398] [ 0. 0. 0. 1. ]] SLAMing on 373.32463044 meters Centerline goodness : 0.110128 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.42, Z:-0.53 [[ 0.95615775 -0.00376465 -0.29282791 -0.49507311] [ 0.00188607 0.99997579 -0.00669738 -0.41605277] [ 0.29284603 0.00585146 0.95614171 -0.53193304] [ 0. 0. 0. 1. ]] SLAMing on 373.35463044 meters Centerline goodness : 0.296397 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.41, Z:-0.53 [[ 0.95709543 0.00384121 -0.28974744 -0.4789987 ] [-0.0064453 0.99994696 -0.00803375 -0.40893486] [ 0.28970121 0.00955657 0.95706942 -0.52527229] [ 0. 0. 0. 1. ]] SLAMing on 373.38463044 meters Centerline goodness : 0.133054 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.40, Z:-0.52 [[ 0.95707088 0.00377985 -0.28982934 -0.47898216] [-0.00652721 0.99994246 -0.0085132 -0.40307947] [ 0.28978048 0.01003951 0.95704048 -0.52494389] [ 0. 0. 0. 1. ]] SLAMing on 373.41463044 meters Centerline goodness : 0.107796 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.40, Z:-0.52 [[ 0.95692259 0.00391218 -0.29031682 -0.47755677] [-0.00676857 0.99993806 -0.00883539 -0.39675885] [ 0.29026427 0.01041981 0.9568898 -0.52474125] [ 0. 0. 0. 1. ]] SLAMing on 373.44463044 meters Centerline goodness : 0.094463 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.39, Z:-0.52 [[ 0.95671826 0.00446617 -0.29098148 -0.47536941] [-0.00736172 0.99993368 -0.008857 -0.39000938] [ 0.29092262 0.01061578 0.95668769 -0.52468637] [ 0. 0. 0. 1. ]] SLAMing on 373.47463044 meters Centerline goodness : 0.099544 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.38, Z:-0.52 [[ 0.95658021 0.00450132 -0.29143444 -0.47381178] [-0.00752142 0.99992899 -0.00924338 -0.38436382] [ 0.29137214 0.01103404 0.95654615 -0.52470128] [ 0. 0. 0. 1. ]] SLAMing on 373.50463044 meters Centerline goodness : 0.116319 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.37, Z:-0.52 [[ 0.95652242 0.00590789 -0.29159895 -0.47314014] [-0.00891514 0.99991989 -0.00898534 -0.37398651] [ 0.29152251 0.01119432 0.95649847 -0.52455907] [ 0. 0. 0. 1. ]] SLAMing on 373.53463044 meters Centerline goodness : 0.119840 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.37, Z:-0.52 [[ 0.95650351 0.00564731 -0.29166617 -0.47315397] [-0.00880699 0.99991589 -0.00952144 -0.37014471] [ 0.29158786 0.01167599 0.95647279 -0.52428125] [ 0. 0. 0. 1. ]] SLAMing on 373.56463044000003 meters Centerline goodness : 0.123852 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.37, Z:-0.52 [[ 0.95646129 0.00541511 -0.29180898 -0.4729475 ] [-0.00871611 0.99991188 -0.01001334 -0.36658495] [ 0.29172904 0.01212081 0.9564242 -0.52401075] [ 0. 0. 0. 1. ]] SLAMing on 373.59463044 meters Centerline goodness : 0.111363 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.36, Z:-0.52 [[ 0.95637032 0.00516977 -0.29211142 -0.47223737] [-0.00861113 0.99990783 -0.01049645 -0.36325307] [ 0.29203024 0.0125539 0.95632669 -0.52373219] [ 0. 0. 0. 1. ]] SLAMing on 373.62463044000003 meters Centerline goodness : 0.095362 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.36, Z:-0.52 [[ 0.95612114 0.00807921 -0.29286019 -0.46947963] [-0.011163 0.99989844 -0.00886018 -0.35580569] [ 0.29275887 0.01174061 0.95611422 -0.52385733] [ 0. 0. 0. 1. ]] SLAMing on 373.65463044 meters Centerline goodness : 0.094835 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.35, Z:-0.52 [[ 0.95611859 0.00789257 -0.29287359 -0.46958231] [-0.01115614 0.99989288 -0.00947465 -0.35185441] [ 0.29276744 0.01232623 0.95610423 -0.52381922] [ 0. 0. 0. 1. ]] SLAMing on 373.68463044000003 meters Centerline goodness : 0.095320 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.35, Z:-0.52 [[ 0.9562202 0.00779936 -0.29254419 -0.47051377] [-0.01123294 0.99988631 -0.01005895 -0.34809576] [ 0.29243247 0.0129047 0.9561991 -0.52405035] [ 0. 0. 0. 1. ]] SLAMing on 373.71463044 meters Centerline goodness : 0.235616 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.34, Z:-0.52 [[ 0.9562163 0.00998497 -0.29249049 -0.47178048] [-0.01336605 0.99986494 -0.00956343 -0.3384446 ] [ 0.2923555 0.01305415 0.95622061 -0.52378805] [ 0. 0. 0. 1. ]] SLAMing on 373.74463044000004 meters Centerline goodness : 0.089823 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.33, Z:-0.53 [[ 0.95681339 0.00456479 -0.290667 -0.4840107 ] [-0.0072129 0.99994167 -0.00803969 -0.32878166] [ 0.29061334 0.00978903 0.9567905 -0.53022569] [ 0. 0. 0. 1. ]] SLAMing on 373.77463044 meters Centerline goodness : 0.105900 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.33, Z:-0.53 [[ 0.95668263 0.00438732 -0.29109982 -0.48276381] [-0.00718335 0.99993776 -0.00853708 -0.32587803] [ 0.29104425 0.01025835 0.95665459 -0.53025285] [ 0. 0. 0. 1. ]] SLAMing on 373.80463044000004 meters Centerline goodness : 0.234715 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.54 [[ 0.95658084 -0.00426171 -0.29143599 -0.49652793] [ 0.00202743 0.9999662 -0.00796801 -0.31777484] [ 0.2914601 0.00703118 0.95655715 -0.53580171] [ 0. 0. 0. 1. ]] SLAMing on 373.83463044 meters Centerline goodness : 0.153347 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.31, Z:-0.53 [[ 0.95653354 -0.01188071 -0.29138022 -0.47831407] [ 0.01016173 0.9999209 -0.00741208 -0.30989622] [ 0.29144523 0.00412897 0.9565786 -0.52908832] [ 0. 0. 0. 1. ]] SLAMing on 373.86463044000004 meters Centerline goodness : 0.090754 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.31, Z:-0.53 [[ 0.95658875 -0.01194991 -0.2911961 -0.4789558 ] [ 0.0101851 0.99991943 -0.00757565 -0.30859303] [ 0.29126317 0.00428092 0.95663339 -0.528993 ] [ 0. 0. 0. 1. ]] SLAMing on 373.89463044 meters Centerline goodness : 0.277321 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.54 [[ 0.95694325 -0.00422121 -0.29024438 -0.49747507] [ 0.00179253 0.99996113 -0.00863304 -0.31173344] [ 0.29026954 0.00774106 0.95691362 -0.53597328] [ 0. 0. 0. 1. ]] SLAMing on 373.92463044 meters Centerline goodness : 0.103101 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.31, Z:-0.53 [[ 0.95695581 -0.01176667 -0.28999503 -0.47896702] [ 0.00999534 0.99992125 -0.00758857 -0.30711762] [ 0.29006149 0.00436332 0.95699806 -0.52940041] [ 0. 0. 0. 1. ]] SLAMing on 373.95463044 meters Centerline goodness : 0.087492 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 0.95680117 -0.00546779 -0.29069163 -0.46047099] [ 0.00310933 0.9999584 -0.00857455 -0.31135941] [ 0.29072642 0.00730029 0.95677837 -0.52256939] [ 0. 0. 0. 1. ]] SLAMing on 373.98463044 meters Centerline goodness : 0.251292 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 0.95676286 -0.00540836 -0.29081881 -0.45958156] [ 0.00307753 0.99995938 -0.00847153 -0.31182551] [ 0.29085281 0.00721024 0.95674064 -0.52291852] [ 0. 0. 0. 1. ]] SLAMing on 374.01463044 meters Centerline goodness : 0.264662 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 0.95678003 -0.00532787 -0.2907638 -0.45923716] [ 0.00301758 0.99996022 -0.00839341 -0.3121012 ] [ 0.29079695 0.00715324 0.95675805 -0.523289 ] [ 0. 0. 0. 1. ]] SLAMing on 374.04463044 meters Centerline goodness : 0.269299 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 0.95679665 -0.00531939 -0.29070925 -0.45908637] [ 0.00302115 0.99996054 -0.0083539 -0.31257137] [ 0.29074222 0.00711471 0.95677497 -0.52353774] [ 0. 0. 0. 1. ]] SLAMing on 374.07463044 meters Centerline goodness : 0.104019 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 0.95681642 -0.00524859 -0.29064548 -0.45911736] [ 0.00296985 0.9999613 -0.00828082 -0.31290534] [ 0.2906777 0.00706006 0.95679498 -0.52362496] [ 0. 0. 0. 1. ]] SLAMing on 374.10463044 meters Centerline goodness : 0.097067 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 0.9566366 -0.00475123 -0.29124533 -0.4575362 ] [ 0.00252231 0.99996459 -0.00802805 -0.3121887 ] [ 0.29127316 0.00694532 0.95661471 -0.52337945] [ 0. 0. 0. 1. ]] SLAMing on 374.13463044 meters Centerline goodness : 0.097208 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 0.95640092 -0.00441941 -0.29202354 -0.45543725] [ 0.00220291 0.99996622 -0.00791853 -0.3114373 ] [ 0.29204867 0.00692999 0.95637835 -0.52309852] [ 0. 0. 0. 1. ]] SLAMing on 374.16463044 meters Centerline goodness : 0.472247 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.31, Z:-0.52 [[ 0.95628343 -0.00436196 -0.29240892 -0.45425162] [ 0.00211066 0.99996566 -0.00801419 -0.31039195] [ 0.29243384 0.00704666 0.95625979 -0.52310444] [ 0. 0. 0. 1. ]] SLAMing on 374.19463044 meters Centerline goodness : 0.120206 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.31, Z:-0.52 [[ 0.95620252 -0.00424234 -0.29267514 -0.45361339] [ 0.00197829 0.99996579 -0.00803125 -0.30986249] [ 0.2926992 0.0071005 0.95617821 -0.52292792] [ 0. 0. 0. 1. ]] SLAMing on 374.22463044 meters Centerline goodness : 0.098042 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 9.56496797e-01 -2.07430015e-03 -2.91735454e-01 -4.57337294e-01] [ 1.94147698e-04 9.99979028e-01 -6.47351899e-03 -3.10464448e-01] [ 2.91742763e-01 6.13526041e-03 9.56477140e-01 -5.22417412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.25463044 meters Centerline goodness : 0.244363 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 9.56557329e-01 -1.75876273e-03 -2.91538992e-01 -4.57994240e-01] [-7.33180986e-05 9.99980321e-01 -6.27312686e-03 -3.10438291e-01] [ 2.91544288e-01 6.02198055e-03 9.56538376e-01 -5.22318202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28463044 meters Centerline goodness : 0.284630 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 9.56556137e-01 -1.72416699e-03 -2.91543108e-01 -4.58140880e-01] [-1.09912567e-04 9.99980309e-01 -6.27444290e-03 -3.10489306e-01] [ 2.91548185e-01 6.03390111e-03 9.56537113e-01 -5.22188579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.31463044000003 meters Centerline goodness : 0.179827 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 9.56509520e-01 -1.67524284e-03 -2.91696301e-01 -4.57828629e-01] [-1.06942357e-04 9.99981428e-01 -6.09367724e-03 -3.12946344e-01] [ 2.91701092e-01 5.85985498e-03 9.56491576e-01 -5.22024002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34463044 meters Centerline goodness : 0.179827 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 9.56509520e-01 -1.67524284e-03 -2.91696301e-01 -4.57828629e-01] [-1.06942357e-04 9.99981428e-01 -6.09367724e-03 -3.12946344e-01] [ 2.91701092e-01 5.85985498e-03 9.56491576e-01 -5.22024002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.37463044000003 meters Centerline goodness : 0.092835 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.31, Z:-0.52 [[ 9.56486172e-01 -1.50959644e-03 -2.91773756e-01 -4.57987063e-01] [-1.91437272e-04 9.99983154e-01 -5.80133779e-03 -3.14770956e-01] [ 2.91777598e-01 5.60475575e-03 9.56469769e-01 -5.21717597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40463044 meters Centerline goodness : 0.092246 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56479049e-01 -1.17735544e-03 -2.91798635e-01 -4.57985235e-01] [-4.03636297e-04 9.99985565e-01 -5.35783214e-03 -3.16760012e-01] [ 2.91800731e-01 5.24243471e-03 9.56464767e-01 -5.21596849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43463044000003 meters Centerline goodness : 0.117283 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56501970e-01 -1.02819037e-03 -2.91724055e-01 -4.58393539e-01] [-4.78013601e-04 9.99986922e-01 -5.09179084e-03 -3.18491135e-01] [ 2.91725476e-01 5.00975603e-03 9.56488970e-01 -5.21444231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46463044 meters Centerline goodness : 0.088831 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56461698e-01 -7.65361043e-04 -2.91856875e-01 -4.58415163e-01] [-6.36240573e-04 9.99988718e-01 -4.70741746e-03 -3.21154903e-01] [ 2.91857185e-01 4.68815568e-03 9.56450420e-01 -5.21045166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49463044000004 meters Centerline goodness : 0.119392 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56452155e-01 -6.07474223e-04 -2.91888518e-01 -4.58317473e-01] [-7.55617620e-04 9.99989331e-01 -4.55715028e-03 -3.21761474e-01] [ 2.91888172e-01 4.57925232e-03 9.56441491e-01 -5.21031192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52463044 meters Centerline goodness : 0.089302 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56447027e-01 -3.53192878e-04 -2.91905737e-01 -4.58442188e-01] [-9.76957291e-04 9.99989794e-01 -4.41100330e-03 -3.21729565e-01] [ 2.91904316e-01 4.50407043e-03 9.56436921e-01 -5.20860233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55463044000004 meters Centerline goodness : 0.089321 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56473488e-01 -8.41830394e-05 -2.91819225e-01 -4.59000543e-01] [-1.21971113e-03 9.99990070e-01 -4.28622741e-03 -3.21411822e-01] [ 2.91816688e-01 4.45559803e-03 9.56463888e-01 -5.20641023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58463044 meters Centerline goodness : 0.122082 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56534147e-01 1.16926777e-04 -2.91620321e-01 -4.59784859e-01] [-1.41434171e-03 9.99990019e-01 -4.23818382e-03 -3.20842032e-01] [ 2.91616915e-01 4.46641833e-03 9.56524765e-01 -5.20523619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61463044000004 meters Centerline goodness : 0.089526 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56600950e-01 4.37479881e-04 -2.91400808e-01 -4.60413403e-01] [-1.74549595e-03 9.99989535e-01 -4.22877271e-03 -3.19951646e-01] [ 2.91395909e-01 4.55388692e-03 9.56591703e-01 -5.20604211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64463044 meters Centerline goodness : 0.263028 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.32, Z:-0.52 [[ 9.56592877e-01 4.53641961e-04 -2.91427285e-01 -4.60253262e-01] [-1.79042611e-03 9.99989064e-01 -4.32036369e-03 -3.19735526e-01] [ 2.91422139e-01 4.65460815e-03 9.56583228e-01 -5.20620885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67463044 meters Centerline goodness : 0.096624 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 9.56053506e-01 7.69871433e-04 -2.93191235e-01 -5.03141535e-01] [-2.35489240e-03 9.99984460e-01 -5.05316494e-03 -3.20852591e-01] [ 2.93182788e-01 5.52152987e-03 9.56040462e-01 -5.33095103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70463044 meters Centerline goodness : 0.095947 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 9.56011924e-01 7.90915978e-04 -2.93326738e-01 -5.02956192e-01] [-2.37883113e-03 9.99984385e-01 -5.05677494e-03 -3.20928605e-01] [ 2.93318159e-01 5.53211192e-03 9.55998877e-01 -5.32894686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73463044 meters Centerline goodness : 0.096343 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 0.95584651 0.00106864 -0.29386445 -0.50111626] [-0.00264161 0.99998423 -0.00495586 -0.32013906] [ 0.29385452 0.00551332 0.95583426 -0.53305454] [ 0. 0. 0. 1. ]] SLAMing on 374.76463044 meters Centerline goodness : 0.064961 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 0.9557549 0.00106751 -0.29416225 -0.50005531] [-0.00267769 0.99998356 -0.00507108 -0.31920025] [ 0.294152 0.00563438 0.95574204 -0.53316552] [ 0. 0. 0. 1. ]] SLAMing on 374.79463044 meters Centerline goodness : 0.093311 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 0.95570004 0.00109383 -0.29434035 -0.49928918] [-0.00274044 0.99998282 -0.00518182 -0.31825828] [ 0.29432962 0.00575889 0.95568662 -0.53333281] [ 0. 0. 0. 1. ]] SLAMing on 374.82463044 meters Centerline goodness : 0.093640 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 0.95563556 0.00109648 -0.29454961 -0.49864493] [-0.00278957 0.99998192 -0.00532797 -0.31697667] [ 0.29453844 0.00591327 0.95562134 -0.53334299] [ 0. 0. 0. 1. ]] SLAMing on 374.85463044 meters Centerline goodness : 0.095240 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 0.95555412 0.00121755 -0.29481322 -0.49776141] [-0.00295966 0.9999807 -0.00546308 -0.31496195] [ 0.29480087 0.00609281 0.95553928 -0.533513 ] [ 0. 0. 0. 1. ]] SLAMing on 374.88463044 meters Centerline goodness : 0.075539 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 0.95554081 0.00118901 -0.29485649 -0.49767795] [-0.00295883 0.99998019 -0.00555622 -0.31422687] [ 0.29484404 0.00618163 0.95552539 -0.53345592] [ 0. 0. 0. 1. ]] SLAMing on 374.91463044 meters Centerline goodness : 0.089549 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 0.95550796 0.00112084 -0.29496317 -0.49739474] [-0.00293466 0.99997941 -0.00570673 -0.31344906] [ 0.2949507 0.00631844 0.95549158 -0.53341886] [ 0. 0. 0. 1. ]] SLAMing on 374.94463044 meters Centerline goodness : 0.094838 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 0.95544388 0.00106121 -0.2951709 -0.4969016 ] [-0.00291833 0.99997862 -0.00585122 -0.31247397] [ 0.29515838 0.00645191 0.95542655 -0.53330869] [ 0. 0. 0. 1. ]] SLAMing on 374.97463044 meters Centerline goodness : 0.090837 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 0.95534145 0.0010655 -0.29550224 -0.49627588] [-0.00298392 0.9999773 -0.00604119 -0.3105184 ] [ 0.29548909 0.00665315 0.95532295 -0.53294 ] [ 0. 0. 0. 1. ]] SLAMing on 375.00463044 meters Centerline goodness : 0.098426 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 9.55361918e-01 8.91148717e-04 -2.95436647e-01 -4.96443321e-01] [-2.87249367e-03 9.99976202e-01 -6.27255817e-03 -3.09598798e-01] [ 2.95424026e-01 6.84120310e-03 9.55341741e-01 -5.32946257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03463044 meters Centerline goodness : 0.069007 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 9.55365809e-01 6.65250240e-04 -2.95424657e-01 -4.96645244e-01] [-2.71071947e-03 9.99975107e-01 -6.51433445e-03 -3.09034415e-01] [ 2.95412970e-01 7.02438578e-03 9.55343831e-01 -5.32809555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06463044000003 meters Centerline goodness : 0.297587 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 9.55319259e-01 5.02434071e-04 -2.95575474e-01 -4.96682841e-01] [-2.57676853e-03 9.99974711e-01 -6.62847703e-03 -3.09044742e-01] [ 2.95564669e-01 7.09394134e-03 9.55296395e-01 -5.32403031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09463044 meters Centerline goodness : 0.297603 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 9.55255091e-01 6.22738627e-04 -2.95782562e-01 -4.96474317e-01] [-2.63840273e-03 9.99975939e-01 -6.41560469e-03 -3.09956511e-01] [ 2.95771450e-01 6.90893256e-03 9.55233749e-01 -5.32003678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12463044000003 meters Centerline goodness : 0.086797 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 9.55210790e-01 7.36284890e-04 -2.95925336e-01 -4.96269628e-01] [-2.67839730e-03 9.99977455e-01 -6.15751843e-03 -3.11395722e-01] [ 2.95914130e-01 6.67433366e-03 9.55191227e-01 -5.31750848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15463044 meters Centerline goodness : 0.286539 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.31, Z:-0.53 [[ 9.55233980e-01 6.28511490e-04 -2.95850720e-01 -4.96505190e-01] [-2.51917947e-03 9.99978770e-01 -6.00947563e-03 -3.13539958e-01] [ 2.95840662e-01 6.48575638e-03 9.55215284e-01 -5.31651609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18463044000003 meters Centerline goodness : 0.087830 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 9.55442741e-01 -2.04101894e-03 -2.95169447e-01 -4.99627884e-01] [-2.91248361e-04 9.99969089e-01 -7.85727319e-03 -3.17121015e-01] [ 2.95176359e-01 7.59314225e-03 9.55412613e-01 -5.31196729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21463044 meters Centerline goodness : 0.296635 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.32, Z:-0.53 [[ 0.95540524 -0.00628066 -0.29523108 -0.5001063 ] [ 0.00326671 0.99993741 -0.01070089 -0.32254174] [ 0.29527981 0.00925925 0.95536595 -0.53056047] [ 0. 0. 0. 1. ]] SLAMing on 375.24463044000004 meters Centerline goodness : 0.069560 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.33, Z:-0.53 [[ 0.95536904 -0.00596261 -0.29535479 -0.49960965] [ 0.00310363 0.99994369 -0.01014766 -0.32563821] [ 0.29539867 0.00877809 0.95533375 -0.53057759] [ 0. 0. 0. 1. ]] SLAMing on 375.27463044 meters Centerline goodness : 0.086792 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.33, Z:-0.53 [[ 0.95530996 -0.0056597 -0.29555178 -0.49901444] [ 0.00293764 0.99994909 -0.00965331 -0.32824966] [ 0.29559137 0.00835368 0.95527795 -0.53048351] [ 0. 0. 0. 1. ]] SLAMing on 375.30463044000004 meters Centerline goodness : 0.095252 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.33, Z:-0.53 [[ 0.95522283 -0.00541297 -0.29583786 -0.49808933] [ 0.00279895 0.99995322 -0.00925876 -0.33064922] [ 0.29587414 0.00801614 0.9551933 -0.53040119] [ 0. 0. 0. 1. ]] SLAMing on 375.33463044 meters Centerline goodness : 0.256405 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.34, Z:-0.53 [[ 0.95522826 -0.00521187 -0.29582393 -0.49875445] [ 0.00273766 0.99995773 -0.00877738 -0.33563042] [ 0.29585717 0.00757454 0.95520216 -0.52989293] [ 0. 0. 0. 1. ]] SLAMing on 375.36463044000004 meters Centerline goodness : 0.266459 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.34, Z:-0.53 [[ 0.95526053 -0.00485695 -0.29572576 -0.49953365] [ 0.00251131 0.99996231 -0.00831114 -0.33787387] [ 0.29575498 0.00719665 0.95523672 -0.52948606] [ 0. 0. 0. 1. ]] SLAMing on 375.39463044 meters Centerline goodness : 0.145305 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.34, Z:-0.53 [[ 0.95529028 -0.00446632 -0.29563583 -0.49982012] [ 0.00224291 0.9999666 -0.00785947 -0.33968718] [ 0.29566105 0.00684499 0.95526839 -0.52945561] [ 0. 0. 0. 1. ]] SLAMing on 375.42463044 meters Centerline goodness : 0.089515 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.34, Z:-0.53 [[ 0.9552809 -0.00421362 -0.29566984 -0.4995317 ] [ 0.00208386 0.99996957 -0.00751792 -0.34139661] [ 0.29569252 0.00656559 0.95526061 -0.52954684] [ 0. 0. 0. 1. ]] SLAMing on 375.45463044 meters Centerline goodness : 0.094667 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.34, Z:-0.53 [[ 0.95527848 -0.00405951 -0.29567979 -0.49983177] [ 0.00203099 0.99997225 -0.00716735 -0.34449531] [ 0.29570068 0.00624629 0.95526022 -0.52928985] [ 0. 0. 0. 1. ]] SLAMing on 375.48463044 meters Centerline goodness : 0.302506 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.35, Z:-0.53 [[ 0.9553232 -0.00394653 -0.2955368 -0.50074241] [ 0.00199023 0.99997408 -0.00692001 -0.3463522 ] [ 0.29555645 0.00602266 0.95530629 -0.52889692] [ 0. 0. 0. 1. ]] SLAMing on 375.51463044 meters Centerline goodness : 0.088187 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.35, Z:-0.53 [[ 0.9554051 -0.00367794 -0.29527541 -0.5018519 ] [ 0.00182441 0.99997687 -0.00655256 -0.34810371] [ 0.29529268 0.00572165 0.95538971 -0.52865298] [ 0. 0. 0. 1. ]] SLAMing on 375.54463044 meters Centerline goodness : 0.225877 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.35, Z:-0.53 [[ 0.95545887 -0.00344529 -0.29510418 -0.50275693] [ 0.00168643 0.99997927 -0.00621441 -0.34970031] [ 0.29511947 0.00543994 0.95544487 -0.52830528] [ 0. 0. 0. 1. ]] SLAMing on 375.57463044 meters Centerline goodness : 0.266615 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.35, Z:-0.53 [[ 0.95547767 -0.00331097 -0.29504483 -0.50324395] [ 0.00165084 0.99998138 -0.00587559 -0.35238716] [ 0.29505879 0.00512692 0.95546535 -0.5280058 ] [ 0. 0. 0. 1. ]] SLAMing on 375.60463044 meters Centerline goodness : 0.096247 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.35, Z:-0.53 [[ 0.9554394 -0.00325559 -0.29516938 -0.50297765] [ 0.00162157 0.99998198 -0.00578047 -0.35314136] [ 0.29518288 0.00504425 0.95542746 -0.52791395] [ 0. 0. 0. 1. ]] SLAMing on 375.63463044 meters Centerline goodness : 0.090473 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.35, Z:-0.53 [[ 0.95540342 -0.00314233 -0.29528702 -0.50260875] [ 0.0015399 0.9999828 -0.00565908 -0.35362324] [ 0.29529973 0.004952 0.95539183 -0.52791835] [ 0. 0. 0. 1. ]] SLAMing on 375.66463044 meters Centerline goodness : 0.057074 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.36, Z:-0.53 [[ 0.95533857 -0.00285159 -0.29549971 -0.50251292] [ 0.00136108 0.99998529 -0.0052496 -0.35564006] [ 0.29551034 0.00461295 0.95532841 -0.52743736] [ 0. 0. 0. 1. ]] SLAMing on 375.69463044 meters Centerline goodness : 0.092380 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.36, Z:-0.53 [[ 0.95536362 -0.0028169 -0.29541907 -0.50314013] [ 0.00137471 0.9999861 -0.00508944 -0.35716485] [ 0.2954293 0.00445615 0.95535421 -0.52712134] [ 0. 0. 0. 1. ]] SLAMing on 375.72463044 meters Centerline goodness : 0.091133 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.36, Z:-0.53 [[ 0.95536559 -0.00277122 -0.2954131 -0.50359788] [ 0.00138459 0.99998702 -0.00490294 -0.35888394] [ 0.29542285 0.00427508 0.95535703 -0.52671317] [ 0. 0. 0. 1. ]] SLAMing on 375.75463044 meters Centerline goodness : 0.092882 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.36, Z:-0.53 [[ 0.95535937 -0.00271911 -0.29543372 -0.50380991] [ 0.00140024 0.99998809 -0.00467566 -0.36072357] [ 0.29544291 0.00405326 0.9553518 -0.52646769] [ 0. 0. 0. 1. ]] SLAMing on 375.78463044 meters Centerline goodness : 0.092997 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.36, Z:-0.53 [[ 0.95538935 -0.00268202 -0.2953371 -0.50423024] [ 0.00147758 0.99998966 -0.00430128 -0.36447485] [ 0.29534558 0.00367302 0.95538343 -0.52628737] [ 0. 0. 0. 1. ]] SLAMing on 375.81463044000003 meters Centerline goodness : 0.100136 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.37, Z:-0.53 [[ 0.95542278 -0.00261343 -0.29522955 -0.50491979] [ 0.00147884 0.99999064 -0.0040663 -0.36642404] [ 0.29523741 0.00344843 0.9554177 -0.52598038] [ 0. 0. 0. 1. ]] SLAMing on 375.84463044 meters Centerline goodness : 0.105351 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.37, Z:-0.53 [[ 0.95545441 -0.00239332 -0.29512901 -0.50554318] [ 0.00135864 0.99999219 -0.00371087 -0.36844155] [ 0.29513559 0.00314459 0.95545021 -0.52564759] [ 0. 0. 0. 1. ]] SLAMing on 375.87463044000003 meters Centerline goodness : 0.175579 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.37, Z:-0.53 [[ 0.95547046 -0.00215775 -0.29507889 -0.5059089 ] [ 0.00123835 0.99999378 -0.00330259 -0.37074529] [ 0.29508418 0.00279012 0.95546719 -0.52541111] [ 0. 0. 0. 1. ]] SLAMing on 375.90463044 meters Centerline goodness : 0.091280 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.37, Z:-0.53 [[ 0.95548788 -0.00192736 -0.29502407 -0.50590375] [ 0.00113141 0.99999525 -0.00286857 -0.37342967] [ 0.2950282 0.00240709 0.95548551 -0.52551824] [ 0. 0. 0. 1. ]] SLAMing on 375.93463044000003 meters Centerline goodness : 0.092463 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.38, Z:-0.53 [[ 0.95525096 -0.00453583 -0.29576177 -0.50259684] [ 0.00337955 0.99998452 -0.00442057 -0.38014431] [ 0.29577724 0.00322321 0.9552515 -0.52602355] [ 0. 0. 0. 1. ]] SLAMing on 375.96463044 meters Centerline goodness : 0.317527 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.38, Z:-0.53 [[ 0.95519063 -0.00429622 -0.29596015 -0.50217595] [ 0.00328921 0.99998698 -0.00390033 -0.38399439] [ 0.29597305 0.00275208 0.95519233 -0.52578227] [ 0. 0. 0. 1. ]] SLAMing on 375.99463044000004 meters Centerline goodness : 0.090345 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.39, Z:-0.53 [[ 0.95517631 -0.00395707 -0.29601109 -0.50231267] [ 0.00312511 0.99998973 -0.00328364 -0.38785382] [ 0.29602104 0.00221139 0.95517886 -0.52547793] [ 0. 0. 0. 1. ]] SLAMing on 376.02463044 meters Centerline goodness : 0.090788 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.39, Z:-0.53 [[ 0.95519869 -0.00348231 -0.2959448 -0.50271378] [ 0.00285104 0.99999265 -0.00256459 -0.39171157] [ 0.29595156 0.00160595 0.9552016 -0.52525125] [ 0. 0. 0. 1. ]] SLAMing on 376.05463044000004 meters Centerline goodness : 0.265296 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.40, Z:-0.53 [[ 0.95556919 -0.00429497 -0.2947356 -0.5062552 ] [ 0.00372969 0.99998997 -0.00248002 -0.40130317] [ 0.2947433 0.00127056 0.95557562 -0.52534951] [ 0. 0. 0. 1. ]] SLAMing on 376.08463044 meters Centerline goodness : 0.249060 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.41, Z:-0.53 [[ 9.55574284e-01 -3.98676906e-03 -2.94723418e-01 -5.05768230e-01] [ 3.59044865e-03 9.99991776e-01 -1.88582190e-03 -4.05920318e-01] [ 2.94728513e-01 7.43853610e-04 9.55580740e-01 -5.25651590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11463044000004 meters Centerline goodness : 0.106694 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.41, Z:-0.53 [[ 9.55537978e-01 -3.66931132e-03 -2.94845230e-01 -5.04977408e-01] [ 3.43763191e-03 9.99993241e-01 -1.30406952e-03 -4.10746283e-01] [ 2.94848022e-01 2.32518581e-04 9.55544133e-01 -5.25853925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14463044 meters Centerline goodness : 0.091767 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.42, Z:-0.53 [[ 9.55499771e-01 -3.21475696e-03 -2.94974327e-01 -5.04267048e-01] [ 3.17965142e-03 9.99994766e-01 -5.98641695e-04 -4.15173499e-01] [ 2.94974708e-01 -3.65913536e-04 9.55504991e-01 -5.26010080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17463044 meters Centerline goodness : 0.092171 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.42, Z:-0.53 [[ 9.55449502e-01 -2.70389791e-03 -2.95142233e-01 -5.03614929e-01] [ 2.87929701e-03 9.99995842e-01 1.59706819e-04 -4.19474653e-01] [ 2.95140574e-01 -1.00239395e-03 9.55453315e-01 -5.26011500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20463044 meters Centerline goodness : 0.325796 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.42, Z:-0.53 [[ 9.55407503e-01 -2.19171392e-03 -2.95282408e-01 -5.03021043e-01] [ 2.57859915e-03 9.99996251e-01 9.20838028e-04 -4.23778993e-01] [ 2.95279282e-01 -1.64119053e-03 9.55409573e-01 -5.26055441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23463044 meters Centerline goodness : 0.325796 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.42, Z:-0.53 [[ 9.55407503e-01 -2.19171392e-03 -2.95282408e-01 -5.03021043e-01] [ 2.57859915e-03 9.99996251e-01 9.20838028e-04 -4.23778993e-01] [ 2.95279282e-01 -1.64119053e-03 9.55409573e-01 -5.26055441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26463044 meters Centerline goodness : 0.329198 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.44, Z:-0.52 [[ 9.55096162e-01 3.61181396e-03 -2.96273989e-01 -4.86263916e-01] [-3.84767386e-03 9.99992575e-01 -2.13017013e-04 -4.38300123e-01] [ 2.96271019e-01 1.34341741e-03 9.55102967e-01 -5.18397975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29463044 meters Centerline goodness : 0.238948 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.44, Z:-0.52 [[ 9.55094589e-01 4.00990590e-03 -2.96273940e-01 -4.86365946e-01] [-4.05733031e-03 9.99991666e-01 4.54775923e-04 -4.42568762e-01] [ 2.96273294e-01 7.67727214e-04 9.55102898e-01 -5.18248590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32463044 meters Centerline goodness : 0.316102 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.45, Z:-0.52 [[ 9.55062687e-01 4.52920350e-03 -2.96369279e-01 -4.85836726e-01] [-4.36760964e-03 9.99989733e-01 1.20733161e-03 -4.46545098e-01] [ 2.96371704e-01 1.41347949e-04 9.55072664e-01 -5.18354765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35463044 meters Centerline goodness : 0.102758 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.46, Z:-0.52 [[ 9.54743947e-01 4.50857728e-03 -2.97394801e-01 -4.81822483e-01] [-4.13608126e-03 9.99989676e-01 1.88178202e-03 -4.56540739e-01] [ 2.97400215e-01 -5.66570928e-04 9.54752738e-01 -5.18800485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38463044 meters Centerline goodness : 0.248527 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.46, Z:-0.52 [[ 9.54594270e-01 4.56448289e-03 -2.97874042e-01 -4.80117403e-01] [-4.08222309e-03 9.99989156e-01 2.24110373e-03 -4.60733866e-01] [ 2.97881041e-01 -9.23356486e-04 9.54602552e-01 -5.18865764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41463044 meters Centerline goodness : 0.094505 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.47, Z:-0.52 [[ 0.95452683 0.00472988 -0.29808749 -0.4796407 ] [-0.00410095 0.99998785 0.00273527 -0.46568645] [ 0.29809681 -0.00138845 0.95453463 -0.51864381] [ 0. 0. 0. 1. ]] SLAMing on 376.44463044 meters Centerline goodness : 0.093197 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.47, Z:-0.52 [[ 0.95453799 0.0050142 -0.29804711 -0.48023875] [-0.00420821 0.99998555 0.00334589 -0.47032919] [ 0.29805958 -0.00193954 0.9545453 -0.5181715 ] [ 0. 0. 0. 1. ]] SLAMing on 376.47463044 meters Centerline goodness : 0.058222 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.48, Z:-0.52 [[ 0.95460839 0.00543279 -0.29781423 -0.4813147 ] [-0.00441363 0.99998188 0.00409453 -0.47500749] [ 0.29783107 -0.00259423 0.95461506 -0.51782745] [ 0. 0. 0. 1. ]] SLAMing on 376.50463044 meters Centerline goodness : 0.087044 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.48, Z:-0.52 [[ 0.95469929 0.00586958 -0.2975144 -0.48260887] [-0.00463522 0.99997748 0.00485425 -0.47983911] [ 0.2975362 -0.0032553 0.95470499 -0.51746027] [ 0. 0. 0. 1. ]] SLAMing on 376.53463044 meters Centerline goodness : 0.320687 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.49, Z:-0.52 [[ 0.9548259 0.00232152 -0.29715672 -0.48390872] [-0.00157858 0.999995 0.00274011 -0.48847972] [ 0.2971616 -0.00214724 0.95482479 -0.51727745] [ 0. 0. 0. 1. ]] SLAMing on 376.56463044000003 meters Centerline goodness : 0.322748 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.49, Z:-0.52 [[ 0.95480256 0.00259263 -0.29722946 -0.48353078] [-0.00167031 0.99999297 0.00335699 -0.49445811] [ 0.29723607 -0.0027088 0.95480018 -0.51726776] [ 0. 0. 0. 1. ]] SLAMing on 376.59463044 meters Centerline goodness : 0.317033 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.50, Z:-0.52 [[ 0.95475855 0.00299565 -0.29736701 -0.48301836] [-0.00186706 0.99998994 0.00407922 -0.50003046] [ 0.29737624 -0.00333947 0.95475453 -0.51722416] [ 0. 0. 0. 1. ]] SLAMing on 376.62463044000003 meters Centerline goodness : 0.462342 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.50, Z:-0.52 [[ 0.95475702 0.00348305 -0.29736662 -0.48295196] [-0.0021298 0.99998585 0.00487463 -0.50497938] [ 0.29737939 -0.00402076 0.95475093 -0.51718521] [ 0. 0. 0. 1. ]] SLAMing on 376.65463044 meters Centerline goodness : 0.261308 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95488929 0.00304834 -0.29694637 -0.48368235] [-0.0015545 0.99998492 0.00526667 -0.51574829] [ 0.29695795 -0.00456748 0.95487963 -0.51737828] [ 0. 0. 0. 1. ]] SLAMing on 376.68463044000003 meters Centerline goodness : 0.321620 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95486295 0.00329921 -0.29702839 -0.48323975] [-0.00168174 0.99998234 0.00570087 -0.51895151] [ 0.29704195 -0.00494403 0.95485163 -0.51744102] [ 0. 0. 0. 1. ]] SLAMing on 376.71463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 376.74463044000004 meters Centerline goodness : 0.085280 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95445913 0.00576917 -0.29828593 -0.47879839] [-0.003643 0.99996385 0.00768346 -0.52369538] [ 0.29831947 -0.00624689 0.95444563 -0.51763715] [ 0. 0. 0. 1. ]] SLAMing on 376.77463044 meters Centerline goodness : 0.087284 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.9545754 0.00614936 -0.297906 -0.47961325] [-0.00397656 0.99996089 0.00789912 -0.52370089] [ 0.29794293 -0.00635566 0.95456253 -0.51792522] [ 0. 0. 0. 1. ]] SLAMing on 376.80463044000004 meters Centerline goodness : 0.323418 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95473463 0.00628413 -0.29739249 -0.48089844] [-0.00411736 0.99996022 0.00791176 -0.52336558] [ 0.29743038 -0.00632916 0.95472253 -0.51812838] [ 0. 0. 0. 1. ]] SLAMing on 376.83463044 meters Centerline goodness : 0.087086 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95483629 0.0062845 -0.29706593 -0.48173938] [-0.00413417 0.99996051 0.00786624 -0.52334885] [ 0.29710363 -0.00628285 0.95482457 -0.5182925 ] [ 0. 0. 0. 1. ]] SLAMing on 376.86463044000004 meters Centerline goodness : 0.084727 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95481712 0.00627883 -0.29712764 -0.48126791] [-0.00414181 0.99996084 0.00782127 -0.52332043] [ 0.29716511 -0.00623723 0.95480574 -0.51849258] [ 0. 0. 0. 1. ]] SLAMing on 376.89463044 meters Centerline goodness : 0.084183 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95477819 0.00625211 -0.29725331 -0.48007273] [-0.00412583 0.99996122 0.00777996 -0.52332653] [ 0.29729042 -0.00620172 0.95476696 -0.51910936] [ 0. 0. 0. 1. ]] SLAMing on 376.92463044 meters Centerline goodness : 0.109751 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95458638 0.00612997 -0.29787123 -0.4772296 ] [-0.00404054 0.99996273 0.00762982 -0.52326889] [ 0.2979069 -0.00607976 0.95457557 -0.51976197] [ 0. 0. 0. 1. ]] SLAMing on 376.95463044 meters Centerline goodness : 0.317198 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95454984 0.00602525 -0.29799043 -0.47689391] [-0.00397354 0.99996405 0.00749047 -0.52277707] [ 0.29802485 -0.00596595 0.95453947 -0.51969416] [ 0. 0. 0. 1. ]] SLAMing on 376.98463044 meters Centerline goodness : 0.072040 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95459711 0.00597099 -0.29784007 -0.47743443] [-0.00394603 0.99996484 0.00739963 -0.52227167] [ 0.29787378 -0.00588838 0.9545871 -0.51963297] [ 0. 0. 0. 1. ]] SLAMing on 377.01463044 meters Centerline goodness : 0.072985 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95463181 0.0059335 -0.29772956 -0.47778821] [-0.00393223 0.99996548 0.00732026 -0.52166689] [ 0.29776272 -0.00581741 0.95462219 -0.51961817] [ 0. 0. 0. 1. ]] SLAMing on 377.04463044 meters Centerline goodness : 0.088561 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95466397 0.0058639 -0.2976278 -0.47755869] [-0.00391469 0.99996681 0.00714482 -0.52014384] [ 0.29765982 -0.00565578 0.95465525 -0.52000095] [ 0. 0. 0. 1. ]] SLAMing on 377.07463044 meters Centerline goodness : 0.084626 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95460548 0.00580281 -0.29781657 -0.4766535 ] [-0.00387889 0.99996762 0.00705069 -0.51956155] [ 0.29784784 -0.00557543 0.95459708 -0.52022896] [ 0. 0. 0. 1. ]] SLAMing on 377.10463044 meters Centerline goodness : 0.101098 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.9545131 0.00576314 -0.29811329 -0.47552207] [-0.00384994 0.99996806 0.00700453 -0.51923257] [ 0.29814413 -0.0055382 0.9545048 -0.52034793] [ 0. 0. 0. 1. ]] SLAMing on 377.13463044 meters Centerline goodness : 0.049615 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.95433936 0.00554796 -0.29867308 -0.47408558] [-0.00365441 0.99996953 0.00689798 -0.51902139] [ 0.29870225 -0.00549154 0.95433055 -0.52003328] [ 0. 0. 0. 1. ]] SLAMing on 377.16463044 meters Centerline goodness : 0.089583 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.95431089 0.00545799 -0.29876569 -0.47395732] [-0.00355051 0.99996971 0.00692695 -0.51964896] [ 0.29879444 -0.00554969 0.95430136 -0.51983946] [ 0. 0. 0. 1. ]] SLAMing on 377.19463044 meters Centerline goodness : 0.090224 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.95431213 0.00535306 -0.29876362 -0.47413537] [-0.00342058 0.99996971 0.00699082 -0.52077093] [ 0.298792 -0.00564948 0.95430154 -0.51961699] [ 0. 0. 0. 1. ]] SLAMing on 377.22463044 meters Centerline goodness : 0.101444 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.9543495 0.00520147 -0.2986469 -0.47461794] [-0.00324505 0.99996991 0.00704645 -0.52209445] [ 0.29867457 -0.00575565 0.95433766 -0.51941544] [ 0. 0. 0. 1. ]] SLAMing on 377.25463044 meters Centerline goodness : 0.089759 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95442249 0.00519024 -0.29841377 -0.47546455] [-0.00317916 0.99996885 0.00722424 -0.52360465] [ 0.29844197 -0.00594627 0.95440926 -0.51921585] [ 0. 0. 0. 1. ]] SLAMing on 377.28463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 377.31463044000003 meters Centerline goodness : 0.087442 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.53, Z:-0.52 [[ 0.95457069 0.00516939 -0.29793971 -0.47681064] [-0.00310519 0.99996779 0.00740115 -0.52508251] [ 0.29796837 -0.00613976 0.954556 -0.51909022] [ 0. 0. 0. 1. ]] SLAMing on 377.34463044 meters Centerline goodness : 0.094830 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.9545811 0.00516964 -0.29790637 -0.47689697] [-0.00312541 0.99996819 0.00733794 -0.52462265] [ 0.29793483 -0.00607357 0.95456689 -0.51908681] [ 0. 0. 0. 1. ]] SLAMing on 377.37463044000003 meters Centerline goodness : 0.090205 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:-0.52 [[ 0.95458238 0.00512734 -0.297903 -0.47654168] [-0.00312745 0.99996926 0.00718951 -0.52373808] [ 0.29793071 -0.0059313 0.95456907 -0.51936727] [ 0. 0. 0. 1. ]] SLAMing on 377.40463044 meters Centerline goodness : 0.092799 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.95440568 0.00510533 -0.29846899 -0.47463454] [-0.00323223 0.99997187 0.00676897 -0.5206225 ] [ 0.29849515 -0.00549563 0.95439533 -0.51953263] [ 0. 0. 0. 1. ]] SLAMing on 377.43463044000003 meters Centerline goodness : 0.088525 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.95435691 0.00500989 -0.29862652 -0.47373652] [-0.0032209 0.9999738 0.00648259 -0.51871526] [ 0.29865117 -0.00522486 0.95434804 -0.5198964 ] [ 0. 0. 0. 1. ]] SLAMing on 377.46463044 meters Centerline goodness : 0.088410 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.95436829 0.00499456 -0.29859038 -0.47353341] [-0.00326617 0.9999749 0.00628722 -0.51699302] [ 0.29861429 -0.00502508 0.95436065 -0.52015886] [ 0. 0. 0. 1. ]] SLAMing on 377.49463044000004 meters Centerline goodness : 0.091838 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 0.95449157 0.00490336 -0.2981976 -0.47450966] [-0.00323832 0.99997629 0.0060775 -0.51564775] [ 0.29822033 -0.00483527 0.95448481 -0.52035872] [ 0. 0. 0. 1. ]] SLAMing on 377.52463044 meters Centerline goodness : 0.094447 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.51, Z:-0.52 [[ 0.95473706 0.0046797 -0.29741428 -0.47694709] [-0.0031019 0.9999785 0.00577679 -0.51425432] [ 0.29743492 -0.00459277 0.95473105 -0.52029926] [ 0. 0. 0. 1. ]] SLAMing on 377.55463044000004 meters Centerline goodness : 0.078930 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.51, Z:-0.52 [[ 0.9547155 0.00455859 -0.29748535 -0.47662653] [-0.00301109 0.99997945 0.00565998 -0.51390428] [ 0.29750504 -0.00450791 0.95470961 -0.52037608] [ 0. 0. 0. 1. ]] SLAMing on 377.58463044 meters Centerline goodness : 0.094243 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.51, Z:-0.52 [[ 0.95464246 0.00440742 -0.29772193 -0.47548974] [-0.00288575 0.99998043 0.0055504 -0.51373079] [ 0.29774057 -0.00443949 0.9546365 -0.52064443] [ 0. 0. 0. 1. ]] SLAMing on 377.61463044000004 meters Centerline goodness : 0.185007 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.51, Z:-0.52 [[ 9.54489815e-01 5.20428588e-04 -2.98243060e-01 -4.73010084e-01] [ 2.49945418e-04 9.99996731e-01 2.54489490e-03 -5.13975334e-01] [ 2.98243410e-01 -2.50362074e-03 9.54486564e-01 -5.21058878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64463044 meters Centerline goodness : 0.322098 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 9.54441152e-01 4.55102583e-04 -2.98398861e-01 -4.72896104e-01] [ 3.71999315e-04 9.99996245e-01 2.71499806e-03 -5.15843660e-01] [ 2.98398976e-01 -2.70231005e-03 9.54437399e-01 -5.20660928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67463044 meters Centerline goodness : 0.285192 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 9.54385227e-01 4.54259680e-04 -2.98577681e-01 -4.72677641e-01] [ 4.46581190e-04 9.99995552e-01 2.94887463e-03 -5.17860869e-01] [ 2.98577693e-01 -2.94770156e-03 9.54380780e-01 -5.20322281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70463044 meters Centerline goodness : 0.216094 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 9.54342694e-01 5.10872820e-04 -2.98713511e-01 -4.72147062e-01] [ 4.82871466e-04 9.99994593e-01 3.25293259e-03 -5.20340381e-01] [ 2.98713557e-01 -3.24865268e-03 9.54337287e-01 -5.20311039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73463044 meters Centerline goodness : 0.480235 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.52, Z:-0.52 [[ 9.54310046e-01 5.94808862e-04 -2.98817642e-01 -4.72013596e-01] [ 4.95308434e-04 9.99993496e-01 3.57235537e-03 -5.22921040e-01] [ 2.98817823e-01 -3.55714151e-03 9.54303545e-01 -5.20083607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76463044 meters Centerline goodness : 0.095895 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.53, Z:-0.52 [[ 9.54297039e-01 8.62612691e-04 -2.98858524e-01 -4.71867207e-01] [ 4.01958505e-04 9.99991225e-01 4.16984237e-03 -5.27726356e-01] [ 2.98859498e-01 -4.09939695e-03 9.54288319e-01 -5.19959570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79463044 meters Centerline goodness : 0.244843 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.53, Z:-0.52 [[ 9.54257418e-01 1.09286212e-03 -2.98984257e-01 -4.71392901e-01] [ 2.76590661e-04 9.99989665e-01 4.53799653e-03 -5.29831802e-01] [ 2.98986126e-01 -4.41311310e-03 9.54247253e-01 -5.19941209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82463044 meters Centerline goodness : 0.102409 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.53, Z:-0.52 [[ 9.54206856e-01 1.34357982e-03 -2.99144564e-01 -4.70845824e-01] [ 1.24352414e-04 9.99988046e-01 4.88801021e-03 -5.31748192e-01] [ 2.99147555e-01 -4.70137220e-03 9.54195283e-01 -5.19910628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85463044 meters Centerline goodness : 0.139816 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.53 [[ 0.95501589 0.00636432 -0.29648635 -0.48449151] [-0.00535055 0.99997674 0.00423058 -0.53936558] [ 0.29650638 -0.00245391 0.95502772 -0.52727209] [ 0. 0. 0. 1. ]] SLAMing on 377.88463044 meters Centerline goodness : 0.094437 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:-0.53 [[ 0.95504382 0.00661501 -0.29639086 -0.4846988 ] [-0.0055056 0.99997437 0.00457756 -0.54125964] [ 0.29641354 -0.00273996 0.95505576 -0.52727443] [ 0. 0. 0. 1. ]] SLAMing on 377.91463044 meters Centerline goodness : 0.104821 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.54, Z:-0.53 [[ 0.95508155 0.0070849 -0.2962584 -0.48549681] [-0.00585087 0.99997012 0.00505176 -0.54331282] [ 0.29628534 -0.00309148 0.95509447 -0.52685216] [ 0. 0. 0. 1. ]] SLAMing on 377.94463044 meters Centerline goodness : 0.083462 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.54, Z:-0.53 [[ 0.95504217 0.00725988 -0.29638107 -0.48521835] [-0.00598832 0.99996856 0.00519789 -0.54382254] [ 0.29640949 -0.00318938 0.95505562 -0.52665786] [ 0. 0. 0. 1. ]] SLAMing on 377.97463044 meters Centerline goodness : 0.090586 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.54, Z:-0.53 [[ 0.95504714 0.00745327 -0.29636026 -0.48518949] [-0.00613873 0.99996676 0.00536592 -0.54445194] [ 0.2963904 -0.00330543 0.95506115 -0.52667982] [ 0. 0. 0. 1. ]] SLAMing on 378.00463044 meters Centerline goodness : 0.082861 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.95513023 0.00769284 -0.29608625 -0.48530983] [-0.00631781 0.99996436 0.00560049 -0.54605933] [ 0.29611878 -0.00347857 0.95514479 -0.52720409] [ 0. 0. 0. 1. ]] SLAMing on 378.03463044 meters Centerline goodness : 0.111385 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.95516072 0.0078007 -0.29598504 -0.48538005] [-0.00639349 0.99996319 0.0057219 -0.54679208] [ 0.29601878 -0.00357296 0.95517544 -0.5274142 ] [ 0. 0. 0. 1. ]] SLAMing on 378.06463044000003 meters Centerline goodness : 0.082512 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.53 [[ 0.95516262 0.00791423 -0.29597589 -0.48521246] [-0.00646258 0.99996181 0.0058826 -0.54778832] [ 0.29601114 -0.00370608 0.9551773 -0.5275283 ] [ 0. 0. 0. 1. ]] SLAMing on 378.09463044 meters Centerline goodness : 0.084833 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:-0.54 [[ 0.95452758 0.00702142 -0.29803994 -0.52749373] [-0.00544355 0.99996643 0.00612391 -0.55166124] [ 0.29807293 -0.00422304 0.95453376 -0.54061257] [ 0. 0. 0. 1. ]] SLAMing on 378.12463044000003 meters Centerline goodness : 0.083984 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.54 [[ 0.95429229 0.00506702 -0.29883197 -0.52350021] [-0.00383742 0.99998159 0.00470132 -0.55471693] [ 0.29885029 -0.00333969 0.95429416 -0.54133082] [ 0. 0. 0. 1. ]] SLAMing on 378.15463044 meters Centerline goodness : 0.083984 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.54 [[ 0.95429229 0.00506702 -0.29883197 -0.52350021] [-0.00383742 0.99998159 0.00470132 -0.55471693] [ 0.29885029 -0.00333969 0.95429416 -0.54133082] [ 0. 0. 0. 1. ]] SLAMing on 378.18463044000003 meters Centerline goodness : 0.486950 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95425585 0.0051015 -0.29894772 -0.52302066] [-0.00381628 0.9999808 0.0048828 -0.55652234] [ 0.29896689 -0.00351857 0.954257 -0.54137473] [ 0. 0. 0. 1. ]] SLAMing on 378.21463044 meters Centerline goodness : 0.082833 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95424574 0.0052438 -0.29897754 -0.52281699] [-0.00388274 0.99997922 0.00514622 -0.55833432] [ 0.29899831 -0.00374991 0.95424627 -0.5414512 ] [ 0. 0. 0. 1. ]] SLAMing on 378.24463044000004 meters Centerline goodness : 0.082556 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95424783 0.00536419 -0.29896872 -0.52264971] [-0.00393846 0.99997782 0.00537115 -0.55990564] [ 0.2989909 -0.00394793 0.9542478 -0.54155196] [ 0. 0. 0. 1. ]] SLAMing on 378.27463044 meters Centerline goodness : 0.323665 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95429879 0.00563564 -0.29880105 -0.52303711] [-0.00408216 0.99997471 0.00582293 -0.56297065] [ 0.29882631 -0.00433706 0.95429766 -0.54160945] [ 0. 0. 0. 1. ]] SLAMing on 378.30463044000004 meters Centerline goodness : 0.093205 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95433383 0.00583858 -0.29868522 -0.52341054] [-0.00420566 0.99997249 0.0061095 -0.56454172] [ 0.29871267 -0.00457433 0.95433213 -0.54157872] [ 0. 0. 0. 1. ]] SLAMing on 378.33463044 meters Centerline goodness : 0.084036 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.95432908 0.00607603 -0.29869565 -0.5232342 ] [-0.00435836 0.99996992 0.00641634 -0.56594253] [ 0.29872565 -0.00482148 0.95432685 -0.54163735] [ 0. 0. 0. 1. ]] SLAMing on 378.36463044000004 meters Centerline goodness : 0.092365 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.95428659 0.00627346 -0.29882728 -0.52248969] [-0.00448785 0.99996774 0.00666123 -0.56696071] [ 0.29885943 -0.00501563 0.95428397 -0.54187964] [ 0. 0. 0. 1. ]] SLAMing on 378.39463044 meters Centerline goodness : 0.131979 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.9542463 0.00635016 -0.29895431 -0.52149885] [-0.00454233 0.99996696 0.00674166 -0.56749958] [ 0.29898724 -0.00507525 0.95424361 -0.54230579] [ 0. 0. 0. 1. ]] SLAMing on 378.42463044 meters Centerline goodness : 0.113913 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.95410687 0.00619316 -0.29940226 -0.52018219] [-0.00444229 0.99996882 0.00652814 -0.5675388 ] [ 0.29943336 -0.00489851 0.95410464 -0.5422532 ] [ 0. 0. 0. 1. ]] SLAMing on 378.45463044 meters Centerline goodness : 0.095959 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.95410754 0.00627712 -0.29939841 -0.52048529] [-0.00451504 0.99996818 0.0065768 -0.56752343] [ 0.29943017 -0.00492317 0.95410552 -0.54204582] [ 0. 0. 0. 1. ]] SLAMing on 378.48463044 meters Centerline goodness : 0.087124 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.95412623 0.00649549 -0.29933419 -0.5206468 ] [-0.00470409 0.99996646 0.00670482 -0.56704044] [ 0.2993677 -0.00498915 0.95412478 -0.54208452] [ 0. 0. 0. 1. ]] SLAMing on 378.51463044 meters Centerline goodness : 0.117633 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.95412568 0.00670681 -0.29933126 -0.52046864] [-0.00489117 0.99996482 0.00681447 -0.56639787] [ 0.29936643 -0.00503778 0.95412492 -0.54222036] [ 0. 0. 0. 1. ]] SLAMing on 378.54463044 meters Centerline goodness : 0.092006 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.57, Z:-0.54 [[ 0.9541441 0.00666219 -0.29927353 -0.52002265] [-0.004892 0.99996583 0.00666376 -0.56553404] [ 0.29930769 -0.00489414 0.95414409 -0.54270148] [ 0. 0. 0. 1. ]] SLAMing on 378.57463044 meters Centerline goodness : 0.085947 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95412327 0.00650238 -0.29934347 -0.5195949 ] [-0.00478779 0.99996767 0.00646091 -0.56497405] [ 0.2993758 -0.00473131 0.95412355 -0.54286819] [ 0. 0. 0. 1. ]] SLAMing on 378.60463044 meters Centerline goodness : 0.092251 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95408763 0.006416 -0.29945889 -0.51941343] [-0.00474362 0.99996883 0.00631129 -0.56409007] [ 0.29949005 -0.00460101 0.95408833 -0.54272635] [ 0. 0. 0. 1. ]] SLAMing on 378.63463044 meters Centerline goodness : 0.083055 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95415337 0.00625309 -0.2992528 -0.5201026 ] [-0.0046328 0.99997052 0.00612362 -0.56308496] [ 0.29928227 -0.00445649 0.95415421 -0.54269964] [ 0. 0. 0. 1. ]] SLAMing on 378.66463044 meters Centerline goodness : 0.094365 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95421812 0.00614335 -0.29904856 -0.52097452] [-0.0045412 0.99997137 0.00605209 -0.56301246] [ 0.29907718 -0.00441698 0.9542187 -0.54249539] [ 0. 0. 0. 1. ]] SLAMing on 378.69463044 meters Centerline goodness : 0.094282 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95429117 0.00608638 -0.29881653 -0.52186315] [-0.00448341 0.99997165 0.00604964 -0.56318083] [ 0.29884487 -0.0044334 0.95429141 -0.54231361] [ 0. 0. 0. 1. ]] SLAMing on 378.72463044 meters Centerline goodness : 0.290593 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95436508 0.00605013 -0.29858113 -0.52264751] [-0.00443794 0.99997169 0.00607721 -0.56348403] [ 0.29860944 -0.0044748 0.95436491 -0.54222883] [ 0. 0. 0. 1. ]] SLAMing on 378.75463044 meters Centerline goodness : 0.114363 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95436188 0.00593254 -0.29859373 -0.52227002] [-0.00436398 0.99997296 0.00591964 -0.56247768] [ 0.29862077 -0.00434642 0.95436196 -0.54243211] [ 0. 0. 0. 1. ]] SLAMing on 378.78463044 meters Centerline goodness : 0.333076 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95434792 0.00572391 -0.29864239 -0.52189188] [-0.00424738 0.99997534 0.00559295 -0.56099416] [ 0.29866704 -0.00406918 0.9543487 -0.54260981] [ 0. 0. 0. 1. ]] SLAMing on 378.81463044000003 meters Centerline goodness : 0.244011 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.9543052 0.00558832 -0.29878147 -0.52159989] [-0.00418841 0.99997705 0.00532551 -0.55936256] [ 0.29880437 -0.00383074 0.9543067 -0.54250765] [ 0. 0. 0. 1. ]] SLAMing on 378.84463044 meters Centerline goodness : 0.084959 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.56, Z:-0.54 [[ 0.95435393 0.00550278 -0.29862736 -0.52189652] [-0.0041694 0.99997829 0.00510193 -0.55772327] [ 0.29864895 -0.00362395 0.95435616 -0.54267158] [ 0. 0. 0. 1. ]] SLAMing on 378.87463044000003 meters Centerline goodness : 0.085747 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.54 [[ 0.95438287 0.00524897 -0.29853943 -0.52164655] [-0.00405435 0.99998111 0.00462074 -0.55473439] [ 0.29855805 -0.00319957 0.95438611 -0.54308484] [ 0. 0. 0. 1. ]] SLAMing on 378.90463044 meters Centerline goodness : 0.084834 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.55, Z:-0.54 [[ 0.95433711 0.00499001 -0.29869012 -0.52051917] [-0.0038808 0.9999832 0.00430658 -0.55362059] [ 0.29870659 -0.00295077 0.95434044 -0.54361074] [ 0. 0. 0. 1. ]] SLAMing on 378.93463044000003 meters Centerline goodness : 0.082659 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.55, Z:-0.54 [[ 0.95395347 0.01005525 -0.29978605 -0.49629444] [-0.01007623 0.99994814 0.00147597 -0.55129839] [ 0.29978534 0.00161271 0.95400532 -0.53761646] [ 0. 0. 0. 1. ]] SLAMing on 378.96463044 meters Centerline goodness : 0.084954 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95373722 0.00228863 -0.3006328 -0.51450089] [-0.00159342 0.99999546 0.00255766 -0.54791259] [ 0.30063728 -0.0019603 0.95373654 -0.54451357] [ 0. 0. 0. 1. ]] SLAMing on 378.99463044000004 meters Centerline goodness : 0.084227 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95369713 0.00213653 -0.30076108 -0.51400546] [-0.00148354 0.99999602 0.0023995 -0.54737587] [ 0.30076501 -0.0018422 0.9536965 -0.54452824] [ 0. 0. 0. 1. ]] SLAMing on 379.02463044 meters Centerline goodness : 0.096384 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95369 0.00195219 -0.30078491 -0.51395493] [-0.00134923 0.99999664 0.00221234 -0.54700071] [ 0.30078822 -0.00170406 0.95368944 -0.54450255] [ 0. 0. 0. 1. ]] SLAMing on 379.05463044000004 meters Centerline goodness : 0.065113 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95368769 0.00181253 -0.30079311 -0.51419299] [-0.00123075 0.99999699 0.00212362 -0.54708011] [ 0.30079606 -0.00165507 0.95368705 -0.54426263] [ 0. 0. 0. 1. ]] SLAMing on 379.08463044 meters Centerline goodness : 0.084184 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95367786 0.00167784 -0.30082508 -0.51417431] [-0.00108325 0.99999712 0.00214333 -0.54787699] [ 0.30082781 -0.00171818 0.95367693 -0.5441123 ] [ 0. 0. 0. 1. ]] SLAMing on 379.11463044000004 meters Centerline goodness : 0.084100 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95358589 0.00171365 -0.30111627 -0.51312352] [-0.00108331 0.99999686 0.0022603 -0.5486072 ] [ 0.30111919 -0.00182919 0.95358475 -0.54415808] [ 0. 0. 0. 1. ]] SLAMing on 379.14463044 meters Centerline goodness : 0.110928 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95348318 0.00166867 -0.30144161 -0.51202274] [-0.00102421 0.99999684 0.00229596 -0.54915199] [ 0.30144448 -0.00188042 0.95348188 -0.54413908] [ 0. 0. 0. 1. ]] SLAMing on 379.17463044 meters Centerline goodness : 0.104484 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 9.53436560e-01 1.57476885e-03 -3.01589533e-01 -5.11987770e-01] [-9.33472407e-04 9.99996987e-01 2.27049453e-03 -5.49752571e-01] [ 3.01592200e-01 -1.88324699e-03 9.53435157e-01 -5.43702015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20463044 meters Centerline goodness : 0.089426 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.55, Z:-0.54 [[ 0.95347373 0.00166609 -0.3014715 -0.51244199] [-0.00102518 0.99999687 0.00228414 -0.54930379] [ 0.30147436 -0.0018688 0.95347245 -0.54362925] [ 0. 0. 0. 1. ]] SLAMing on 379.23463044 meters Centerline goodness : 0.123294 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.54 [[ 0.95366679 0.00927401 -0.30072188 -0.49440788] [-0.00939899 0.9999553 0.00103116 -0.55012781] [ 0.300718 0.0018431 0.95371132 -0.5368934 ] [ 0. 0. 0. 1. ]] SLAMing on 379.26463044 meters Centerline goodness : 0.093053 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.55, Z:-0.54 [[ 9.53681355e-01 9.27309007e-03 -3.00675710e-01 -4.94304926e-01] [-9.46379321e-03 9.99954879e-01 8.22243115e-04 -5.48209489e-01] [ 3.00669768e-01 2.06137481e-03 9.53726083e-01 -5.37100279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29463044 meters Centerline goodness : 0.319277 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.54, Z:-0.54 [[ 9.53661588e-01 8.98041247e-03 -3.00747282e-01 -4.93717439e-01] [-9.39132114e-03 9.99955897e-01 7.93828562e-05 -5.43759921e-01] [ 3.00734732e-01 2.74870993e-03 9.53703867e-01 -5.37420949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32463044 meters Centerline goodness : 0.121123 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.54, Z:-0.54 [[ 9.53630034e-01 8.87336703e-03 -3.00850496e-01 -4.93672937e-01] [-9.36450499e-03 9.99956134e-01 -1.90444853e-04 -5.41913621e-01] [ 3.00835609e-01 2.99892991e-03 9.53671297e-01 -5.37186471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35463044 meters Centerline goodness : 0.092709 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.54, Z:-0.55 [[ 9.53096378e-01 8.85676565e-03 -3.02537356e-01 -5.37118806e-01] [-9.11167625e-03 9.99958326e-01 5.68825381e-04 -5.43835044e-01] [ 3.02529787e-01 2.21447703e-03 9.53137359e-01 -5.50134345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38463044 meters Centerline goodness : 0.083243 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95322207 0.0022929 -0.30226217 -0.51939459] [-0.00187037 0.99999683 0.0016873 -0.53866666] [ 0.30226508 -0.00104303 0.95322334 -0.54298737] [ 0. 0. 0. 1. ]] SLAMing on 379.41463044 meters Centerline goodness : 0.084084 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95320637 0.002107 -0.30231305 -0.51932665] [-0.00169741 0.99999725 0.00161758 -0.53928113] [ 0.30231563 -0.00102874 0.95320732 -0.54284717] [ 0. 0. 0. 1. ]] SLAMing on 379.44463044 meters Centerline goodness : 0.091648 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95312379 -0.00269853 -0.30256859 -0.518298 ] [ 0.00216145 0.99999544 -0.0021099 -0.53964009] [ 0.3025729 0.00135701 0.95312528 -0.54292525] [ 0. 0. 0. 1. ]] SLAMing on 379.47463044 meters Centerline goodness : 0.479184 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95300784 -0.0027119 -0.30293349 -0.51695756] [ 0.0021949 0.9999955 -0.00204709 -0.54021256] [ 0.30293768 0.00128598 0.9530095 -0.54302109] [ 0. 0. 0. 1. ]] SLAMing on 379.50463044 meters Centerline goodness : 0.094160 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95293612 -0.00269328 -0.30315918 -0.51632822] [ 0.00218738 0.99999559 -0.00200832 -0.54037001] [ 0.30316326 0.00125067 0.95293781 -0.54292693] [ 0. 0. 0. 1. ]] SLAMing on 379.53463044 meters Centerline goodness : 0.084849 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95292366 -0.00258703 -0.30319929 -0.51640556] [ 0.00204942 0.99999571 -0.00209128 -0.53878526] [ 0.3032034 0.00137145 0.95292488 -0.54274669] [ 0. 0. 0. 1. ]] SLAMing on 379.56463044000003 meters Centerline goodness : 0.083476 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95291133 -0.00245707 -0.30323912 -0.51648468] [ 0.00189866 0.99999592 -0.0021363 -0.53752744] [ 0.30324313 0.00145996 0.9529121 -0.54259136] [ 0. 0. 0. 1. ]] SLAMing on 379.59463044 meters Centerline goodness : 0.082551 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:-0.54 [[ 0.95287445 -0.00226339 -0.30335649 -0.51617099] [ 0.00168375 0.99999622 -0.0021723 -0.53585841] [ 0.30336026 0.00155916 0.95287466 -0.54253179] [ 0. 0. 0. 1. ]] SLAMing on 379.62463044000003 meters Centerline goodness : 0.086730 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.53, Z:-0.54 [[ 0.95288196 -0.00212673 -0.30333388 -0.51619688] [ 0.00151898 0.99999634 -0.00223948 -0.53443268] [ 0.30333753 0.0016732 0.9528817 -0.54260635] [ 0. 0. 0. 1. ]] SLAMing on 379.65463044 meters Centerline goodness : 0.082845 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.54, Z:-0.55 [[ 0.9529699 0.00508259 -0.30302233 -0.53538534] [-0.00641199 0.99997369 -0.00339243 -0.53627184] [ 0.30299711 0.00517586 0.95297742 -0.54961631] [ 0. 0. 0. 1. ]] SLAMing on 379.68463044000003 meters Centerline goodness : 0.090267 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.53, Z:-0.55 [[ 0.9529455 0.00491675 -0.30310181 -0.53510046] [-0.00632843 0.99997322 -0.00367542 -0.53492208] [ 0.30307562 0.00542063 0.95295109 -0.54965588] [ 0. 0. 0. 1. ]] SLAMing on 379.71463044 meters Centerline goodness : 0.072752 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.53, Z:-0.55 [[ 0.95294202 0.00481604 -0.30311434 -0.53496278] [-0.00627369 0.99997297 -0.00383535 -0.53412985] [ 0.30308768 0.00555651 0.95294647 -0.54973897] [ 0. 0. 0. 1. ]] SLAMing on 379.74463044000004 meters Centerline goodness : 0.083455 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.53, Z:-0.55 [[ 0.95295984 0.00476014 -0.3030592 -0.5350703 ] [-0.00623074 0.99997304 -0.00388581 -0.53394873] [ 0.30303253 0.0055913 0.95296381 -0.54977324] [ 0. 0. 0. 1. ]] SLAMing on 379.77463044 meters Centerline goodness : 0.089512 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.53, Z:-0.55 [[ 0.95296241 0.00460055 -0.3030536 -0.53520815] [-0.00606653 0.99997401 -0.00389614 -0.53460172] [ 0.3030278 0.00555136 0.95296555 -0.54958125] [ 0. 0. 0. 1. ]] SLAMing on 379.80463044000004 meters Centerline goodness : 0.082734 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.54, Z:-0.55 [[ 0.9529489 0.00451323 -0.30309737 -0.53511311] [-0.00597069 0.99997464 -0.00388207 -0.53528515] [ 0.30307216 0.00550911 0.95295168 -0.54948058] [ 0. 0. 0. 1. ]] SLAMing on 379.83463044 meters Centerline goodness : 0.082877 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.54, Z:-0.55 [[ 0.95291689 0.00450576 -0.3031981 -0.53495296] [-0.00592694 0.99997534 -0.00376728 -0.53628425] [ 0.30317365 0.00538694 0.9529201 -0.54931772] [ 0. 0. 0. 1. ]] SLAMing on 379.86463044000004 meters Centerline goodness : 0.091861 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.54, Z:-0.55 [[ 0.95288694 0.00451393 -0.30329212 -0.53456329] [-0.00589015 0.99997609 -0.00362301 -0.53752175] [ 0.30326851 0.00523876 0.95289074 -0.54931785] [ 0. 0. 0. 1. ]] SLAMing on 379.89463044 meters Centerline goodness : 0.074900 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.54, Z:-0.55 [[ 0.95308339 0.00135673 -0.30270482 -0.537199 ] [-0.00328703 0.99997738 -0.00586745 -0.54042749] [ 0.30269002 0.00658717 0.95306629 -0.54889108] [ 0. 0. 0. 1. ]] SLAMing on 379.92463044 meters Centerline goodness : 0.092129 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.54, Z:-0.55 [[ 0.95308922 0.00144439 -0.30268607 -0.5375912 ] [-0.00330124 0.99997874 -0.00562304 -0.54210397] [ 0.30267151 0.0063585 0.95307372 -0.54858413] [ 0. 0. 0. 1. ]] SLAMing on 379.95463044 meters Centerline goodness : 0.092152 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.54, Z:-0.55 [[ 0.95311496 0.00156832 -0.30260439 -0.53805515] [-0.00335677 0.99997984 -0.00539022 -0.54341531] [ 0.30258983 0.00615328 0.95310101 -0.54832691] [ 0. 0. 0. 1. ]] SLAMing on 379.98463044 meters Centerline goodness : 0.317238 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.95311592 0.00173234 -0.30260046 -0.53795506] [-0.00342154 0.99998138 -0.00505227 -0.54591559] [ 0.30258608 0.00585076 0.9531041 -0.54833293] [ 0. 0. 0. 1. ]] SLAMing on 380.01463044 meters Centerline goodness : 0.088957 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.95309166 0.00180429 -0.30267644 -0.53726608] [-0.00345295 0.99998198 -0.00491189 -0.54708219] [ 0.30266212 0.00572661 0.95308071 -0.54863072] [ 0. 0. 0. 1. ]] SLAMing on 380.04463044 meters Centerline goodness : 0.088957 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.95309166 0.00180429 -0.30267644 -0.53726608] [-0.00345295 0.99998198 -0.00491189 -0.54708219] [ 0.30266212 0.00572661 0.95308071 -0.54863072] [ 0. 0. 0. 1. ]] SLAMing on 380.07463044 meters Centerline goodness : 0.086180 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.9530699 0.00190412 -0.30274436 -0.53657569] [-0.0034982 0.99998273 -0.00472327 -0.54845525] [ 0.30273014 0.00556067 0.95306009 -0.5489582 ] [ 0. 0. 0. 1. ]] SLAMing on 380.10463044 meters Centerline goodness : 0.085663 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.55, Z:-0.55 [[ 0.95298267 0.00217085 -0.30301703 -0.53538058] [-0.00360682 0.99998476 -0.00417939 -0.55241134] [ 0.30300333 0.00507581 0.95297598 -0.54913219] [ 0. 0. 0. 1. ]] SLAMing on 380.13463044 meters Centerline goodness : 0.092306 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:-0.55 [[ 0.95284972 0.00224406 -0.30343432 -0.53414916] [-0.00359565 0.99998595 -0.0038957 -0.55493888] [ 0.30342131 0.00480306 0.95284439 -0.54896135] [ 0. 0. 0. 1. ]] SLAMing on 380.16463044 meters Centerline goodness : 0.086412 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.56, Z:-0.55 [[ 0.95273753 0.00229495 -0.30378601 -0.53310062] [-0.0035652 0.99998707 -0.00362681 -0.55762153] [ 0.30377376 0.00453846 0.95273339 -0.54887457] [ 0. 0. 0. 1. ]] SLAMing on 380.19463044 meters Centerline goodness : 0.123728 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.56, Z:-0.55 [[ 0.952649 0.00242987 -0.30406247 -0.53246075] [-0.0036055 0.99998804 -0.00330503 -0.56018751] [ 0.3040508 0.00424483 0.95264636 -0.54864925] [ 0. 0. 0. 1. ]] SLAMing on 380.22463044 meters Centerline goodness : 0.089078 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.57, Z:-0.55 [[ 0.9526797 0.00305464 -0.30396063 -0.53256071] [-0.00394925 0.99998949 -0.00232846 -0.56610203] [ 0.30395032 0.00341869 0.95268175 -0.54872523] [ 0. 0. 0. 1. ]] SLAMing on 380.25463044 meters Centerline goodness : 0.088562 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.57, Z:-0.55 [[ 0.95272872 0.00335339 -0.30380377 -0.53275538] [-0.00410959 0.99998984 -0.00184976 -0.5688477 ] [ 0.30379448 0.00301083 0.95273283 -0.54891491] [ 0. 0. 0. 1. ]] SLAMing on 380.28463044 meters Centerline goodness : 0.094075 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.57, Z:-0.55 [[ 0.95271781 0.00347296 -0.30383665 -0.5323126 ] [-0.00414768 0.99999016 -0.00157532 -0.57113171] [ 0.30382819 0.00276105 0.95272284 -0.54913803] [ 0. 0. 0. 1. ]] SLAMing on 380.31463044000003 meters Centerline goodness : 0.088664 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.57, Z:-0.55 [[ 0.95267127 0.00344742 -0.30398284 -0.53158694] [-0.00409019 0.99999054 -0.00147776 -0.57286521] [ 0.30397487 0.00265117 0.95267636 -0.54926988] [ 0. 0. 0. 1. ]] SLAMing on 380.34463044 meters Centerline goodness : 0.076921 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.57, Z:-0.55 [[ 0.9525313 0.00357077 -0.30441973 -0.53008208] [-0.00419145 0.99999026 -0.0013854 -0.573886 ] [ 0.30441182 0.0025956 0.95253699 -0.54939081] [ 0. 0. 0. 1. ]] SLAMing on 380.37463044000003 meters Centerline goodness : 0.091989 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.57, Z:-0.55 [[ 0.95249276 0.00393591 -0.3045358 -0.52960867] [-0.00451565 0.99998909 -0.00119936 -0.57331991] [ 0.30452775 0.00251756 0.95250014 -0.54947379] [ 0. 0. 0. 1. ]] SLAMing on 380.40463044 meters Centerline goodness : 0.076751 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.57, Z:-0.55 [[ 0.95250854 0.0043294 -0.3044811 -0.52947713] [-0.00487899 0.99998755 -0.00104416 -0.57236283] [ 0.30447279 0.00248013 0.95251781 -0.54970226] [ 0. 0. 0. 1. ]] SLAMing on 380.43463044000003 meters Centerline goodness : 0.079113 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.58, Z:-0.56 [[ 0.95273648 0.01173531 -0.3035712 -0.55009104] [-0.0128761 0.99991556 -0.00175644 -0.57556144] [ 0.30352496 0.00558224 0.95280714 -0.55691454] [ 0. 0. 0. 1. ]] SLAMing on 380.46463044 meters Centerline goodness : 0.092246 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.57, Z:-0.56 [[ 0.95270027 0.01156399 -0.30369141 -0.5498001 ] [-0.01278958 0.99991611 -0.00204687 -0.57430876] [ 0.30364227 0.00583414 0.95276825 -0.55685941] [ 0. 0. 0. 1. ]] SLAMing on 380.49463044000004 meters Centerline goodness : 0.092646 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.57, Z:-0.56 [[ 0.95264834 0.01147869 -0.30385751 -0.54900574] [-0.0127717 0.99991587 -0.0022682 -0.57307215] [ 0.30380591 0.00604157 0.95271479 -0.55710747] [ 0. 0. 0. 1. ]] SLAMing on 380.52463044 meters Centerline goodness : 0.090961 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.57, Z:-0.56 [[ 0.95255028 0.01133704 -0.30417007 -0.54786821] [-0.01271059 0.999916 -0.00253601 -0.57152129] [ 0.30411577 0.00628186 0.95261437 -0.55721078] [ 0. 0. 0. 1. ]] SLAMing on 380.55463044000004 meters Centerline goodness : 0.092121 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.57, Z:-0.56 [[ 0.95256443 0.01107378 -0.30413547 -0.54792996] [-0.01258682 0.99991624 -0.00301477 -0.56882487] [ 0.30407662 0.00669986 0.95262402 -0.5572692 ] [ 0. 0. 0. 1. ]] SLAMing on 380.58463044 meters Centerline goodness : 0.110598 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.57, Z:-0.56 [[ 0.95255489 0.01091136 -0.3041712 -0.54801647] [-0.01249137 0.9999167 -0.00324906 -0.56755082] [ 0.30411041 0.00689443 0.95261185 -0.55712263] [ 0. 0. 0. 1. ]] SLAMing on 380.61463044000004 meters Centerline goodness : 0.092101 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.57, Z:-0.56 [[ 0.95258678 0.0107981 -0.30407537 -0.54823184] [-0.01242569 0.99991696 -0.00341806 -0.56657022] [ 0.30401321 0.00703435 0.95264185 -0.55718401] [ 0. 0. 0. 1. ]] SLAMing on 380.64463044 meters Centerline goodness : 0.092872 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.57, Z:-0.56 [[ 0.95259448 0.01071515 -0.30405417 -0.54840949] [-0.012385 0.99991695 -0.00356391 -0.56558043] [ 0.30399073 0.00716067 0.95264808 -0.5571095 ] [ 0. 0. 0. 1. ]] SLAMing on 380.67463044 meters Centerline goodness : 0.418494 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.56, Z:-0.56 [[ 0.95250968 0.01036069 -0.304332 -0.54749815] [-0.01218026 0.99991749 -0.00408101 -0.56266954] [ 0.30426461 0.00759404 0.95255728 -0.55708902] [ 0. 0. 0. 1. ]] SLAMing on 380.70463044 meters Centerline goodness : 0.078312 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.56, Z:-0.56 [[ 0.95244888 0.01013236 -0.30452992 -0.54721073] [-0.01204673 0.99991772 -0.004408 -0.56102043] [ 0.3044602 0.00786699 0.95249257 -0.5568102 ] [ 0. 0. 0. 1. ]] SLAMing on 380.73463044 meters Centerline goodness : 0.083202 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.56, Z:-0.56 [[ 0.95241455 0.00984716 -0.30464662 -0.54699443] [-0.01187919 0.99991784 -0.00481727 -0.55889514] [ 0.30457415 0.00820699 0.95245327 -0.5566639 ] [ 0. 0. 0. 1. ]] SLAMing on 380.76463044 meters Centerline goodness : 0.083861 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.56, Z:-0.56 [[ 0.9525044 0.00967462 -0.30437109 -0.54827464] [-0.01183103 0.99991627 -0.00524131 -0.55536189] [ 0.3042949 0.00859339 0.95253912 -0.55633247] [ 0. 0. 0. 1. ]] SLAMing on 380.79463044 meters Centerline goodness : 0.120504 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.55, Z:-0.56 [[ 0.95257554 0.00959526 -0.3041509 -0.54892208] [-0.01181545 0.99991529 -0.00545999 -0.55341585] [ 0.30407275 0.00879473 0.95260822 -0.55635076] [ 0. 0. 0. 1. ]] SLAMing on 380.82463044 meters Centerline goodness : 0.084410 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.55, Z:-0.56 [[ 0.95318748 0.00253527 -0.30236932 -0.56666562] [-0.00409552 0.99998137 -0.00452618 -0.54747475] [ 0.30235221 0.00555266 0.9531801 -0.56401139] [ 0. 0. 0. 1. ]] SLAMing on 380.85463044 meters Centerline goodness : 0.083266 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.55, Z:-0.56 [[ 0.95317566 0.00230417 -0.30240842 -0.56676111] [-0.00393943 0.99998073 -0.00479764 -0.54639219] [ 0.30239154 0.00576431 0.95316637 -0.56379447] [ 0. 0. 0. 1. ]] SLAMing on 380.88463044 meters Centerline goodness : 0.090504 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.55, Z:-0.56 [[ 0.95290528 0.00168365 -0.30326341 -0.56433353] [-0.00347118 0.99997964 -0.00535538 -0.54505684] [ 0.30324822 0.00615585 0.95289172 -0.56355016] [ 0. 0. 0. 1. ]] SLAMing on 380.91463044 meters Centerline goodness : 0.116027 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95275074 0.00146484 -0.30374971 -0.56248748] [-0.0033021 0.99997923 -0.00553503 -0.54469849] [ 0.30373529 0.00627651 0.95273579 -0.56374618] [ 0. 0. 0. 1. ]] SLAMing on 380.94463044 meters Centerline goodness : 0.083122 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 0.95261345 0.00123427 -0.30418101 -0.56079848] [-0.00311272 0.99997896 -0.00569062 -0.54466191] [ 0.30416759 0.00636779 0.95259725 -0.56397337] [ 0. 0. 0. 1. ]] SLAMing on 380.97463044 meters Centerline goodness : 0.083282 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 9.52505639e-01 7.49141800e-04 -3.04520028e-01 -5.59817109e-01] [-2.70718065e-03 9.99978289e-01 -6.00774704e-03 -5.44419932e-01] [ 3.04508916e-01 6.54680365e-03 9.52486987e-01 -5.63784458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00463044 meters Centerline goodness : 0.067824 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 9.52527423e-01 5.64424763e-04 -3.04452280e-01 -5.60326102e-01] [-2.56715961e-03 9.99977621e-01 -6.17790674e-03 -5.43905410e-01] [ 3.04441980e-01 6.66620318e-03 9.52507555e-01 -5.63499550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03463044 meters Centerline goodness : 0.083039 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 9.52565004e-01 4.30123929e-04 -3.04334895e-01 -5.60763575e-01] [-2.47874533e-03 9.99976797e-01 -6.34515510e-03 -5.43051090e-01] [ 3.04325104e-01 6.79854140e-03 9.52543968e-01 -5.63443373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06463044000003 meters Centerline goodness : 0.127565 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 9.52551070e-01 2.49475811e-04 -3.04378707e-01 -5.60632219e-01] [-2.38776343e-03 9.99975019e-01 -6.65288663e-03 -5.41251821e-01] [ 3.04369443e-01 7.06399862e-03 9.52527869e-01 -5.63429469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09463044 meters Centerline goodness : 0.083706 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.54, Z:-0.56 [[ 9.52309399e-01 -2.29427386e-05 -3.05134083e-01 -5.58270466e-01] [-2.32751213e-03 9.99970359e-01 -7.33924481e-03 -5.36038474e-01] [ 3.05125207e-01 7.69943510e-03 9.52281117e-01 -5.63428751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12463044000003 meters Centerline goodness : 0.083004 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.53, Z:-0.56 [[ 9.52187684e-01 -2.09035976e-04 -3.05513616e-01 -5.57147973e-01] [-2.26863948e-03 9.99967358e-01 -7.75480896e-03 -5.33265555e-01] [ 3.05505265e-01 8.07713384e-03 9.52156129e-01 -5.63411920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15463044 meters Centerline goodness : 0.090308 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.53, Z:-0.58 [[ 9.51432288e-01 -1.55503692e-04 -3.07858048e-01 -5.99603404e-01] [-2.21069400e-03 9.99970639e-01 -7.33722828e-03 -5.32859737e-01] [ 3.07850150e-01 7.66145583e-03 9.51404009e-01 -5.76209255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18463044000003 meters Centerline goodness : 0.124880 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.53, Z:-0.57 [[ 0.9517139 0.00693662 -0.30690803 -0.58062717] [-0.01016331 0.9999086 -0.00891661 -0.53126609] [ 0.30681812 0.01160527 0.95169741 -0.56943456] [ 0. 0. 0. 1. ]] SLAMing on 381.21463044 meters Centerline goodness : 0.086570 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.53, Z:-0.57 [[ 0.95188538 0.00642472 -0.30638692 -0.58279921] [-0.00984153 0.99990541 -0.00960843 -0.52783206] [ 0.30629621 0.01216144 0.95185857 -0.56903253] [ 0. 0. 0. 1. ]] SLAMing on 381.24463044000004 meters Centerline goodness : 0.086453 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.53, Z:-0.57 [[ 0.95194621 0.0061658 -0.3062032 -0.58418194] [-0.00963886 0.99990521 -0.0098316 -0.5272791 ] [ 0.30611356 0.01231061 0.9519154 -0.56841507] [ 0. 0. 0. 1. ]] SLAMing on 381.27463044 meters Centerline goodness : 0.083198 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.53, Z:-0.57 [[ 0.95197788 0.00589272 -0.30611009 -0.5848427 ] [-0.0094127 0.99990545 -0.01002424 -0.52704035] [ 0.30602208 0.01242418 0.95194334 -0.56808112] [ 0. 0. 0. 1. ]] SLAMing on 381.30463044000004 meters Centerline goodness : 0.264418 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.52, Z:-0.58 [[ 9.51916236e-01 -2.01319805e-03 -3.06351803e-01 -6.03079910e-01] [-7.63762155e-04 9.99959706e-01 -8.94447007e-03 -5.24089315e-01] [ 3.06357465e-01 8.74836619e-03 9.51876341e-01 -5.75299449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33463044 meters Centerline goodness : 0.302434 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.52, Z:-0.58 [[ 9.51944468e-01 -2.00750780e-03 -3.06264100e-01 -6.03425614e-01] [-7.60341191e-04 9.99959946e-01 -8.91789140e-03 -5.24081753e-01] [ 3.06269736e-01 8.72220260e-03 9.51904813e-01 -5.75233706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36463044000004 meters Centerline goodness : 0.093756 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.52, Z:-0.58 [[ 9.51985250e-01 -1.95474403e-03 -3.06137654e-01 -6.03828031e-01] [-7.85726885e-04 9.99960721e-01 -8.82827583e-03 -5.24389084e-01] [ 3.06142887e-01 8.64492895e-03 9.51946321e-01 -5.75203696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39463044 meters Centerline goodness : 0.072017 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.53, Z:-0.57 [[ 9.52025343e-01 -2.08234914e-03 -3.06012109e-01 -6.04921944e-01] [-6.25440928e-04 9.99961520e-01 -8.75032245e-03 -5.26096535e-01] [ 3.06018555e-01 8.52192122e-03 9.51987406e-01 -5.74591397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42463044 meters Centerline goodness : 0.100876 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.53, Z:-0.57 [[ 9.52026118e-01 -2.05255685e-03 -3.06009897e-01 -6.05101141e-01] [-6.14913092e-04 9.99962656e-01 -8.62028825e-03 -5.27286538e-01] [ 3.06016163e-01 8.39490905e-03 9.51989303e-01 -5.74448351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45463044 meters Centerline goodness : 0.087443 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.53, Z:-0.57 [[ 9.52020085e-01 -1.89914182e-03 -3.06029658e-01 -6.05127187e-01] [-6.96802076e-04 9.99964701e-01 -8.37318962e-03 -5.28690783e-01] [ 3.06034758e-01 8.18468679e-03 9.51985156e-01 -5.74364660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48463044 meters Centerline goodness : 0.133770 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.53, Z:-0.57 [[ 9.52006109e-01 -1.71965612e-03 -3.06074194e-01 -6.04777098e-01] [-8.09762750e-04 9.99966567e-01 -8.13690850e-03 -5.29646121e-01] [ 3.06077953e-01 7.99423408e-03 9.51972888e-01 -5.74483805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51463044 meters Centerline goodness : 0.085455 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.53, Z:-0.57 [[ 9.52115226e-01 -1.52388507e-03 -3.05735627e-01 -6.05626307e-01] [-8.83961709e-04 9.99969678e-01 -7.73698598e-03 -5.32535849e-01] [ 3.05738147e-01 7.63676075e-03 9.52085009e-01 -5.74631386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54463044 meters Centerline goodness : 0.083184 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.53, Z:-0.57 [[ 9.52197227e-01 -1.46679693e-03 -3.05480424e-01 -6.06599420e-01] [-8.87627098e-04 9.99970966e-01 -7.56824404e-03 -5.34043688e-01] [ 3.05482656e-01 7.47761369e-03 9.52168279e-01 -5.74516375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57463044 meters Centerline goodness : 0.086385 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.54, Z:-0.57 [[ 9.52248249e-01 -1.36299203e-03 -3.05321820e-01 -6.07244538e-01] [-9.35717914e-04 9.99972312e-01 -7.38234181e-03 -5.35252971e-01] [ 3.05323429e-01 7.31551716e-03 9.52220608e-01 -5.74398238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60463044 meters Centerline goodness : 0.086259 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.54, Z:-0.57 [[ 0.95221997 -0.0011949 -0.3054107 -0.60681628] [-0.00104625 0.99997372 -0.00717434 -0.5362171 ] [ 0.30541124 0.00715108 0.9521937 -0.57450062] [ 0. 0. 0. 1. ]] SLAMing on 381.63463044 meters Centerline goodness : 0.085351 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.54, Z:-0.58 [[ 0.95203134 -0.00109864 -0.30599856 -0.60425608] [-0.0011208 0.99997433 -0.00707734 -0.53710429] [ 0.30599848 0.00708081 0.95200567 -0.57502062] [ 0. 0. 0. 1. ]] SLAMing on 381.66463044 meters Centerline goodness : 0.048823 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.54, Z:-0.58 [[ 0.95194341 -0.00108265 -0.30627205 -0.60311279] [-0.00113785 0.99997435 -0.00707148 -0.53734596] [ 0.30627185 0.00708014 0.95191776 -0.57522974] [ 0. 0. 0. 1. ]] SLAMing on 381.69463044 meters Centerline goodness : 0.083428 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.54, Z:-0.58 [[ 0.95190249 -0.00105611 -0.30639932 -0.60252449] [-0.00116794 0.99997429 -0.00707524 -0.53729509] [ 0.30639891 0.00709279 0.95187678 -0.57538193] [ 0. 0. 0. 1. ]] SLAMing on 381.72463044 meters Centerline goodness : 0.083435 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.54, Z:-0.58 [[ 0.95188238 -0.00102313 -0.30646187 -0.60214782] [-0.00120722 0.99997415 -0.00708811 -0.53705974] [ 0.3064612 0.00711701 0.95185654 -0.57554897] [ 0. 0. 0. 1. ]] SLAMing on 381.75463044 meters Centerline goodness : 0.083612 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.54, Z:-0.58 [[ 0.9519011 -0.00104691 -0.30640366 -0.60219531] [-0.00123496 0.99997293 -0.00725333 -0.53592894] [ 0.30640296 0.00728285 0.95187404 -0.57567403] [ 0. 0. 0. 1. ]] SLAMing on 381.78463044 meters Centerline goodness : 0.084430 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.54, Z:-0.58 [[ 0.95194014 -0.00114074 -0.30628201 -0.60236393] [-0.00118757 0.9999718 -0.0074154 -0.53500394] [ 0.30628183 0.00742275 0.95191194 -0.57589132] [ 0. 0. 0. 1. ]] SLAMing on 381.81463044000003 meters Centerline goodness : 0.086673 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.53, Z:-0.58 [[ 0.95190352 -0.00114264 -0.30639578 -0.60199605] [-0.0012176 0.99997104 -0.00751199 -0.53391781] [ 0.30639549 0.00752376 0.95187457 -0.57593362] [ 0. 0. 0. 1. ]] SLAMing on 381.84463044 meters Centerline goodness : 0.052130 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.53, Z:-0.58 [[ 0.95174106 -0.00115707 -0.30690002 -0.60013891] [-0.00126423 0.99996963 -0.00769061 -0.53181733] [ 0.3068996 0.00770747 0.95171069 -0.57610173] [ 0. 0. 0. 1. ]] SLAMing on 381.87463044000003 meters Centerline goodness : 0.094624 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.53, Z:-0.58 [[ 0.95164736 -0.00135189 -0.30718965 -0.59942194] [-0.00113679 0.99996797 -0.00792237 -0.53102025] [ 0.30719052 0.00788852 0.95161534 -0.57593756] [ 0. 0. 0. 1. ]] SLAMing on 381.90463044 meters Centerline goodness : 0.092896 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.53, Z:-0.58 [[ 9.51627681e-01 -1.56120777e-03 -3.07249604e-01 -5.99452276e-01] [-9.82766908e-04 9.99966509e-01 -8.12493703e-03 -5.30270105e-01] [ 3.07251998e-01 8.03386973e-03 9.51594276e-01 -5.75721809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93463044000003 meters Centerline goodness : 0.102301 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.53, Z:-0.59 [[ 9.51240728e-01 -2.54475658e-03 -3.08438975e-01 -6.44299764e-01] [ 3.09934941e-05 9.99966750e-01 -8.15457803e-03 -5.31996742e-01] [ 3.08449471e-01 7.74740714e-03 9.51209179e-01 -5.88745795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96463044 meters Centerline goodness : 0.102301 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.53, Z:-0.59 [[ 9.51240728e-01 -2.54475658e-03 -3.08438975e-01 -6.44299764e-01] [ 3.09934941e-05 9.99966750e-01 -8.15457803e-03 -5.31996742e-01] [ 3.08449471e-01 7.74740714e-03 9.51209179e-01 -5.88745795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99463044000004 meters Centerline goodness : 0.105905 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.53, Z:-0.59 [[ 9.51291459e-01 -2.59783040e-03 -3.08282031e-01 -6.45162567e-01] [ 4.27716467e-05 9.99965599e-01 -8.29452406e-03 -5.30786132e-01] [ 3.08292974e-01 7.87732417e-03 9.51258845e-01 -5.88454383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02463044 meters Centerline goodness : 0.085189 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.53, Z:-0.59 [[ 9.51435217e-01 -2.77275403e-03 -3.07836548e-01 -6.46645807e-01] [ 5.77595858e-05 9.99961028e-01 -8.82835869e-03 -5.26532881e-01] [ 3.07849030e-01 8.38183085e-03 9.51398297e-01 -5.88447881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05463044000004 meters Centerline goodness : 0.085092 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.52, Z:-0.59 [[ 9.51508472e-01 -2.91081125e-03 -3.07608770e-01 -6.46975341e-01] [ 8.90706555e-05 9.99957797e-01 -9.18678919e-03 -5.23924260e-01] [ 3.07622528e-01 8.71390883e-03 9.51468574e-01 -5.88781872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08463044 meters Centerline goodness : 0.053142 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.52, Z:-0.59 [[ 9.51521573e-01 -2.91201223e-03 -3.07568230e-01 -6.47130047e-01] [ 8.94885781e-06 9.99955445e-01 -9.43975082e-03 -5.21328108e-01] [ 3.07582015e-01 8.97937417e-03 9.51479204e-01 -5.88811579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11463044000004 meters Centerline goodness : 0.106703 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.52, Z:-0.59 [[ 9.51554843e-01 -2.92330316e-03 -3.07465177e-01 -6.47302844e-01] [-6.41102500e-05 9.99952896e-01 -9.70571661e-03 -5.18670851e-01] [ 3.07479067e-01 9.25523332e-03 9.51509834e-01 -5.88987169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14463044 meters Centerline goodness : 0.098312 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.51, Z:-0.59 [[ 9.51503564e-01 -3.36765518e-03 -3.07619289e-01 -6.46800059e-01] [ 1.55002335e-04 9.99945203e-01 -1.04674365e-02 -5.14480935e-01] [ 3.07637683e-01 9.91212140e-03 9.51451946e-01 -5.89059474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17463044 meters Centerline goodness : 0.085712 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.51, Z:-0.59 [[ 9.51472643e-01 -3.62584383e-03 -3.07711982e-01 -6.46703861e-01] [ 3.21408754e-04 9.99941748e-01 -1.07887284e-02 -5.13219836e-01] [ 3.07733175e-01 1.01662786e-02 9.51418383e-01 -5.88932914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20463044 meters Centerline goodness : 0.083702 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.51, Z:-0.59 [[ 9.51451174e-01 -3.72205380e-03 -3.07777209e-01 -6.46958741e-01] [ 3.86402984e-04 9.99940539e-01 -1.08981068e-02 -5.12654593e-01] [ 3.07799472e-01 1.02500905e-02 9.51396038e-01 -5.88578972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23463044 meters Centerline goodness : 0.098824 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.51, Z:-0.59 [[ 9.51485034e-01 -3.88690017e-03 -3.07670477e-01 -6.47965089e-01] [ 5.60672931e-04 9.99940451e-01 -1.08986629e-02 -5.12824357e-01] [ 3.07694517e-01 1.01974121e-02 9.51430553e-01 -5.88002846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26463044 meters Centerline goodness : 0.085478 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.51, Z:-0.59 [[ 9.51439546e-01 -4.04876304e-03 -3.07809028e-01 -6.47620765e-01] [ 7.13402707e-04 9.99939819e-01 -1.09475666e-02 -5.13211621e-01] [ 3.07834827e-01 1.01963560e-02 9.51385176e-01 -5.87885323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29463044 meters Centerline goodness : 0.296417 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.52, Z:-0.60 [[ 0.95070978 -0.00538495 -0.31003534 -0.6894042 ] [ 0.00204388 0.9999363 -0.01110028 -0.51681853] [ 0.31007536 0.00991947 0.95066023 -0.60135086] [ 0. 0. 0. 1. ]] SLAMing on 382.32463044 meters Centerline goodness : 0.082738 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.52, Z:-0.60 [[ 0.95067467 -0.00548577 -0.31014124 -0.68896188] [ 0.00214647 0.99993601 -0.01110727 -0.51721455] [ 0.31018232 0.00989369 0.95062561 -0.60140651] [ 0. 0. 0. 1. ]] SLAMing on 382.35463044 meters Centerline goodness : 0.104615 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.52, Z:-0.60 [[ 0.95066189 -0.00556987 -0.31017888 -0.68932967] [ 0.00227467 0.99993708 -0.01098421 -0.51847536] [ 0.31022055 0.00973672 0.95061475 -0.60096894] [ 0. 0. 0. 1. ]] SLAMing on 382.38463044 meters Centerline goodness : 0.335440 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.52, Z:-0.60 [[ 0.95058737 -0.00558033 -0.31040702 -0.68914941] [ 0.00231588 0.99993808 -0.0108842 -0.51948977] [ 0.31044854 0.00962752 0.95054143 -0.60052149] [ 0. 0. 0. 1. ]] SLAMing on 382.41463044 meters Centerline goodness : 0.110992 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.52, Z:-0.60 [[ 0.95053346 -0.00559765 -0.31057175 -0.68902761] [ 0.00237761 0.99993944 -0.01074573 -0.52089794] [ 0.3106131 0.00947576 0.9504892 -0.60016275] [ 0. 0. 0. 1. ]] SLAMing on 382.44463044 meters Centerline goodness : 0.116140 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.52, Z:-0.60 [[ 0.95048562 -0.0055805 -0.31071844 -0.68873252] [ 0.00242766 0.99994158 -0.01053274 -0.52286563] [ 0.31075907 0.0092569 0.95044364 -0.60000619] [ 0. 0. 0. 1. ]] SLAMing on 382.47463044 meters Centerline goodness : 0.102176 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.53, Z:-0.60 [[ 0.95043965 -0.00958354 -0.31076137 -0.68828038] [ 0.00577655 0.9998966 -0.01316857 -0.52796914] [ 0.31085544 0.0107208 0.95039674 -0.60009447] [ 0. 0. 0. 1. ]] SLAMing on 382.50463044 meters Centerline goodness : 0.154180 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.53, Z:-0.60 [[ 0.95037874 -0.00940532 -0.31095304 -0.68769183] [ 0.00574053 0.99990289 -0.01269879 -0.53135958] [ 0.31104228 0.01028363 0.95034044 -0.60004121] [ 0. 0. 0. 1. ]] SLAMing on 382.53463044 meters Centerline goodness : 0.178157 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.53, Z:-0.60 [[ 0.95031773 -0.0092551 -0.31114394 -0.68716739] [ 0.00572486 0.99990849 -0.01225739 -0.5349556 ] [ 0.31122891 0.00986716 0.95028375 -0.59992471] [ 0. 0. 0. 1. ]] SLAMing on 382.56463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 382.59463044 meters Centerline goodness : 0.097737 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.55, Z:-0.60 [[ 0.95054776 -0.01207299 -0.31034368 -0.69044282] [ 0.00825205 0.99987316 -0.01362197 -0.54588584] [ 0.31046877 0.01038736 0.95052682 -0.59945753] [ 0. 0. 0. 1. ]] SLAMing on 382.62463044000003 meters Centerline goodness : 0.105112 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.55, Z:-0.60 [[ 0.95051761 -0.01174846 -0.31044846 -0.69009023] [ 0.00808609 0.99988174 -0.01308141 -0.54913763] [ 0.31056543 0.0099238 0.9505002 -0.59945165] [ 0. 0. 0. 1. ]] SLAMing on 382.65463044 meters Centerline goodness : 0.092309 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.55, Z:-0.60 [[ 0.95041271 -0.01142008 -0.31078168 -0.6886297 ] [ 0.00790859 0.99988989 -0.01255673 -0.55216942] [ 0.31089086 0.00947623 0.95039838 -0.59975413] [ 0. 0. 0. 1. ]] SLAMing on 382.68463044000003 meters Centerline goodness : 0.101497 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.56, Z:-0.60 [[ 0.95020261 -0.01070685 -0.31144881 -0.68603513] [ 0.00749417 0.99990567 -0.01151026 -0.55923025] [ 0.31154267 0.00860303 0.95019322 -0.60002973] [ 0. 0. 0. 1. ]] SLAMing on 382.71463044 meters Centerline goodness : 0.087128 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 0.95110976 -0.00535181 -0.3088067 -0.70099778] [ 0.00177948 0.99992822 -0.01184866 -0.56846338] [ 0.30884794 0.01071986 0.95105101 -0.60744128] [ 0. 0. 0. 1. ]] SLAMing on 382.74463044000004 meters Centerline goodness : 0.305738 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 0.95116463 -0.00507941 -0.30864225 -0.70174429] [ 0.0016317 0.99993337 -0.01142765 -0.57102877] [ 0.30867974 0.01036597 0.95110955 -0.60725708] [ 0. 0. 0. 1. ]] SLAMing on 382.77463044 meters Centerline goodness : 0.091811 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.58, Z:-0.61 [[ 0.95126569 -0.00461341 -0.30833798 -0.70250564] [ 0.00135813 0.99994107 -0.01077131 -0.57510872] [ 0.30836951 0.00982761 0.95121589 -0.60741987] [ 0. 0. 0. 1. ]] SLAMing on 382.80463044000004 meters Centerline goodness : 0.093560 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.58, Z:-0.61 [[ 0.95124897 -0.00441355 -0.30839246 -0.70229328] [ 0.00122255 0.99994371 -0.01053966 -0.57620622] [ 0.30842162 0.00964882 0.95120082 -0.60743733] [ 0. 0. 0. 1. ]] SLAMing on 382.83463044 meters Centerline goodness : 0.306739 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.58, Z:-0.61 [[ 0.95125519 -0.0041495 -0.30837695 -0.70205256] [ 0.00101932 0.99994632 -0.0103109 -0.57685564] [ 0.30840318 0.00949396 0.95120836 -0.60766873] [ 0. 0. 0. 1. ]] SLAMing on 382.86463044000004 meters Centerline goodness : 0.083762 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.58, Z:-0.61 [[ 9.51236092e-01 -3.89204263e-03 -3.08439215e-01 -7.01863088e-01] [ 7.95861364e-04 9.99948035e-01 -1.01633910e-02 -5.76797287e-01] [ 3.08462743e-01 9.42230943e-03 9.51189758e-01 -6.07698479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89463044 meters Centerline goodness : 0.085192 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.58, Z:-0.61 [[ 9.51312445e-01 -3.15478247e-03 -3.08212070e-01 -7.02214863e-01] [ 1.43418264e-04 9.99952041e-01 -9.79259374e-03 -5.76222078e-01] [ 3.08228182e-01 9.27161305e-03 9.51267273e-01 -6.08048257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92463044 meters Centerline goodness : 0.085333 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.58, Z:-0.61 [[ 9.51321623e-01 -2.99290061e-03 -3.08185354e-01 -7.02164669e-01] [-2.53724895e-05 9.99952084e-01 -9.78922122e-03 -5.75389163e-01] [ 3.08199885e-01 9.32051725e-03 9.51275964e-01 -6.08195123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95463044 meters Centerline goodness : 0.075666 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51360565e-01 -2.83027540e-03 -3.08066658e-01 -7.02460567e-01] [-1.84006311e-04 9.99952402e-01 -9.75502203e-03 -5.74669236e-01] [ 3.08079604e-01 9.33722947e-03 9.51314761e-01 -6.08311875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98463044 meters Centerline goodness : 0.094472 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51339525e-01 -2.66395838e-03 -3.08133108e-01 -7.02001811e-01] [-3.56216092e-04 9.99952454e-01 -9.74486054e-03 -5.73757380e-01] [ 3.08144418e-01 9.38043297e-03 9.51293343e-01 -6.08532348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01463044 meters Centerline goodness : 0.112930 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51268833e-01 -2.71855015e-03 -3.08350802e-01 -7.01071128e-01] [-3.21658416e-04 9.99951846e-01 -9.80831846e-03 -5.73652809e-01] [ 3.08362618e-01 9.42953128e-03 9.51222151e-01 -6.08710592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04463044 meters Centerline goodness : 0.083772 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51249511e-01 -2.73789265e-03 -3.08410232e-01 -7.00503054e-01] [-3.07824080e-04 9.99951672e-01 -9.82645038e-03 -5.73708781e-01] [ 3.08422231e-01 9.44234222e-03 9.51202696e-01 -6.09038423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07463044 meters Centerline goodness : 0.075558 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51242599e-01 -2.73258259e-03 -3.08431599e-01 -7.00285930e-01] [-3.12435084e-04 9.99951707e-01 -9.82276848e-03 -5.73747319e-01] [ 3.08443545e-01 9.44020067e-03 9.51195806e-01 -6.09158698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10463044 meters Centerline goodness : 0.077995 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51231114e-01 -2.84000316e-03 -3.08466046e-01 -7.00321783e-01] [-2.63926624e-04 9.99949761e-01 -1.00202786e-02 -5.72521984e-01] [ 3.08479006e-01 9.61301314e-03 9.51182576e-01 -6.09070699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13463044 meters Centerline goodness : 0.072688 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51212825e-01 -2.93696620e-03 -3.08521533e-01 -7.00249703e-01] [-2.27129873e-04 9.99947756e-01 -1.02192595e-02 -5.71212007e-01] [ 3.08535428e-01 9.79076518e-03 9.51162463e-01 -6.09028494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16463044 meters Centerline goodness : 0.082912 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.57, Z:-0.61 [[ 9.51166198e-01 -3.03544908e-03 -3.08664299e-01 -6.99778165e-01] [-2.12462762e-04 9.99944974e-01 -1.04883184e-02 -5.69114279e-01] [ 3.08679151e-01 1.00417136e-02 9.51113214e-01 -6.09022247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.19463044 meters Centerline goodness : 0.074014 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.95033767 -0.00133403 -0.31121783 -0.74109639] [-0.00151575 0.99995911 -0.00891481 -0.56577885] [ 0.311217 0.0089438 0.95029679 -0.62264975] [ 0. 0. 0. 1. ]] SLAMing on 383.22463044 meters Centerline goodness : 0.090950 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 0.95034182 -0.00165579 -0.31120359 -0.74091209] [-0.00136799 0.99995396 -0.00949786 -0.56253163] [ 0.31120499 0.00945194 0.9502958 -0.62287973] [ 0. 0. 0. 1. ]] SLAMing on 383.25463044 meters Centerline goodness : 0.092439 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 0.95035652 -0.00203389 -0.31115646 -0.74107189] [-0.00115339 0.99994874 -0.010059 -0.55990939] [ 0.31116097 0.00991852 0.95030546 -0.62290005] [ 0. 0. 0. 1. ]] SLAMing on 383.28463044 meters Centerline goodness : 0.093168 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 9.50414078e-01 -2.34538986e-03 -3.10978424e-01 -7.41803660e-01] [-9.61483827e-04 9.99944621e-01 -1.04800446e-02 -5.57922535e-01] [ 3.10985782e-01 1.02593826e-02 9.50359189e-01 -6.22756947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.31463044000003 meters Centerline goodness : 0.094411 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 9.50462472e-01 -2.51895783e-03 -3.10829123e-01 -7.43220515e-01] [-8.55686856e-04 9.99942172e-01 -1.07200714e-02 -5.55613310e-01] [ 3.10838152e-01 1.04549980e-02 9.50405354e-01 -6.22102328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34463044 meters Centerline goodness : 0.076609 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 9.50474728e-01 -2.51545318e-03 -3.10791673e-01 -7.43407064e-01] [-8.63307396e-04 9.99942022e-01 -1.07334253e-02 -5.54951834e-01] [ 3.10800653e-01 1.04701582e-02 9.50417450e-01 -6.22045694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.37463044000003 meters Centerline goodness : 0.089409 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 9.50419362e-01 -2.62964767e-03 -3.10960001e-01 -7.42991834e-01] [-7.74967640e-04 9.99941111e-01 -1.08246625e-02 -5.54649589e-01] [ 3.10970154e-01 1.05289528e-02 9.50361355e-01 -6.21905368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40463044 meters Centerline goodness : 0.088526 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 9.50341836e-01 -2.94094289e-03 -3.11194065e-01 -7.42311257e-01] [-5.45995067e-04 9.99938052e-01 -1.11173157e-02 -5.54110426e-01] [ 3.11207483e-01 1.07351606e-02 9.50281358e-01 -6.21803413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43463044000003 meters Centerline goodness : 0.067014 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 9.50204147e-01 -3.50499273e-03 -3.11608400e-01 -7.41271338e-01] [-1.54560147e-04 9.99931323e-01 -1.17186049e-02 -5.52433102e-01] [ 3.11628073e-01 1.11832292e-02 9.50138347e-01 -6.21552244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46463044 meters Centerline goodness : 0.060810 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 9.50214852e-01 -3.50548513e-03 -3.11575747e-01 -7.41482288e-01] [-1.91378020e-04 9.99929961e-01 -1.18336870e-02 -5.51243390e-01] [ 3.11595407e-01 1.13041739e-02 9.50147629e-01 -6.21484816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49463044000004 meters Centerline goodness : 0.088159 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 9.50277847e-01 -3.40246843e-03 -3.11384708e-01 -7.42161794e-01] [-3.15700576e-04 9.99929267e-01 -1.18895724e-02 -5.49793910e-01] [ 3.11403137e-01 1.13967016e-02 9.50209557e-01 -6.21445771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52463044 meters Centerline goodness : 0.082271 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.55, Z:-0.61 [[ 0.95074103 0.00435603 -0.30995569 -0.72404045] [-0.00889852 0.99987271 -0.01324292 -0.54777728] [ 0.30985855 0.01534874 0.95065877 -0.61429377] [ 0. 0. 0. 1. ]] SLAMing on 383.55463044000004 meters Centerline goodness : 0.149262 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.55, Z:-0.61 [[ 0.95071639 0.00426819 -0.31003247 -0.72371276] [-0.00889008 0.9998694 -0.01349636 -0.54591746] [ 0.30993438 0.01558743 0.95063017 -0.61439953] [ 0. 0. 0. 1. ]] SLAMing on 383.58463044 meters Centerline goodness : 0.083598 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.54, Z:-0.61 [[ 0.95067591 0.00429955 -0.31015615 -0.72317017] [-0.0089722 0.99986671 -0.0136405 -0.54424369] [ 0.31005616 0.01575047 0.95058777 -0.61450432] [ 0. 0. 0. 1. ]] SLAMing on 383.61463044000004 meters Centerline goodness : 0.085719 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.54, Z:-0.61 [[ 0.9506759 0.00424382 -0.31015693 -0.72339234] [-0.00897125 0.99986429 -0.01381721 -0.54257346] [ 0.3100562 0.01591818 0.95058496 -0.61436527] [ 0. 0. 0. 1. ]] SLAMing on 383.64463044 meters Centerline goodness : 0.084446 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.54, Z:-0.61 [[ 0.95064451 0.00398376 -0.31025657 -0.7236531 ] [-0.0087465 0.99986428 -0.01396131 -0.54290413] [ 0.31015884 0.0159859 0.95055034 -0.61390324] [ 0. 0. 0. 1. ]] SLAMing on 383.67463044 meters Centerline goodness : 0.085185 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.54, Z:-0.61 [[ 9.50837553e-01 5.36581909e-04 -3.09689619e-01 -7.25968769e-01] [-5.98453467e-03 9.99843604e-01 -1.66418956e-02 -5.42773536e-01] [ 3.09632256e-01 1.76770875e-02 9.50692057e-01 -6.13672236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70463044 meters Centerline goodness : 0.049570 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.55, Z:-0.61 [[ 0.9510185 -0.00219107 -0.30912622 -0.72891953] [-0.00367695 0.99982397 -0.01839874 -0.54568228] [ 0.30911212 0.01863418 0.95084303 -0.61298337] [ 0. 0. 0. 1. ]] SLAMing on 383.73463044 meters Centerline goodness : 0.087711 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.55, Z:-0.61 [[ 0.95093176 -0.0023409 -0.30939183 -0.72858521] [-0.00347253 0.99982765 -0.01823783 -0.54750357] [ 0.3093812 0.01841731 0.95075974 -0.61252845] [ 0. 0. 0. 1. ]] SLAMing on 383.76463044 meters Centerline goodness : 0.096106 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.55, Z:-0.61 [[ 0.95082258 -0.00263434 -0.30972486 -0.72781002] [-0.00314667 0.99983007 -0.01816393 -0.54967816] [ 0.30972008 0.01824527 0.95065271 -0.61223682] [ 0. 0. 0. 1. ]] SLAMing on 383.79463044 meters Centerline goodness : 0.099647 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.55, Z:-0.61 [[ 9.50769660e-01 -7.15767530e-03 -3.09815786e-01 -7.28524760e-01] [ 6.31238387e-04 9.99775889e-01 -2.11606677e-02 -5.54273413e-01] [ 3.09897814e-01 1.99233532e-02 9.50561100e-01 -6.11394403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82463044 meters Centerline goodness : 0.094001 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.56, Z:-0.61 [[ 0.95077988 -0.00748972 -0.30977656 -0.72941083] [ 0.00101914 0.99977802 -0.02104446 -0.55746287] [ 0.30986541 0.01969294 0.95057646 -0.61077885] [ 0. 0. 0. 1. ]] SLAMing on 383.85463044 meters Centerline goodness : 0.094001 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.56, Z:-0.61 [[ 0.95077988 -0.00748972 -0.30977656 -0.72941083] [ 0.00101914 0.99977802 -0.02104446 -0.55746287] [ 0.30986541 0.01969294 0.95057646 -0.61077885] [ 0. 0. 0. 1. ]] SLAMing on 383.88463044 meters Centerline goodness : 0.095319 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.56, Z:-0.61 [[ 0.95087292 -0.00767964 -0.30948622 -0.73061901] [ 0.00129168 0.99978199 -0.02084015 -0.56040721] [ 0.30957879 0.01941657 0.95067553 -0.61048323] [ 0. 0. 0. 1. ]] SLAMing on 383.91463044 meters Centerline goodness : 0.303505 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.57, Z:-0.61 [[ 0.95115205 -0.0104633 -0.30854546 -0.73358416] [ 0.00372779 0.99974189 -0.0224113 -0.56643783] [ 0.30870031 0.02016637 0.95094555 -0.61057959] [ 0. 0. 0. 1. ]] SLAMing on 383.94463044 meters Centerline goodness : 0.304289 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.57, Z:-0.61 [[ 0.95119727 -0.01032577 -0.30841065 -0.73386088] [ 0.00370615 0.99975018 -0.02204175 -0.56875743] [ 0.3085612 0.01982304 0.95099791 -0.61068672] [ 0. 0. 0. 1. ]] SLAMing on 383.97463044 meters Centerline goodness : 0.469998 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.57, Z:-0.61 [[ 0.95122949 -0.01005386 -0.30832025 -0.73413464] [ 0.0035639 0.99976023 -0.02160532 -0.57072042] [ 0.30846353 0.0194528 0.95103724 -0.61074385] [ 0. 0. 0. 1. ]] SLAMing on 384.00463044 meters Centerline goodness : 0.087640 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.57, Z:-0.61 [[ 0.95119376 -0.00993591 -0.30843427 -0.73382864] [ 0.00355986 0.99976832 -0.02122814 -0.57383074] [ 0.30857374 0.01909409 0.95100876 -0.61067798] [ 0. 0. 0. 1. ]] SLAMing on 384.03463044 meters Centerline goodness : 0.087870 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.57, Z:-0.61 [[ 0.95114186 -0.00988576 -0.30859592 -0.73341023] [ 0.00354189 0.99977087 -0.02111066 -0.57481879] [ 0.3087339 0.01898622 0.95095894 -0.61061626] [ 0. 0. 0. 1. ]] SLAMing on 384.06463044000003 meters Centerline goodness : 0.308337 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.58, Z:-0.61 [[ 0.95107376 -0.00976319 -0.30880963 -0.73285265] [ 0.00346132 0.99977457 -0.02094825 -0.57557989] [ 0.30894454 0.01885444 0.95089315 -0.61051784] [ 0. 0. 0. 1. ]] SLAMing on 384.09463044 meters Centerline goodness : 0.090044 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.58, Z:-0.62 [[ 0.95198605 -0.00406234 -0.30611445 -0.74626077] [-0.00262218 0.99976708 -0.02142228 -0.58401283] [ 0.30613017 0.0211964 0.95175366 -0.6179664 ] [ 0. 0. 0. 1. ]] SLAMing on 384.12463044000003 meters Centerline goodness : 0.088145 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.59, Z:-0.62 [[ 0.95205349 -0.00375195 -0.30590859 -0.74677953] [-0.00270988 0.99978214 -0.02069599 -0.58816411] [ 0.3059196 0.02053267 0.95183592 -0.61830927] [ 0. 0. 0. 1. ]] SLAMing on 384.15463044 meters Centerline goodness : 0.089664 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.59, Z:-0.62 [[ 0.95201823 -0.00378357 -0.30601794 -0.74656185] [-0.00260523 0.99978715 -0.02046612 -0.59052082] [ 0.30603024 0.02028136 0.95180574 -0.61834242] [ 0. 0. 0. 1. ]] SLAMing on 384.18463044000003 meters Centerline goodness : 0.093272 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.59, Z:-0.62 [[ 0.9519136 -0.00376913 -0.30634343 -0.74580536] [-0.00252851 0.99979361 -0.02015804 -0.59316575] [ 0.30635618 0.01996331 0.9517076 -0.61825928] [ 0. 0. 0. 1. ]] SLAMing on 384.21463044 meters Centerline goodness : 0.092584 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.60, Z:-0.62 [[ 0.95181433 -0.00355588 -0.30665426 -0.74505191] [-0.00260485 0.99980297 -0.01967856 -0.59617681] [ 0.30666382 0.01952912 0.95161753 -0.61822357] [ 0. 0. 0. 1. ]] SLAMing on 384.24463044000004 meters Centerline goodness : 0.438859 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.61, Z:-0.62 [[ 0.95230832 0.00208612 -0.30513032 -0.75519055] [-0.00857379 0.99976474 -0.0199235 -0.61005529] [ 0.30501697 0.02158943 0.95210217 -0.62480524] [ 0. 0. 0. 1. ]] SLAMing on 384.27463044 meters Centerline goodness : 0.102227 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.61, Z:-0.62 [[ 0.95217878 0.00226656 -0.30553303 -0.75414846] [-0.00863518 0.99977267 -0.01949443 -0.6129577 ] [ 0.30541939 0.02120052 0.9519819 -0.62468291] [ 0. 0. 0. 1. ]] SLAMing on 384.30463044000004 meters Centerline goodness : 0.089638 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.61, Z:-0.62 [[ 0.95215076 -0.00451625 -0.30559539 -0.7349619 ] [-0.00115619 0.99983043 -0.01837838 -0.61240769] [ 0.30562657 0.01785231 0.95198408 -0.61744994] [ 0. 0. 0. 1. ]] SLAMing on 384.33463044 meters Centerline goodness : 0.480810 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.62, Z:-0.62 [[ 0.95239216 0.00354396 -0.30485507 -0.75240312] [-0.00966955 0.99978051 -0.01858595 -0.62315668] [ 0.30472229 0.02064892 0.95221738 -0.62368517] [ 0. 0. 0. 1. ]] SLAMing on 384.36463044000004 meters Centerline goodness : 0.307451 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.62, Z:-0.62 [[ 0.95229517 -0.00296198 -0.30516412 -0.73366049] [-0.00242954 0.99984763 -0.01728633 -0.6224564 ] [ 0.30516883 0.0172031 0.95214287 -0.61639553] [ 0. 0. 0. 1. ]] SLAMing on 384.39463044 meters Centerline goodness : 0.094078 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.63, Z:-0.62 [[ 0.95237401 0.00467232 -0.30489656 -0.74804299] [-0.01087893 0.99976669 -0.01866069 -0.62952334] [ 0.30473824 0.0210889 0.95220264 -0.62250776] [ 0. 0. 0. 1. ]] SLAMing on 384.42463044 meters Centerline goodness : 0.314886 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.63, Z:-0.62 [[ 0.95269354 -0.00273428 -0.3039203 -0.72940644] [-0.00275556 0.99984073 -0.01763307 -0.63187886] [ 0.30392011 0.01763639 0.95253427 -0.61561629] [ 0. 0. 0. 1. ]] SLAMing on 384.45463044 meters Centerline goodness : 0.094688 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.63, Z:-0.62 [[ 0.95274611 -0.00267665 -0.30375597 -0.72991127] [-0.00272222 0.99984579 -0.01734886 -0.63414057] [ 0.30375556 0.01735595 0.9525919 -0.61560406] [ 0. 0. 0. 1. ]] SLAMing on 384.48463044 meters Centerline goodness : 0.118414 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.63, Z:-0.61 [[ 0.95288114 -0.00948779 -0.3031955 -0.71154749] [ 0.00481566 0.99985793 -0.01615359 -0.63319744] [ 0.30330569 0.01393236 0.95279145 -0.60852899] [ 0. 0. 0. 1. ]] SLAMing on 384.51463044 meters Centerline goodness : 0.097104 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.64, Z:-0.62 [[ 0.95324031 -0.00159271 -0.30220914 -0.72692123] [-0.00377072 0.99984559 -0.01716318 -0.63965186] [ 0.30218981 0.01750018 0.95308712 -0.61517327] [ 0. 0. 0. 1. ]] SLAMing on 384.54463044 meters Centerline goodness : 0.091099 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.64, Z:-0.61 [[ 0.95282358 -0.00846751 -0.30340654 -0.70582868] [ 0.00378921 0.99986474 -0.01600465 -0.63995487] [ 0.30350102 0.01409994 0.95272678 -0.60774188] [ 0. 0. 0. 1. ]] SLAMing on 384.57463044 meters Centerline goodness : 0.286030 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.65, Z:-0.61 [[ 9.53038040e-01 -1.24196236e-06 -3.02850613e-01 -7.20431811e-01] [-5.35655002e-03 9.99843502e-01 -1.68605824e-02 -6.45821057e-01] [ 3.02803239e-01 1.76910108e-02 9.52888885e-01 -6.13670941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60463044 meters Centerline goodness : 0.090716 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.65, Z:-0.61 [[ 9.53107819e-01 1.00075839e-04 -3.02630922e-01 -7.21479994e-01] [-5.41270171e-03 9.99845624e-01 -1.67161634e-02 -6.46452783e-01] [ 3.02582531e-01 1.75703569e-02 9.52961224e-01 -6.13359608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63463044 meters Centerline goodness : 0.306074 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.65, Z:-0.61 [[ 9.53204840e-01 8.49650922e-05 -3.02325200e-01 -7.22799326e-01] [-5.39151628e-03 9.99845708e-01 -1.67179826e-02 -6.46723505e-01] [ 3.02277133e-01 1.75656531e-02 9.53058226e-01 -6.13045709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66463044 meters Centerline goodness : 0.095938 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.64, Z:-0.61 [[ 0.95347184 -0.00653533 -0.30141125 -0.7052243 ] [ 0.00188481 0.9998747 -0.01571737 -0.64183356] [ 0.3014762 0.01441796 0.95336469 -0.60589406] [ 0. 0. 0. 1. ]] SLAMing on 384.69463044 meters Centerline goodness : 0.304105 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.64, Z:-0.61 [[ 0.95345656 -0.00649945 -0.30146037 -0.7048121 ] [ 0.00183047 0.99987401 -0.01576778 -0.64074891] [ 0.30152487 0.01448208 0.95334832 -0.6060666 ] [ 0. 0. 0. 1. ]] SLAMing on 384.72463044 meters Centerline goodness : 0.304764 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.64, Z:-0.61 [[ 0.95341417 -0.00644203 -0.30159563 -0.7040375 ] [ 0.00175234 0.99987336 -0.01581754 -0.63940156] [ 0.30165933 0.01455217 0.95330472 -0.60630363] [ 0. 0. 0. 1. ]] SLAMing on 384.75463044 meters Centerline goodness : 0.305827 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.64, Z:-0.61 [[ 0.95306988 0.00303846 -0.30273515 -0.71677086] [-0.00848725 0.99982478 -0.01668459 -0.64090175] [ 0.30263141 0.01847097 0.95292867 -0.61216045] [ 0. 0. 0. 1. ]] SLAMing on 384.78463044 meters Centerline goodness : 0.303170 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.64, Z:-0.60 [[ 0.95272921 -0.00372585 -0.3037979 -0.69833276] [-0.00124922 0.99986831 -0.01618027 -0.63529926] [ 0.30381818 0.01579493 0.95259909 -0.60467858] [ 0. 0. 0. 1. ]] SLAMing on 384.81463044000003 meters Centerline goodness : 0.089713 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.63, Z:-0.60 [[ 9.52757644e-01 -4.31788620e-03 -3.03700887e-01 -6.98517851e-01] [-8.34794265e-04 9.99857943e-01 -1.68344238e-02 -6.32480070e-01] [ 3.03730433e-01 1.62926537e-02 9.52618693e-01 -6.04714667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84463044 meters Centerline goodness : 0.263196 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.63, Z:-0.60 [[ 9.52733174e-01 -4.49614282e-03 -3.03775055e-01 -6.98350663e-01] [-7.24892468e-04 9.99853996e-01 -1.70722230e-02 -6.30938474e-01] [ 3.03807462e-01 1.64854774e-02 9.52590812e-01 -6.04632328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.87463044000003 meters Centerline goodness : 0.098677 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.62, Z:-0.60 [[ 0.95229181 -0.01077196 -0.3049988 -0.68028571] [ 0.00614801 0.99985121 -0.01611698 -0.62450476] [ 0.30512703 0.01347293 0.95221635 -0.59701454] [ 0. 0. 0. 1. ]] SLAMing on 384.90463044 meters Centerline goodness : 0.094102 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.62, Z:-0.60 [[ 0.9521215 -0.00215315 -0.30571232 -0.69333182] [-0.00336798 0.99984064 -0.0175313 -0.62424128] [ 0.30570135 0.01772156 0.95196252 -0.60279803] [ 0. 0. 0. 1. ]] SLAMing on 384.93463044000003 meters Centerline goodness : 0.102900 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.62, Z:-0.60 [[ 0.95214768 -0.0024688 -0.30562837 -0.69392126] [-0.00316905 0.99983388 -0.01794924 -0.62203357] [ 0.30562191 0.01805888 0.95198168 -0.60248402] [ 0. 0. 0. 1. ]] SLAMing on 384.96463044 meters Centerline goodness : 0.308646 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.61, Z:-0.61 [[ 0.95255267 -0.00985046 -0.30421437 -0.71239229] [ 0.00481822 0.99983894 -0.01728801 -0.61405983] [ 0.30433567 0.01500196 0.95244671 -0.60970458] [ 0. 0. 0. 1. ]] SLAMing on 384.99463044000004 meters Centerline goodness : 0.252811 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.61, Z:-0.62 [[ 0.95295581 -0.00210712 -0.30310194 -0.72852799] [-0.0038556 0.99981067 -0.01907259 -0.61490199] [ 0.30308475 0.01934397 0.95276726 -0.61624074] [ 0. 0. 0. 1. ]] SLAMing on 385.02463044 meters Centerline goodness : 0.301540 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.61, Z:-0.62 [[ 0.9529238 -0.00231356 -0.30320104 -0.7276689 ] [-0.00377966 0.99980256 -0.01950795 -0.61055687] [ 0.30318631 0.01973559 0.95272691 -0.61653845] [ 0. 0. 0. 1. ]] SLAMing on 385.05463044000004 meters Centerline goodness : 0.264294 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.61, Z:-0.62 [[ 0.95283585 -0.00267609 -0.30347434 -0.72658281] [-0.0035553 0.99979408 -0.01997916 -0.60803334] [ 0.30346531 0.0201158 0.95263013 -0.61657673] [ 0. 0. 0. 1. ]] SLAMing on 385.08463044 meters Centerline goodness : 0.338983 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.61, Z:-0.62 [[ 0.95276737 -0.00303904 -0.30368586 -0.7258392 ] [-0.00334535 0.99978425 -0.02050052 -0.60527939] [ 0.30368264 0.02054816 0.95255164 -0.61654144] [ 0. 0. 0. 1. ]] SLAMing on 385.11463044000004 meters Centerline goodness : 0.368674 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.60, Z:-0.62 [[ 0.9527134 -0.00290326 -0.30385646 -0.72548954] [-0.00363103 0.9997742 -0.02093731 -0.59639593] [ 0.30384864 0.02105057 0.95248773 -0.61617589] [ 0. 0. 0. 1. ]] SLAMing on 385.14463044 meters Centerline goodness : 0.193128 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.59, Z:-0.62 [[ 0.95277742 -0.0030377 -0.30365433 -0.72581144] [-0.00361624 0.99976556 -0.02134817 -0.59254301] [ 0.30364799 0.02143814 0.95254307 -0.61628063] [ 0. 0. 0. 1. ]] SLAMing on 385.17463044 meters Centerline goodness : 0.091378 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.59, Z:-0.62 [[ 0.95286199 -0.00320329 -0.30338717 -0.72656067] [-0.00356247 0.99975721 -0.02174466 -0.58919518] [ 0.30338316 0.02180047 0.95261923 -0.61622832] [ 0. 0. 0. 1. ]] SLAMing on 385.20463044 meters Centerline goodness : 0.473154 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.59, Z:-0.62 [[ 0.95294162 -0.00357473 -0.30313279 -0.72722545] [-0.00334785 0.9997454 -0.02231407 -0.586081 ] [ 0.30313538 0.02227885 0.95268704 -0.6162428 ] [ 0. 0. 0. 1. ]] SLAMing on 385.23463044 meters Centerline goodness : 0.304732 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.58, Z:-0.62 [[ 0.95292839 -0.00430324 -0.30316491 -0.7270919 ] [-0.00289874 0.99972427 -0.02330199 -0.58063561] [ 0.30318159 0.02308392 0.95265317 -0.61613478] [ 0. 0. 0. 1. ]] SLAMing on 385.26463044 meters Centerline goodness : 0.096278 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.58, Z:-0.62 [[ 0.95281612 -0.00453108 -0.30351426 -0.72609311] [-0.002756 0.99971824 -0.02357636 -0.57882167] [ 0.30353557 0.02330042 0.95253517 -0.6159801 ] [ 0. 0. 0. 1. ]] SLAMing on 385.29463044 meters Centerline goodness : 0.474542 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.95218172 -0.01324589 -0.30524502 -0.74198948] [ 0.00648369 0.99971083 -0.02315653 -0.57276635] [ 0.30546348 0.02007011 0.95199225 -0.62274826] [ 0. 0. 0. 1. ]] SLAMing on 385.32463044 meters Centerline goodness : 0.091543 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.95216348 -0.01363334 -0.30528486 -0.7420362 ] [ 0.00681103 0.99970295 -0.02340134 -0.57243651] [ 0.30551322 0.0202026 0.95197349 -0.62274507] [ 0. 0. 0. 1. ]] SLAMing on 385.35463044 meters Centerline goodness : 0.219576 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.9522179 -0.01383 -0.30510621 -0.74260469] [ 0.00699358 0.99969965 -0.02348831 -0.57248714] [ 0.30533942 0.02023221 0.95202862 -0.62274478] [ 0. 0. 0. 1. ]] SLAMing on 385.38463044 meters Centerline goodness : 0.478988 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.9522357 -0.01379421 -0.30505228 -0.74288395] [ 0.00697444 0.99970104 -0.0234346 -0.57186652] [ 0.30528434 0.02018769 0.95204723 -0.6226204 ] [ 0. 0. 0. 1. ]] SLAMing on 385.41463044 meters Centerline goodness : 0.484062 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.95218634 -0.01392399 -0.30520043 -0.74219155] [ 0.00704739 0.99969613 -0.02362162 -0.57088791] [ 0.3054366 0.02034131 0.95199512 -0.62270048] [ 0. 0. 0. 1. ]] SLAMing on 385.44463044 meters Centerline goodness : 0.090919 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.95210607 -0.01417603 -0.30543915 -0.74154503] [ 0.00720143 0.99968723 -0.02394938 -0.5695355 ] [ 0.30568313 0.02060275 0.95191037 -0.62254019] [ 0. 0. 0. 1. ]] SLAMing on 385.47463044 meters Centerline goodness : 0.474037 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.57, Z:-0.62 [[ 0.95206525 -0.0142784 -0.3055616 -0.74136914] [ 0.00722595 0.99968105 -0.02419895 -0.56788873] [ 0.30580966 0.02083101 0.95186476 -0.6222636 ] [ 0. 0. 0. 1. ]] SLAMing on 385.50463044 meters Centerline goodness : 0.530866 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 0.95223736 -0.01022052 -0.30518772 -0.74295609] [ 0.00389374 0.99976486 -0.02133226 -0.56445012] [ 0.30533398 0.01912505 0.95205325 -0.62191958] [ 0. 0. 0. 1. ]] SLAMing on 385.53463044 meters Centerline goodness : 0.521675 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 0.95218711 -0.0104534 -0.3053366 -0.74236876] [ 0.004008 0.99975588 -0.02172843 -0.56223487] [ 0.3054892 0.01946575 0.95199655 -0.62188139] [ 0. 0. 0. 1. ]] SLAMing on 385.56463044000003 meters Centerline goodness : 0.368744 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 0.95203896 -0.01080321 -0.30578604 -0.74022959] [ 0.00420153 0.99974385 -0.02223917 -0.55939909] [ 0.30594797 0.01988778 0.95184049 -0.62233867] [ 0. 0. 0. 1. ]] SLAMing on 385.59463044 meters Centerline goodness : 0.480157 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 0.95195873 -0.0108004 -0.30603583 -0.73938869] [ 0.00416668 0.99974217 -0.02232127 -0.55824396] [ 0.306198 0.01997378 0.95175828 -0.62235534] [ 0. 0. 0. 1. ]] SLAMing on 385.62463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 385.65463044 meters Centerline goodness : 0.508603 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.56, Z:-0.62 [[ 0.95184792 -0.01104189 -0.30637168 -0.7387151 ] [ 0.00428368 0.99973263 -0.02272247 -0.55552449] [ 0.30654067 0.02031594 0.95164073 -0.6219352 ] [ 0. 0. 0. 1. ]] SLAMing on 385.68463044000003 meters Centerline goodness : 0.091368 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 0.95188782 -0.00755764 -0.30635348 -0.73910814] [ 0.00144423 0.99979538 -0.02017718 -0.55246473] [ 0.30644329 0.01876397 0.95170396 -0.62169806] [ 0. 0. 0. 1. ]] SLAMing on 385.71463044 meters Centerline goodness : 0.296924 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.55, Z:-0.62 [[ 9.52102174e-01 -4.96764113e-03 -3.05739715e-01 -7.42105802e-01] [-6.86182010e-04 9.99830801e-01 -1.83820280e-02 -5.49036225e-01] [ 3.05779299e-01 1.77113619e-02 9.51937670e-01 -6.21061011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74463044000004 meters Centerline goodness : 0.508800 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.55, Z:-0.61 [[ 0.95254276 0.00226547 -0.30439638 -0.72396563] [-0.00868653 0.99976737 -0.01974187 -0.5494289 ] [ 0.30428085 0.02144912 0.95234085 -0.61451291] [ 0. 0. 0. 1. ]] SLAMing on 385.77463044 meters Centerline goodness : 0.508800 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.55, Z:-0.61 [[ 0.95254276 0.00226547 -0.30439638 -0.72396563] [-0.00868653 0.99976737 -0.01974187 -0.5494289 ] [ 0.30428085 0.02144912 0.95234085 -0.61451291] [ 0. 0. 0. 1. ]] SLAMing on 385.80463044000004 meters Centerline goodness : 0.094730 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.54, Z:-0.61 [[ 0.95288912 0.00353327 -0.30329827 -0.72754796] [-0.00991614 0.99976054 -0.01950738 -0.54135109] [ 0.30315672 0.02159591 0.95269598 -0.61416129] [ 0. 0. 0. 1. ]] SLAMing on 385.83463044 meters Centerline goodness : 0.274014 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.54, Z:-0.61 [[ 0.95282278 0.0034707 -0.30350733 -0.72718631] [-0.00996686 0.99975315 -0.0198572 -0.53801035] [ 0.30336349 0.02194541 0.95262217 -0.61377961] [ 0. 0. 0. 1. ]] SLAMing on 385.86463044000004 meters Centerline goodness : 0.090899 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.53, Z:-0.61 [[ 0.95275852 0.00767969 -0.30363174 -0.72699718] [-0.01346818 0.99976521 -0.01697462 -0.53319571] [ 0.30343009 0.02026208 0.95263825 -0.61337661] [ 0. 0. 0. 1. ]] SLAMing on 385.89463044 meters Centerline goodness : 0.090630 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.53, Z:-0.61 [[ 0.95278825 0.00737526 -0.30354598 -0.72739993] [-0.01333897 0.99975651 -0.01757806 -0.52943699] [ 0.30334243 0.02079716 0.95265463 -0.61306387] [ 0. 0. 0. 1. ]] SLAMing on 385.92463044 meters Centerline goodness : 0.090913 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.53, Z:-0.61 [[ 0.95288287 0.00705195 -0.3032565 -0.72843319] [-0.01319001 0.99974741 -0.01819701 -0.52562058] [ 0.30305157 0.02133958 0.9527352 -0.61280632] [ 0. 0. 0. 1. ]] SLAMing on 385.95463044 meters Centerline goodness : 0.270502 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.52, Z:-0.61 [[ 0.95295663 0.00680518 -0.30303029 -0.72941441] [-0.0131025 0.99973829 -0.01875295 -0.52162797] [ 0.30282337 0.02184121 0.9527964 -0.61244073] [ 0. 0. 0. 1. ]] SLAMing on 385.98463044 meters Centerline goodness : 0.089360 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.52, Z:-0.61 [[ 0.95304605 0.01064576 -0.30263823 -0.73009489] [-0.01633334 0.99973424 -0.01626858 -0.51534561] [ 0.30238462 0.0204478 0.95296665 -0.61257545] [ 0. 0. 0. 1. ]] SLAMing on 386.01463044 meters Centerline goodness : 0.100157 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.51, Z:-0.61 [[ 0.95221396 0.00548188 -0.3053826 -0.7153627 ] [-0.01071669 0.99982293 -0.01546805 -0.50725219] [ 0.30524373 0.01800158 0.9521041 -0.60502292] [ 0. 0. 0. 1. ]] SLAMing on 386.04463044 meters Centerline goodness : 0.090008 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.61 [[ 0.95216211 0.00515915 -0.30554984 -0.71457001] [-0.01053318 0.99981743 -0.01594205 -0.50445113] [ 0.30541181 0.01839782 0.95204262 -0.60510659] [ 0. 0. 0. 1. ]] SLAMing on 386.07463044 meters Centerline goodness : 0.089314 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.61 [[ 0.95212932 0.00480163 -0.30565783 -0.71410256] [-0.01031144 0.99981211 -0.01641411 -0.50200781] [ 0.30552158 0.01878013 0.95199993 -0.60513753] [ 0. 0. 0. 1. ]] SLAMing on 386.10463044 meters Centerline goodness : 0.300843 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.61 [[ 0.95200179 0.00425767 -0.30606284 -0.71270051] [-0.00994648 0.99980551 -0.01702991 -0.49859321] [ 0.3059308 0.01925676 0.95185898 -0.60511043] [ 0. 0. 0. 1. ]] SLAMing on 386.13463044 meters Centerline goodness : 0.089469 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.61 [[ 0.95194398 0.00408329 -0.30624496 -0.71200247] [-0.00981168 0.99980447 -0.0171682 -0.49790028] [ 0.30611498 0.01934794 0.95179792 -0.60518993] [ 0. 0. 0. 1. ]] SLAMing on 386.16463044 meters Centerline goodness : 0.107738 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.49, Z:-0.60 [[ 0.95141335 -0.00416925 -0.30788838 -0.69093375] [-0.00107967 0.99985701 -0.01687582 -0.49358409] [ 0.30791471 0.0163883 0.95127281 -0.59743176] [ 0. 0. 0. 1. ]] SLAMing on 386.19463044 meters Centerline goodness : 0.305360 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.49, Z:-0.60 [[ 9.51410258e-01 -4.35509168e-03 -3.07895364e-01 -6.91021142e-01] [-9.42820835e-04 9.99854091e-01 -1.70560076e-02 -4.92868782e-01] [ 3.07924720e-01 1.65175507e-02 9.51267332e-01 -5.97306355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22463044 meters Centerline goodness : 0.299936 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.49, Z:-0.60 [[ 9.51426034e-01 -4.53945810e-03 -3.07843946e-01 -6.91328531e-01] [-8.22620080e-04 9.99850245e-01 -1.72861624e-02 -4.91799065e-01] [ 3.07876315e-01 1.66997436e-02 9.51279819e-01 -5.97151438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.25463044 meters Centerline goodness : 0.095351 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.49, Z:-0.60 [[ 9.51454922e-01 -4.64007292e-03 -3.07753151e-01 -6.91875064e-01] [-7.76909695e-04 9.99846966e-01 -1.74768556e-02 -4.90450896e-01] [ 3.07787148e-01 1.68675367e-02 9.51305712e-01 -5.96892000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28463044 meters Centerline goodness : 0.094856 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.49, Z:-0.60 [[ 0.95168348 -0.00213984 -0.30707323 -0.69454186] [-0.00282861 0.99987221 -0.01573406 -0.48670206] [ 0.30706765 0.01584243 0.95155582 -0.59665457] [ 0. 0. 0. 1. ]] SLAMing on 386.31463044000003 meters Centerline goodness : 0.297175 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.49, Z:-0.60 [[ 0.95167373 -0.00217461 -0.30710323 -0.69439745] [-0.00284641 0.99986952 -0.01590079 -0.48518085] [ 0.30709774 0.0160065 0.95154336 -0.59660899] [ 0. 0. 0. 1. ]] SLAMing on 386.34463044 meters Centerline goodness : 0.098811 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.48, Z:-0.60 [[ 0.95166477 -0.00224559 -0.30713046 -0.69435892] [-0.00283222 0.99986659 -0.01608639 -0.48372461] [ 0.30712561 0.01617871 0.95153146 -0.59648516] [ 0. 0. 0. 1. ]] SLAMing on 386.37463044000003 meters Centerline goodness : 0.297451 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.60 [[ 0.95172968 -0.00247327 -0.30692753 -0.69542278] [-0.00275856 0.99985823 -0.01661083 -0.48029767] [ 0.3069251 0.0166557 0.95158792 -0.59601702] [ 0. 0. 0. 1. ]] SLAMing on 386.40463044 meters Centerline goodness : 0.291864 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.60 [[ 0.95175987 -0.00260984 -0.30683274 -0.69589878] [-0.00270714 0.99985349 -0.01690173 -0.47831858] [ 0.3068319 0.01691702 0.95161337 -0.59582222] [ 0. 0. 0. 1. ]] SLAMing on 386.43463044000003 meters Centerline goodness : 0.102836 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.60 [[ 0.9517793 -0.00273659 -0.30677138 -0.69625309] [-0.00265224 0.99984944 -0.01714805 -0.47646019] [ 0.30677212 0.01713479 0.95162874 -0.59562615] [ 0. 0. 0. 1. ]] SLAMing on 386.46463044 meters Centerline goodness : 0.094663 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.60 [[ 0.9518501 -0.00955022 -0.30641505 -0.71420329] [ 0.00477993 0.99985548 -0.01631465 -0.46830873] [ 0.30652657 0.01406446 0.95175819 -0.6021477 ] [ 0. 0. 0. 1. ]] SLAMing on 386.49463044000004 meters Centerline goodness : 0.299769 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.60 [[ 0.95181039 -0.00966765 -0.3065347 -0.71390909] [ 0.00484861 0.99985246 -0.01647861 -0.46736823] [ 0.30664878 0.01419824 0.95171683 -0.60207007] [ 0. 0. 0. 1. ]] SLAMing on 386.52463044 meters Centerline goodness : 0.303495 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.60 [[ 0.95174446 -0.00975352 -0.30673662 -0.71340326] [ 0.00488448 0.99984966 -0.01663731 -0.46634332] [ 0.30685278 0.01433622 0.95164901 -0.60186731] [ 0. 0. 0. 1. ]] SLAMing on 386.55463044000004 meters Centerline goodness : 0.091943 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.60 [[ 0.951745 -0.00988446 -0.30673076 -0.71350556] [ 0.00495012 0.9998456 -0.01686066 -0.46500343] [ 0.30685006 0.01452869 0.95164697 -0.60175709] [ 0. 0. 0. 1. ]] SLAMing on 386.58463044 meters Centerline goodness : 0.101696 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.60 [[ 0.95184595 -0.01020847 -0.30640672 -0.7150415 ] [ 0.005133 0.99983603 -0.01736573 -0.46228626] [ 0.30653375 0.01495672 0.95174227 -0.60125241] [ 0. 0. 0. 1. ]] SLAMing on 386.61463044000004 meters Centerline goodness : 0.308775 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.9518101 -0.01018934 -0.3065187 -0.71468278] [ 0.00509404 0.99983531 -0.01741854 -0.46136643] [ 0.3066457 0.01501772 0.95170525 -0.60123921] [ 0. 0. 0. 1. ]] SLAMing on 386.64463044 meters Centerline goodness : 0.299741 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.95166186 -0.01016531 -0.30697943 -0.71313415] [ 0.00506086 0.99983546 -0.01741941 -0.46084946] [ 0.307106 0.01502381 0.95155672 -0.60128251] [ 0. 0. 0. 1. ]] SLAMing on 386.67463044 meters Centerline goodness : 0.301334 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.95143206 -0.0102254 -0.30768894 -0.71021297] [ 0.00509183 0.9998342 -0.01748251 -0.46040066] [ 0.30781669 0.01506672 0.95132638 -0.60177957] [ 0. 0. 0. 1. ]] SLAMing on 386.70463044 meters Centerline goodness : 0.298857 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.95135793 -0.01034543 -0.30791405 -0.70953061] [ 0.00517259 0.99983153 -0.01761108 -0.4599762 ] [ 0.30804437 0.01516173 0.95125117 -0.6017115 ] [ 0. 0. 0. 1. ]] SLAMing on 386.73463044 meters Centerline goodness : 0.298469 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.95134145 -0.01034606 -0.30796494 -0.70927934] [ 0.00515518 0.99983068 -0.01766425 -0.45923306] [ 0.30809555 0.01521711 0.95123371 -0.601761 ] [ 0. 0. 0. 1. ]] SLAMing on 386.76463044 meters Centerline goodness : 0.095717 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.9514446 -0.00628102 -0.30775594 -0.70981171] [ 0.00192123 0.9998935 -0.01446734 -0.45841302] [ 0.30781403 0.0131736 0.95135534 -0.60188994] [ 0. 0. 0. 1. ]] SLAMing on 386.79463044 meters Centerline goodness : 0.299833 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.95137744 -0.00621155 -0.30796492 -0.70911414] [ 0.00184004 0.99989342 -0.01448318 -0.45775463] [ 0.30802206 0.0132123 0.95128747 -0.60189174] [ 0. 0. 0. 1. ]] SLAMing on 386.82463044 meters Centerline goodness : 0.304821 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.60 [[ 0.95132396 -0.00630417 -0.30812819 -0.70856113] [ 0.00188517 0.9998911 -0.014637 -0.45707204] [ 0.30818691 0.01334365 0.95123224 -0.60185273] [ 0. 0. 0. 1. ]] SLAMing on 386.85463044 meters Centerline goodness : 0.089056 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.60 [[ 0.95133926 -0.00648698 -0.30807716 -0.70873181] [ 0.00193223 0.99988431 -0.01508721 -0.45439143] [ 0.30813939 0.01375778 0.95124174 -0.60173408] [ 0. 0. 0. 1. ]] SLAMing on 386.88463044 meters Centerline goodness : 0.482084 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.60 [[ 0.95141075 -0.00655719 -0.30785483 -0.70948123] [ 0.00193416 0.99988078 -0.01531966 -0.45265823] [ 0.30791858 0.01397985 0.95131 -0.60162811] [ 0. 0. 0. 1. ]] SLAMing on 386.91463044 meters Centerline goodness : 0.098408 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.60 [[ 0.95153528 -0.00656409 -0.30746956 -0.71071775] [ 0.00189339 0.99987828 -0.01548661 -0.45111869] [ 0.30753379 0.01415389 0.95143189 -0.60153444] [ 0. 0. 0. 1. ]] SLAMing on 386.94463044 meters Centerline goodness : 0.305785 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.60 [[ 0.95159994 -0.00656607 -0.30726934 -0.71172321] [ 0.00184566 0.99987582 -0.01565055 -0.44957227] [ 0.30733394 0.01432594 0.95149389 -0.60117319] [ 0. 0. 0. 1. ]] SLAMing on 386.97463044 meters Centerline goodness : 0.478599 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.60 [[ 0.95158789 -0.00673727 -0.30730294 -0.71133727] [ 0.00188424 0.99986883 -0.0160863 -0.44617576] [ 0.307371 0.01472849 0.95147577 -0.60125773] [ 0. 0. 0. 1. ]] SLAMing on 387.00463044 meters Centerline goodness : 0.091905 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.44, Z:-0.60 [[ 0.9514711 -0.00687608 -0.30766128 -0.71020676] [ 0.00193061 0.99986404 -0.0163759 -0.44410197] [ 0.30773205 0.01498723 0.95135502 -0.60117547] [ 0. 0. 0. 1. ]] SLAMing on 387.03463044 meters Centerline goodness : 0.097713 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.44, Z:-0.60 [[ 0.95150505 -0.00312309 -0.30761726 -0.70997016] [-0.00107905 0.99990843 -0.01348925 -0.44264926] [ 0.30763122 0.01316703 0.95141456 -0.60142737] [ 0. 0. 0. 1. ]] SLAMing on 387.06463044000003 meters Centerline goodness : 0.090716 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.44, Z:-0.60 [[ 9.51772330e-01 -3.95676510e-04 -3.06804947e-01 -7.13219162e-01] [-3.41453121e-03 9.99923575e-01 -1.18821506e-02 -4.36063532e-01] [ 3.06786201e-01 1.23566973e-02 9.51698240e-01 -6.01015652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09463044 meters Centerline goodness : 0.093949 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 9.51819651e-01 -6.66874893e-04 -3.06657640e-01 -7.13793171e-01] [-3.29177647e-03 9.99917802e-01 -1.23916613e-02 -4.32835306e-01] [ 3.06640697e-01 1.28040751e-02 9.51739218e-01 -6.00832109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12463044000003 meters Centerline goodness : 0.089411 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 9.51818864e-01 -9.19050580e-04 -3.06659430e-01 -7.13677905e-01] [-3.17416234e-03 9.99912413e-01 -1.28487739e-02 -4.29884914e-01] [ 3.06644379e-01 1.32030922e-02 9.51732580e-01 -6.00837856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15463044 meters Centerline goodness : 0.090745 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95177696 -0.00117021 -0.3067886 -0.7131468 ] [-0.00304395 0.99990748 -0.01325752 -0.42731819] [ 0.30677573 0.01355205 0.95168534 -0.60085195] [ 0. 0. 0. 1. ]] SLAMing on 387.18463044000003 meters Centerline goodness : 0.299654 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.42, Z:-0.60 [[ 0.95167794 -0.00148268 -0.30709429 -0.71184298] [-0.00288478 0.99990106 -0.01376751 -0.42346659] [ 0.30708432 0.01398813 0.9515795 -0.60099012] [ 0. 0. 0. 1. ]] SLAMing on 387.21463044 meters Centerline goodness : 0.101522 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.42, Z:-0.60 [[ 0.95158137 -0.00175517 -0.30739195 -0.71070162] [-0.00269161 0.99989779 -0.0140416 -0.4224231 ] [ 0.30738517 0.01418911 0.95147939 -0.60109412] [ 0. 0. 0. 1. ]] SLAMing on 387.24463044000004 meters Centerline goodness : 0.303257 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.42, Z:-0.60 [[ 0.95146004 -0.00203201 -0.30776559 -0.70958525] [-0.00247747 0.99989524 -0.01426089 -0.42195513] [ 0.30776232 0.01433114 0.95135533 -0.60102472] [ 0. 0. 0. 1. ]] SLAMing on 387.27463044 meters Centerline goodness : 0.100253 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.59 [[ 0.95140374 -0.0108361 -0.30775559 -0.69042344] [ 0.00693409 0.99988115 -0.01376966 -0.41967454] [ 0.30786822 0.0109665 0.95136581 -0.59382782] [ 0. 0. 0. 1. ]] SLAMing on 387.30463044000004 meters Centerline goodness : 0.305204 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.59 [[ 0.95140459 -0.01080059 -0.30775422 -0.69049318] [ 0.00694727 0.99988319 -0.01361369 -0.42054255] [ 0.30786531 0.01081408 0.95136849 -0.59376383] [ 0. 0. 0. 1. ]] SLAMing on 387.33463044 meters Centerline goodness : 0.151495 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.59 [[ 0.95138778 -0.01072899 -0.30780867 -0.69047178] [ 0.00693626 0.99988598 -0.01341321 -0.42152369] [ 0.30791748 0.01062613 0.95135373 -0.59362143] [ 0. 0. 0. 1. ]] SLAMing on 387.36463044000004 meters Centerline goodness : 0.073954 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.59 [[ 0.95142502 -0.0106804 -0.30769524 -0.69082594] [ 0.00695183 0.99988856 -0.01321132 -0.42290607] [ 0.30780205 0.01043053 0.95139324 -0.59362104] [ 0. 0. 0. 1. ]] SLAMing on 387.39463044 meters Centerline goodness : 0.104265 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.59 [[ 0.95153719 -0.01126437 -0.30732735 -0.69174492] [ 0.00751986 0.9998824 -0.0133656 -0.42518112] [ 0.30744176 0.01040681 0.95150999 -0.59380656] [ 0. 0. 0. 1. ]] SLAMing on 387.42463044 meters Centerline goodness : 0.307297 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.59 [[ 0.95153022 -0.01121719 -0.30735065 -0.69162215] [ 0.00753452 0.99988494 -0.01316601 -0.42665316] [ 0.30746297 0.01021211 0.95150525 -0.59386951] [ 0. 0. 0. 1. ]] SLAMing on 387.45463044 meters Centerline goodness : 0.090177 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.59 [[ 0.95149825 -0.01118299 -0.30745083 -0.69121501] [ 0.00754941 0.99988693 -0.01300525 -0.42801986] [ 0.3075615 0.0100534 0.95147509 -0.59390723] [ 0. 0. 0. 1. ]] SLAMing on 387.48463044 meters Centerline goodness : 0.091401 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.59 [[ 0.95142844 -0.01105242 -0.30767152 -0.69065827] [ 0.0074819 0.99989031 -0.0127822 -0.42930835] [ 0.30777905 0.00985938 0.95140677 -0.59381563] [ 0. 0. 0. 1. ]] SLAMing on 387.51463044 meters Centerline goodness : 0.092557 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.59 [[ 0.95138101 -0.01081102 -0.30782672 -0.69002427] [ 0.00735356 0.99989621 -0.01238964 -0.43166653] [ 0.30792872 0.00952365 0.95136176 -0.59392558] [ 0. 0. 0. 1. ]] SLAMing on 387.54463044 meters Centerline goodness : 0.090500 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.59 [[ 0.95142107 -0.01069163 -0.30770706 -0.69052876] [ 0.00726818 0.99989831 -0.01226958 -0.43213571] [ 0.30780695 0.00943707 0.95140203 -0.59380248] [ 0. 0. 0. 1. ]] SLAMing on 387.57463044 meters Centerline goodness : 0.078789 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95173212 -0.00243075 -0.3069203 -0.71107137] [-0.00159778 0.99991585 -0.0128737 -0.43481764] [ 0.30692577 0.0127427 0.95164815 -0.60134611] [ 0. 0. 0. 1. ]] SLAMing on 387.60463044 meters Centerline goodness : 0.090653 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95165901 -0.0018877 -0.30715073 -0.71061316] [-0.00211235 0.99991725 -0.01269013 -0.43427297] [ 0.30714927 0.01272549 0.95157627 -0.60092674] [ 0. 0. 0. 1. ]] SLAMing on 387.63463044 meters Centerline goodness : 0.464213 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95153284 -0.00168806 -0.30754253 -0.70953914] [-0.00233281 0.99991655 -0.01270608 -0.43350819] [ 0.30753831 0.01280769 0.9514495 -0.60068399] [ 0. 0. 0. 1. ]] SLAMing on 387.66463044 meters Centerline goodness : 0.464213 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95153284 -0.00168806 -0.30754253 -0.70953914] [-0.00233281 0.99991655 -0.01270608 -0.43350819] [ 0.30753831 0.01280769 0.9514495 -0.60068399] [ 0. 0. 0. 1. ]] SLAMing on 387.69463044 meters Centerline goodness : 0.096543 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95144401 -0.00141838 -0.30781857 -0.70923474] [-0.00260754 0.99991637 -0.01266718 -0.43252362] [ 0.3078108 0.01285476 0.95136075 -0.60017477] [ 0. 0. 0. 1. ]] SLAMing on 387.72463044 meters Centerline goodness : 0.090055 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.9513513 -0.00125406 -0.30810571 -0.70887814] [-0.00280706 0.99991494 -0.01273733 -0.43106219] [ 0.30809547 0.01298255 0.95126686 -0.59966817] [ 0. 0. 0. 1. ]] SLAMing on 387.75463044 meters Centerline goodness : 0.294519 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95142192 0.00307055 -0.3078748 -0.70932767] [-0.00630006 0.99993506 -0.0094963 -0.43006885] [ 0.30782565 0.01097462 0.95137949 -0.59982206] [ 0. 0. 0. 1. ]] SLAMing on 387.78463044 meters Centerline goodness : 0.092338 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95153426 0.00316024 -0.30752652 -0.71018915] [-0.00639351 0.99993437 -0.00950688 -0.42949812] [ 0.30747629 0.0110123 0.95149202 -0.59997051] [ 0. 0. 0. 1. ]] SLAMing on 387.81463044000003 meters Centerline goodness : 0.298191 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95162399 0.00311421 -0.30724922 -0.71109568] [-0.00636271 0.99993395 -0.00957172 -0.42936822] [ 0.30719912 0.01106362 0.95158095 -0.59995639] [ 0. 0. 0. 1. ]] SLAMing on 387.84463044 meters Centerline goodness : 0.089287 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95166195 0.00311512 -0.30713162 -0.71142003] [-0.00635815 0.9999341 -0.0095591 -0.42959423] [ 0.3070816 0.01104983 0.95161904 -0.60002383] [ 0. 0. 0. 1. ]] SLAMing on 387.87463044000003 meters Centerline goodness : 0.253628 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95147681 0.00325156 -0.30770327 -0.70950581] [-0.00644251 0.99993549 -0.00935497 -0.43062166] [ 0.307653 0.01088342 0.95143638 -0.60010635] [ 0. 0. 0. 1. ]] SLAMing on 387.90463044 meters Centerline goodness : 0.300666 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.43, Z:-0.60 [[ 0.95134046 0.00338044 -0.3081232 -0.70826852] [-0.00653809 0.99993616 -0.0092162 -0.43104438] [ 0.30807237 0.01078228 0.95130182 -0.60005037] [ 0. 0. 0. 1. ]] SLAMing on 387.93463044000003 meters Centerline goodness : 0.097474 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.43, Z:-0.61 [[ 9.51562131e-01 -3.14628671e-03 -3.07440420e-01 -7.25240804e-01] [ 6.55097203e-04 9.99966117e-01 -8.20586445e-03 -4.26255635e-01] [ 3.07455821e-01 7.60698650e-03 9.51531950e-01 -6.07178378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96463044 meters Centerline goodness : 0.087618 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.43, Z:-0.61 [[ 9.51600499e-01 -3.13937194e-03 -3.07321713e-01 -7.25554032e-01] [ 6.53550887e-04 9.99966238e-01 -8.19124226e-03 -4.26340153e-01] [ 3.07337052e-01 7.59393985e-03 9.51570422e-01 -6.07181041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99463044000004 meters Centerline goodness : 0.476334 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.43, Z:-0.61 [[ 9.51635022e-01 -3.05224702e-03 -3.07215671e-01 -7.26108557e-01] [ 5.77551273e-04 9.99966655e-01 -8.14583194e-03 -4.26046288e-01] [ 3.07230290e-01 7.57442615e-03 9.51605053e-01 -6.06987709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02463044 meters Centerline goodness : 0.100743 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.43, Z:-0.61 [[ 9.51668505e-01 -2.96709945e-03 -3.07112769e-01 -7.26335760e-01] [ 5.02547463e-04 9.99967038e-01 -8.10367822e-03 -4.25644961e-01] [ 3.07126691e-01 7.55767660e-03 9.51638627e-01 -6.07066713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05463044000004 meters Centerline goodness : 0.302028 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.42, Z:-0.61 [[ 9.51596581e-01 -2.99461677e-03 -3.07335289e-01 -7.25392119e-01] [ 4.72529817e-04 9.99965605e-01 -8.28038986e-03 -4.23798725e-01] [ 3.07349515e-01 7.73436559e-03 9.51565266e-01 -6.07196344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08463044 meters Centerline goodness : 0.464763 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.42, Z:-0.61 [[ 9.51490670e-01 -3.11706650e-03 -3.07661810e-01 -7.24249972e-01] [ 5.31232493e-04 9.99963834e-01 -8.48818709e-03 -4.22599754e-01] [ 3.07677141e-01 7.91299087e-03 9.51457914e-01 -6.07189726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11463044000004 meters Centerline goodness : 0.099521 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.42, Z:-0.61 [[ 0.95151519 -0.00960942 -0.30745164 -0.74031116] [ 0.00767123 0.99994236 -0.007512 -0.41556951] [ 0.3075061 0.00478925 0.95153406 -0.61429435] [ 0. 0. 0. 1. ]] SLAMing on 388.14463044 meters Centerline goodness : 0.091926 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.41, Z:-0.61 [[ 0.95144065 -0.00966386 -0.30768051 -0.73972716] [ 0.00766109 0.99994088 -0.00771653 -0.41371744] [ 0.30773689 0.00498465 0.95145844 -0.61413561] [ 0. 0. 0. 1. ]] SLAMing on 388.17463044 meters Centerline goodness : 0.091034 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.41, Z:-0.61 [[ 0.95164729 -0.00589679 -0.30713624 -0.74197178] [ 0.00454912 0.99997663 -0.00510358 -0.40940347] [ 0.30715916 0.00345961 0.95165187 -0.61380938] [ 0. 0. 0. 1. ]] SLAMing on 388.20463044 meters Centerline goodness : 0.099299 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.41, Z:-0.61 [[ 0.95173438 -0.00605518 -0.30686317 -0.74297382] [ 0.00458194 0.99997426 -0.00552114 -0.406403 ] [ 0.3068887 0.00384863 0.95173763 -0.61363373] [ 0. 0. 0. 1. ]] SLAMing on 388.23463044 meters Centerline goodness : 0.302389 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.40, Z:-0.61 [[ 0.95184601 -0.00622902 -0.30651324 -0.74414808] [ 0.0046225 0.99997151 -0.0059669 -0.40322409] [ 0.30654168 0.00426272 0.95184769 -0.61353653] [ 0. 0. 0. 1. ]] SLAMing on 388.26463044 meters Centerline goodness : 0.249796 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.40, Z:-0.61 [[ 0.9519055 -0.00648489 -0.30632313 -0.74491336] [ 0.00473084 0.99996789 -0.00646822 -0.40004614] [ 0.30635524 0.00470797 0.95190561 -0.61334917] [ 0. 0. 0. 1. ]] SLAMing on 388.29463044 meters Centerline goodness : 0.099269 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.39, Z:-0.61 [[ 0.95199891 -0.00323871 -0.30608428 -0.74577081] [ 0.0019712 0.99998816 -0.00445006 -0.39404625] [ 0.30609507 0.0036331 0.95199402 -0.61330267] [ 0. 0. 0. 1. ]] SLAMing on 388.32463044 meters Centerline goodness : 0.311229 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.39, Z:-0.61 [[ 0.95191739 -0.00340222 -0.30633593 -0.74522341] [ 0.00200111 0.99998605 -0.0048877 -0.39057487] [ 0.30634828 0.00403968 0.95191093 -0.61300687] [ 0. 0. 0. 1. ]] SLAMing on 388.35463044 meters Centerline goodness : 0.310951 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.39, Z:-0.61 [[ 0.95190775 -0.00359846 -0.30636366 -0.74509279] [ 0.0020646 0.99998366 -0.00533056 -0.38761554] [ 0.30637784 0.00444168 0.95189962 -0.61296731] [ 0. 0. 0. 1. ]] SLAMing on 388.38463044 meters Centerline goodness : 0.313770 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.38, Z:-0.61 [[ 0.95189045 -0.00387728 -0.306414 -0.74496896] [ 0.00219301 0.99998054 -0.00584079 -0.38455211] [ 0.30643068 0.00488782 0.95188043 -0.61285618] [ 0. 0. 0. 1. ]] SLAMing on 388.41463044 meters Centerline goodness : 0.087239 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.38, Z:-0.61 [[ 9.51992617e-01 -5.35091871e-04 -3.06120515e-01 -7.46290638e-01] [-6.42764060e-04 9.99992774e-01 -3.74687284e-03 -3.78899376e-01] [ 3.06120308e-01 3.76375855e-03 9.51985394e-01 -6.12512930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44463044 meters Centerline goodness : 0.309486 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.38, Z:-0.61 [[ 9.51974839e-01 -5.68212909e-04 -3.06175739e-01 -7.46193529e-01] [-7.17433073e-04 9.99991393e-01 -4.08649705e-03 -3.75688009e-01] [ 3.06175425e-01 4.10990297e-03 9.51966238e-01 -6.12374692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47463044 meters Centerline goodness : 0.311608 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.37, Z:-0.61 [[ 9.52006471e-01 -6.20430967e-04 -3.06077269e-01 -7.46609983e-01] [-7.93185986e-04 9.99989587e-01 -4.49410276e-03 -3.72622108e-01] [ 3.06076870e-01 4.52119110e-03 9.51996065e-01 -6.12353993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50463044 meters Centerline goodness : 0.307793 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.37, Z:-0.61 [[ 9.51987222e-01 -6.94558303e-04 -3.06136973e-01 -7.46764343e-01] [-8.51400388e-04 9.99987552e-01 -4.91633510e-03 -3.69419610e-01] [ 3.06136577e-01 4.94093333e-03 9.51974781e-01 -6.12151123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53463044 meters Centerline goodness : 0.311035 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.36, Z:-0.61 [[ 0.95207276 0.00167324 -0.30586707 -0.74846139] [-0.00308368 0.99998672 -0.00412817 -0.36123249] [ 0.30585611 0.00487351 0.95206528 -0.61218305] [ 0. 0. 0. 1. ]] SLAMing on 388.56463044000003 meters Centerline goodness : 0.306945 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.35, Z:-0.62 [[ 0.95238101 -0.00514603 -0.30486707 -0.76332693] [ 0.00449554 0.99998587 -0.00283565 -0.35243153] [ 0.30487736 0.00133007 0.95239069 -0.61846167] [ 0. 0. 0. 1. ]] SLAMing on 388.59463044 meters Centerline goodness : 0.308763 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.35, Z:-0.62 [[ 0.95234735 -0.00524374 -0.30497054 -0.76301424] [ 0.00448034 0.99998483 -0.00320301 -0.34970461] [ 0.30498271 0.00168401 0.9523564 -0.61842582] [ 0. 0. 0. 1. ]] SLAMing on 388.62463044000003 meters Centerline goodness : 0.304970 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.35, Z:-0.62 [[ 0.95229963 -0.00535767 -0.30511752 -0.76247872] [ 0.00449403 0.99998366 -0.0035328 -0.34731954] [ 0.30513146 0.00199308 0.95230815 -0.61844882] [ 0. 0. 0. 1. ]] SLAMing on 388.65463044 meters Centerline goodness : 0.314147 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95205624 -0.0051568 -0.3058796 -0.75975457] [ 0.00422771 0.99998422 -0.00369981 -0.34390803] [ 0.30589385 0.00222925 0.95206301 -0.61868621] [ 0. 0. 0. 1. ]] SLAMing on 388.68463044000003 meters Centerline goodness : 0.313649 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95193614 -0.00508888 -0.3062543 -0.75841641] [ 0.00415117 0.99998449 -0.00371308 -0.34306278] [ 0.30626844 0.0022633 0.9519425 -0.61877416] [ 0. 0. 0. 1. ]] SLAMing on 388.71463044 meters Centerline goodness : 0.268248 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95185255 -0.00512453 -0.3065134 -0.75773544] [ 0.00416812 0.99998419 -0.00377475 -0.34265797] [ 0.3065279 0.00231542 0.95185886 -0.61861597] [ 0. 0. 0. 1. ]] SLAMing on 388.74463044000004 meters Centerline goodness : 0.315071 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.34, Z:-0.63 [[ 0.95119019 -0.00504193 -0.3085641 -0.79983654] [ 0.00379067 0.99998198 -0.00465441 -0.341374 ] [ 0.30858201 0.00325756 0.95119216 -0.63157414] [ 0. 0. 0. 1. ]] SLAMing on 388.77463044 meters Centerline goodness : 0.252535 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95178207 -0.00559079 -0.30672403 -0.75970818] [ 0.00449957 0.99998078 -0.00426463 -0.34134305] [ 0.30674197 0.00267887 0.95178894 -0.61799423] [ 0. 0. 0. 1. ]] SLAMing on 388.80463044000004 meters Centerline goodness : 0.235695 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95174984 -0.00558961 -0.30682405 -0.75924106] [ 0.00449912 0.9999808 -0.00426129 -0.34133602] [ 0.30684198 0.00267524 0.95175671 -0.61805472] [ 0. 0. 0. 1. ]] SLAMing on 388.83463044 meters Centerline goodness : 0.301209 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95171538 -0.00554707 -0.30693168 -0.75870514] [ 0.00447449 0.99998118 -0.0041981 -0.3415746 ] [ 0.30694919 0.00262203 0.95172229 -0.6181795 ] [ 0. 0. 0. 1. ]] SLAMing on 388.86463044000004 meters Centerline goodness : 0.239990 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95173011 -0.00537955 -0.306889 -0.75873872] [ 0.00436192 0.99998248 -0.00400174 -0.34216021] [ 0.30690515 0.00246995 0.9517369 -0.61821553] [ 0. 0. 0. 1. ]] SLAMing on 388.89463044 meters Centerline goodness : 0.112729 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.34, Z:-0.62 [[ 0.95169498 -0.00534031 -0.30699862 -0.75845463] [ 0.00432842 0.99998272 -0.00397683 -0.34233229] [ 0.30701455 0.00245591 0.95170165 -0.61813209] [ 0. 0. 0. 1. ]] SLAMing on 388.92463044 meters Centerline goodness : 0.305220 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.35, Z:-0.61 [[ 9.51426929e-01 9.49640910e-04 -3.07873183e-01 -7.39709562e-01] [-2.63225003e-03 9.99983784e-01 -5.05002755e-03 -3.46955333e-01] [ 3.07863395e-01 5.61513140e-03 9.51414001e-01 -6.10683795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95463044 meters Centerline goodness : 0.307712 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.34, Z:-0.62 [[ 0.95098699 -0.00795171 -0.30912863 -0.75253281] [ 0.00708713 0.9999672 -0.00391965 -0.34333244] [ 0.30914966 0.0015367 0.95101216 -0.61569991] [ 0. 0. 0. 1. ]] SLAMing on 388.98463044 meters Centerline goodness : 0.308245 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.35, Z:-0.62 [[ 0.95099726 -0.00759176 -0.30910609 -0.75264083] [ 0.00685988 0.9999705 -0.00345451 -0.34557417] [ 0.3091232 0.0011648 0.95102129 -0.61564578] [ 0. 0. 0. 1. ]] SLAMing on 389.01463044 meters Centerline goodness : 0.281945 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.35, Z:-0.62 [[ 9.51122461e-01 -7.43451511e-03 -3.08724461e-01 -7.53736848e-01] [ 6.77717599e-03 9.99971910e-01 -3.20150198e-03 -3.47116804e-01] [ 3.08739591e-01 9.52740432e-04 9.51146128e-01 -6.15666668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04463044 meters Centerline goodness : 0.261122 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.35, Z:-0.62 [[ 9.51189931e-01 -7.27545618e-03 -3.08520312e-01 -7.54590666e-01] [ 6.70006113e-03 9.99973278e-01 -2.92438144e-03 -3.48985126e-01] [ 3.08533344e-01 7.14537228e-04 9.51213259e-01 -6.15427842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07463044 meters Centerline goodness : 0.468572 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.35, Z:-0.62 [[ 9.51154638e-01 -6.84821863e-03 -3.08638878e-01 -7.54556003e-01] [ 6.46353730e-03 9.99976537e-01 -2.26878246e-03 -3.53264091e-01] [ 3.08647174e-01 1.63064060e-04 9.51176585e-01 -6.15159016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10463044 meters Centerline goodness : 0.093193 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.36, Z:-0.62 [[ 9.51043871e-01 -6.50141287e-03 -3.08987518e-01 -7.53112249e-01] [ 6.25296902e-03 9.99978840e-01 -1.79433603e-03 -3.55702544e-01] [ 3.08992645e-01 -2.25597090e-04 9.51064401e-01 -6.15333869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13463044 meters Centerline goodness : 0.244536 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.36, Z:-0.62 [[ 9.51003572e-01 -6.18002196e-03 -3.09118124e-01 -7.52377224e-01] [ 6.07037863e-03 9.99980708e-01 -1.31649020e-03 -3.58407250e-01] [ 3.09120296e-01 -6.24477166e-04 9.51022740e-01 -6.15520556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16463044 meters Centerline goodness : 0.300622 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.37, Z:-0.62 [[ 9.51136010e-01 -5.63957136e-03 -3.08720724e-01 -7.53512673e-01] [ 5.77138343e-03 9.99983227e-01 -4.86219909e-04 -3.65020619e-01] [ 3.08718288e-01 -1.31928440e-03 9.51152605e-01 -6.15560989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.19463044 meters Centerline goodness : 0.313428 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.37, Z:-0.62 [[ 9.51179524e-01 -5.30823854e-03 -3.08592506e-01 -7.54043807e-01] [ 5.57758867e-03 9.99984445e-01 -9.29326041e-06 -3.68016428e-01] [ 3.08587755e-01 -1.71236251e-03 9.51194336e-01 -6.15374563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22463044 meters Centerline goodness : 0.312798 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.37, Z:-0.62 [[ 9.51228003e-01 -4.99817434e-03 -3.08448220e-01 -7.54360249e-01] [ 5.40153717e-03 9.99985309e-01 4.53860642e-04 -3.70657621e-01] [ 3.08441420e-01 -2.09781948e-03 9.51241026e-01 -6.15444971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.25463044 meters Centerline goodness : 0.099054 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.38, Z:-0.61 [[ 9.50663373e-01 1.01039310e-03 -3.10222712e-01 -7.37576132e-01] [-1.14803929e-03 9.99999307e-01 -2.61123723e-04 -3.78277123e-01] [ 3.10222233e-01 6.04388623e-04 9.50663874e-01 -6.07745444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28463044 meters Centerline goodness : 0.095906 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.38, Z:-0.61 [[ 9.50599272e-01 1.35000094e-03 -3.10417785e-01 -7.36504471e-01] [-1.35236331e-03 9.99999064e-01 2.07604381e-04 -3.80829179e-01] [ 3.10417774e-01 2.22449050e-04 9.50600208e-01 -6.08072768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.31463044000003 meters Centerline goodness : 0.095416 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.61 [[ 9.50624800e-01 2.03154507e-03 -3.10335886e-01 -7.36087310e-01] [-1.77725216e-03 9.99997813e-01 1.10216273e-03 -3.85694272e-01] [ 3.10337446e-01 -4.96198103e-04 9.50626332e-01 -6.08548422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34463044 meters Centerline goodness : 0.312204 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.61 [[ 9.50720530e-01 2.24837735e-03 -3.10040994e-01 -7.36910162e-01] [-1.90213443e-03 9.99997184e-01 1.41907933e-03 -3.87512493e-01] [ 3.10043312e-01 -7.59408202e-04 9.50722130e-01 -6.08587367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.37463044000003 meters Centerline goodness : 0.310364 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.61 [[ 9.50797634e-01 2.42274058e-03 -3.09803145e-01 -7.37845764e-01] [-2.00647857e-03 9.99996605e-01 1.66227259e-03 -3.88996503e-01] [ 3.09806121e-01 -9.58871470e-04 9.50799268e-01 -6.08415074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40463044 meters Centerline goodness : 0.309042 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.61 [[ 0.95082207 0.00283011 -0.3097247 -0.73818373] [-0.00229047 0.99999516 0.00210597 -0.39102485] [ 0.30972916 -0.00129299 0.95082395 -0.60835838] [ 0. 0. 0. 1. ]] SLAMing on 389.43463044000003 meters Centerline goodness : 0.102696 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.61 [[ 0.950788 0.00293202 -0.30982832 -0.73779052] [-0.00235591 0.99999473 0.00223363 -0.39184414] [ 0.30983323 -0.00139378 0.9507899 -0.60838822] [ 0. 0. 0. 1. ]] SLAMing on 389.46463044 meters Centerline goodness : 0.289370 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.61 [[ 0.95078429 0.0030091 -0.30983896 -0.73756146] [-0.0023962 0.99999435 0.00235866 -0.39285414] [ 0.30984431 -0.00150014 0.95078613 -0.60849938] [ 0. 0. 0. 1. ]] SLAMing on 389.49463044000004 meters Centerline goodness : 0.309258 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.61 [[ 0.95079049 0.00309422 -0.3098191 -0.73745079] [-0.00243361 0.99999387 0.00251871 -0.39404684] [ 0.30982499 -0.00164079 0.95079219 -0.60860783] [ 0. 0. 0. 1. ]] SLAMing on 389.52463044 meters Centerline goodness : 0.308381 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.40, Z:-0.61 [[ 0.95081108 0.0034983 -0.30975159 -0.73752563] [-0.00268797 0.99999176 0.00304281 -0.3966249 ] [ 0.30975968 -0.00206053 0.95081265 -0.60870972] [ 0. 0. 0. 1. ]] SLAMing on 389.55463044000004 meters Centerline goodness : 0.316096 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.40, Z:-0.61 [[ 0.95074821 0.00368404 -0.30994237 -0.7370949 ] [-0.00278326 0.99999052 0.00334843 -0.39844915] [ 0.30995177 -0.00232086 0.95074945 -0.60851083] [ 0. 0. 0. 1. ]] SLAMing on 389.58463044 meters Centerline goodness : 0.087820 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.40, Z:-0.61 [[ 0.95068633 0.00379159 -0.31013082 -0.73631027] [-0.00281149 0.99998954 0.00360719 -0.40065666] [ 0.31014126 -0.00255738 0.95068705 -0.60859713] [ 0. 0. 0. 1. ]] SLAMing on 389.61463044000004 meters Centerline goodness : 0.087820 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.40, Z:-0.61 [[ 0.95068633 0.00379159 -0.31013082 -0.73631027] [-0.00281149 0.99998954 0.00360719 -0.40065666] [ 0.31014126 -0.00255738 0.95068705 -0.60859713] [ 0. 0. 0. 1. ]] SLAMing on 389.64463044 meters Centerline goodness : 0.314149 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.40, Z:-0.61 [[ 0.950608 0.00382924 -0.31037038 -0.73552368] [-0.00278049 0.99998883 0.00382136 -0.40301695] [ 0.31038154 -0.00276963 0.95060803 -0.60857759] [ 0. 0. 0. 1. ]] SLAMing on 389.67463044 meters Centerline goodness : 0.305858 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.41, Z:-0.61 [[ 0.95045036 0.00403272 -0.31085022 -0.73314973] [-0.00287229 0.99998709 0.00419075 -0.40604635] [ 0.31086311 -0.00309024 0.95044967 -0.6091396 ] [ 0. 0. 0. 1. ]] SLAMing on 389.70463044 meters Centerline goodness : 0.314816 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.41, Z:-0.62 [[ 0.94979369 0.00494304 -0.31283782 -0.7750035 ] [-0.00367005 0.99998242 0.00465786 -0.40884579] [ 0.31285535 -0.00327588 0.94979514 -0.62308342] [ 0. 0. 0. 1. ]] SLAMing on 389.73463044 meters Centerline goodness : 0.103817 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.94979627 0.00526489 -0.31282474 -0.77470157] [-0.00391101 0.99998007 0.00495525 -0.40962349] [ 0.3128446 -0.00348301 0.94979794 -0.62331498] [ 0. 0. 0. 1. ]] SLAMing on 389.76463044 meters Centerline goodness : 0.306008 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.94977172 0.00515839 -0.31290104 -0.7744465 ] [-0.00383347 0.99998089 0.00484936 -0.40972337] [ 0.31292008 -0.00340629 0.94977335 -0.62330741] [ 0. 0. 0. 1. ]] SLAMing on 389.79463044 meters Centerline goodness : 0.304432 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.9496951 0.00513648 -0.31313389 -0.77373587] [-0.00382165 0.99998112 0.00481259 -0.40981217] [ 0.3131527 -0.00337381 0.9496968 -0.62327133] [ 0. 0. 0. 1. ]] SLAMing on 389.82463044 meters Centerline goodness : 0.531633 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.94961354 0.00525035 -0.31337925 -0.77306968] [-0.00390955 0.99998032 0.00490679 -0.40984458] [ 0.31339884 -0.00343438 0.94961538 -0.62317628] [ 0. 0. 0. 1. ]] SLAMing on 389.85463044 meters Centerline goodness : 0.276510 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.94953206 0.00550212 -0.31362173 -0.77187705] [-0.00408744 0.99997829 0.00516818 -0.41037975] [ 0.31364336 -0.00362545 0.94953394 -0.62343206] [ 0. 0. 0. 1. ]] SLAMing on 389.88463044 meters Centerline goodness : 0.095471 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.94953634 0.00540507 -0.31361045 -0.77191408] [-0.00397982 0.99997864 0.00518467 -0.41123928] [ 0.31363178 -0.00367491 0.94953757 -0.62333834] [ 0. 0. 0. 1. ]] SLAMing on 389.91463044 meters Centerline goodness : 0.089912 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.9495802 0.00531373 -0.31347919 -0.77245833] [-0.00386084 0.99997874 0.00525534 -0.41247588] [ 0.31350045 -0.00378007 0.94958053 -0.62313379] [ 0. 0. 0. 1. ]] SLAMing on 389.94463044 meters Centerline goodness : 0.266201 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.41, Z:-0.62 [[ 0.94965125 0.00524103 -0.31326512 -0.77345364] [-0.00374787 0.99997857 0.00536844 -0.41384522] [ 0.31328655 -0.00392406 0.94965054 -0.62281247] [ 0. 0. 0. 1. ]] SLAMing on 389.97463044 meters Centerline goodness : 0.238711 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.42, Z:-0.62 [[ 9.49761494e-01 1.27642857e-03 -3.12972003e-01 -7.74841420e-01] [-5.15884931e-04 9.99996710e-01 2.51286606e-03 -4.15910617e-01] [ 3.12974181e-01 -2.22516589e-03 9.49759028e-01 -6.22419809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00463044 meters Centerline goodness : 0.094379 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.42, Z:-0.62 [[ 9.49754258e-01 1.19143951e-03 -3.12994298e-01 -7.74659666e-01] [-3.72121457e-04 9.99996347e-01 2.67740091e-03 -4.18084473e-01] [ 3.12996344e-01 -2.42640102e-03 9.49751231e-01 -6.22421399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03463044 meters Centerline goodness : 0.310332 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.42, Z:-0.62 [[ 9.49724537e-01 1.12237093e-03 -3.13084723e-01 -7.74287863e-01] [-2.29290135e-04 9.99995800e-01 2.88932574e-03 -4.20636210e-01] [ 3.13086651e-01 -2.67227631e-03 9.49720805e-01 -6.22394474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06463044000003 meters Centerline goodness : 0.310635 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.43, Z:-0.62 [[ 9.49716938e-01 1.09005955e-03 -3.13107886e-01 -7.74343235e-01] [-6.42951885e-05 9.99994598e-01 3.28637981e-03 -4.26130308e-01] [ 3.13109777e-01 -3.10099924e-03 9.49711878e-01 -6.22124303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09463044 meters Centerline goodness : 0.309895 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.43, Z:-0.62 [[ 9.49696304e-01 1.33522346e-03 -3.13169519e-01 -7.74328472e-01] [-1.97911977e-04 9.99993270e-01 3.66337761e-03 -4.27941009e-01] [ 3.13172303e-01 -3.41711618e-03 9.49690177e-01 -6.21918642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12463044000003 meters Centerline goodness : 0.309865 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.43, Z:-0.62 [[ 9.49705761e-01 1.54826665e-03 -3.13139856e-01 -7.74510625e-01] [-3.16430552e-04 9.99992011e-01 3.98460414e-03 -4.29629759e-01] [ 3.13143524e-01 -3.68511449e-03 9.49698664e-01 -6.21746855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15463044 meters Centerline goodness : 0.310050 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.43, Z:-0.62 [[ 9.49793510e-01 1.64895284e-03 -3.12873089e-01 -7.75692636e-01] [-3.27796950e-04 9.99990808e-01 4.27521034e-03 -4.32590860e-01] [ 3.12877262e-01 -3.95800819e-03 9.49785319e-01 -6.21463450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18463044000003 meters Centerline goodness : 0.240359 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.43, Z:-0.62 [[ 9.49831406e-01 1.72970888e-03 -3.12757587e-01 -7.76162542e-01] [-3.53416656e-04 9.99990004e-01 4.45714321e-03 -4.34101309e-01] [ 3.12762170e-01 -4.12300086e-03 9.49822523e-01 -6.21332319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21463044 meters Centerline goodness : 0.310102 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 9.49836707e-01 1.88343629e-03 -3.12740599e-01 -7.76073011e-01] [-4.41789890e-04 9.99988949e-01 4.68051549e-03 -4.35550638e-01] [ 3.12745959e-01 -4.30755978e-03 9.49827042e-01 -6.21397754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24463044000004 meters Centerline goodness : 0.093489 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 9.49782257e-01 2.12942021e-03 -3.12904346e-01 -7.75589738e-01] [-6.08694641e-04 9.99987526e-01 4.95763736e-03 -4.36707631e-01] [ 3.12911000e-01 -4.51821281e-03 9.49771705e-01 -6.21346913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27463044 meters Centerline goodness : 0.089591 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 9.49684197e-01 2.48921704e-03 -3.13199186e-01 -7.75060745e-01] [-8.71209711e-04 9.99985544e-01 5.30591085e-03 -4.38068073e-01] [ 3.13207866e-01 -4.76607751e-03 9.49672637e-01 -6.20992293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30463044000004 meters Centerline goodness : 0.097994 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 9.49654512e-01 2.60642478e-03 -3.13288229e-01 -7.74870218e-01] [-9.52302544e-04 9.99984789e-01 5.43278222e-03 -4.38662601e-01] [ 3.13297624e-01 -4.86092097e-03 9.49642549e-01 -6.20916699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33463044 meters Centerline goodness : 0.090470 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94966253 0.00274273 -0.31326277 -0.77476175] [-0.00105375 0.99998398 0.00556077 -0.43928586] [ 0.313273 -0.00495075 0.94965021 -0.620999 ] [ 0. 0. 0. 1. ]] SLAMing on 390.36463044000004 meters Centerline goodness : 0.455060 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94967155 0.00288473 -0.31323415 -0.77480711] [-0.00114745 0.99998292 0.00573045 -0.44022108] [ 0.31324533 -0.00508263 0.94965864 -0.62103528] [ 0. 0. 0. 1. ]] SLAMing on 390.39463044 meters Centerline goodness : 0.088843 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94965972 0.00306654 -0.31326828 -0.77479355] [-0.00127382 0.99998162 0.00592715 -0.4415739 ] [ 0.3132807 -0.00522973 0.94964617 -0.62095027] [ 0. 0. 0. 1. ]] SLAMing on 390.42463044 meters Centerline goodness : 0.290586 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94963873 0.0031197 -0.31333138 -0.7748137 ] [-0.00130642 0.99998117 0.0059969 -0.44217044] [ 0.31334419 -0.00528555 0.94962492 -0.62076531] [ 0. 0. 0. 1. ]] SLAMing on 390.45463044 meters Centerline goodness : 0.088685 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94963977 0.00318746 -0.31332753 -0.77496849] [-0.00136765 0.9999809 0.00602763 -0.44222119] [ 0.31334076 -0.00529555 0.94962599 -0.62065589] [ 0. 0. 0. 1. ]] SLAMing on 390.48463044 meters Centerline goodness : 0.313272 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 0.94968269 0.00345361 -0.31319461 -0.77578326] [-0.0016046 0.99997973 0.00616127 -0.44201637] [ 0.31320954 -0.00534869 0.94966898 -0.62036981] [ 0. 0. 0. 1. ]] SLAMing on 390.51463044 meters Centerline goodness : 0.088476 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 0.94969952 0.00351819 -0.31314286 -0.77571435] [-0.00166704 0.99997952 0.00617908 -0.44192097] [ 0.31315819 -0.00534625 0.94968593 -0.62059421] [ 0. 0. 0. 1. ]] SLAMing on 390.54463044 meters Centerline goodness : 0.088909 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 0.94964714 0.00356035 -0.31330118 -0.77531613] [-0.00170815 0.99997941 0.00618617 -0.44191262] [ 0.31331675 -0.00533951 0.94963367 -0.62050372] [ 0. 0. 0. 1. ]] SLAMing on 390.57463044 meters Centerline goodness : 0.277890 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94954761 0.00346762 -0.31360375 -0.77436974] [-0.00164991 0.99998027 0.00606142 -0.44165812] [ 0.31361858 -0.00523819 0.94953459 -0.62050404] [ 0. 0. 0. 1. ]] SLAMing on 390.60463044 meters Centerline goodness : 0.097007 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94949899 0.003373 -0.31375195 -0.77386543] [-0.00157931 0.99998093 0.0059709 -0.4415739 ] [ 0.3137661 -0.00517385 0.94948621 -0.62049917] [ 0. 0. 0. 1. ]] SLAMing on 390.63463044 meters Centerline goodness : 0.297163 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.949469 0.00330212 -0.31384344 -0.77358614] [-0.00152066 0.99998131 0.00592092 -0.44161589] [ 0.31385713 -0.00514448 0.94945629 -0.6204795 ] [ 0. 0. 0. 1. ]] SLAMing on 390.66463044 meters Centerline goodness : 0.091776 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94936037 0.00330657 -0.31417184 -0.77281132] [-0.00149557 0.99998085 0.00600522 -0.44216667] [ 0.31418568 -0.00523125 0.94934714 -0.62025123] [ 0. 0. 0. 1. ]] SLAMing on 390.69463044 meters Centerline goodness : 0.088435 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94933185 0.00333146 -0.31425776 -0.77282081] [-0.00149108 0.9999803 0.00609648 -0.44269574] [ 0.31427188 -0.005319 0.94931812 -0.61999602] [ 0. 0. 0. 1. ]] SLAMing on 390.72463044 meters Centerline goodness : 0.097076 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94935233 0.00334475 -0.31419575 -0.77324844] [-0.00147524 0.99997977 0.00618774 -0.44341967] [ 0.31421009 -0.00541084 0.94933805 -0.61975165] [ 0. 0. 0. 1. ]] SLAMing on 390.75463044 meters Centerline goodness : 0.088528 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.62 [[ 0.94934949 0.00327684 -0.31420505 -0.77370618] [-0.00138094 0.99997948 0.00625636 -0.44454792] [ 0.31421911 -0.00550557 0.94933453 -0.61930235] [ 0. 0. 0. 1. ]] SLAMing on 390.78463044 meters Centerline goodness : 0.307380 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.62 [[ 0.94934718 0.00333667 -0.3142114 -0.77395784] [-0.00139858 0.99997858 0.00639334 -0.44541827] [ 0.314226 -0.00563006 0.94933151 -0.61904441] [ 0. 0. 0. 1. ]] SLAMing on 390.81463044000003 meters Centerline goodness : 0.296574 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.62 [[ 0.94933741 0.00339309 -0.31424031 -0.77404453] [-0.00140754 0.99997759 0.00654528 -0.44667971] [ 0.31425548 -0.00577137 0.94932091 -0.61888574] [ 0. 0. 0. 1. ]] SLAMing on 390.84463044 meters Centerline goodness : 0.313702 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.62 [[ 0.94929763 0.00339376 -0.31436044 -0.77383154] [-0.00136712 0.99997684 0.0066671 -0.44811597] [ 0.31437578 -0.00589929 0.94928029 -0.61872046] [ 0. 0. 0. 1. ]] SLAMing on 390.87463044000003 meters Centerline goodness : 0.094116 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.62 [[ 0.94914054 0.00343428 -0.31483399 -0.77266862] [-0.0012982 0.9999747 0.00699421 -0.45177439] [ 0.31485004 -0.00622977 0.94912098 -0.61831999] [ 0. 0. 0. 1. ]] SLAMing on 390.90463044 meters Centerline goodness : 0.088946 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.62 [[ 0.94904089 0.00348951 -0.31513366 -0.77197307] [-0.0012928 0.99997339 0.00717947 -0.45356833] [ 0.31515032 -0.00640621 0.94902014 -0.61806629] [ 0. 0. 0. 1. ]] SLAMing on 390.93463044000003 meters Centerline goodness : 0.091079 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94902951 0.00361327 -0.31516651 -0.77173358] [-0.0013498 0.99997171 0.00739978 -0.45508037] [ 0.31518433 -0.00659719 0.94900754 -0.61815736] [ 0. 0. 0. 1. ]] SLAMing on 390.96463044 meters Centerline goodness : 0.050313 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94921403 0.00404261 -0.31460513 -0.77339854] [-0.00162163 0.99996703 0.00795665 -0.45793547] [ 0.31462692 -0.00704239 0.94918929 -0.61812479] [ 0. 0. 0. 1. ]] SLAMing on 390.99463044000004 meters Centerline goodness : 0.087040 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94930088 0.00416271 -0.31434138 -0.77445119] [-0.00169362 0.99996554 0.00812749 -0.4591018 ] [ 0.31436438 -0.00718306 0.94927522 -0.61793199] [ 0. 0. 0. 1. ]] SLAMing on 391.02463044 meters Centerline goodness : 0.322234 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94932106 0.00420473 -0.31427988 -0.77480594] [-0.00169761 0.99996452 0.00825062 -0.46034991] [ 0.31430342 -0.00729897 0.94929452 -0.61779846] [ 0. 0. 0. 1. ]] SLAMing on 391.05463044000004 meters Centerline goodness : 0.324348 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94926041 0.00426008 -0.31446228 -0.77410862] [-0.00172068 0.99996364 0.00835254 -0.46130628] [ 0.31448643 -0.00738765 0.94923322 -0.61788948] [ 0. 0. 0. 1. ]] SLAMing on 391.08463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 391.11463044000004 meters Centerline goodness : 0.087926 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94897251 0.0048415 -0.31532163 -0.77127551] [-0.00222245 0.99995999 0.00866501 -0.46172127] [ 0.31535097 -0.00752207 0.9489453 -0.61805029] [ 0. 0. 0. 1. ]] SLAMing on 391.14463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 391.17463044 meters Centerline goodness : 0.326423 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94918941 0.0052244 -0.31466199 -0.77467927] [-0.00250163 0.99995586 0.00905622 -0.46301672] [ 0.31469542 -0.0078089 0.94916059 -0.61709469] [ 0. 0. 0. 1. ]] SLAMing on 391.20463044 meters Centerline goodness : 0.324673 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.62 [[ 0.94915367 0.00545142 -0.31476595 -0.77492999] [-0.00264055 0.99995275 0.00935577 -0.46413257] [ 0.31480208 -0.00804891 0.94912321 -0.61657218] [ 0. 0. 0. 1. ]] SLAMing on 391.23463044 meters Centerline goodness : 0.092895 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.62 [[ 0.94913381 0.00553942 -0.31482427 -0.77478362] [-0.00267142 0.99995092 0.00954061 -0.46529618] [ 0.31486167 -0.00821429 0.94910202 -0.61649064] [ 0. 0. 0. 1. ]] SLAMing on 391.26463044 meters Centerline goodness : 0.089287 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.62 [[ 0.94907977 0.00551703 -0.31498754 -0.77422713] [-0.00260825 0.99994998 0.00965534 -0.46676245] [ 0.31502506 -0.00834212 0.94904669 -0.61643572] [ 0. 0. 0. 1. ]] SLAMing on 391.29463044 meters Centerline goodness : 0.098606 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.62 [[ 9.49317005e-01 2.77078081e-03 -3.14308045e-01 -7.77086200e-01] [-3.74781303e-04 9.99970413e-01 7.68326680e-03 -4.69606945e-01] [ 3.14320034e-01 -7.17605905e-03 9.49289956e-01 -6.16176931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32463044 meters Centerline goodness : 0.094794 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.62 [[ 9.49332604e-01 2.81708179e-03 -3.14260516e-01 -7.77266258e-01] [-3.85274837e-04 9.99969505e-01 7.80003150e-03 -4.70396729e-01] [ 3.14272906e-01 -7.28374755e-03 9.49304739e-01 -6.16159398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35463044 meters Centerline goodness : 0.088680 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.62 [[ 9.49276829e-01 2.95792165e-03 -3.14427658e-01 -7.76737817e-01] [-4.82991792e-04 9.99968291e-01 7.94883933e-03 -4.70693749e-01] [ 3.14441200e-01 -7.39378302e-03 9.49248157e-01 -6.16103493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38463044 meters Centerline goodness : 0.087555 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.62 [[ 9.49204030e-01 3.10448016e-03 -3.14645946e-01 -7.75789651e-01] [-5.88069582e-04 9.99967085e-01 8.09220646e-03 -4.70895011e-01] [ 3.14660712e-01 -7.49612127e-03 9.49174612e-01 -6.16272260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41463044 meters Centerline goodness : 0.088911 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.62 [[ 9.49028047e-01 2.99108698e-03 -3.15177442e-01 -7.74038331e-01] [-4.71195842e-04 9.99967318e-01 8.07104450e-03 -4.71750919e-01] [ 3.15191282e-01 -7.51113730e-03 9.48998440e-01 -6.16238385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44463044 meters Centerline goodness : 0.094278 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.62 [[ 9.48983546e-01 2.95536510e-03 -3.15311742e-01 -7.73648889e-01] [-4.09984733e-04 9.99966797e-01 8.13860657e-03 -4.72888553e-01] [ 3.15325325e-01 -7.59413073e-03 9.48953249e-01 -6.16176965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47463044 meters Centerline goodness : 0.094278 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.62 [[ 9.48983546e-01 2.95536510e-03 -3.15311742e-01 -7.73648889e-01] [-4.09984733e-04 9.99966797e-01 8.13860657e-03 -4.72888553e-01] [ 3.15325325e-01 -7.59413073e-03 9.48953249e-01 -6.16176965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50463044 meters Centerline goodness : 0.096727 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.62 [[ 9.48935136e-01 3.00374680e-03 -3.15456946e-01 -7.73496010e-01] [-4.17920683e-04 9.99965762e-01 8.26440620e-03 -4.73811466e-01] [ 3.15470969e-01 -7.71054944e-03 9.48903902e-01 -6.15903398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53463044 meters Centerline goodness : 0.088373 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94915727 0.00804399 -0.31469949 -0.75235201] [-0.00651877 0.99996135 0.00589877 -0.47539963] [ 0.31473478 -0.00354741 0.94917303 -0.6092574 ] [ 0. 0. 0. 1. ]] SLAMing on 391.56463044000003 meters Centerline goodness : 0.327660 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94912955 0.00796248 -0.31478515 -0.75204088] [-0.00643385 0.99996193 0.00589489 -0.47621171] [ 0.3148201 -0.00356973 0.94914465 -0.60923715] [ 0. 0. 0. 1. ]] SLAMing on 391.59463044 meters Centerline goodness : 0.088608 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.9491082 0.00788048 -0.31485158 -0.751888 ] [-0.00634231 0.99996243 0.00590962 -0.47711952] [ 0.31488632 -0.00361198 0.94912252 -0.60917513] [ 0. 0. 0. 1. ]] SLAMing on 391.62463044000003 meters Centerline goodness : 0.470102 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94903335 0.00802922 -0.31507337 -0.75144182] [-0.00633696 0.99995947 0.00639502 -0.48053191] [ 0.31511195 -0.00407248 0.94904577 -0.60888617] [ 0. 0. 0. 1. ]] SLAMing on 391.65463044 meters Centerline goodness : 0.221233 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94896851 0.00808855 -0.31526709 -0.75077665] [-0.0063168 0.999958 0.00664126 -0.48241585] [ 0.31530756 -0.00431086 0.94897975 -0.60882486] [ 0. 0. 0. 1. ]] SLAMing on 391.68463044000003 meters Centerline goodness : 0.099507 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94891341 0.00815057 -0.3154313 -0.75032778] [-0.00630326 0.99995649 0.0068762 -0.48446833] [ 0.31547362 -0.00453667 0.9489235 -0.60867499] [ 0. 0. 0. 1. ]] SLAMing on 391.71463044 meters Centerline goodness : 0.328947 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94884486 0.00810952 -0.31563851 -0.74977207] [-0.00623153 0.99995637 0.00695864 -0.48588535] [ 0.31568117 -0.00463576 0.948854 -0.60854544] [ 0. 0. 0. 1. ]] SLAMing on 391.74463044000004 meters Centerline goodness : 0.324627 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94870873 0.00835023 -0.31604116 -0.74870404] [-0.00641235 0.99995373 0.00717119 -0.48650031] [ 0.31608642 -0.0047768 0.94871838 -0.60830804] [ 0. 0. 0. 1. ]] SLAMing on 391.77463044 meters Centerline goodness : 0.083962 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94866429 0.00848987 -0.31617082 -0.7481588 ] [-0.00654874 0.99995262 0.00720151 -0.48580121] [ 0.31621698 -0.0047613 0.94867495 -0.6084175 ] [ 0. 0. 0. 1. ]] SLAMing on 391.80463044000004 meters Centerline goodness : 0.321745 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94865609 0.00849754 -0.31619522 -0.74805033] [-0.00658812 0.99995304 0.00710728 -0.48500594] [ 0.31624077 -0.00465923 0.94866752 -0.60842526] [ 0. 0. 0. 1. ]] SLAMing on 391.83463044 meters Centerline goodness : 0.326752 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94867977 0.00842937 -0.316126 -0.74827815] [-0.00657478 0.99995435 0.00693277 -0.4841651 ] [ 0.31617001 -0.00449852 0.94869188 -0.6084271 ] [ 0. 0. 0. 1. ]] SLAMing on 391.86463044000004 meters Centerline goodness : 0.325740 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94883986 0.00829739 -0.31564865 -0.74992746] [-0.00654588 0.99995674 0.00660873 -0.4823584 ] [ 0.31568983 -0.00420443 0.94885313 -0.60837005] [ 0. 0. 0. 1. ]] SLAMing on 391.89463044 meters Centerline goodness : 0.088287 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94881179 0.00826616 -0.31573384 -0.74958749] [-0.00654043 0.99995732 0.00652501 -0.48175622] [ 0.3157743 -0.00412597 0.94882536 -0.60843333] [ 0. 0. 0. 1. ]] SLAMing on 391.92463044 meters Centerline goodness : 0.314734 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94872985 0.00827189 -0.31597983 -0.74872303] [-0.00654767 0.99995732 0.00651803 -0.48165362] [ 0.31602026 -0.00411491 0.94874352 -0.6084645 ] [ 0. 0. 0. 1. ]] SLAMing on 391.95463044 meters Centerline goodness : 0.314936 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94861493 0.00840828 -0.31632107 -0.74831669] [-0.00658552 0.99995498 0.00683097 -0.48357378] [ 0.31636427 -0.00439682 0.9486276 -0.60785005] [ 0. 0. 0. 1. ]] SLAMing on 391.98463044 meters Centerline goodness : 0.088508 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94863314 0.00847406 -0.31626471 -0.74892489] [-0.00657619 0.9999534 0.00706773 -0.48536546] [ 0.31630986 -0.00462486 0.94864466 -0.60746539] [ 0. 0. 0. 1. ]] SLAMing on 392.01463044 meters Centerline goodness : 0.313654 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94867579 0.00472939 -0.31621494 -0.74950078] [-0.00358836 0.99998478 0.0041906 -0.48628677] [ 0.31622995 -0.00284083 0.94867832 -0.60711946] [ 0. 0. 0. 1. ]] SLAMing on 392.04463044 meters Centerline goodness : 0.319296 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94862345 0.00477607 -0.3163712 -0.74904388] [-0.00355367 0.99998383 0.00444068 -0.48863799] [ 0.31638729 -0.00308825 0.94862508 -0.60699581] [ 0. 0. 0. 1. ]] SLAMing on 392.07463044 meters Centerline goodness : 0.315213 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.9486069 0.00480921 -0.31642032 -0.74892782] [-0.00351904 0.999983 0.00464872 -0.49071417] [ 0.3164373 -0.00329631 0.9486077 -0.60688374] [ 0. 0. 0. 1. ]] SLAMing on 392.10463044 meters Centerline goodness : 0.321135 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94899092 0.00266236 -0.31529216 -0.75382058] [-0.00171448 0.99999314 0.00328368 -0.49497341] [ 0.31529874 -0.00257563 0.94898897 -0.60627173] [ 0. 0. 0. 1. ]] SLAMing on 392.13463044 meters Centerline goodness : 0.322521 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94902312 0.00281421 -0.31519392 -0.75455268] [-0.00179407 0.99999217 0.00352664 -0.49641343] [ 0.31520137 -0.00278139 0.94902074 -0.60589036] [ 0. 0. 0. 1. ]] SLAMing on 392.16463044 meters Centerline goodness : 0.328687 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94900047 0.00301934 -0.31526019 -0.75465928] [-0.00192185 0.99999096 0.00379204 -0.49764657] [ 0.31526879 -0.00299277 0.9489977 -0.60560136] [ 0. 0. 0. 1. ]] SLAMing on 392.19463044 meters Centerline goodness : 0.321434 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94896141 0.00315899 -0.31537638 -0.7541863 ] [-0.00200538 0.99999006 0.00398233 -0.49876608] [ 0.31538583 -0.00314663 0.94895831 -0.60564446] [ 0. 0. 0. 1. ]] SLAMing on 392.22463044 meters Centerline goodness : 0.091052 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94885469 0.00335616 -0.31569528 -0.75294236] [-0.00211097 0.99998859 0.00428616 -0.50095644] [ 0.31570606 -0.00340052 0.94885095 -0.60578109] [ 0. 0. 0. 1. ]] SLAMing on 392.25463044 meters Centerline goodness : 0.301117 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94881871 0.00333854 -0.31580359 -0.75271793] [-0.00207651 0.99998846 0.00433267 -0.50185988] [ 0.31581441 -0.00345515 0.94881469 -0.60566143] [ 0. 0. 0. 1. ]] SLAMing on 392.28463044 meters Centerline goodness : 0.088044 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94879477 0.00345353 -0.31587427 -0.75266636] [-0.00215512 0.99998773 0.00445977 -0.50236891] [ 0.3158858 -0.00355066 0.94879057 -0.60546809] [ 0. 0. 0. 1. ]] SLAMing on 392.31463044000003 meters Centerline goodness : 0.092201 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94879958 0.00351589 -0.31585914 -0.75285311] [-0.0022032 0.99998739 0.00451293 -0.50254397] [ 0.31587102 -0.00358597 0.94879536 -0.60533477] [ 0. 0. 0. 1. ]] SLAMing on 392.34463044 meters Centerline goodness : 0.094085 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94875486 0.0034896 -0.31599373 -0.7524513 ] [-0.00221983 0.99998795 0.00437821 -0.50124935] [ 0.3160052 -0.0034524 0.94875118 -0.60530582] [ 0. 0. 0. 1. ]] SLAMing on 392.37463044000003 meters Centerline goodness : 0.296684 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94868212 0.00341146 -0.3162129 -0.75176401] [-0.00219406 0.99998875 0.00420587 -0.50018954] [ 0.31622369 -0.00329624 0.94867893 -0.60530342] [ 0. 0. 0. 1. ]] SLAMing on 392.40463044 meters Centerline goodness : 0.093696 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94865649 0.00333077 -0.31629065 -0.75129291] [-0.00217143 0.99998957 0.00401781 -0.49890479] [ 0.31630073 -0.00312472 0.94865383 -0.60548557] [ 0. 0. 0. 1. ]] SLAMing on 392.43463044000003 meters Centerline goodness : 0.098137 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94861857 0.00316896 -0.31640601 -0.75105924] [-0.00209594 0.99999084 0.00373156 -0.49723324] [ 0.31641494 -0.00287666 0.94861653 -0.6053707 ] [ 0. 0. 0. 1. ]] SLAMing on 392.46463044 meters Centerline goodness : 0.094411 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.50, Z:-0.61 [[ 0.94863867 0.00296035 -0.31634777 -0.75136619] [-0.00199709 0.99999233 0.00336909 -0.49515205] [ 0.31635532 -0.00256427 0.94863731 -0.60533594] [ 0. 0. 0. 1. ]] SLAMing on 392.49463044000004 meters Centerline goodness : 0.322641 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.9487841 0.00291079 -0.31591178 -0.75251656] [-0.00211951 0.9999937 0.00284832 -0.49000664] [ 0.31591808 -0.00203286 0.94878429 -0.6055792 ] [ 0. 0. 0. 1. ]] SLAMing on 392.52463044 meters Centerline goodness : 0.093453 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.49, Z:-0.61 [[ 0.94876848 0.00269579 -0.3159606 -0.75226313] [-0.00204494 0.99999505 0.00239144 -0.48696856] [ 0.31596548 -0.00162281 0.9487693 -0.60572549] [ 0. 0. 0. 1. ]] SLAMing on 392.55463044000004 meters Centerline goodness : 0.090167 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 0.94874671 0.00250765 -0.3160275 -0.75207142] [-0.00198482 0.99999608 0.00197625 -0.48415869] [ 0.31603122 -0.0012477 0.94874797 -0.605762 ] [ 0. 0. 0. 1. ]] SLAMing on 392.58463044 meters Centerline goodness : 0.093398 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 9.48735422e-01 2.28627736e-03 -3.16063083e-01 -7.52091054e-01] [-1.87973840e-03 9.99996967e-01 1.59112547e-03 -4.81731241e-01] [ 3.16065763e-01 -9.15441174e-04 9.48736842e-01 -6.05702961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61463044000004 meters Centerline goodness : 0.093560 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 9.48698985e-01 1.88857553e-03 -3.16175062e-01 -7.52190665e-01] [-1.67060369e-03 9.99998143e-01 9.60455271e-04 -4.77796681e-01] [ 3.16176288e-01 -3.82979716e-04 9.48700378e-01 -6.05389530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64463044 meters Centerline goodness : 0.091064 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.48, Z:-0.61 [[ 9.48682478e-01 1.64736864e-03 -3.16225935e-01 -7.52157358e-01] [-1.52796055e-03 9.99998637e-01 6.25555868e-04 -4.76035621e-01] [ 3.16226535e-01 -1.10273136e-04 9.48683702e-01 -6.05308382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67463044 meters Centerline goodness : 0.315122 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.60 [[ 9.48599025e-01 1.36117546e-03 -3.16477546e-01 -7.51953970e-01] [-1.33927260e-03 9.99999062e-01 2.86723321e-04 -4.74422793e-01] [ 3.16477640e-01 1.51864245e-04 9.48599958e-01 -6.04790636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70463044 meters Centerline goodness : 0.076002 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.60 [[ 9.48568059e-01 1.15074100e-03 -3.16571182e-01 -7.51849812e-01] [-1.21916686e-03 9.99999257e-01 -1.80768261e-05 -4.72623433e-01] [ 3.16570926e-01 4.03100194e-04 9.48568757e-01 -6.04643566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73463044 meters Centerline goodness : 0.265542 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.60 [[ 9.48581483e-01 8.82510492e-04 -3.16531817e-01 -7.52473497e-01] [-1.13142469e-03 9.99999178e-01 -6.02589468e-04 -4.67686469e-01] [ 3.16531025e-01 9.29737123e-04 9.48581702e-01 -6.04308707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76463044 meters Centerline goodness : 0.299765 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.60 [[ 9.48652568e-01 6.94882766e-04 -3.16319177e-01 -7.53088322e-01] [-1.06736828e-03 9.99998926e-01 -1.00430091e-03 -4.64684468e-01] [ 3.16318139e-01 1.29036169e-03 9.48652291e-01 -6.04378985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79463044 meters Centerline goodness : 0.092826 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.60 [[ 9.48678139e-01 4.49915051e-04 -3.16242921e-01 -7.53599157e-01] [-9.69014333e-04 9.99998429e-01 -1.48420198e-03 -4.61465910e-01] [ 3.16241757e-01 1.71447390e-03 9.48677085e-01 -6.04238763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82463044 meters Centerline goodness : 0.090847 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.60 [[ 9.48665597e-01 1.66917860e-04 -3.16280819e-01 -7.53782314e-01] [-8.41086626e-04 9.99997656e-01 -1.99503871e-03 -4.58378631e-01] [ 3.16279745e-01 2.15864416e-03 9.48663514e-01 -6.04059533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85463044 meters Centerline goodness : 0.275172 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.60 [[ 9.48652623e-01 -1.72024526e-04 -3.16319729e-01 -7.54047499e-01] [-6.61360896e-04 9.99996588e-01 -2.52727103e-03 -4.55352575e-01] [ 3.16319084e-01 2.60670379e-03 9.48649272e-01 -6.03804064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88463044 meters Centerline goodness : 0.092077 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.61 [[ 9.49535947e-01 -6.23404477e-03 -3.13596271e-01 -7.71533001e-01] [ 5.85301655e-03 9.99980546e-01 -2.15651121e-03 -4.45284318e-01] [ 3.13603614e-01 2.12200751e-04 9.49553963e-01 -6.11332044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91463044 meters Centerline goodness : 0.098416 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.61 [[ 9.49543395e-01 -6.43551934e-03 -3.13569649e-01 -7.72036616e-01] [ 5.96960127e-03 9.99979190e-01 -2.44599553e-03 -4.43551539e-01] [ 3.13578865e-01 4.50693125e-04 9.49562053e-01 -6.10998447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94463044 meters Centerline goodness : 0.104364 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.61 [[ 9.49585313e-01 -6.61829871e-03 -3.13438881e-01 -7.72565068e-01] [ 6.10100650e-03 9.99977927e-01 -2.63121939e-03 -4.42562713e-01] [ 3.13449377e-01 5.86274634e-04 9.49604731e-01 -6.10884919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97463044 meters Centerline goodness : 0.315875 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.61 [[ 9.49602064e-01 -6.80855260e-03 -3.13384052e-01 -7.73023884e-01] [ 6.26510427e-03 9.99976617e-01 -2.74116519e-03 -4.42349281e-01] [ 3.13395387e-01 6.39632356e-04 9.49622516e-01 -6.10606002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00463044 meters Centerline goodness : 0.104706 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.61 [[ 9.49653775e-01 -7.56491057e-03 -3.13209962e-01 -7.73599195e-01] [ 6.95172114e-03 9.99971110e-01 -3.07449929e-03 -4.43129482e-01] [ 3.13224172e-01 7.42361541e-04 9.49678928e-01 -6.10471031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03463044 meters Centerline goodness : 0.093355 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.44, Z:-0.61 [[ 9.49581448e-01 -7.66921166e-03 -3.13426637e-01 -7.72764138e-01] [ 7.09286532e-03 9.99970408e-01 -2.97910670e-03 -4.44524780e-01] [ 3.13440210e-01 6.05811530e-04 9.49607744e-01 -6.10466057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06463044000003 meters Centerline goodness : 0.094313 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.61 [[ 9.49533610e-01 -7.81834140e-03 -3.13567852e-01 -7.71975703e-01] [ 7.26877342e-03 9.99969314e-01 -2.92171797e-03 -4.45999539e-01] [ 3.13581072e-01 4.95015751e-04 9.49561302e-01 -6.10644121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09463044 meters Centerline goodness : 0.101780 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.61 [[ 9.49455816e-01 -7.91386951e-03 -3.13800929e-01 -7.71133228e-01] [ 7.39424459e-03 9.99968612e-01 -2.84611193e-03 -4.47391359e-01] [ 3.13813604e-01 3.81936703e-04 9.49484532e-01 -6.10636254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12463044000003 meters Centerline goodness : 0.092432 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.61 [[ 9.49267938e-01 -7.85504905e-03 -3.14370290e-01 -7.70019225e-01] [ 7.41609059e-03 9.99969140e-01 -2.59232392e-03 -4.49472104e-01] [ 3.14380952e-01 1.29411426e-04 9.49296898e-01 -6.09986383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15463044 meters Centerline goodness : 0.090469 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.61 [[ 9.49213928e-01 -7.70924757e-03 -3.14536941e-01 -7.69708677e-01] [ 7.31058928e-03 9.99970283e-01 -2.44710626e-03 -4.49843803e-01] [ 3.14546459e-01 2.33769562e-05 9.49242079e-01 -6.09765471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18463044000003 meters Centerline goodness : 0.280760 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.61 [[ 9.49218535e-01 -7.62658069e-03 -3.14525051e-01 -7.69502539e-01] [ 7.24591152e-03 9.99970917e-01 -2.37947778e-03 -4.50096928e-01] [ 3.14534051e-01 -2.03762762e-05 9.49246191e-01 -6.09933972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21463044 meters Centerline goodness : 0.319086 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.62 [[ 9.49611847e-01 -1.08320942e-03 -3.13426493e-01 -7.86359975e-01] [-7.45210101e-05 9.99993219e-01 -3.68178230e-03 -4.56176400e-01] [ 3.13428356e-01 3.51962095e-03 9.49605328e-01 -6.18043795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24463044000004 meters Centerline goodness : 0.092757 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.62 [[ 9.49704434e-01 -9.06732926e-04 -3.13146396e-01 -7.86913720e-01] [-2.16908782e-04 9.99993663e-01 -3.55337448e-03 -4.56325907e-01] [ 3.13147634e-01 3.44257970e-03 9.49698220e-01 -6.18308033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27463044 meters Centerline goodness : 0.093914 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.62 [[ 9.49673962e-01 -7.64233911e-04 -3.13239178e-01 -7.86926483e-01] [-3.51072036e-04 9.99993799e-01 -3.50413748e-03 -4.55718942e-01] [ 3.13239913e-01 3.43775764e-03 9.49667804e-01 -6.18089060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30463044000004 meters Centerline goodness : 0.096786 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.45, Z:-0.62 [[ 9.49589387e-01 -6.88262996e-04 -3.13495649e-01 -7.86154990e-01] [-4.46241070e-04 9.99993609e-01 -3.54711264e-03 -4.54856714e-01] [ 3.13496087e-01 3.50819516e-03 9.49583012e-01 -6.18050805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33463044 meters Centerline goodness : 0.093434 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.45, Z:-0.62 [[ 9.49377140e-01 -6.27092955e-04 -3.14137953e-01 -7.84305708e-01] [-5.44688619e-04 9.99993218e-01 -3.64236035e-03 -4.53783290e-01] [ 3.14138106e-01 3.62908102e-03 9.49370360e-01 -6.17845283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36463044000004 meters Centerline goodness : 0.243548 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.45, Z:-0.62 [[ 9.49260537e-01 -7.62172035e-04 -3.14489828e-01 -7.83153301e-01] [-4.95302799e-04 9.99992200e-01 -3.91852893e-03 -4.52300541e-01] [ 3.14490362e-01 3.87547257e-03 9.49252755e-01 -6.17875176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39463044 meters Centerline goodness : 0.095905 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.45, Z:-0.62 [[ 9.49424551e-01 -4.01773808e-04 -3.13995001e-01 -7.84447324e-01] [-8.91393247e-04 9.99991703e-01 -3.97484388e-03 -4.49065879e-01] [ 3.13993993e-01 4.05370739e-03 9.49416315e-01 -6.18096975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42463044 meters Centerline goodness : 0.095905 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.45, Z:-0.62 [[ 9.49424551e-01 -4.01773808e-04 -3.13995001e-01 -7.84447324e-01] [-8.91393247e-04 9.99991703e-01 -3.97484388e-03 -4.49065879e-01] [ 3.13993993e-01 4.05370739e-03 9.49416315e-01 -6.18096975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45463044 meters Centerline goodness : 0.289780 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.45, Z:-0.62 [[ 9.49591110e-01 -3.41590351e-04 -3.13490999e-01 -7.85920706e-01] [-9.93541053e-04 9.99991105e-01 -4.09914501e-03 -4.47352087e-01] [ 3.13489611e-01 4.20397784e-03 9.49582324e-01 -6.18215237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48463044 meters Centerline goodness : 0.098332 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.45, Z:-0.62 [[ 9.49744501e-01 -3.83080321e-04 -3.13025936e-01 -7.87218400e-01] [-1.00666908e-03 9.99990342e-01 -4.27809613e-03 -4.45927742e-01] [ 3.13024552e-01 4.37821180e-03 9.49734943e-01 -6.18341963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51463044 meters Centerline goodness : 0.095784 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49833001e-01 -5.57757585e-04 -3.12757028e-01 -7.88027816e-01] [-9.19391185e-04 9.99989110e-01 -4.57549942e-03 -4.44345451e-01] [ 3.12756174e-01 4.63350640e-03 9.49822145e-01 -6.18422694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54463044 meters Centerline goodness : 0.091314 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49892556e-01 -7.64392953e-04 -3.12575668e-01 -7.88314092e-01] [-8.64206344e-04 9.99986765e-01 -5.07168718e-03 -4.40966543e-01] [ 3.12575408e-01 5.08768778e-03 9.49879324e-01 -6.18672823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57463044 meters Centerline goodness : 0.311282 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49878682e-01 -9.18379104e-04 -3.12617413e-01 -7.88007725e-01] [-7.96889478e-04 9.99985323e-01 -5.35899116e-03 -4.39142069e-01] [ 3.12617746e-01 5.33951298e-03 9.49864008e-01 -6.18842257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60463044 meters Centerline goodness : 0.233657 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49872505e-01 -1.04030764e-03 -3.12635798e-01 -7.87836988e-01] [-7.57578148e-04 9.99983869e-01 -5.62921305e-03 -4.37322055e-01] [ 3.12636611e-01 5.58388075e-03 9.49856394e-01 -6.18951840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63463044 meters Centerline goodness : 0.094606 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49894402e-01 -1.13367061e-03 -3.12568937e-01 -7.87900435e-01] [-7.25069218e-04 9.99982740e-01 -5.83036256e-03 -4.35818682e-01] [ 3.12570152e-01 5.76486287e-03 9.49877185e-01 -6.19054431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66463044 meters Centerline goodness : 0.273326 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49906123e-01 -1.09608288e-03 -3.12533449e-01 -7.87676538e-01] [-7.66376267e-04 9.99982675e-01 -5.83633336e-03 -4.35025232e-01] [ 3.12534431e-01 5.78348702e-03 9.49888825e-01 -6.19284819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.69463044 meters Centerline goodness : 0.095965 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49893692e-01 -1.11160239e-03 -3.12571173e-01 -7.87289666e-01] [-7.36866036e-04 9.99982934e-01 -5.79556907e-03 -4.35553937e-01] [ 3.12572281e-01 5.73549758e-03 9.49876662e-01 -6.19460300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72463044 meters Centerline goodness : 0.247291 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49846753e-01 -1.19922712e-03 -3.12713460e-01 -7.86486868e-01] [-6.41144576e-04 9.99983077e-01 -5.78227723e-03 -4.36356071e-01] [ 3.12715102e-01 5.69277179e-03 9.49829910e-01 -6.19686862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.75463044 meters Centerline goodness : 0.260427 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.44, Z:-0.62 [[ 9.49780433e-01 -1.24948430e-03 -3.12914635e-01 -7.85487223e-01] [-5.71087607e-04 9.99983441e-01 -5.72639067e-03 -4.37323278e-01] [ 3.12916608e-01 5.61751548e-03 9.49763992e-01 -6.19914748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78463044 meters Centerline goodness : 0.305293 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 9.49576073e-01 -1.41604185e-03 -3.13533532e-01 -7.83623735e-01] [-4.12483259e-04 9.99983294e-01 -5.76557924e-03 -4.38234762e-01] [ 3.13536459e-01 5.60418343e-03 9.49559625e-01 -6.19780774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.81463044000003 meters Centerline goodness : 0.292684 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 9.49513750e-01 -1.41910827e-03 -3.13722209e-01 -7.82956042e-01] [-4.21670857e-04 9.99983093e-01 -5.79961028e-03 -4.37985631e-01] [ 3.13725136e-01 5.63909722e-03 9.49497098e-01 -6.19789189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84463044 meters Centerline goodness : 0.306095 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.44, Z:-0.62 [[ 9.49474778e-01 -1.45474917e-03 -3.13839974e-01 -7.82503804e-01] [-4.32958221e-04 9.99982234e-01 -5.94508790e-03 -4.36725812e-01] [ 3.13843047e-01 5.78059061e-03 9.49457280e-01 -6.19836526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.87463044000003 meters Centerline goodness : 0.308979 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.43, Z:-0.62 [[ 9.49477753e-01 -1.39448505e-03 -3.13831246e-01 -7.82618802e-01] [-5.44473333e-04 9.99981304e-01 -6.09061181e-03 -4.34986952e-01] [ 3.13833872e-01 5.95377316e-03 9.49459243e-01 -6.19809257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90463044 meters Centerline goodness : 0.308318 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.43, Z:-0.62 [[ 9.49607291e-01 5.38693015e-04 -3.13441706e-01 -7.83996590e-01] [-2.26121729e-03 9.99984275e-01 -5.13200335e-03 -4.28844894e-01] [ 3.13434012e-01 5.58214760e-03 9.49593576e-01 -6.19805974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93463044000003 meters Centerline goodness : 0.092243 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.43, Z:-0.63 [[ 0.94952378 0.00822865 -0.31358712 -0.80327989] [-0.01068559 0.9999242 -0.00611696 -0.43028024] [ 0.31351302 0.00915906 0.94953973 -0.62697779] [ 0. 0. 0. 1. ]] SLAMing on 393.96463044 meters Centerline goodness : 0.308956 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.43, Z:-0.63 [[ 0.94956968 0.00814559 -0.31345026 -0.80393604] [-0.010735 0.99992102 -0.00653593 -0.42697453] [ 0.31337227 0.00957121 0.94958213 -0.62675353] [ 0. 0. 0. 1. ]] SLAMing on 393.99463044000004 meters Centerline goodness : 0.307775 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.42, Z:-0.63 [[ 0.94963643 0.0079057 -0.31325414 -0.80486474] [-0.01064208 0.99991868 -0.0070264 -0.42406688] [ 0.31317312 0.0100062 0.94964334 -0.62655609] [ 0. 0. 0. 1. ]] SLAMing on 394.02463044 meters Centerline goodness : 0.306740 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.42, Z:-0.63 [[ 0.94970869 0.00761413 -0.31304221 -0.80571722] [-0.01050467 0.99991634 -0.00754815 -0.42106268] [ 0.31295854 0.01045695 0.94970922 -0.62645918] [ 0. 0. 0. 1. ]] SLAMing on 394.05463044000004 meters Centerline goodness : 0.258648 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.41, Z:-0.63 [[ 0.95072108 0.00220905 -0.31003958 -0.82487789] [-0.0045127 0.99996728 -0.00671315 -0.41056582] [ 0.31001461 0.00778144 0.95069995 -0.63449081] [ 0. 0. 0. 1. ]] SLAMing on 394.08463044 meters Centerline goodness : 0.301533 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.41, Z:-0.63 [[ 0.95077491 0.00204532 -0.3098756 -0.82519187] [-0.00444482 0.99996536 -0.00703759 -0.40799089] [ 0.30985047 0.0080685 0.95075106 -0.63462046] [ 0. 0. 0. 1. ]] SLAMing on 394.11463044000004 meters Centerline goodness : 0.074436 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.64 [[ 0.95110725 -0.00469596 -0.3088251 -0.84420107] [ 0.00299954 0.99997769 -0.00596767 -0.40236256] [ 0.30884623 0.00474956 0.95110012 -0.64260948] [ 0. 0. 0. 1. ]] SLAMing on 394.14463044 meters Centerline goodness : 0.296115 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.40, Z:-0.64 [[ 0.95147033 0.00173018 -0.30773563 -0.82653206] [-0.00426954 0.99996217 -0.00757867 -0.40153206] [ 0.30771087 0.00852477 0.95144172 -0.63540005] [ 0. 0. 0. 1. ]] SLAMing on 394.17463044 meters Centerline goodness : 0.093005 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.40, Z:-0.64 [[ 0.95147282 0.00149229 -0.30772919 -0.82683759] [-0.00413113 0.99996007 -0.00792392 -0.39962384] [ 0.30770508 0.00881066 0.95144099 -0.63516984] [ 0. 0. 0. 1. ]] SLAMing on 394.20463044 meters Centerline goodness : 0.095738 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95193468 -0.00443249 -0.30626904 -0.84438305] [ 0.0024137 0.9999728 -0.00696998 -0.38975638] [ 0.3062916 0.00589572 0.95191948 -0.6426051 ] [ 0. 0. 0. 1. ]] SLAMing on 394.23463044 meters Centerline goodness : 0.095445 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95187327 -0.00460156 -0.30645736 -0.84391524] [ 0.00246336 0.99996985 -0.00736356 -0.38709737] [ 0.306482 0.00625426 0.95185591 -0.64253855] [ 0. 0. 0. 1. ]] SLAMing on 394.26463044 meters Centerline goodness : 0.307362 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.38, Z:-0.64 [[ 0.9518674 -0.00482358 -0.30647217 -0.84374966] [ 0.00255972 0.99996639 -0.00778832 -0.38450367] [ 0.30649944 0.00662897 0.95184775 -0.64265668] [ 0. 0. 0. 1. ]] SLAMing on 394.29463044 meters Centerline goodness : 0.312397 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.38, Z:-0.64 [[ 0.95202166 -0.0047989 -0.30599303 -0.84558832] [ 0.00241342 0.99996368 -0.00817372 -0.37891913] [ 0.30602114 0.00704306 0.95199866 -0.64248834] [ 0. 0. 0. 1. ]] SLAMing on 394.32463044 meters Centerline goodness : 0.095091 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.38, Z:-0.64 [[ 0.95206743 -0.00491154 -0.30584879 -0.84622536] [ 0.00244871 0.99996142 -0.0084356 -0.37697927] [ 0.30587842 0.00728232 0.95204273 -0.64238221] [ 0. 0. 0. 1. ]] SLAMing on 394.35463044 meters Centerline goodness : 0.096299 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.38, Z:-0.64 [[ 0.95205244 -0.00493669 -0.30589503 -0.84630995] [ 0.00244981 0.99996076 -0.0085132 -0.37626633] [ 0.30592506 0.00735563 0.95202718 -0.64218428] [ 0. 0. 0. 1. ]] SLAMing on 394.38463044 meters Centerline goodness : 0.100069 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.38, Z:-0.64 [[ 0.95192346 -0.0053549 -0.30628917 -0.84532187] [ 0.00278984 0.99995728 -0.0088118 -0.3761759 ] [ 0.30632327 0.00753366 0.95189773 -0.64187932] [ 0. 0. 0. 1. ]] SLAMing on 394.41463044 meters Centerline goodness : 0.538585 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.38, Z:-0.64 [[ 0.95191594 -0.00553374 -0.30630935 -0.84509903] [ 0.00297472 0.99995667 -0.00882055 -0.37719473] [ 0.30634489 0.00748524 0.95189116 -0.64194191] [ 0. 0. 0. 1. ]] SLAMing on 394.44463044 meters Centerline goodness : 0.563254 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.38, Z:-0.64 [[ 0.95190379 -0.00555531 -0.30634673 -0.84490441] [ 0.00305149 0.99995792 -0.00865145 -0.37873145] [ 0.3063819 0.00730054 0.95188068 -0.64193362] [ 0. 0. 0. 1. ]] SLAMing on 394.47463044 meters Centerline goodness : 0.056270 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.38, Z:-0.64 [[ 0.95188955 -0.0055423 -0.30639121 -0.84472935] [ 0.00310812 0.99995962 -0.00843201 -0.38049453] [ 0.30642557 0.00707404 0.95186834 -0.64181463] [ 0. 0. 0. 1. ]] SLAMing on 394.50463044 meters Centerline goodness : 0.478269 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.38, Z:-0.64 [[ 0.95188633 -0.00553094 -0.3064014 -0.84466567] [ 0.00316326 0.99996118 -0.0082234 -0.382172 ] [ 0.30643499 0.00685851 0.95186688 -0.64173662] [ 0. 0. 0. 1. ]] SLAMing on 394.53463044 meters Centerline goodness : 0.307724 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.38, Z:-0.64 [[ 0.951848 -0.00549634 -0.30652109 -0.84410041] [ 0.00319244 0.99996277 -0.00801712 -0.38386616] [ 0.30655375 0.00665253 0.9518301 -0.64181901] [ 0. 0. 0. 1. ]] SLAMing on 394.56463044000003 meters Centerline goodness : 0.300438 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95171813 -0.00534199 -0.30692681 -0.84253297] [ 0.00313581 0.99996559 -0.00768068 -0.38643795] [ 0.30695728 0.00634738 0.95170213 -0.64192317] [ 0. 0. 0. 1. ]] SLAMing on 394.59463044 meters Centerline goodness : 0.091141 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95170181 -0.00527233 -0.3069786 -0.8420277 ] [ 0.00310051 0.9999666 -0.00756204 -0.38737479] [ 0.30700822 0.00624502 0.95168637 -0.64216878] [ 0. 0. 0. 1. ]] SLAMing on 394.62463044000003 meters Centerline goodness : 0.107263 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95169111 -0.00515776 -0.30701373 -0.84152825] [ 0.00302076 0.99996779 -0.00743538 -0.38799182] [ 0.30704219 0.00614877 0.95167604 -0.64245651] [ 0. 0. 0. 1. ]] SLAMing on 394.65463044 meters Centerline goodness : 0.302688 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95167154 -0.00489605 -0.30707867 -0.84101112] [ 0.0028335 0.99997034 -0.00716215 -0.38887484] [ 0.30710463 0.0059459 0.95165718 -0.64267147] [ 0. 0. 0. 1. ]] SLAMing on 394.68463044000003 meters Centerline goodness : 0.237489 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95178943 -0.00460988 -0.3067175 -0.8411921 ] [ 0.00261974 0.99997276 -0.00689989 -0.38975164] [ 0.30674095 0.00576373 0.95177559 -0.64340865] [ 0. 0. 0. 1. ]] SLAMing on 394.71463044 meters Centerline goodness : 0.098344 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95184347 -0.00455907 -0.30655053 -0.84152914] [ 0.00257876 0.99997311 -0.0068647 -0.39013362] [ 0.30657358 0.0057436 0.95182963 -0.64355234] [ 0. 0. 0. 1. ]] SLAMing on 394.74463044000004 meters Centerline goodness : 0.096977 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95192038 -0.00455715 -0.30631163 -0.8421821 ] [ 0.00257205 0.999973 -0.00688396 -0.39017091] [ 0.30633473 0.00576513 0.9519064 -0.64366062] [ 0. 0. 0. 1. ]] SLAMing on 394.77463044 meters Centerline goodness : 0.097721 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95197192 -0.00445678 -0.30615291 -0.84247182] [ 0.00249169 0.99997371 -0.00680915 -0.3902829 ] [ 0.30617521 0.00571928 0.951958 -0.64385687] [ 0. 0. 0. 1. ]] SLAMing on 394.80463044000004 meters Centerline goodness : 0.096175 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95197907 -0.00426363 -0.30613342 -0.84180074] [ 0.00231668 0.99997472 -0.00672284 -0.39013792] [ 0.30615434 0.00569079 0.95196488 -0.64446006] [ 0. 0. 0. 1. ]] SLAMing on 394.83463044 meters Centerline goodness : 0.269066 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95200534 -0.004204 -0.30605255 -0.84176377] [ 0.0022653 0.99997506 -0.00668945 -0.39023478] [ 0.30607304 0.00567509 0.95199112 -0.64470155] [ 0. 0. 0. 1. ]] SLAMing on 394.86463044000004 meters Centerline goodness : 0.256273 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95203859 -0.0041805 -0.30594943 -0.8420738 ] [ 0.00224041 0.9999751 -0.00669208 -0.39015596] [ 0.30596979 0.00568567 0.95202424 -0.64471274] [ 0. 0. 0. 1. ]] SLAMing on 394.89463044 meters Centerline goodness : 0.101232 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95203352 -0.00396288 -0.30596809 -0.84270615] [ 0.00207895 0.99997682 -0.00648288 -0.39074565] [ 0.30598669 0.00553582 0.9520197 -0.64422596] [ 0. 0. 0. 1. ]] SLAMing on 394.92463044 meters Centerline goodness : 0.301251 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95203753 -0.00386677 -0.30595684 -0.84260545] [ 0.00202405 0.99997785 -0.00633982 -0.39137865] [ 0.30597458 0.00541648 0.95202428 -0.64428593] [ 0. 0. 0. 1. ]] SLAMing on 394.95463044 meters Centerline goodness : 0.094071 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.95204902 -0.00381689 -0.30592172 -0.84257975] [ 0.00202115 0.99997882 -0.00618645 -0.39257317] [ 0.30593885 0.00527149 0.95203657 -0.64437621] [ 0. 0. 0. 1. ]] SLAMing on 394.98463044 meters Centerline goodness : 0.093469 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.39, Z:-0.64 [[ 0.9520952 -0.00376356 -0.30577862 -0.84263278] [ 0.00202464 0.99997993 -0.00600381 -0.39404692] [ 0.30579508 0.00509711 0.95208371 -0.64467004] [ 0. 0. 0. 1. ]] SLAMing on 395.01463044 meters Centerline goodness : 0.096217 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.64 [[ 0.95206917 -0.00358759 -0.30586177 -0.84235006] [ 0.00193661 0.99998187 -0.00570107 -0.3958171 ] [ 0.30587668 0.00483547 0.95205886 -0.64460346] [ 0. 0. 0. 1. ]] SLAMing on 395.04463044 meters Centerline goodness : 0.090625 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.64 [[ 0.95194342 -0.0034696 -0.3062543 -0.84132228] [ 0.00195378 0.99998428 -0.00525594 -0.39947091] [ 0.30626772 0.004405 0.95193523 -0.64432241] [ 0. 0. 0. 1. ]] SLAMing on 395.07463044 meters Centerline goodness : 0.098715 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.64 [[ 0.95179917 -0.0034182 -0.30670289 -0.83983959] [ 0.00197147 0.99998542 -0.0050267 -0.40153904] [ 0.3067156 0.00417976 0.95179203 -0.6442873 ] [ 0. 0. 0. 1. ]] SLAMing on 395.10463044 meters Centerline goodness : 0.093729 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.64 [[ 0.95166794 -0.00342213 -0.3071098 -0.83848006] [ 0.00202569 0.99998611 -0.00486568 -0.40339883] [ 0.30712219 0.0040084 0.95166165 -0.64428993] [ 0. 0. 0. 1. ]] SLAMing on 395.13463044 meters Centerline goodness : 0.090701 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.41, Z:-0.64 [[ 0.95162327 -0.00331388 -0.30724936 -0.83788976] [ 0.0019989 0.99998745 -0.00459444 -0.40546367] [ 0.30726073 0.00375802 0.95161795 -0.644364 ] [ 0. 0. 0. 1. ]] SLAMing on 395.16463044 meters Centerline goodness : 0.104088 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.41, Z:-0.64 [[ 0.95165995 -0.00314486 -0.30713751 -0.83803943] [ 0.00192313 0.99998899 -0.00428037 -0.40737447] [ 0.30714759 0.00348279 0.95165552 -0.64446669] [ 0. 0. 0. 1. ]] SLAMing on 395.19463044 meters Centerline goodness : 0.249797 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.41, Z:-0.64 [[ 0.95171193 -0.00269232 -0.30698072 -0.83846604] [ 0.00167173 0.99999217 -0.00358749 -0.41117387] [ 0.30698798 0.00290107 0.95170897 -0.64433959] [ 0. 0. 0. 1. ]] SLAMing on 395.22463044 meters Centerline goodness : 0.475054 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.41, Z:-0.64 [[ 0.95171303 -0.00260674 -0.30697802 -0.83828297] [ 0.00165289 0.99999297 -0.00336716 -0.41303325] [ 0.30698464 0.00269717 0.95171065 -0.64442838] [ 0. 0. 0. 1. ]] SLAMing on 395.25463044 meters Centerline goodness : 0.477047 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.41, Z:-0.64 [[ 0.95168439 -0.00246016 -0.30706801 -0.83782193] [ 0.00158321 0.99999393 -0.00310492 -0.41489378] [ 0.30707379 0.00246875 0.95168251 -0.64449632] [ 0. 0. 0. 1. ]] SLAMing on 395.28463044 meters Centerline goodness : 0.477047 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.41, Z:-0.64 [[ 0.95168439 -0.00246016 -0.30706801 -0.83782193] [ 0.00158321 0.99999393 -0.00310492 -0.41489378] [ 0.30707379 0.00246875 0.95168251 -0.64449632] [ 0. 0. 0. 1. ]] SLAMing on 395.31463044000003 meters Centerline goodness : 0.479350 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.42, Z:-0.64 [[ 0.95164926 -0.00230943 -0.30717805 -0.83724457] [ 0.00150182 0.99999477 -0.00286549 -0.41643028] [ 0.30718306 0.00226562 0.95164775 -0.64465555] [ 0. 0. 0. 1. ]] SLAMing on 395.34463044 meters Centerline goodness : 0.092069 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.42, Z:-0.64 [[ 0.9515982 -0.00192093 -0.30733888 -0.83633156] [ 0.00127739 0.99999655 -0.00229507 -0.41978475] [ 0.30734222 0.0017914 0.95159737 -0.64488219] [ 0. 0. 0. 1. ]] SLAMing on 395.37463044000003 meters Centerline goodness : 0.090012 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.42, Z:-0.64 [[ 0.95159126 -0.00184099 -0.30736082 -0.83607741] [ 0.00124301 0.99999693 -0.00214128 -0.42106955] [ 0.30736382 0.00165557 0.95159064 -0.64499446] [ 0. 0. 0. 1. ]] SLAMing on 395.40463044 meters Centerline goodness : 0.093131 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.42, Z:-0.64 [[ 0.95155982 -0.00177882 -0.30745851 -0.83596197] [ 0.00122341 0.99999725 -0.0019992 -0.42233925] [ 0.30746122 0.00152621 0.95155939 -0.64479023] [ 0. 0. 0. 1. ]] SLAMing on 395.43463044000003 meters Centerline goodness : 0.259312 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.42, Z:-0.64 [[ 0.95158025 -0.00158674 -0.30739634 -0.83623418] [ 0.0011064 0.99999788 -0.00173688 -0.42359358] [ 0.30739844 0.00131268 0.95157999 -0.64470243] [ 0. 0. 0. 1. ]] SLAMing on 395.46463044 meters Centerline goodness : 0.289868 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.43, Z:-0.65 [[ 0.95176792 0.00548424 -0.30676987 -0.85331739] [-0.00654782 0.99997559 -0.00243798 -0.43099727] [ 0.30674901 0.00432907 0.9517806 -0.65169771] [ 0. 0. 0. 1. ]] SLAMing on 395.49463044000004 meters Centerline goodness : 0.307161 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.43, Z:-0.65 [[ 9.52094642e-01 -1.59141749e-03 -3.05799380e-01 -8.34073736e-01] [ 1.30453521e-03 9.99998496e-01 -1.14249450e-03 -4.30285185e-01] [ 3.05800739e-01 6.88836836e-04 9.52095286e-01 -6.45071845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52463044 meters Centerline goodness : 0.095472 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.43, Z:-0.64 [[ 9.52128989e-01 -1.54712887e-03 -3.05692648e-01 -8.34604966e-01] [ 1.33722061e-03 9.99998704e-01 -8.96064599e-04 -4.32557325e-01] [ 3.05693638e-01 4.44390570e-04 9.52129824e-01 -6.44849827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55463044000004 meters Centerline goodness : 0.312618 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.43, Z:-0.64 [[ 9.52181801e-01 -1.44132685e-03 -3.05528624e-01 -8.35349082e-01] [ 1.31950012e-03 9.99998946e-01 -6.05250441e-04 -4.34747130e-01] [ 3.05529174e-01 1.73163399e-04 9.52182700e-01 -6.44603816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58463044 meters Centerline goodness : 0.093678 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.44, Z:-0.65 [[ 0.95288881 0.0039559 -0.30329402 -0.84969546] [-0.00459414 0.99998848 -0.00139092 -0.4428783 ] [ 0.30328502 0.00271876 0.95289601 -0.65156102] [ 0. 0. 0. 1. ]] SLAMing on 395.61463044000004 meters Centerline goodness : 0.093913 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.45, Z:-0.65 [[ 9.52732679e-01 4.18447528e-03 -3.03781060e-01 -8.47917823e-01] [-4.67431353e-03 9.99988683e-01 -8.85319584e-04 -4.46476731e-01] [ 3.03773917e-01 2.26344082e-03 9.52741457e-01 -6.51630543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64463044 meters Centerline goodness : 0.470616 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.45, Z:-0.65 [[ 9.52615488e-01 4.26743688e-03 -3.04147202e-01 -8.46429046e-01] [-4.66579479e-03 9.99988945e-01 -5.83002815e-04 -4.48804213e-01] [ 3.04141352e-01 1.97446594e-03 9.52624868e-01 -6.51756002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67463044 meters Centerline goodness : 0.297960 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.45, Z:-0.65 [[ 9.52561745e-01 4.36381232e-03 -3.04314112e-01 -8.45780312e-01] [-4.66390661e-03 9.99989090e-01 -2.59252867e-04 -4.51485357e-01] [ 3.04309660e-01 1.66624696e-03 9.52571706e-01 -6.51783852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70463044 meters Centerline goodness : 0.098717 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.45, Z:-0.65 [[ 9.52537809e-01 4.44899001e-03 -3.04387794e-01 -8.45603170e-01] [-4.63471988e-03 9.99989253e-01 1.12344430e-04 -4.54684400e-01] [ 3.04385022e-01 1.30373984e-03 9.52548192e-01 -6.51618352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73463044 meters Centerline goodness : 0.311966 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.46, Z:-0.65 [[ 9.52482961e-01 5.72646815e-04 -3.04591336e-01 -8.45060892e-01] [-1.37056318e-03 9.99996167e-01 -2.40582502e-03 -4.60378144e-01] [ 3.04588791e-01 2.70896901e-03 9.52480094e-01 -6.51471056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76463044 meters Centerline goodness : 0.313661 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.46, Z:-0.65 [[ 9.52404083e-01 8.33022054e-04 -3.04837282e-01 -8.44303126e-01] [-1.47234828e-03 9.99997173e-01 -1.86739238e-03 -4.64037822e-01] [ 3.04834864e-01 2.22733878e-03 9.52402617e-01 -6.51373013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79463044 meters Centerline goodness : 0.312855 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.47, Z:-0.65 [[ 0.95232716 0.00110716 -0.30507664 -0.84368316] [-0.0015938 0.99999782 -0.00134608 -0.46732282] [ 0.30507448 0.00176814 0.95232685 -0.65118621] [ 0. 0. 0. 1. ]] SLAMing on 395.82463044 meters Centerline goodness : 0.302463 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.47, Z:-0.65 [[ 9.52328887e-01 1.34399201e-03 -3.05070294e-01 -8.43276075e-01] [-1.69181008e-03 9.99998185e-01 -8.75765530e-04 -4.70637671e-01] [ 3.05068564e-01 1.35013781e-03 9.52329433e-01 -6.51448078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85463044 meters Centerline goodness : 0.301487 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.47, Z:-0.65 [[ 9.52361069e-01 1.56510405e-03 -3.04968759e-01 -8.43278019e-01] [-1.78102928e-03 9.99998322e-01 -4.29819528e-04 -4.74049174e-01] [ 3.04967575e-01 9.52501675e-04 9.52362258e-01 -6.51609641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88463044 meters Centerline goodness : 0.255344 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.48, Z:-0.65 [[ 9.52405220e-01 1.85309606e-03 -3.04829237e-01 -8.43702836e-01] [-1.87132506e-03 9.99998222e-01 2.32369498e-04 -4.81720979e-01] [ 3.04829125e-01 3.49124666e-04 9.52406994e-01 -6.51447784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91463044 meters Centerline goodness : 0.091548 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.48, Z:-0.65 [[ 9.52377751e-01 2.16497204e-03 -3.04912993e-01 -8.43185504e-01] [-2.04949906e-03 9.99997656e-01 6.98788402e-04 -4.84451239e-01] [ 3.04913791e-01 -4.05916346e-05 9.52379955e-01 -6.51585049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94463044 meters Centerline goodness : 0.088762 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.49, Z:-0.65 [[ 9.52302409e-01 2.37943279e-03 -3.05146621e-01 -8.42373903e-01] [-2.16149329e-03 9.99997111e-01 1.05205378e-03 -4.86987483e-01] [ 3.05148243e-01 -3.42300971e-04 9.52304800e-01 -6.51574330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97463044 meters Centerline goodness : 0.089261 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.49, Z:-0.65 [[ 9.52203826e-01 2.71544936e-03 -3.05451304e-01 -8.41368838e-01] [-2.32212627e-03 9.99995941e-01 1.65100233e-03 -4.93681523e-01] [ 3.05454548e-01 -8.62794236e-04 9.52206267e-01 -6.51542022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00463044 meters Centerline goodness : 0.088699 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.50, Z:-0.65 [[ 0.95217956 0.00320182 -0.30552223 -0.84101674] [-0.00261814 0.99999388 0.00232014 -0.49727033] [ 0.30552779 -0.00140929 0.95218212 -0.6515661 ] [ 0. 0. 0. 1. ]] SLAMing on 396.03463044 meters Centerline goodness : 0.088079 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.50, Z:-0.65 [[ 0.95219516 0.00371588 -0.30546779 -0.84115766] [-0.00292179 0.99999106 0.00305673 -0.50126044] [ 0.30547642 -0.00201809 0.9521975 -0.65145904] [ 0. 0. 0. 1. ]] SLAMing on 396.06463044000003 meters Centerline goodness : 0.311615 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.51, Z:-0.65 [[ 0.95225641 0.00411222 -0.30527173 -0.84161566] [-0.0031263 0.9999882 0.00371843 -0.50567941] [ 0.30528342 -0.00258653 0.95225802 -0.65146969] [ 0. 0. 0. 1. ]] SLAMing on 396.09463044 meters Centerline goodness : 0.088706 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.51, Z:-0.65 [[ 0.95231898 0.00454352 -0.30507034 -0.8422129 ] [-0.00335848 0.99998464 0.00440917 -0.51030587] [ 0.30508569 -0.00317436 0.95231961 -0.65142801] [ 0. 0. 0. 1. ]] SLAMing on 396.12463044000003 meters Centerline goodness : 0.101283 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.52, Z:-0.65 [[ 0.95241532 0.00526377 -0.30475786 -0.84351955] [-0.00373314 0.99997732 0.00560494 -0.52016681] [ 0.30478045 -0.00420053 0.95241337 -0.65100466] [ 0. 0. 0. 1. ]] SLAMing on 396.15463044 meters Centerline goodness : 0.276086 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.52, Z:-0.65 [[ 0.95242428 0.00570838 -0.30472185 -0.84336273] [-0.00399715 0.99997255 0.00623929 -0.52350517] [ 0.3047491 -0.00472444 0.95242095 -0.65113067] [ 0. 0. 0. 1. ]] SLAMing on 396.18463044000003 meters Centerline goodness : 0.118709 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.53, Z:-0.65 [[ 0.9524185 0.00597793 -0.30473476 -0.84267273] [-0.00414603 0.99996924 0.00665821 -0.52632198] [ 0.30476519 -0.00507796 0.95241398 -0.65152811] [ 0. 0. 0. 1. ]] SLAMing on 396.21463044 meters Centerline goodness : 0.123760 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.66 [[ 0.95241085 0.01222501 -0.30457204 -0.85872711] [-0.01111339 0.99992375 0.00538319 -0.53550896] [ 0.30461463 -0.00174218 0.95247409 -0.65916533] [ 0. 0. 0. 1. ]] SLAMing on 396.24463044000004 meters Centerline goodness : 0.087642 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.66 [[ 0.95233146 0.01265607 -0.30480259 -0.85775588] [-0.01134947 0.99991724 0.00605823 -0.5398765 ] [ 0.30485404 -0.00231009 0.95239628 -0.65928122] [ 0. 0. 0. 1. ]] SLAMing on 396.27463044 meters Centerline goodness : 0.093705 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.66 [[ 0.95232692 0.01299792 -0.30480239 -0.85765511] [-0.01156149 0.99991193 0.0065172 -0.54200706] [ 0.30486026 -0.00268253 0.95239332 -0.659296 ] [ 0. 0. 0. 1. ]] SLAMing on 396.30463044000004 meters Centerline goodness : 0.078331 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.66 [[ 0.95233986 0.01331137 -0.30474842 -0.85769191] [-0.01173332 0.9999066 0.00700912 -0.54475624] [ 0.30481326 -0.00309935 0.95240709 -0.65932595] [ 0. 0. 0. 1. ]] SLAMing on 396.33463044 meters Centerline goodness : 0.084056 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.66 [[ 0.95254597 0.00970458 -0.30424003 -0.85852998] [-0.00882196 0.99995195 0.00427556 -0.54679329] [ 0.3042669 -0.00138868 0.95258581 -0.65992192] [ 0. 0. 0. 1. ]] SLAMing on 396.36463044000004 meters Centerline goodness : 0.173385 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.66 [[ 9.52573070e-01 5.57232892e-03 -3.04258929e-01 -8.57976961e-01] [-5.37258261e-03 9.99984452e-01 1.49367766e-03 -5.52087828e-01] [ 3.04262522e-01 2.11819123e-04 9.52588197e-01 -6.60254501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39463044 meters Centerline goodness : 0.243026 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.66 [[ 9.52288385e-01 3.69573551e-03 -3.05177280e-01 -8.53545189e-01] [-3.79030322e-03 9.99992777e-01 2.82613043e-04 -5.56132110e-01] [ 3.05176120e-01 8.87585311e-04 9.52295515e-01 -6.60916676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42463044 meters Centerline goodness : 0.108721 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.66 [[ 9.52128027e-01 3.84835570e-03 -3.05675335e-01 -8.51891166e-01] [-3.80580074e-03 9.99992488e-01 7.35150031e-04 -5.59556380e-01] [ 3.05675868e-01 4.63382468e-04 9.52135520e-01 -6.60870581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45463044 meters Centerline goodness : 0.114332 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.66 [[ 9.52005824e-01 3.89519522e-03 -3.06055122e-01 -8.50369729e-01] [-3.75248096e-03 9.99992403e-01 1.05465282e-03 -5.62564135e-01] [ 3.06056905e-01 1.44430389e-04 9.52013209e-01 -6.60999903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48463044 meters Centerline goodness : 0.093056 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.66 [[ 9.51768026e-01 1.53961251e-03 -3.06814692e-01 -8.45937274e-01] [-1.73278125e-03 9.99998435e-01 -3.57204855e-04 -5.68410273e-01] [ 3.06813662e-01 8.71618906e-04 9.51769204e-01 -6.62106232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51463044 meters Centerline goodness : 0.126205 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.66 [[ 9.51684632e-01 1.77000680e-03 -3.07072025e-01 -8.44900798e-01] [-1.84594533e-03 9.99998295e-01 4.31363766e-05 -5.70857373e-01] [ 3.07071578e-01 5.25785945e-04 9.51686277e-01 -6.62220211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54463044 meters Centerline goodness : 0.126564 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.66 [[ 9.51651346e-01 2.02538358e-03 -3.07173588e-01 -8.44388097e-01] [-1.97531138e-03 9.99997937e-01 4.73906840e-04 -5.73319750e-01] [ 3.07173914e-01 1.55769403e-04 9.51653383e-01 -6.62293528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57463044 meters Centerline goodness : 0.127834 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 9.51635958e-01 2.22494177e-03 -3.07219878e-01 -8.44456755e-01] [-2.05970635e-03 9.99997507e-01 8.62071809e-04 -5.75770394e-01] [ 3.07221031e-01 -1.87595797e-04 9.51638168e-01 -6.62077128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60463044 meters Centerline goodness : 0.104736 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 9.51628432e-01 2.41937173e-03 -3.07241720e-01 -8.44636677e-01] [-2.12876223e-03 9.99996914e-01 1.28099011e-03 -5.78655767e-01] [ 3.07243870e-01 -5.64982039e-04 9.51630645e-01 -6.61797241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63463044 meters Centerline goodness : 0.096522 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 9.51579165e-01 2.44371351e-03 -3.07394080e-01 -8.44299245e-01] [-2.05862957e-03 9.99996638e-01 1.57698640e-03 -5.81590270e-01] [ 3.07396900e-01 -8.67816863e-04 9.51580996e-01 -6.61590341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66463044 meters Centerline goodness : 0.092575 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.59, Z:-0.66 [[ 9.51652942e-01 -1.63466068e-03 -3.07170973e-01 -8.44234799e-01] [ 1.32633856e-03 9.99998385e-01 -1.21249754e-03 -5.86017438e-01] [ 3.07172459e-01 7.46464142e-04 9.51653573e-01 -6.62093573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.69463044 meters Centerline goodness : 0.093316 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.59, Z:-0.66 [[ 9.51656512e-01 -1.39899685e-03 -3.07161076e-01 -8.44287530e-01] [ 1.24608421e-03 9.99998983e-01 -6.93939742e-04 -5.89243347e-01] [ 3.07161735e-01 2.77643708e-04 9.51657287e-01 -6.62022533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72463044 meters Centerline goodness : 0.142885 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.59, Z:-0.66 [[ 9.51686434e-01 -1.14185171e-03 -3.07069418e-01 -8.44712109e-01] [ 1.15230324e-03 9.99999325e-01 -1.47261764e-04 -5.92623148e-01] [ 3.07069379e-01 -2.13690062e-04 9.51687108e-01 -6.61819037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.75463044 meters Centerline goodness : 0.283810 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.60, Z:-0.66 [[ 9.51795661e-01 -3.11170007e-03 -3.06717030e-01 -8.45758458e-01] [ 2.94666302e-03 9.99995157e-01 -1.00113099e-03 -6.00686191e-01] [ 3.06718660e-01 4.90804037e-05 9.51800221e-01 -6.61674445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78463044 meters Centerline goodness : 0.088214 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.60, Z:-0.66 [[ 9.51754567e-01 -3.00608536e-03 -3.06845578e-01 -8.45234632e-01] [ 2.95377718e-03 9.99995436e-01 -6.34849392e-04 -6.03729920e-01] [ 3.06846086e-01 -3.02132655e-04 9.51759102e-01 -6.61677425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.81463044000003 meters Centerline goodness : 0.092636 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.61, Z:-0.66 [[ 9.51664379e-01 -2.78821331e-03 -3.07127229e-01 -8.44358764e-01] [ 2.87618096e-03 9.99995850e-01 -1.66194199e-04 -6.06859703e-01] [ 3.07126418e-01 -7.25192392e-04 9.51668449e-01 -6.61590805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84463044 meters Centerline goodness : 0.088519 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.61, Z:-0.66 [[ 9.51604604e-01 -2.52076700e-03 -3.07314696e-01 -8.43648706e-01] [ 2.74945608e-03 9.99996172e-01 3.11204498e-04 -6.09638478e-01] [ 3.07312735e-01 -1.14109189e-03 9.51607892e-01 -6.61597861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.87463044000003 meters Centerline goodness : 0.301288 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.62, Z:-0.66 [[ 9.51586297e-01 -2.27047257e-03 -3.07373329e-01 -8.43679187e-01] [ 2.68876488e-03 9.99995946e-01 9.37389228e-04 -6.15912127e-01] [ 3.07369955e-01 -1.71846136e-03 9.51588544e-01 -6.61390412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90463044 meters Centerline goodness : 0.301606 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.62, Z:-0.66 [[ 0.95154284 -0.00210936 -0.30750897 -0.84358947] [ 0.00263791 0.99999567 0.00130317 -0.61863568] [ 0.30750489 -0.00205121 0.95154429 -0.66105584] [ 0. 0. 0. 1. ]] SLAMing on 396.93463044000003 meters Centerline goodness : 0.090915 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.62, Z:-0.66 [[ 0.95150754 -0.00195304 -0.30761922 -0.8436439 ] [ 0.00258539 0.9999953 0.00164812 -0.62107505] [ 0.30761456 -0.00236351 0.95150812 -0.66069094] [ 0. 0. 0. 1. ]] SLAMing on 396.96463044 meters Centerline goodness : 0.087670 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.62, Z:-0.66 [[ 0.95149006 -0.00174001 -0.30767456 -0.84364564] [ 0.00247779 0.99999492 0.00200729 -0.62336308] [ 0.3076695 -0.00267227 0.95148954 -0.66051658] [ 0. 0. 0. 1. ]] SLAMing on 396.99463044000004 meters Centerline goodness : 0.095847 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.63, Z:-0.66 [[ 0.95147597 -0.00157877 -0.30771901 -0.84360233] [ 0.00239943 0.9999945 0.00228858 -0.62513147] [ 0.30771371 -0.00291588 0.95147452 -0.66038012] [ 0. 0. 0. 1. ]] SLAMing on 397.02463044 meters Centerline goodness : 0.090440 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.63, Z:-0.67 [[ 9.52055948e-01 4.01092620e-03 -3.05897671e-01 -8.59014034e-01] [-3.76504401e-03 9.99991941e-01 1.39380379e-03 -6.32494187e-01] [ 3.05900796e-01 -1.75260992e-04 9.52063376e-01 -6.68161267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05463044000004 meters Centerline goodness : 0.092943 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 9.52018679e-01 4.16375921e-03 -3.06011598e-01 -8.59003560e-01] [-3.80855552e-03 9.99991202e-01 1.75779801e-03 -6.35044929e-01] [ 3.06016225e-01 -5.07994380e-04 9.52026162e-01 -6.67857340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08463044 meters Centerline goodness : 0.297393 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 9.51981273e-01 4.26317924e-03 -3.06126578e-01 -8.59046203e-01] [-3.84570478e-03 9.99990671e-01 1.96683522e-03 -6.36414640e-01] [ 3.06132107e-01 -6.95117851e-04 9.51988787e-01 -6.67510268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11463044000004 meters Centerline goodness : 0.299535 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 9.51953159e-01 4.32875951e-03 -3.06213072e-01 -8.58913942e-01] [-3.85646366e-03 9.99990258e-01 2.14734326e-03 -6.37787296e-01] [ 3.06219384e-01 -8.63270617e-04 9.51960579e-01 -6.67401748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14463044 meters Centerline goodness : 0.096177 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 9.51856000e-01 4.14506396e-03 -3.06517493e-01 -8.58523292e-01] [-3.63949175e-03 9.99990911e-01 2.22093108e-03 -6.39862278e-01] [ 3.06523913e-01 -9.98438687e-04 9.51862434e-01 -6.66889813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17463044 meters Centerline goodness : 0.297703 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 0.95185965 0.00406734 -0.30650719 -0.8587076 ] [-0.00354352 0.99999116 0.00226543 -0.64072316] [ 0.30651369 -0.00107026 0.95186565 -0.66680425] [ 0. 0. 0. 1. ]] SLAMing on 397.20463044 meters Centerline goodness : 0.088812 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 0.95186518 0.00403314 -0.30649048 -0.8587171 ] [-0.00349334 0.99999123 0.00230974 -0.64133998] [ 0.30649711 -0.00112789 0.95187092 -0.66681527] [ 0. 0. 0. 1. ]] SLAMing on 397.23463044 meters Centerline goodness : 0.088812 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 0.95186518 0.00403314 -0.30649048 -0.8587171 ] [-0.00349334 0.99999123 0.00230974 -0.64133998] [ 0.30649711 -0.00112789 0.95187092 -0.66681527] [ 0. 0. 0. 1. ]] SLAMing on 397.26463044 meters Centerline goodness : 0.274726 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.64, Z:-0.67 [[ 0.9518937 0.00403459 -0.30640188 -0.85888427] [-0.00349528 0.99999123 0.00230879 -0.64118096] [ 0.30640851 -0.00112676 0.95189945 -0.66688963] [ 0. 0. 0. 1. ]] SLAMing on 397.29463044 meters Centerline goodness : 0.087320 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.65, Z:-0.66 [[ 0.9516639 0.01106538 -0.30694199 -0.84466278] [-0.01086715 0.99993818 0.00235492 -0.64767 ] [ 0.30694907 0.00109449 0.95172531 -0.66119374] [ 0. 0. 0. 1. ]] SLAMing on 397.32463044 meters Centerline goodness : 0.298430 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.65, Z:-0.67 [[ 0.95217868 0.01861396 -0.30497424 -0.86319723] [-0.01901038 0.99981789 0.00166995 -0.65096167] [ 0.30494978 0.00420759 0.95235914 -0.66826002] [ 0. 0. 0. 1. ]] SLAMing on 397.35463044 meters Centerline goodness : 0.299505 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.65, Z:-0.67 [[ 0.95219023 0.01841784 -0.30495008 -0.86327856] [-0.01889852 0.99982046 0.00137581 -0.64946544] [ 0.30492067 0.00445307 0.95236734 -0.6682262 ] [ 0. 0. 0. 1. ]] SLAMing on 397.38463044 meters Centerline goodness : 0.098960 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.65, Z:-0.67 [[ 0.95220548 0.01824528 -0.30491282 -0.86320389] [-0.01879917 0.99982265 0.00111956 -0.64803905] [ 0.30487917 0.00466606 0.95237961 -0.66836368] [ 0. 0. 0. 1. ]] SLAMing on 397.41463044 meters Centerline goodness : 0.100910 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.64, Z:-0.68 [[ 0.95217931 0.01041044 -0.30536237 -0.88123138] [-0.01025538 0.99994518 0.00211196 -0.64217072] [ 0.30536761 0.00112064 0.95223388 -0.67574615] [ 0. 0. 0. 1. ]] SLAMing on 397.44463044 meters Centerline goodness : 0.301945 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.64, Z:-0.68 [[ 0.95214607 0.0101823 -0.30547369 -0.88054253] [-0.01011985 0.99994719 0.00178799 -0.64034671] [ 0.30547576 0.00138892 0.95219884 -0.67596078] [ 0. 0. 0. 1. ]] SLAMing on 397.47463044 meters Centerline goodness : 0.301021 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.64, Z:-0.68 [[ 0.9521425 0.00985271 -0.30549562 -0.88059474] [-0.00990467 0.99995 0.00137991 -0.63816861] [ 0.30549394 0.00171196 0.95219248 -0.67589555] [ 0. 0. 0. 1. ]] SLAMing on 397.50463044 meters Centerline goodness : 0.301328 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.64, Z:-0.68 [[ 0.95213184 0.00967734 -0.30553448 -0.8805851 ] [-0.00978083 0.99995146 0.0011921 -0.63735334] [ 0.30553118 0.00185334 0.95218027 -0.67580533] [ 0. 0. 0. 1. ]] SLAMing on 397.53463044 meters Centerline goodness : 0.303386 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.64, Z:-0.68 [[ 9.52064887e-01 9.47470389e-03 -3.05749377e-01 -8.80128274e-01] [-9.64465286e-03 9.99953033e-01 9.54780574e-04 -6.36215799e-01] [ 3.05744063e-01 2.03983354e-03 9.52111552e-01 -6.75591942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56463044000003 meters Centerline goodness : 0.478345 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.63, Z:-0.68 [[ 9.52007584e-01 8.96244468e-03 -3.05943189e-01 -8.79337795e-01] [-9.31534559e-03 9.99956564e-01 3.06513560e-04 -6.33172360e-01] [ 3.05932647e-01 2.55816331e-03 9.52049721e-01 -6.75683029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59463044 meters Centerline goodness : 0.092025 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.63, Z:-0.68 [[ 9.51961970e-01 8.72827056e-03 -3.06091858e-01 -8.79000226e-01] [-9.18050600e-03 9.99957858e-01 -3.78639246e-05 -6.31367026e-01] [ 3.06078628e-01 2.84612315e-03 9.52001982e-01 -6.75576128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62463044000003 meters Centerline goodness : 0.152376 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.63, Z:-0.68 [[ 9.51935623e-01 8.51614462e-03 -3.06179759e-01 -8.78575716e-01] [-9.07562968e-03 9.99958734e-01 -4.03756270e-04 -6.29116441e-01] [ 3.06163686e-01 3.16312409e-03 9.51973630e-01 -6.75664580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65463044 meters Centerline goodness : 0.314686 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.63, Z:-0.68 [[ 9.51880592e-01 8.36880536e-03 -3.06354861e-01 -8.78012560e-01] [-9.02110072e-03 9.99959055e-01 -7.13381848e-04 -6.26828097e-01] [ 3.06336347e-01 3.44271239e-03 9.51917113e-01 -6.75660911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68463044000003 meters Centerline goodness : 0.086450 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.62, Z:-0.68 [[ 0.95195119 0.00812284 -0.30614206 -0.8781408 ] [-0.00888581 0.99995992 -0.00109863 -0.62415535] [ 0.30612086 0.00376616 0.95198521 -0.6761552 ] [ 0. 0. 0. 1. ]] SLAMing on 397.71463044 meters Centerline goodness : 0.088234 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.62, Z:-0.68 [[ 0.95195143 0.00785368 -0.30614831 -0.87837913] [-0.00871479 0.99996098 -0.00144596 -0.62269985] [ 0.30612501 0.0040445 0.95198273 -0.67596042] [ 0. 0. 0. 1. ]] SLAMing on 397.74463044000004 meters Centerline goodness : 0.090860 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.62, Z:-0.68 [[ 0.95194998 0.00766017 -0.30615775 -0.87872157] [-0.00859968 0.99996154 -0.00171999 -0.6214269 ] [ 0.3061328 0.0042702 0.95197924 -0.6756693 ] [ 0. 0. 0. 1. ]] SLAMing on 397.77463044 meters Centerline goodness : 0.089248 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.62, Z:-0.68 [[ 0.95196135 0.00747312 -0.30612699 -0.87892176] [-0.00848527 0.99996205 -0.00197568 -0.62013353] [ 0.30610061 0.00447834 0.95198864 -0.67560501] [ 0. 0. 0. 1. ]] SLAMing on 397.80463044000004 meters Centerline goodness : 0.100349 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.61, Z:-0.67 [[ 9.51929394e-01 1.03461957e-03 -3.06315781e-01 -8.60919618e-01] [-1.38785980e-03 9.99998599e-01 -9.35395572e-04 -6.14162519e-01] [ 3.06314385e-01 1.31555390e-03 9.51929497e-01 -6.68274728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83463044 meters Centerline goodness : 0.095906 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.61, Z:-0.67 [[ 9.51987010e-01 8.61277945e-04 -3.06137210e-01 -8.61343089e-01] [-1.31331132e-03 9.99998330e-01 -1.27060284e-03 -6.11808970e-01] [ 3.06135604e-01 1.61165086e-03 9.51986552e-01 -6.68374115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86463044000004 meters Centerline goodness : 0.115346 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.61, Z:-0.67 [[ 9.52050395e-01 7.28301736e-04 -3.05940379e-01 -8.61671314e-01] [-1.24866290e-03 9.99998088e-01 -1.50516144e-03 -6.10567855e-01] [ 3.05938698e-01 1.81500594e-03 9.52049483e-01 -6.68578447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89463044 meters Centerline goodness : 0.111004 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.61, Z:-0.66 [[ 0.95201309 0.00810775 -0.3059499 -0.84458169] [-0.00923193 0.9999549 -0.00222758 -0.61432096] [ 0.30591804 0.00494519 0.95204501 -0.66210372] [ 0. 0. 0. 1. ]] SLAMing on 397.92463044 meters Centerline goodness : 0.477486 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.61, Z:-0.66 [[ 0.95201563 0.00798282 -0.30594527 -0.84447928] [-0.00917733 0.99995485 -0.00246614 -0.61298489] [ 0.30591177 0.00515557 0.95204591 -0.66220225] [ 0. 0. 0. 1. ]] SLAMing on 397.95463044 meters Centerline goodness : 0.115870 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.61, Z:-0.66 [[ 0.95196528 0.0081401 -0.30609777 -0.84392939] [-0.00940578 0.99995223 -0.00266012 -0.61021296] [ 0.30606149 0.00541143 0.95199636 -0.6621765 ] [ 0. 0. 0. 1. ]] SLAMing on 397.98463044 meters Centerline goodness : 0.099991 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.61, Z:-0.66 [[ 0.95201363 0.00805736 -0.30594954 -0.84460312] [-0.00939575 0.99995165 -0.00290217 -0.60870867] [ 0.30591136 0.00563754 0.95204331 -0.66195399] [ 0. 0. 0. 1. ]] SLAMing on 398.01463044 meters Centerline goodness : 0.131945 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 0.95225316 0.01539516 -0.30492115 -0.82740333] [-0.01754012 0.99983693 -0.00429614 -0.61054767] [ 0.30480529 0.00943937 0.95236791 -0.65508974] [ 0. 0. 0. 1. ]] SLAMing on 398.04463044 meters Centerline goodness : 0.141932 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.65 [[ 0.9522569 0.01532124 -0.30491321 -0.82763111] [-0.01754969 0.99983555 -0.00456881 -0.60876224] [ 0.30479307 0.00970181 0.95236918 -0.65484638] [ 0. 0. 0. 1. ]] SLAMing on 398.07463044 meters Centerline goodness : 0.139668 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 0.9520519 0.01594958 -0.30552052 -0.82505325] [-0.01818211 0.99982473 -0.00446297 -0.60557503] [ 0.30539579 0.00980399 0.95217503 -0.65509279] [ 0. 0. 0. 1. ]] SLAMing on 398.10463044 meters Centerline goodness : 0.101590 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.60, Z:-0.66 [[ 0.95198147 0.01596612 -0.30573904 -0.82396453] [-0.01824198 0.99982307 -0.004588 -0.60444746] [ 0.30561169 0.00994498 0.9521043 -0.65531895] [ 0. 0. 0. 1. ]] SLAMing on 398.13463044 meters Centerline goodness : 0.311072 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.60, Z:-0.66 [[ 0.9519869 0.01589183 -0.30572601 -0.82387795] [-0.01821788 0.99982273 -0.00475645 -0.60345279] [ 0.30559623 0.01009776 0.95210765 -0.65536227] [ 0. 0. 0. 1. ]] SLAMing on 398.16463044 meters Centerline goodness : 0.306879 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.60, Z:-0.66 [[ 0.95203104 0.01575122 -0.30559581 -0.82444618] [-0.01813195 0.99982333 -0.0049534 -0.60258185] [ 0.3054638 0.01025683 0.95214845 -0.6551989 ] [ 0. 0. 0. 1. ]] SLAMing on 398.19463044 meters Centerline goodness : 0.088621 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.60, Z:-0.66 [[ 0.95207354 0.01562999 -0.30546959 -0.82498833] [-0.01806623 0.99982353 -0.00514995 -0.60167047] [ 0.30533519 0.01042181 0.9521879 -0.65510086] [ 0. 0. 0. 1. ]] SLAMing on 398.22463044 meters Centerline goodness : 0.086218 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.60, Z:-0.66 [[ 0.95191596 0.01557084 -0.30596332 -0.82289578] [-0.01810382 0.9998213 -0.00544269 -0.59930549] [ 0.3058239 0.01072009 0.95202774 -0.65539947] [ 0. 0. 0. 1. ]] SLAMing on 398.25463044 meters Centerline goodness : 0.093583 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.60, Z:-0.66 [[ 0.95174183 0.01546717 -0.3065098 -0.82074775] [-0.01809508 0.99981983 -0.0057338 -0.597362 ] [ 0.30636589 0.01100341 0.95185023 -0.65566931] [ 0. 0. 0. 1. ]] SLAMing on 398.28463044 meters Centerline goodness : 0.093368 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.60, Z:-0.66 [[ 0.95159573 0.01539324 -0.30696679 -0.81904142] [-0.01811113 0.99981793 -0.00600729 -0.59531374] [ 0.30681843 0.01127602 0.95170127 -0.65578776] [ 0. 0. 0. 1. ]] SLAMing on 398.31463044000003 meters Centerline goodness : 0.179018 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.66 [[ 0.95155755 0.01532819 -0.30708839 -0.8184846 ] [-0.01813786 0.99981566 -0.0062974 -0.59278986] [ 0.30693526 0.01156227 0.95166016 -0.65589489] [ 0. 0. 0. 1. ]] SLAMing on 398.34463044 meters Centerline goodness : 0.085568 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.66 [[ 0.95173111 0.01541644 -0.30654564 -0.82028454] [-0.01832735 0.99981013 -0.00661959 -0.58804989] [ 0.30638539 0.01191824 0.95183294 -0.65584273] [ 0. 0. 0. 1. ]] SLAMing on 398.37463044000003 meters Centerline goodness : 0.260337 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.66 [[ 0.95177798 0.01523519 -0.30640916 -0.82086261] [-0.01823255 0.99980981 -0.00692228 -0.58629312] [ 0.30624542 0.01217509 0.95187473 -0.65573273] [ 0. 0. 0. 1. ]] SLAMing on 398.40463044 meters Centerline goodness : 0.307823 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 0.95217012 0.00802744 -0.30546296 -0.83774485] [-0.01037437 0.99992782 -0.00606062 -0.58024189] [ 0.30539226 0.00893973 0.95218467 -0.6629408 ] [ 0. 0. 0. 1. ]] SLAMing on 398.43463044000003 meters Centerline goodness : 0.086421 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 0.95214532 0.00786817 -0.30554442 -0.83743013] [-0.01026362 0.99992789 -0.00623427 -0.57972176] [ 0.30547333 0.00907193 0.95215742 -0.66297145] [ 0. 0. 0. 1. ]] SLAMing on 398.46463044 meters Centerline goodness : 0.301739 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 0.95207261 0.00750432 -0.30578005 -0.83684039] [-0.00997075 0.99992913 -0.00650497 -0.57949655] [ 0.30570957 0.00924206 0.95207996 -0.66279833] [ 0. 0. 0. 1. ]] SLAMing on 398.49463044000004 meters Centerline goodness : 0.085397 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 0.95207506 0.00739861 -0.30577497 -0.83703319] [-0.00987623 0.99992973 -0.00655653 -0.57973538] [ 0.30570497 0.00926221 0.95208124 -0.66265044] [ 0. 0. 0. 1. ]] SLAMing on 398.52463044 meters Centerline goodness : 0.083925 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 0.95209023 0.00734333 -0.30572909 -0.83737759] [-0.00981379 0.99993043 -0.00654434 -0.58031896] [ 0.30565976 0.00923116 0.95209605 -0.66243134] [ 0. 0. 0. 1. ]] SLAMing on 398.55463044000004 meters Centerline goodness : 0.083958 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 0.95208436 0.00728934 -0.30574866 -0.83748751] [-0.00976192 0.99993084 -0.00655879 -0.58064368] [ 0.30567971 0.00922922 0.95208967 -0.6622451 ] [ 0. 0. 0. 1. ]] SLAMing on 398.58463044 meters Centerline goodness : 0.087796 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.58, Z:-0.66 [[ 0.95207291 0.00721096 -0.30578616 -0.83735646] [-0.00969133 0.9999313 -0.00659411 -0.58082235] [ 0.30571761 0.00924155 0.95207738 -0.66225264] [ 0. 0. 0. 1. ]] SLAMing on 398.61463044000004 meters Centerline goodness : 0.083303 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 9.52091665e-01 7.04483648e-04 -3.05811976e-01 -8.19961841e-01] [-2.45256178e-03 9.99982777e-01 -5.33200871e-03 -5.76577921e-01] [ 3.05802953e-01 5.82658382e-03 9.52076995e-01 -6.54773052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64463044 meters Centerline goodness : 0.087216 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 9.52112705e-01 7.14081692e-04 -3.05746441e-01 -8.20509433e-01] [-2.43329252e-03 9.99983301e-01 -5.24192189e-03 -5.77419720e-01] [ 3.05737592e-01 5.73487096e-03 9.52098543e-01 -6.54463925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67463044 meters Centerline goodness : 0.080404 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 9.52126638e-01 7.25077648e-04 -3.05703024e-01 -8.21043385e-01] [-2.42180645e-03 9.99983697e-01 -5.17103358e-03 -5.78224890e-01] [ 3.05694291e-01 5.66383237e-03 9.52112872e-01 -6.54092928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70463044 meters Centerline goodness : 0.086564 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 9.52130237e-01 7.08730489e-04 -3.05691853e-01 -8.21290989e-01] [-2.38741350e-03 9.99984055e-01 -5.11760250e-03 -5.79055703e-01] [ 3.05683352e-01 5.60243694e-03 9.52116748e-01 -6.53900904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73463044 meters Centerline goodness : 0.087612 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 9.52144947e-01 8.44364478e-04 -3.05645690e-01 -8.20520745e-01] [-2.45628069e-03 9.99985031e-01 -4.88926708e-03 -5.80549152e-01] [ 3.05636986e-01 5.40604255e-03 9.52132768e-01 -6.54592492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76463044 meters Centerline goodness : 0.086698 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 0.95213773 0.00101689 -0.30566764 -0.82017984] [-0.00257192 0.99998572 -0.00468467 -0.58139582] [ 0.30565851 0.0052466 0.95212675 -0.65476484] [ 0. 0. 0. 1. ]] SLAMing on 398.79463044 meters Centerline goodness : 0.085882 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 0.95217243 0.00119188 -0.30555892 -0.82043287] [-0.00268259 0.99998646 -0.0044588 -0.58242414] [ 0.30554946 0.00506524 0.95216273 -0.65483871] [ 0. 0. 0. 1. ]] SLAMing on 398.82463044 meters Centerline goodness : 0.086085 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 0.95219219 0.00135176 -0.30549665 -0.8209601 ] [-0.00277489 0.99998723 -0.00422423 -0.58373927] [ 0.30548704 0.00487 0.95218378 -0.65452767] [ 0. 0. 0. 1. ]] SLAMing on 398.85463044 meters Centerline goodness : 0.107295 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.65 [[ 0.952233 0.00170305 -0.30536766 -0.82145923] [-0.0029736 0.99998875 -0.00369564 -0.5867231 ] [ 0.30535793 0.00442715 0.95222735 -0.6544496 ] [ 0. 0. 0. 1. ]] SLAMing on 398.88463044 meters Centerline goodness : 0.093855 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.65 [[ 0.95219675 0.001824 -0.30548 -0.82082004] [-0.00303223 0.99998934 -0.00348076 -0.58818056] [ 0.30547039 0.00424066 0.95219213 -0.65462748] [ 0. 0. 0. 1. ]] SLAMing on 398.91463044 meters Centerline goodness : 0.306429 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.65 [[ 0.95213598 0.00183195 -0.30566931 -0.81976164] [-0.00302325 0.99998957 -0.00342402 -0.58901328] [ 0.30565985 0.00418424 0.95213158 -0.65495493] [ 0. 0. 0. 1. ]] SLAMing on 398.94463044 meters Centerline goodness : 0.093936 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.66 [[ 0.95203993 0.00191879 -0.3059678 -0.81865096] [-0.00308351 0.99998972 -0.00332341 -0.58956832] [ 0.30595828 0.00410748 0.95203606 -0.65505597] [ 0. 0. 0. 1. ]] SLAMing on 398.97463044 meters Centerline goodness : 0.083033 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.66 [[ 0.95196627 0.00201025 -0.30619632 -0.81761559] [-0.00316718 0.9999896 -0.0032816 -0.58944746] [ 0.30618654 0.00409375 0.95196273 -0.6552542 ] [ 0. 0. 0. 1. ]] SLAMing on 399.00463044 meters Centerline goodness : 0.093880 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.66 [[ 0.95180776 0.00216546 -0.30668762 -0.81586225] [-0.00337967 0.99998841 -0.00342812 -0.58718773] [ 0.30667665 0.00429942 0.95180405 -0.65542868] [ 0. 0. 0. 1. ]] SLAMing on 399.03463044 meters Centerline goodness : 0.087060 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.59, Z:-0.66 [[ 0.95173067 0.00204304 -0.3069276 -0.81501256] [-0.00332692 0.99998777 -0.00365988 -0.58581017] [ 0.30691637 0.00450434 0.95172583 -0.65551487] [ 0. 0. 0. 1. ]] SLAMing on 399.06463044000003 meters Centerline goodness : 0.249930 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.66 [[ 0.95165201 0.00195309 -0.30717199 -0.81431179] [-0.0032889 0.99998725 -0.00383114 -0.58477512] [ 0.30716059 0.00465617 0.95164631 -0.65545138] [ 0. 0. 0. 1. ]] SLAMing on 399.09463044 meters Centerline goodness : 0.249930 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.66 [[ 0.95165201 0.00195309 -0.30717199 -0.81431179] [-0.0032889 0.99998725 -0.00383114 -0.58477512] [ 0.30716059 0.00465617 0.95164631 -0.65545138] [ 0. 0. 0. 1. ]] SLAMing on 399.12463044000003 meters Centerline goodness : 0.081327 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.66 [[ 0.9515662 0.00187321 -0.30743821 -0.81368931] [-0.00325456 0.99998678 -0.00398046 -0.58378479] [ 0.30742669 0.00478825 0.95155972 -0.65523753] [ 0. 0. 0. 1. ]] SLAMing on 399.15463044 meters Centerline goodness : 0.094287 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 0.95144446 0.00156228 -0.30781651 -0.81318515] [-0.00304603 0.99998594 -0.00433982 -0.58244597] [ 0.3078054 0.00506672 0.95143584 -0.65467427] [ 0. 0. 0. 1. ]] SLAMing on 399.18463044000003 meters Centerline goodness : 0.101703 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 0.95143404 0.00142192 -0.30784939 -0.81333606] [-0.00292995 0.99998587 -0.00443641 -0.5825015 ] [ 0.30783873 0.00512294 0.95142476 -0.65445716] [ 0. 0. 0. 1. ]] SLAMing on 399.21463044 meters Centerline goodness : 0.148899 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 0.95144356 0.00136459 -0.30782024 -0.81361334] [-0.00287006 0.99998603 -0.00443804 -0.58288398] [ 0.30780988 0.00510601 0.95143418 -0.65426986] [ 0. 0. 0. 1. ]] SLAMing on 399.24463044000004 meters Centerline goodness : 0.082366 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 0.95148206 0.00125863 -0.30770165 -0.81470132] [-0.0027856 0.99998589 -0.00452333 -0.58259392] [ 0.30769162 0.005161 0.95147214 -0.65366669] [ 0. 0. 0. 1. ]] SLAMing on 399.27463044 meters Centerline goodness : 0.087494 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 0.95155393 0.00119929 -0.30747958 -0.81574167] [-0.0027676 0.99998529 -0.00466453 -0.5816271 ] [ 0.30746946 0.00528953 0.95154325 -0.65339527] [ 0. 0. 0. 1. ]] SLAMing on 399.30463044000004 meters Centerline goodness : 0.308931 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 0.95158539 0.0010878 -0.3073826 -0.81637369] [-0.00273849 0.99998405 -0.00493889 -0.5798278 ] [ 0.30737233 0.00554155 0.95157319 -0.65309262] [ 0. 0. 0. 1. ]] SLAMing on 399.33463044 meters Centerline goodness : 0.085465 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.58, Z:-0.65 [[ 9.51553460e-01 9.10779899e-04 -3.07482006e-01 -8.16264398e-01] [-2.68192833e-03 9.99982158e-01 -5.33766043e-03 -5.77381167e-01] [ 3.07471658e-01 5.90371395e-03 9.51538925e-01 -6.52951495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36463044000004 meters Centerline goodness : 0.084733 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 9.51543141e-01 8.07527933e-04 -3.07514226e-01 -8.16135657e-01] [-2.69115382e-03 9.99980126e-01 -5.70132020e-03 -5.74750999e-01] [ 3.07503511e-01 6.25262021e-03 9.51526403e-01 -6.53003067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39463044 meters Centerline goodness : 0.094703 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 9.51531996e-01 8.69006475e-04 -3.07548542e-01 -8.16184334e-01] [-2.82638705e-03 9.99978488e-01 -5.91909790e-03 -5.72281367e-01] [ 3.07536782e-01 6.50146226e-03 9.51513982e-01 -6.52893302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42463044 meters Centerline goodness : 0.088806 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 0.95163785 0.00129229 -0.30721936 -0.81735035] [-0.00327328 0.99997704 -0.00593293 -0.56898238] [ 0.30720464 0.00665162 0.95162023 -0.65284197] [ 0. 0. 0. 1. ]] SLAMing on 399.45463044 meters Centerline goodness : 0.092996 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 0.95166543 0.00119692 -0.30713428 -0.81773895] [-0.0032204 0.99997632 -0.00608157 -0.56816586] [ 0.30711973 0.00677672 0.95164676 -0.6527011 ] [ 0. 0. 0. 1. ]] SLAMing on 399.48463044 meters Centerline goodness : 0.095785 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 0.9516501 0.00102631 -0.3071824 -0.81799696] [-0.00310993 0.99997536 -0.00629357 -0.56740597] [ 0.30716838 0.00694459 0.95162984 -0.65236669] [ 0. 0. 0. 1. ]] SLAMing on 399.51463044 meters Centerline goodness : 0.096766 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 9.51608330e-01 9.06986803e-04 -3.07312160e-01 -8.17827984e-01] [-3.03881916e-03 9.99974526e-01 -6.45858573e-03 -5.66674250e-01] [ 3.07298474e-01 7.07991006e-03 9.51586845e-01 -6.52141850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54463044 meters Centerline goodness : 0.100719 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.56, Z:-0.65 [[ 9.51514717e-01 7.77358463e-04 -3.07602243e-01 -8.16735839e-01] [-2.99370901e-03 9.99972849e-01 -6.73343862e-03 -5.64751274e-01] [ 3.07588657e-01 7.32783755e-03 9.51491209e-01 -6.52262843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57463044 meters Centerline goodness : 0.100270 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.56, Z:-0.65 [[ 9.51529294e-01 7.54470238e-04 -3.07557204e-01 -8.16769684e-01] [-2.99748026e-03 9.99972247e-01 -6.82065303e-03 -5.63905174e-01] [ 3.07543522e-01 7.41194781e-03 9.51505147e-01 -6.52324294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60463044 meters Centerline goodness : 0.085620 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.56, Z:-0.65 [[ 9.51556302e-01 6.82507514e-04 -3.07473801e-01 -8.17097085e-01] [-2.96410497e-03 9.99971431e-01 -6.95351845e-03 -5.63111414e-01] [ 3.07460271e-01 7.52804892e-03 9.51531140e-01 -6.52249784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63463044 meters Centerline goodness : 0.114554 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.56, Z:-0.65 [[ 9.51589655e-01 6.81358358e-04 -3.07370566e-01 -8.17659331e-01] [-2.97064613e-03 9.99971226e-01 -6.98016536e-03 -5.62730208e-01] [ 3.07356966e-01 7.55534233e-03 9.51564298e-01 -6.52040574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66463044 meters Centerline goodness : 0.084743 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.56, Z:-0.65 [[ 9.51630258e-01 6.41003480e-04 -3.07244920e-01 -8.18244653e-01] [-2.93155417e-03 9.99971247e-01 -6.99367332e-03 -5.62879731e-01] [ 3.07231603e-01 7.55609628e-03 9.51604775e-01 -6.51854167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.69463044 meters Centerline goodness : 0.102826 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.56, Z:-0.65 [[ 9.51507542e-01 3.69124862e-04 -3.07625196e-01 -8.17551629e-01] [-2.66210959e-03 9.99971716e-01 -7.03421877e-03 -5.64442276e-01] [ 3.07613898e-01 7.51204420e-03 9.51481612e-01 -6.51353132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72463044 meters Centerline goodness : 0.101808 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 9.51340424e-01 2.66043449e-04 -3.08141731e-01 -8.15819684e-01] [-2.53788694e-03 9.99972475e-01 -6.97198105e-03 -5.65919286e-01] [ 3.08131395e-01 7.41475629e-03 9.51314914e-01 -6.51311118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.75463044 meters Centerline goodness : 0.084667 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51153085e-01 1.76122397e-04 -3.08719578e-01 -8.13561822e-01] [-2.43567786e-03 9.99972995e-01 -6.93375162e-03 -5.67065807e-01] [ 3.08710019e-01 7.34700069e-03 9.51127828e-01 -6.51582282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78463044 meters Centerline goodness : 0.106730 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51025601e-01 1.18534690e-04 -3.09112104e-01 -8.11922525e-01] [-2.37648343e-03 9.99973176e-01 -6.92811782e-03 -5.67699723e-01] [ 3.09102991e-01 7.32341721e-03 9.51000373e-01 -6.51844672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.81463044000003 meters Centerline goodness : 0.087592 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51008160e-01 1.77507561e-04 -3.09165730e-01 -8.12354600e-01] [-2.41076794e-03 9.99973691e-01 -6.84149918e-03 -5.68395333e-01] [ 3.09156382e-01 7.25164837e-03 9.50983567e-01 -6.51334124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84463044 meters Centerline goodness : 0.086295 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51044472e-01 2.93643182e-04 -3.09053922e-01 -8.13186174e-01] [-2.48622478e-03 9.99974459e-01 -6.70069039e-03 -5.68912790e-01] [ 3.09044061e-01 7.14103207e-03 9.51020911e-01 -6.50924945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.87463044000003 meters Centerline goodness : 0.252628 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51097194e-01 4.02172589e-04 -3.08891510e-01 -8.13952147e-01] [-2.54914246e-03 9.99975319e-01 -6.54702219e-03 -5.69671915e-01] [ 3.08881254e-01 7.01426290e-03 9.51074745e-01 -6.50700083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90463044 meters Centerline goodness : 0.086718 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51089319e-01 4.42024940e-04 -3.08915704e-01 -8.13710745e-01] [-2.55504499e-03 9.99976027e-01 -6.43561214e-03 -5.70577997e-01] [ 3.08905454e-01 6.91013549e-03 9.51067648e-01 -6.50788847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93463044000003 meters Centerline goodness : 0.084130 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51049019e-01 3.66790403e-04 -3.09039849e-01 -8.12937961e-01] [-2.47144287e-03 9.99976345e-01 -6.41885375e-03 -5.71948870e-01] [ 3.09030185e-01 6.86841889e-03 9.51027429e-01 -6.50934659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96463044 meters Centerline goodness : 0.096749 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51051052e-01 3.39572094e-04 -3.09033624e-01 -8.12983786e-01] [-2.45385494e-03 9.99976169e-01 -6.45294611e-03 -5.72007223e-01] [ 3.09024068e-01 6.89540487e-03 9.51029221e-01 -6.50917677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99463044000004 meters Centerline goodness : 0.102731 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51120617e-01 4.33894177e-04 -3.08819338e-01 -8.13544848e-01] [-2.53289310e-03 9.99976338e-01 -6.39598202e-03 -5.71902648e-01] [ 3.08809256e-01 6.86555674e-03 9.51099210e-01 -6.50975038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02463044 meters Centerline goodness : 0.094184 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51206134e-01 5.31295173e-04 -3.08555680e-01 -8.14552757e-01] [-2.61321505e-03 9.99976525e-01 -6.33410308e-03 -5.71739211e-01] [ 3.08545072e-01 6.83136006e-03 9.51185193e-01 -6.50833845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05463044000004 meters Centerline goodness : 0.092033 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 9.51334174e-01 7.50249535e-04 -3.08160228e-01 -8.15964063e-01] [-2.75967195e-03 9.99977679e-01 -6.08494307e-03 -5.72486312e-01] [ 3.08148784e-01 6.63923543e-03 9.51315009e-01 -6.50684947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08463044 meters Centerline goodness : 0.088499 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.65 [[ 9.51296378e-01 8.06530322e-04 -3.08276745e-01 -8.15522470e-01] [-2.78874892e-03 9.99978174e-01 -5.98946906e-03 -5.73040881e-01] [ 3.08265186e-01 6.55746666e-03 9.51277864e-01 -6.50688797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11463044 meters Centerline goodness : 0.083703 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51249940e-01 8.84426761e-04 -3.08419795e-01 -8.14848401e-01] [-2.82773375e-03 9.99978867e-01 -5.85394817e-03 -5.73895102e-01] [ 3.08408099e-01 6.44069691e-03 9.51232338e-01 -6.50803312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14463044 meters Centerline goodness : 0.092078 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.65 [[ 9.51222041e-01 9.65157610e-04 -3.08505587e-01 -8.14378462e-01] [-2.86585780e-03 9.99979603e-01 -5.70793287e-03 -5.74820460e-01] [ 3.08493785e-01 6.31364470e-03 9.51205405e-01 -6.50947207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17463044 meters Centerline goodness : 0.091402 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 0.9512508 0.00104365 -0.30841665 -0.81432324] [-0.00288315 0.99998067 -0.0055087 -0.57624895] [ 0.30840494 0.00612937 0.95123542 -0.65115852] [ 0. 0. 0. 1. ]] SLAMing on 400.20463044 meters Centerline goodness : 0.084774 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.51316520e-01 -3.11478067e-03 -3.08199898e-01 -8.14129949e-01] [ 4.83674885e-04 9.99962790e-01 -8.61303614e-03 -5.78371681e-01] [ 3.08215258e-01 8.04465502e-03 9.51282628e-01 -6.51715884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23463044 meters Centerline goodness : 0.083936 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.51271007e-01 -3.16008607e-03 -3.08339885e-01 -8.13509504e-01] [ 5.63502577e-04 9.99963632e-01 -8.50985423e-03 -5.80039142e-01] [ 3.08355563e-01 7.92142729e-03 9.51238192e-01 -6.51801671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26463044 meters Centerline goodness : 0.090623 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.51253228e-01 -3.07659180e-03 -3.08395576e-01 -8.13014940e-01] [ 5.33627941e-04 9.99965164e-01 -8.32978656e-03 -5.81417366e-01] [ 3.08410460e-01 7.75916786e-03 9.51221732e-01 -6.52006329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29463044 meters Centerline goodness : 0.091259 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.51213734e-01 -2.95563270e-03 -3.08518550e-01 -8.12481107e-01] [ 4.54677359e-04 9.99966457e-01 -8.17791415e-03 -5.82193752e-01] [ 3.08532372e-01 7.63866786e-03 9.51183172e-01 -6.52075346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32463044 meters Centerline goodness : 0.090929 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.51131429e-01 -2.87034818e-03 -3.08773000e-01 -8.11318097e-01] [ 3.81480804e-04 9.99966955e-01 -8.12057706e-03 -5.82297402e-01] [ 3.08786106e-01 7.60594509e-03 9.51101094e-01 -6.52350103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35463044 meters Centerline goodness : 0.090736 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.50905281e-01 -2.76154146e-03 -3.09469741e-01 -8.08351669e-01] [ 2.70509308e-04 9.99967223e-01 -8.09197763e-03 -5.82456767e-01] [ 3.09481943e-01 7.61098982e-03 9.50874860e-01 -6.52863589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38463044 meters Centerline goodness : 0.084138 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.50855768e-01 -2.71733457e-03 -3.09622230e-01 -8.07593820e-01] [ 2.48693267e-04 9.99967870e-01 -8.01226654e-03 -5.83192579e-01] [ 3.09634054e-01 7.54150888e-03 9.50825893e-01 -6.53057921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41463044 meters Centerline goodness : 0.092335 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.58, Z:-0.65 [[ 9.50837108e-01 -2.68826134e-03 -3.09679783e-01 -8.07406497e-01] [ 2.62023687e-04 9.99968950e-01 -7.87599372e-03 -5.84613122e-01] [ 3.09691340e-01 7.40764365e-03 9.50808288e-01 -6.53022587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44463044 meters Centerline goodness : 0.092645 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.59, Z:-0.65 [[ 9.50835646e-01 -2.62754658e-03 -3.09684791e-01 -8.07425092e-01] [ 2.69295319e-04 9.99970645e-01 -7.65750832e-03 -5.86436653e-01] [ 3.09695820e-01 7.19763521e-03 9.50808442e-01 -6.52973287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47463044 meters Centerline goodness : 0.092987 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.59, Z:-0.65 [[ 0.95102351 -0.00443647 -0.30908673 -0.80965061] [ 0.00187935 0.99996151 -0.00857038 -0.59259051] [ 0.30911285 0.00756975 0.95099524 -0.65273914] [ 0. 0. 0. 1. ]] SLAMing on 400.50463044 meters Centerline goodness : 0.088043 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.60, Z:-0.65 [[ 0.95099683 -0.00433523 -0.30917022 -0.80941417] [ 0.00187897 0.99996427 -0.00824199 -0.5950455 ] [ 0.30919491 0.00725719 0.950971 -0.65262382] [ 0. 0. 0. 1. ]] SLAMing on 400.53463044 meters Centerline goodness : 0.293803 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.60, Z:-0.67 [[ 0.95047963 -0.00569602 -0.31073466 -0.85182879] [ 0.0033397 0.9999615 -0.00811459 -0.60069245] [ 0.31076892 0.00667499 0.95046206 -0.66601566] [ 0. 0. 0. 1. ]] SLAMing on 400.56463044000003 meters Centerline goodness : 0.088950 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 9.50871063e-01 -1.69773583e-04 -3.09587133e-01 -8.32545345e-01] [-3.23329120e-03 9.99939865e-01 -1.04791384e-02 -6.05315359e-01] [ 3.09570295e-01 1.09652948e-02 9.50813333e-01 -6.59415309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59463044 meters Centerline goodness : 0.112315 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 9.50900629e-01 -3.09763038e-06 -3.09496354e-01 -8.32814276e-01] [-3.32360872e-03 9.99942236e-01 -1.02215068e-02 -6.06734638e-01] [ 3.09478508e-01 1.07482820e-02 9.50845691e-01 -6.59409728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62463044000003 meters Centerline goodness : 0.096167 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 9.50855625e-01 1.12633469e-04 -3.09634571e-01 -8.32705342e-01] [-3.38849988e-03 9.99943837e-01 -1.00419892e-02 -6.07862109e-01] [ 3.09616050e-01 1.05976787e-02 9.50802604e-01 -6.59127169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65463044 meters Centerline goodness : 0.094194 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 9.50817298e-01 2.53658077e-04 -3.09752160e-01 -8.32163332e-01] [-3.46707139e-03 9.99945736e-01 -9.82368337e-03 -6.09147511e-01] [ 3.09732860e-01 1.04144609e-02 9.50766583e-01 -6.59248175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68463044000003 meters Centerline goodness : 0.102152 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 9.50700544e-01 3.36600565e-04 -3.10110242e-01 -8.31297281e-01] [-3.50250916e-03 9.99947282e-01 -9.65222730e-03 -6.10347771e-01] [ 3.10090645e-01 1.02625417e-02 9.50651604e-01 -6.59029084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71463044 meters Centerline goodness : 0.079270 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 9.50596874e-01 4.50000248e-04 -3.10427739e-01 -8.30354641e-01] [-3.55778300e-03 9.99949064e-01 -9.44516131e-03 -6.11712950e-01] [ 3.10407677e-01 1.00829753e-02 9.50550055e-01 -6.58938942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74463044000004 meters Centerline goodness : 0.092546 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.61, Z:-0.66 [[ 9.50612865e-01 6.64740139e-04 -3.10378381e-01 -8.30789033e-01] [-3.65174492e-03 9.99952445e-01 -9.04279209e-03 -6.14728514e-01] [ 3.10357610e-01 9.72961717e-03 9.50570086e-01 -6.58675169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77463044 meters Centerline goodness : 0.093676 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.62, Z:-0.66 [[ 9.50712583e-01 7.03824802e-04 -3.10072717e-01 -8.31842074e-01] [-3.64304298e-03 9.99953757e-01 -8.90015276e-03 -6.16175612e-01] [ 3.10052114e-01 9.59109546e-03 9.50671183e-01 -6.58579734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80463044000004 meters Centerline goodness : 0.089735 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.62, Z:-0.66 [[ 9.50805302e-01 7.81785812e-04 -3.09788100e-01 -8.33072707e-01] [-3.66816820e-03 9.99955122e-01 -8.73488377e-03 -6.17450869e-01] [ 3.09767368e-01 9.44152865e-03 9.50765499e-01 -6.58293507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83463044 meters Centerline goodness : 0.091673 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95140776 0.00676011 -0.30785967 -0.84998691] [-0.01015627 0.99990395 -0.00943055 -0.62420237] [ 0.30776634 0.012099 0.95138504 -0.66572972] [ 0. 0. 0. 1. ]] SLAMing on 400.86463044 meters Centerline goodness : 0.087742 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95132517 0.00696886 -0.30811014 -0.84891311] [-0.010327 0.99990371 -0.00926989 -0.62421485] [ 0.30801587 0.01200054 0.95130553 -0.66588574] [ 0. 0. 0. 1. ]] SLAMing on 400.89463044 meters Centerline goodness : 0.077361 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95122868 0.00685512 -0.30841046 -0.84804271] [-0.01027466 0.99990242 -0.00946496 -0.6233083 ] [ 0.30831548 0.01217216 0.95120629 -0.66580151] [ 0. 0. 0. 1. ]] SLAMing on 400.92463044 meters Centerline goodness : 0.079043 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95118577 0.00664084 -0.30854746 -0.84767207] [-0.01015739 0.99990046 -0.00979231 -0.62191931] [ 0.30845171 0.01244835 0.95115855 -0.66573368] [ 0. 0. 0. 1. ]] SLAMing on 400.95463044 meters Centerline goodness : 0.083947 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95116925 0.00639689 -0.30860352 -0.84765982] [-0.01002015 0.99989821 -0.01015743 -0.62033585] [ 0.30850713 0.01275369 0.95113653 -0.66560733] [ 0. 0. 0. 1. ]] SLAMing on 400.98463044 meters Centerline goodness : 0.095545 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95121433 0.00644683 -0.30846351 -0.84815562] [-0.01016197 0.99989387 -0.01043904 -0.61704161] [ 0.30836348 0.01306436 0.95117889 -0.66556595] [ 0. 0. 0. 1. ]] SLAMing on 401.01463044 meters Centerline goodness : 0.080339 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95122029 0.00640705 -0.30844597 -0.84812226] [-0.01017635 0.9998919 -0.01061319 -0.61545188] [ 0.30834462 0.01323433 0.95118266 -0.66563575] [ 0. 0. 0. 1. ]] SLAMing on 401.04463044 meters Centerline goodness : 0.080339 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.62, Z:-0.67 [[ 0.95122029 0.00640705 -0.30844597 -0.84812226] [-0.01017635 0.9998919 -0.01061319 -0.61545188] [ 0.30834462 0.01323433 0.95118266 -0.66563575] [ 0. 0. 0. 1. ]] SLAMing on 401.07463044 meters Centerline goodness : 0.083809 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.61, Z:-0.67 [[ 0.95122056 0.00622151 -0.30844893 -0.84827334] [-0.01007853 0.99988966 -0.01091292 -0.61364848] [ 0.308347 0.0134893 0.9511783 -0.66545343] [ 0. 0. 0. 1. ]] SLAMing on 401.10463044 meters Centerline goodness : 0.113094 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.61, Z:-0.67 [[ 0.95124366 0.00596759 -0.30838271 -0.84879862] [-0.00992693 0.9998872 -0.01127177 -0.61196616] [ 0.30828066 0.01378349 0.95119559 -0.66519756] [ 0. 0. 0. 1. ]] SLAMing on 401.13463044 meters Centerline goodness : 0.094974 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.61, Z:-0.66 [[ 0.9512748 0.00563 -0.30829296 -0.84953028] [-0.00978046 0.99988113 -0.01191908 -0.607949 ] [ 0.30818921 0.01435357 0.95121679 -0.66484453] [ 0. 0. 0. 1. ]] SLAMing on 401.16463044 meters Centerline goodness : 0.087174 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.60, Z:-0.67 [[ 0.95106408 -0.00164425 -0.30898935 -0.86701344] [-0.00173569 0.99994164 -0.0106635 -0.60211451] [ 0.30898885 0.01067798 0.95100572 -0.67196468] [ 0. 0. 0. 1. ]] SLAMing on 401.19463044 meters Centerline goodness : 0.086534 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.60, Z:-0.67 [[ 0.95099562 -0.00180063 -0.30919911 -0.86601775] [-0.00170018 0.99993748 -0.01105238 -0.59942177] [ 0.30919968 0.01103646 0.9509331 -0.67223486] [ 0. 0. 0. 1. ]] SLAMing on 401.22463044 meters Centerline goodness : 0.083859 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.60, Z:-0.67 [[ 0.95093873 -0.00196404 -0.30937302 -0.86539376] [-0.00164923 0.99993346 -0.01141738 -0.59692471] [ 0.30937486 0.01136746 0.95087222 -0.6722629 ] [ 0. 0. 0. 1. ]] SLAMing on 401.25463044 meters Centerline goodness : 0.093820 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.59, Z:-0.67 [[ 0.95095067 -0.00215708 -0.30933503 -0.86568368] [-0.00156137 0.99992948 -0.01177269 -0.59461436] [ 0.30933861 0.01167823 0.95088025 -0.67212162] [ 0. 0. 0. 1. ]] SLAMing on 401.28463044 meters Centerline goodness : 0.114945 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.59, Z:-0.67 [[ 0.95106529 -0.00228446 -0.30898154 -0.8676382 ] [-0.00156002 0.99992442 -0.01219479 -0.59063244] [ 0.30898604 0.01208006 0.95098985 -0.67151927] [ 0. 0. 0. 1. ]] SLAMing on 401.31463044000003 meters Centerline goodness : 0.084885 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.59, Z:-0.67 [[ 0.95111255 -0.00241519 -0.30883505 -0.8683201 ] [-0.00149353 0.99992176 -0.0124193 -0.58903111] [ 0.30884089 0.0122734 0.95103453 -0.67133364] [ 0. 0. 0. 1. ]] SLAMing on 401.34463044 meters Centerline goodness : 0.136227 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.59, Z:-0.67 [[ 0.95113561 -0.00264356 -0.30876215 -0.86842511] [-0.00135771 0.99991788 -0.01274348 -0.58714955] [ 0.30877049 0.01253999 0.95105391 -0.67139088] [ 0. 0. 0. 1. ]] SLAMing on 401.37463044000003 meters Centerline goodness : 0.094581 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.58, Z:-0.67 [[ 0.95111909 -0.00292463 -0.30881049 -0.86811086] [-0.00119594 0.99991278 -0.01315323 -0.58486488] [ 0.30882202 0.01287961 0.95103264 -0.67149061] [ 0. 0. 0. 1. ]] SLAMing on 401.40463044 meters Centerline goodness : 0.142778 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.58, Z:-0.67 [[ 9.51054365e-01 -3.38319882e-03 -3.09005095e-01 -8.66694458e-01] [-9.77532002e-04 9.99902129e-01 -1.39562546e-02 -5.77828630e-01] [ 3.09022070e-01 1.35752192e-02 9.50957977e-01 -6.72003735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43463044000003 meters Centerline goodness : 0.069194 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.58, Z:-0.67 [[ 9.51089731e-01 -3.54910304e-03 -3.08894362e-01 -8.66951378e-01] [-9.13201959e-04 9.99897329e-01 -1.43002793e-02 -5.75062758e-01] [ 3.08913401e-01 1.38829317e-02 9.50988841e-01 -6.72055218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46463044 meters Centerline goodness : 0.087172 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 9.51145429e-01 -3.81652806e-03 -3.08719627e-01 -8.67915651e-01] [-7.64584948e-04 9.99891411e-01 -1.47167356e-02 -5.72483955e-01] [ 3.08742270e-01 1.42337981e-02 9.51039226e-01 -6.71773387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49463044000004 meters Centerline goodness : 0.093410 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 9.51245803e-01 -4.02579172e-03 -3.08407547e-01 -8.69309327e-01] [-6.24694499e-04 9.99887616e-01 -1.49788076e-02 -5.71056874e-01] [ 3.08433188e-01 1.44411884e-02 9.51136384e-01 -6.71417623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52463044 meters Centerline goodness : 0.085197 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 9.51308967e-01 -4.25961444e-03 -3.08209514e-01 -8.70648744e-01] [-4.41097295e-04 9.99884674e-01 -1.51803977e-02 -5.70287342e-01] [ 3.08238632e-01 1.45771989e-02 9.51197377e-01 -6.70825517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55463044000004 meters Centerline goodness : 0.312251 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 9.51343558e-01 -4.51230118e-03 -3.08099129e-01 -8.71164815e-01] [-2.11242904e-04 9.99882984e-01 -1.52961736e-02 -5.70361359e-01] [ 3.08132098e-01 1.46169999e-02 9.51231283e-01 -6.70629835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58463044 meters Centerline goodness : 0.312204 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 0.95125543 -0.0086024 -0.30828414 -0.86955945] [ 0.0031047 0.99982737 -0.01831929 -0.57117559] [ 0.30838851 0.0164692 0.95111792 -0.67110057] [ 0. 0. 0. 1. ]] SLAMing on 401.61463044 meters Centerline goodness : 0.290525 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 0.95115122 -0.00895256 -0.30859553 -0.8684106 ] [ 0.00342296 0.99982383 -0.01845532 -0.57208731] [ 0.30870638 0.01649749 0.9510143 -0.67115475] [ 0. 0. 0. 1. ]] SLAMing on 401.64463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 401.67463044 meters Centerline goodness : 0.085684 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 0.95105652 -0.00922136 -0.30887936 -0.86758988] [ 0.00370986 0.99982334 -0.01842609 -0.573912 ] [ 0.3089947 0.01637835 0.95092272 -0.67094353] [ 0. 0. 0. 1. ]] SLAMing on 401.70463044 meters Centerline goodness : 0.087729 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 0.9509834 -0.00913328 -0.30910703 -0.86663641] [ 0.00364407 0.99982533 -0.01833097 -0.57410074] [ 0.30922047 0.01630604 0.95085058 -0.67107437] [ 0. 0. 0. 1. ]] SLAMing on 401.73463044 meters Centerline goodness : 0.087614 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.57, Z:-0.67 [[ 0.9509127 -0.00903122 -0.30932745 -0.86540853] [ 0.00357972 0.9998282 -0.01818679 -0.57478575] [ 0.30943856 0.01618675 0.95078166 -0.67146284] [ 0. 0. 0. 1. ]] SLAMing on 401.76463044 meters Centerline goodness : 0.101913 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.58, Z:-0.67 [[ 0.95085436 -0.00903329 -0.30950668 -0.86441287] [ 0.00359817 0.99982922 -0.01812694 -0.57564446] [ 0.30961757 0.01612242 0.95072447 -0.67175958] [ 0. 0. 0. 1. ]] SLAMing on 401.79463044 meters Centerline goodness : 0.104376 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.58, Z:-0.67 [[ 0.95085899 -0.00906962 -0.3094914 -0.86402413] [ 0.00365642 0.99983011 -0.01806623 -0.57684581] [ 0.30960267 0.01604681 0.95073061 -0.67202051] [ 0. 0. 0. 1. ]] SLAMing on 401.82463044 meters Centerline goodness : 0.087737 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.59, Z:-0.68 [[ 0.95145366 -0.00322228 -0.30777515 -0.88122868] [-0.00277085 0.99981501 -0.01903343 -0.58532407] [ 0.30777954 0.01896223 0.95126873 -0.679815 ] [ 0. 0. 0. 1. ]] SLAMing on 401.85463044 meters Centerline goodness : 0.063942 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.59, Z:-0.68 [[ 0.95145172 -0.00308639 -0.30778255 -0.88102264] [-0.00285796 0.99981803 -0.01886083 -0.58608834] [ 0.30778475 0.0188248 0.95126977 -0.67994776] [ 0. 0. 0. 1. ]] SLAMing on 401.88463044 meters Centerline goodness : 0.086099 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.59, Z:-0.68 [[ 0.95137351 -0.00300558 -0.30802501 -0.87998506] [-0.00292168 0.99981938 -0.01877978 -0.58643186] [ 0.30802582 0.01876654 0.95119289 -0.68009904] [ 0. 0. 0. 1. ]] SLAMing on 401.91463044 meters Centerline goodness : 0.088557 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.59, Z:-0.68 [[ 0.95125227 -0.00296479 -0.30839962 -0.87862758] [-0.0029642 0.99981972 -0.01875475 -0.58658539] [ 0.30839962 0.01875466 0.95107199 -0.68018615] [ 0. 0. 0. 1. ]] SLAMing on 401.94463044 meters Centerline goodness : 0.089784 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.59, Z:-0.68 [[ 0.95108385 -0.00287156 -0.30891952 -0.87681348] [-0.00309393 0.99981812 -0.01881923 -0.58596072] [ 0.30891737 0.01885444 0.95090198 -0.68026982] [ 0. 0. 0. 1. ]] SLAMing on 401.97463044 meters Centerline goodness : 0.078709 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.59, Z:-0.68 [[ 0.95111532 -0.00283897 -0.30882292 -0.87688782] [-0.0031513 0.99981648 -0.01889657 -0.58511773] [ 0.30881989 0.01894601 0.95093182 -0.68042723] [ 0. 0. 0. 1. ]] SLAMing on 402.00463044 meters Centerline goodness : 0.297618 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95117053 -0.00273171 -0.30865378 -0.87737874] [-0.00327111 0.99981547 -0.01892927 -0.58425124] [ 0.30864853 0.0190146 0.95098608 -0.68042653] [ 0. 0. 0. 1. ]] SLAMing on 402.03463044 meters Centerline goodness : 0.104593 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95123958 -0.00275312 -0.30844072 -0.87789772] [-0.00328891 0.99981279 -0.01906736 -0.58322157] [ 0.30843548 0.01915206 0.95105245 -0.68053805] [ 0. 0. 0. 1. ]] SLAMing on 402.06463044000003 meters Centerline goodness : 0.133743 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95122908 -0.00266884 -0.30847385 -0.87788165] [-0.00341322 0.99981031 -0.01917534 -0.5818526 ] [ 0.30846651 0.01929303 0.95103953 -0.68046407] [ 0. 0. 0. 1. ]] SLAMing on 402.09463044 meters Centerline goodness : 0.257436 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95117021 -0.00259344 -0.30865596 -0.8773121 ] [-0.00348046 0.99981102 -0.01912634 -0.58174772] [ 0.30864723 0.01926667 0.95098143 -0.68046221] [ 0. 0. 0. 1. ]] SLAMing on 402.12463044000003 meters Centerline goodness : 0.082751 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95113042 -0.00260083 -0.30877848 -0.8768433 ] [-0.00348154 0.99981065 -0.01914556 -0.58145678] [ 0.30876981 0.01928495 0.95094127 -0.68041076] [ 0. 0. 0. 1. ]] SLAMing on 402.15463044 meters Centerline goodness : 0.052682 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95111927 -0.00263035 -0.30881259 -0.87694224] [-0.0034491 0.99981088 -0.01913897 -0.58178507] [ 0.30880453 0.01926857 0.95093032 -0.68022807] [ 0. 0. 0. 1. ]] SLAMing on 402.18463044000003 meters Centerline goodness : 0.086735 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95108867 -0.00286379 -0.30890473 -0.87722172] [-0.00326735 0.99980784 -0.01932885 -0.58175718] [ 0.30890073 0.01939275 0.95089656 -0.67973355] [ 0. 0. 0. 1. ]] SLAMing on 402.21463044 meters Centerline goodness : 0.084909 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95107613 -0.00286126 -0.30894338 -0.8773979 ] [-0.00328695 0.99980682 -0.01937848 -0.5810472 ] [ 0.30893915 0.01944589 0.95088299 -0.6794747 ] [ 0. 0. 0. 1. ]] SLAMing on 402.24463044000004 meters Centerline goodness : 0.112509 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95112999 -0.00272788 -0.30877872 -0.87801396] [-0.00342986 0.99980596 -0.01939768 -0.57970185] [ 0.30877172 0.01950878 0.95093608 -0.67938594] [ 0. 0. 0. 1. ]] SLAMing on 402.27463044 meters Centerline goodness : 0.093024 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95123394 -0.00270456 -0.30845856 -0.87885642] [-0.00350234 0.99980242 -0.01956689 -0.577775 ] [ 0.30845054 0.01969302 0.95103651 -0.67946719] [ 0. 0. 0. 1. ]] SLAMing on 402.30463044000004 meters Centerline goodness : 0.091435 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.58, Z:-0.68 [[ 0.95132085 -0.00277342 -0.30818979 -0.87974746] [-0.0035265 0.9997961 -0.01988284 -0.5753501 ] [ 0.3081821 0.02000179 0.95111709 -0.6794148 ] [ 0. 0. 0. 1. ]] SLAMing on 402.33463044 meters Centerline goodness : 0.085357 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.57, Z:-0.68 [[ 0.95130196 -0.00293824 -0.30824657 -0.87957456] [-0.00350137 0.99978707 -0.02033592 -0.57228322] [ 0.30824069 0.02042489 0.95108911 -0.67939821] [ 0. 0. 0. 1. ]] SLAMing on 402.36463044 meters Centerline goodness : 0.093107 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.56, Z:-0.68 [[ 9.51078088e-01 -3.46289011e-04 -3.08950402e-01 -8.76534693e-01] [-5.81064657e-03 9.99802442e-01 -1.90082266e-02 -5.64881515e-01] [ 3.08895948e-01 1.98735094e-02 9.50888183e-01 -6.79746432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39463044 meters Centerline goodness : 0.095039 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.56, Z:-0.68 [[ 9.51090915e-01 -4.40261136e-04 -3.08910792e-01 -8.76368690e-01] [-5.83590074e-03 9.99794910e-01 -1.93927929e-02 -5.61724392e-01] [ 3.08855976e-01 2.02470819e-02 9.50893286e-01 -6.79958657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42463044 meters Centerline goodness : 0.099757 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.56, Z:-0.68 [[ 9.51236123e-01 -8.76323090e-04 -3.08462429e-01 -8.77647556e-01] [-5.62411225e-03 9.99780465e-01 -2.01839474e-02 -5.56600119e-01] [ 3.08412398e-01 2.09345272e-02 9.51022365e-01 -6.80071743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45463044 meters Centerline goodness : 0.093924 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95134523 -0.00112983 -0.30812493 -0.87894512] [-0.00545938 0.9997745 -0.02052199 -0.55479453] [ 0.30807863 0.02120567 0.95112453 -0.67986521] [ 0. 0. 0. 1. ]] SLAMing on 402.48463044 meters Centerline goodness : 0.086304 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95140072 -0.00134465 -0.30795271 -0.87972575] [-0.00532892 0.99976886 -0.02082878 -0.55283768] [ 0.30790953 0.02145758 0.95117364 -0.67964427] [ 0. 0. 0. 1. ]] SLAMing on 402.51463044 meters Centerline goodness : 0.073134 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95139958 -0.00154001 -0.3079553 -0.87968621] [-0.00521029 0.99976387 -0.02109628 -0.55119099] [ 0.30791508 0.02167552 0.9511669 -0.67962621] [ 0. 0. 0. 1. ]] SLAMing on 402.54463044 meters Centerline goodness : 0.069734 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95132417 -0.00177531 -0.3081869 -0.87906281] [-0.00505664 0.99975889 -0.02136815 -0.54983513] [ 0.30815053 0.02188643 0.95108582 -0.67948019] [ 0. 0. 0. 1. ]] SLAMing on 402.57463044 meters Centerline goodness : 0.087246 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.9512614 -0.00200397 -0.3083792 -0.87824094] [-0.0048905 0.99975511 -0.02158261 -0.54906116] [ 0.30834693 0.02203883 0.95101864 -0.67958663] [ 0. 0. 0. 1. ]] SLAMing on 402.60463044 meters Centerline goodness : 0.065186 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95123593 -0.00252003 -0.30845396 -0.87805765] [-0.00447642 0.99974855 -0.02197258 -0.54808654] [ 0.30843177 0.02228187 0.95098547 -0.67943983] [ 0. 0. 0. 1. ]] SLAMing on 402.63463044 meters Centerline goodness : 0.087553 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95117836 -0.00272184 -0.30862974 -0.87789212] [-0.00431181 0.99974634 -0.02210559 -0.54804676] [ 0.30861163 0.02235711 0.95092535 -0.67903827] [ 0. 0. 0. 1. ]] SLAMing on 402.66463044 meters Centerline goodness : 0.088567 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95114034 -0.0028897 -0.30874538 -0.87738653] [-0.00416363 0.99974524 -0.02218385 -0.54824973] [ 0.30873082 0.02238546 0.95088599 -0.67911416] [ 0. 0. 0. 1. ]] SLAMing on 402.69463044 meters Centerline goodness : 0.486686 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.55, Z:-0.68 [[ 0.95105938 -0.00299626 -0.30899364 -0.87679092] [-0.00405076 0.99974618 -0.02216231 -0.54891341] [ 0.30898161 0.02232933 0.95080585 -0.67888997] [ 0. 0. 0. 1. ]] SLAMing on 402.72463044 meters Centerline goodness : 0.114260 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.55, Z:-0.69 [[ 0.95091011 -0.01071602 -0.30928163 -0.89480959] [ 0.00453082 0.99977526 -0.02070995 -0.54873336] [ 0.30943405 0.018292 0.95074496 -0.6863842 ] [ 0. 0. 0. 1. ]] SLAMing on 402.75463044 meters Centerline goodness : 0.440356 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.55, Z:-0.69 [[ 0.95090746 -0.01065796 -0.30929179 -0.8946596 ] [ 0.00454921 0.99978021 -0.02046529 -0.55055672] [ 0.30944193 0.01805356 0.95074695 -0.6864024 ] [ 0. 0. 0. 1. ]] SLAMing on 402.78463044 meters Centerline goodness : 0.088477 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.55, Z:-0.69 [[ 0.95088042 -0.01065588 -0.30937499 -0.89416892] [ 0.00460954 0.99978395 -0.02026812 -0.55246569] [ 0.30952413 0.01784648 0.9507241 -0.68653212] [ 0. 0. 0. 1. ]] SLAMing on 402.81463044000003 meters Centerline goodness : 0.454512 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.55, Z:-0.69 [[ 0.95081807 -0.01060003 -0.30956846 -0.89332571] [ 0.00462204 0.99978854 -0.0200378 -0.5545385 ] [ 0.3097154 0.01762146 0.95066601 -0.68662993] [ 0. 0. 0. 1. ]] SLAMing on 402.84463044 meters Centerline goodness : 0.091363 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95071209 -0.01043041 -0.30989953 -0.89205256] [ 0.00457047 0.99979688 -0.01962922 -0.55767758] [ 0.31004133 0.01724535 0.95056666 -0.68672553] [ 0. 0. 0. 1. ]] SLAMing on 402.87463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 402.90463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 402.93463044000003 meters Centerline goodness : 0.238678 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95070481 -0.0100547 -0.3099343 -0.89146893] [ 0.00433978 0.99980772 -0.01912315 -0.56007573] [ 0.31006698 0.01683542 0.95056564 -0.6870771 ] [ 0. 0. 0. 1. ]] SLAMing on 402.96463044 meters Centerline goodness : 0.295656 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.9507244 -0.00989488 -0.30987935 -0.8915126 ] [ 0.00423375 0.99981173 -0.01893604 -0.56093557] [ 0.31000838 0.016691 0.9505873 -0.68716631] [ 0. 0. 0. 1. ]] SLAMing on 402.99463044000004 meters Centerline goodness : 0.118146 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95062218 -0.00968841 -0.3101993 -0.89015348] [ 0.00408848 0.99981682 -0.01869776 -0.56233741] [ 0.31032363 0.01650626 0.95048766 -0.68738739] [ 0. 0. 0. 1. ]] SLAMing on 403.02463044 meters Centerline goodness : 0.111984 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95057974 -0.00952438 -0.3103344 -0.88934801] [ 0.00396874 0.99982045 -0.01852859 -0.56307007] [ 0.31045515 0.01638127 0.95044687 -0.68763549] [ 0. 0. 0. 1. ]] SLAMing on 403.05463044000004 meters Centerline goodness : 0.100139 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95056149 -0.00937879 -0.31039473 -0.88900332] [ 0.00386444 0.99982368 -0.01837579 -0.56374637] [ 0.31051235 0.01626782 0.95043013 -0.68771597] [ 0. 0. 0. 1. ]] SLAMing on 403.08463044 meters Centerline goodness : 0.099710 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95056887 -0.00924526 -0.31037615 -0.88918316] [ 0.00375868 0.99982601 -0.01827064 -0.56415576] [ 0.31049107 0.01620089 0.95043823 -0.68759883] [ 0. 0. 0. 1. ]] SLAMing on 403.11463044 meters Centerline goodness : 0.296293 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95062895 -0.00914507 -0.31019504 -0.88981866] [ 0.00366743 0.99982696 -0.01823729 -0.56407399] [ 0.31030814 0.01619928 0.950498 -0.68753551] [ 0. 0. 0. 1. ]] SLAMing on 403.14463044 meters Centerline goodness : 0.084350 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.56, Z:-0.68 [[ 9.51065070e-01 -8.58289342e-04 -3.08989476e-01 -8.71974908e-01] [-5.30623690e-03 9.99803312e-01 -1.91097029e-02 -5.64900716e-01] [ 3.08945103e-01 1.98141423e-02 9.50873453e-01 -6.80423286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17463044 meters Centerline goodness : 0.099787 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.56, Z:-0.68 [[ 9.51076343e-01 -6.41341553e-04 -3.08955303e-01 -8.71958867e-01] [-5.51573736e-03 9.99803225e-01 -1.90548685e-02 -5.64287936e-01] [ 3.08906729e-01 1.98267510e-02 9.50885657e-01 -6.80517078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20463044 meters Centerline goodness : 0.088425 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.56, Z:-0.68 [[ 9.51119743e-01 -6.10184346e-04 -3.08821731e-01 -8.72293352e-01] [-5.57563502e-03 9.99801123e-01 -1.91474853e-02 -5.63606520e-01] [ 3.08771997e-01 1.99334285e-02 9.50927186e-01 -6.80618350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23463044 meters Centerline goodness : 0.083478 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.56, Z:-0.68 [[ 9.51141575e-01 -6.27947457e-04 -3.08754451e-01 -8.72587714e-01] [-5.58424523e-03 9.99799374e-01 -1.92360928e-02 -5.63233555e-01] [ 3.08704586e-01 2.00204082e-02 9.50947245e-01 -6.80558121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26463044 meters Centerline goodness : 0.101797 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.56, Z:-0.68 [[ 9.51221019e-01 -3.27510353e-04 -3.08510074e-01 -8.73719324e-01] [-5.83612659e-03 9.99801389e-01 -1.90557524e-02 -5.63103867e-01] [ 3.08455041e-01 1.99267361e-02 9.51030185e-01 -6.80306724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29463044 meters Centerline goodness : 0.099364 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.56, Z:-0.68 [[ 9.51212642e-01 -2.52184490e-04 -3.08535973e-01 -8.73615201e-01] [-5.90627639e-03 9.99801541e-01 -1.90261743e-02 -5.62861854e-01] [ 3.08479539e-01 1.99202363e-02 9.51022375e-01 -6.80304419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32463044 meters Centerline goodness : 0.475379 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95097915 -0.00746806 -0.30916482 -0.89166422] [ 0.0020874 0.99984061 -0.01773098 -0.55989098] [ 0.30924796 0.01621644 0.95084317 -0.68718401] [ 0. 0. 0. 1. ]] SLAMing on 403.35463044 meters Centerline goodness : 0.122668 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.56, Z:-0.69 [[ 0.95082623 -0.00757133 -0.30963228 -0.88990993] [ 0.00203876 0.99983251 -0.01818789 -0.55639531] [ 0.30971813 0.01666225 0.95068241 -0.68736184] [ 0. 0. 0. 1. ]] SLAMing on 403.38463044 meters Centerline goodness : 0.149563 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.55, Z:-0.69 [[ 0.95074267 -0.00751016 -0.30989025 -0.88897742] [ 0.00189488 0.99982859 -0.01841728 -0.55356634] [ 0.30997545 0.01692289 0.95059394 -0.68744752] [ 0. 0. 0. 1. ]] SLAMing on 403.41463044 meters Centerline goodness : 0.102209 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.55, Z:-0.69 [[ 0.95070493 -0.00736123 -0.31000961 -0.88863409] [ 0.00168036 0.99982582 -0.01858789 -0.55048123] [ 0.31009244 0.01715067 0.9505517 -0.6873981 ] [ 0. 0. 0. 1. ]] SLAMing on 403.44463044 meters Centerline goodness : 0.122847 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.55, Z:-0.69 [[ 0.95074859 -0.00739387 -0.30987491 -0.88893297] [ 0.00162882 0.99982083 -0.01885903 -0.54746159] [ 0.30995883 0.01742547 0.95059028 -0.68746906] [ 0. 0. 0. 1. ]] SLAMing on 403.47463044 meters Centerline goodness : 0.107993 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.54, Z:-0.69 [[ 0.95078665 -0.00790276 -0.30974553 -0.88995075] [ 0.00193827 0.99980682 -0.01955912 -0.54385454] [ 0.30984026 0.01799618 0.9506183 -0.68696075] [ 0. 0. 0. 1. ]] SLAMing on 403.50463044 meters Centerline goodness : 0.098635 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.54, Z:-0.69 [[ 0.95076448 -0.00816812 -0.30980669 -0.88992848] [ 0.00212467 0.99980092 -0.01983958 -0.54265947] [ 0.30990707 0.01820453 0.95059256 -0.68674912] [ 0. 0. 0. 1. ]] SLAMing on 403.53463044 meters Centerline goodness : 0.102923 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.54, Z:-0.69 [[ 0.9506924 -0.008489 -0.31001919 -0.88930594] [ 0.00237046 0.99979502 -0.02010738 -0.54204971] [ 0.31012633 0.01838104 0.95051765 -0.68665988] [ 0. 0. 0. 1. ]] SLAMing on 403.56463044000003 meters Centerline goodness : 0.103822 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.54, Z:-0.69 [[ 0.95059437 -0.00875738 -0.31031219 -0.88846768] [ 0.00260051 0.99979159 -0.02024903 -0.54203942] [ 0.31042485 0.01844164 0.95041902 -0.68647327] [ 0. 0. 0. 1. ]] SLAMing on 403.59463044 meters Centerline goodness : 0.115735 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.54, Z:-0.69 [[ 0.95050685 -0.00906194 -0.31057141 -0.88800669] [ 0.00288386 0.99978884 -0.02034602 -0.54254308] [ 0.31069021 0.01844339 0.95033228 -0.68603739] [ 0. 0. 0. 1. ]] SLAMing on 403.62463044000003 meters Centerline goodness : 0.130945 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.54, Z:-0.69 [[ 0.95048951 -0.00936293 -0.31061555 -0.888129 ] [ 0.00319236 0.99978745 -0.02036805 -0.54359179] [ 0.31074023 0.01836802 0.95031738 -0.68568037] [ 0. 0. 0. 1. ]] SLAMing on 403.65463044 meters Centerline goodness : 0.103193 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.54, Z:-0.69 [[ 0.95025782 -0.01949437 -0.31085373 -0.91029462] [ 0.01370088 0.99968956 -0.0208103 -0.5447801 ] [ 0.31116291 0.01551618 0.95022991 -0.69175353] [ 0. 0. 0. 1. ]] SLAMing on 403.68463044000003 meters Centerline goodness : 0.436162 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.55, Z:-0.69 [[ 0.95028109 -0.01965719 -0.31077233 -0.91061641] [ 0.01388953 0.99968797 -0.02076148 -0.54607221] [ 0.31108347 0.01541276 0.95025761 -0.69156846] [ 0. 0. 0. 1. ]] SLAMing on 403.71463044 meters Centerline goodness : 0.087979 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.55, Z:-0.69 [[ 0.95022519 -0.01964311 -0.31094411 -0.9104036 ] [ 0.01392368 0.99969077 -0.02060308 -0.54736352] [ 0.31125267 0.01524808 0.95020486 -0.69123902] [ 0. 0. 0. 1. ]] SLAMing on 403.74463044000004 meters Centerline goodness : 0.323147 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.55, Z:-0.69 [[ 0.95016137 -0.01952423 -0.31114654 -0.90980688] [ 0.01385569 0.99969551 -0.02041848 -0.54816831] [ 0.31145045 0.01508971 0.95014258 -0.69112611] [ 0. 0. 0. 1. ]] SLAMing on 403.77463044 meters Centerline goodness : 0.403236 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.55, Z:-0.69 [[ 0.94999446 -0.01943825 -0.31166115 -0.90819417] [ 0.01382227 0.99970003 -0.02021855 -0.54965175] [ 0.31196068 0.01489965 0.94997818 -0.69095581] [ 0. 0. 0. 1. ]] SLAMing on 403.80463044000004 meters Centerline goodness : 0.096147 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.56, Z:-0.70 [[ 0.95023996 -0.01258046 -0.31126476 -0.92570472] [ 0.00634982 0.99975884 -0.02102252 -0.55636027] [ 0.31145417 0.01799996 0.95009068 -0.69815378] [ 0. 0. 0. 1. ]] SLAMing on 403.83463044 meters Centerline goodness : 0.094241 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.56, Z:-0.70 [[ 0.95021977 -0.012487 -0.31133014 -0.92585475] [ 0.00628595 0.99976153 -0.02091345 -0.55701045] [ 0.31151704 0.01791537 0.95007167 -0.69781131] [ 0. 0. 0. 1. ]] SLAMing on 403.86463044 meters Centerline goodness : 0.092682 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.56, Z:-0.70 [[ 0.95044064 -0.01216553 -0.31066796 -0.92829136] [ 0.00600654 0.99976615 -0.02077401 -0.55680368] [ 0.31084804 0.01787842 0.95029146 -0.69750721] [ 0. 0. 0. 1. ]] SLAMing on 403.89463044 meters Centerline goodness : 0.102440 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.56, Z:-0.69 [[ 0.95087841 -0.00481837 -0.3095271 -0.91073805] [-0.00215771 0.99975141 -0.02219156 -0.55782999] [ 0.30955709 0.02176935 0.95063164 -0.69039748] [ 0. 0. 0. 1. ]] SLAMing on 403.92463044 meters Centerline goodness : 0.107686 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.56, Z:-0.69 [[ 0.95090142 -0.0046633 -0.30945878 -0.91076676] [-0.0023434 0.99974933 -0.0222662 -0.55625468] [ 0.30948504 0.02189814 0.95065213 -0.69049985] [ 0. 0. 0. 1. ]] SLAMing on 403.95463044 meters Centerline goodness : 0.102876 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.55, Z:-0.69 [[ 0.95090999 -0.00445071 -0.30943559 -0.9106091 ] [-0.00260756 0.99974585 -0.02239282 -0.55390349] [ 0.30945661 0.02210043 0.95065671 -0.69065083] [ 0. 0. 0. 1. ]] SLAMing on 403.98463044 meters Centerline goodness : 0.044718 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.55, Z:-0.69 [[ 0.95087256 -0.00427252 -0.3095531 -0.91000226] [-0.00286076 0.99974081 -0.02258621 -0.55113913] [ 0.30956936 0.02236217 0.95061388 -0.69078414] [ 0. 0. 0. 1. ]] SLAMing on 404.01463044 meters Centerline goodness : 0.100371 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.54, Z:-0.69 [[ 0.95078596 -0.00315747 -0.30983236 -0.90928597] [-0.0039729 0.99974164 -0.02237995 -0.54412687] [ 0.30982297 0.02250948 0.95052777 -0.69068925] [ 0. 0. 0. 1. ]] SLAMing on 404.04463044 meters Centerline goodness : 0.123802 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.54, Z:-0.69 [[ 0.95078011 -0.00325534 -0.30984931 -0.90922106] [-0.00397302 0.99973455 -0.02269471 -0.54179717] [ 0.30984094 0.02280871 0.95051479 -0.69068873] [ 0. 0. 0. 1. ]] SLAMing on 404.07463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 404.10463044 meters Centerline goodness : 0.107445 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.54, Z:-0.69 [[ 0.95088908 -0.00345611 -0.30951255 -0.91048575] [-0.00387348 0.9997265 -0.02306341 -0.5390869 ] [ 0.3095076 0.02312963 0.95061562 -0.69053053] [ 0. 0. 0. 1. ]] SLAMing on 404.13463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 404.16463044 meters Centerline goodness : 0.101448 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95168965 -0.01150006 -0.30684614 -0.93233236] [ 0.00472551 0.99972861 -0.02281182 -0.53486298] [ 0.3070252 0.02025977 0.95148572 -0.69820126] [ 0. 0. 0. 1. ]] SLAMing on 404.19463044 meters Centerline goodness : 0.084841 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95166243 -0.0115293 -0.30692947 -0.93210494] [ 0.00474743 0.99972801 -0.02283333 -0.53438576] [ 0.30710924 0.0202725 0.95145832 -0.69805525] [ 0. 0. 0. 1. ]] SLAMing on 404.22463044 meters Centerline goodness : 0.289801 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95164307 -0.01153015 -0.30698944 -0.9315923 ] [ 0.00473798 0.99972742 -0.0228612 -0.53377481] [ 0.30716936 0.0203012 0.9514383 -0.69817333] [ 0. 0. 0. 1. ]] SLAMing on 404.25463044 meters Centerline goodness : 0.268102 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95154536 -0.01173644 -0.30728437 -0.93042479] [ 0.00485363 0.99972014 -0.02315352 -0.53243876] [ 0.30747011 0.02054018 0.95133603 -0.69824207] [ 0. 0. 0. 1. ]] SLAMing on 404.28463044 meters Centerline goodness : 0.185220 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95148646 -0.01182493 -0.30746332 -0.92977146] [ 0.00489524 0.99971654 -0.02329978 -0.53164965] [ 0.30765168 0.02066432 0.95127463 -0.69826359] [ 0. 0. 0. 1. ]] SLAMing on 404.31463044000003 meters Centerline goodness : 0.118323 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95143164 -0.01188337 -0.30763066 -0.92897514] [ 0.00490866 0.99971328 -0.02343624 -0.53071585] [ 0.30782096 0.02078793 0.95121718 -0.69841123] [ 0. 0. 0. 1. ]] SLAMing on 404.34463044 meters Centerline goodness : 0.121510 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95138818 -0.01190665 -0.30776413 -0.92834996] [ 0.00489884 0.99971107 -0.02353268 -0.52976982] [ 0.3079554 0.02088103 0.95117162 -0.69852769] [ 0. 0. 0. 1. ]] SLAMing on 404.37463044000003 meters Centerline goodness : 0.104924 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.53, Z:-0.70 [[ 0.95138033 -0.01187859 -0.30778948 -0.92818882] [ 0.00487042 0.99971132 -0.02352757 -0.52941967] [ 0.3079801 0.02088461 0.95116355 -0.69853077] [ 0. 0. 0. 1. ]] SLAMing on 404.40463044 meters Centerline goodness : 0.101534 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95184717 -0.00650486 -0.3065039 -0.94484133] [-0.0013088 0.99967954 -0.02528043 -0.53619343] [ 0.30657013 0.02446426 0.95153363 -0.70623188] [ 0. 0. 0. 1. ]] SLAMing on 404.43463044000003 meters Centerline goodness : 0.137130 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.54, Z:-0.71 [[ 0.95186505 -0.00663223 -0.30644564 -0.94500155] [-0.00116535 0.99968036 -0.02525526 -0.53727641] [ 0.30651519 0.02439672 0.95155307 -0.70619294] [ 0. 0. 0. 1. ]] SLAMing on 404.46463044 meters Centerline goodness : 0.431292 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95188168 -0.0066042 -0.30639459 -0.94492753] [-0.00112711 0.99968558 -0.02504942 -0.53901515] [ 0.30646369 0.02418942 0.95157495 -0.70631442] [ 0. 0. 0. 1. ]] SLAMing on 404.49463044000004 meters Centerline goodness : 0.092347 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95184304 -0.00649407 -0.30651698 -0.94442334] [-0.00116107 0.99969211 -0.02478568 -0.54063745] [ 0.30658357 0.02394797 0.95154244 -0.70631928] [ 0. 0. 0. 1. ]] SLAMing on 404.52463044 meters Centerline goodness : 0.094304 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95170459 -0.0063374 -0.30694987 -0.94253347] [-0.00118791 0.99970344 -0.02432339 -0.54383797] [ 0.30701298 0.02351331 0.95141482 -0.70658846] [ 0. 0. 0. 1. ]] SLAMing on 404.55463044000004 meters Centerline goodness : 0.104639 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.55, Z:-0.71 [[ 0.95164711 -0.00631115 -0.30712856 -0.94161248] [-0.00116507 0.9997076 -0.02415289 -0.54555054] [ 0.30719118 0.02334285 0.95136149 -0.70678213] [ 0. 0. 0. 1. ]] SLAMing on 404.58463044 meters Centerline goodness : 0.081691 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.55, Z:-0.71 [[ 0.95160615 -0.00626677 -0.30725635 -0.94123117] [-0.00116802 0.9997111 -0.02400749 -0.54704884] [ 0.30731804 0.02320456 0.95132391 -0.70671122] [ 0. 0. 0. 1. ]] SLAMing on 404.61463044 meters Centerline goodness : 0.107303 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.55, Z:-0.71 [[ 0.95160066 -0.00621077 -0.30727448 -0.94111104] [-0.00118869 0.99971394 -0.02388794 -0.54808319] [ 0.30733494 0.02309704 0.95132106 -0.7067104 ] [ 0. 0. 0. 1. ]] SLAMing on 404.64463044 meters Centerline goodness : 0.107236 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.55, Z:-0.71 [[ 0.9515795 -0.00607962 -0.30734264 -0.94099155] [-0.00128402 0.99971708 -0.02375116 -0.5486333 ] [ 0.30740009 0.02299575 0.95130247 -0.70660345] [ 0. 0. 0. 1. ]] SLAMing on 404.67463044 meters Centerline goodness : 0.105228 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.55, Z:-0.71 [[ 0.95156544 -0.00587534 -0.30739012 -0.94061675] [-0.00145765 0.99971993 -0.0236206 -0.54842281] [ 0.30744281 0.02292462 0.95129038 -0.70673031] [ 0. 0. 0. 1. ]] SLAMing on 404.70463044 meters Centerline goodness : 0.119051 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.55, Z:-0.71 [[ 0.95150924 -0.00557413 -0.30756965 -0.93967837] [-0.00178706 0.99971878 -0.02364657 -0.54655539] [ 0.30761496 0.02304958 0.9512317 -0.70694015] [ 0. 0. 0. 1. ]] SLAMing on 404.73463044 meters Centerline goodness : 0.105895 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.55, Z:-0.71 [[ 0.95149153 -0.00565092 -0.30762305 -0.93939661] [-0.00178471 0.99971313 -0.02388455 -0.54508856] [ 0.30766977 0.02327497 0.95120849 -0.70698129] [ 0. 0. 0. 1. ]] SLAMing on 404.76463044 meters Centerline goodness : 0.094749 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95148453 -0.00563595 -0.30764497 -0.93933075] [-0.00185141 0.99970927 -0.02404039 -0.54361905] [ 0.30769102 0.02344364 0.95119747 -0.70694968] [ 0. 0. 0. 1. ]] SLAMing on 404.79463044 meters Centerline goodness : 0.115913 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95151968 -0.0052866 -0.30754243 -0.94013961] [-0.00221946 0.99970825 -0.0240517 -0.54113087] [ 0.30757986 0.02356825 0.95123034 -0.70648443] [ 0. 0. 0. 1. ]] SLAMing on 404.82463044 meters Centerline goodness : 0.116557 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.9515306 -0.00528059 -0.30750874 -0.94060014] [-0.0022358 0.9997074 -0.02408542 -0.54060601] [ 0.30754595 0.02360554 0.95124038 -0.70610618] [ 0. 0. 0. 1. ]] SLAMing on 404.85463044 meters Centerline goodness : 0.116557 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.9515306 -0.00528059 -0.30750874 -0.94060014] [-0.0022358 0.9997074 -0.02408542 -0.54060601] [ 0.30754595 0.02360554 0.95124038 -0.70610618] [ 0. 0. 0. 1. ]] SLAMing on 404.88463044 meters Centerline goodness : 0.117960 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95152666 -0.00527646 -0.30752101 -0.94093391] [-0.00223864 0.99970753 -0.02407979 -0.54056455] [ 0.30755813 0.02360099 0.95123656 -0.7057553 ] [ 0. 0. 0. 1. ]] SLAMing on 404.91463044 meters Centerline goodness : 0.123220 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95152335 -0.00529753 -0.30753089 -0.9409712 ] [-0.00221406 0.99970779 -0.02407143 -0.5407555 ] [ 0.30756855 0.02358542 0.95123358 -0.70563035] [ 0. 0. 0. 1. ]] SLAMing on 404.94463044 meters Centerline goodness : 0.083727 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95149494 -0.00531751 -0.30761843 -0.94081687] [-0.00218936 0.99970829 -0.02405293 -0.54119307] [ 0.3076566 0.02355973 0.95120574 -0.705463 ] [ 0. 0. 0. 1. ]] SLAMing on 404.97463044 meters Centerline goodness : 0.119471 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.71 [[ 0.95155151 -0.00534659 -0.30744291 -0.9416297 ] [-0.0021278 0.99971039 -0.02397114 -0.54230312] [ 0.30748204 0.02346395 0.95126455 -0.7050952 ] [ 0. 0. 0. 1. ]] SLAMing on 405.00463044 meters Centerline goodness : 0.444724 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.54, Z:-0.70 [[ 0.95159395 -0.0052922 -0.30731246 -0.94209762] [-0.00213644 0.99971371 -0.02383147 -0.54321397] [ 0.3073506 0.02333443 0.95131021 -0.70497666] [ 0. 0. 0. 1. ]] SLAMing on 405.03463044 meters Centerline goodness : 0.124515 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.54, Z:-0.70 [[ 0.95160208 -0.01172979 -0.30710893 -0.92419558] [ 0.00509082 0.99973591 -0.02240981 -0.53927085] [ 0.30729068 0.01976179 0.95141048 -0.69767541] [ 0. 0. 0. 1. ]] SLAMing on 405.06463044000003 meters Centerline goodness : 0.083022 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.54, Z:-0.70 [[ 0.95159477 -0.01162793 -0.30713545 -0.92389362] [ 0.00504217 0.99974023 -0.02222737 -0.54040975] [ 0.30731412 0.01960282 0.9514062 -0.6977833 ] [ 0. 0. 0. 1. ]] SLAMing on 405.09463044 meters Centerline goodness : 0.173489 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.54, Z:-0.70 [[ 0.95155156 -0.01161641 -0.30726974 -0.92352505] [ 0.00506725 0.99974285 -0.02210326 -0.54176657] [ 0.30744749 0.01947538 0.95136573 -0.6976248 ] [ 0. 0. 0. 1. ]] SLAMing on 405.12463044000003 meters Centerline goodness : 0.084222 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.54, Z:-0.70 [[ 0.95149313 -0.01173965 -0.30744595 -0.92314194] [ 0.00523026 0.99974456 -0.02198789 -0.54444481] [ 0.30762554 0.01931331 0.95131148 -0.69742736] [ 0. 0. 0. 1. ]] SLAMing on 405.15463044 meters Centerline goodness : 0.119409 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.55, Z:-0.70 [[ 0.95145824 -0.01149457 -0.30756316 -0.9225916 ] [ 0.00508417 0.99975299 -0.02163574 -0.54591516] [ 0.30773588 0.0190218 0.95128166 -0.69750452] [ 0. 0. 0. 1. ]] SLAMing on 405.18463044000003 meters Centerline goodness : 0.119811 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.55, Z:-0.70 [[ 0.95143171 -0.01116613 -0.30765729 -0.92186949] [ 0.00488413 0.99976372 -0.02118129 -0.5477917 ] [ 0.30782111 0.01864991 0.95126145 -0.69777496] [ 0. 0. 0. 1. ]] SLAMing on 405.21463044 meters Centerline goodness : 0.094709 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.55, Z:-0.70 [[ 0.95139654 -0.01124315 -0.30776324 -0.9213262 ] [ 0.00506392 0.99976939 -0.02086917 -0.55183963] [ 0.3079269 0.01829637 0.95123408 -0.69777119] [ 0. 0. 0. 1. ]] SLAMing on 405.24463044000004 meters Centerline goodness : 0.219562 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.55, Z:-0.70 [[ 0.95139059 -0.01129615 -0.30777971 -0.92147999] [ 0.00515895 0.99977145 -0.02074664 -0.55371846] [ 0.30794372 0.01815034 0.95123143 -0.69755354] [ 0. 0. 0. 1. ]] SLAMing on 405.27463044 meters Centerline goodness : 0.100670 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.55, Z:-0.70 [[ 0.95137519 -0.01127292 -0.30782815 -0.92128688] [ 0.00517334 0.99977392 -0.02062377 -0.55495067] [ 0.30799105 0.01802844 0.95121842 -0.6975359 ] [ 0. 0. 0. 1. ]] SLAMing on 405.30463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 405.33463044 meters Centerline goodness : 0.096178 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.56, Z:-0.70 [[ 0.95116589 -0.01067838 -0.30849542 -0.9185716 ] [ 0.00471475 0.99978745 -0.02007034 -0.55663906] [ 0.30864417 0.01763575 0.95101407 -0.69785886] [ 0. 0. 0. 1. ]] SLAMing on 405.36463044 meters Centerline goodness : 0.102838 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.56, Z:-0.71 [[ 0.95147913 -0.00400434 -0.30768721 -0.93571884] [-0.0026255 0.99977328 -0.02113035 -0.56238218] [ 0.30770207 0.02091292 0.9512529 -0.70550977] [ 0. 0. 0. 1. ]] SLAMing on 405.39463044 meters Centerline goodness : 0.085951 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.56, Z:-0.71 [[ 0.95147946 -0.00391325 -0.30768737 -0.93581306] [-0.00270082 0.99977441 -0.02106729 -0.56275201] [ 0.3077004 0.0208761 0.95125425 -0.70533237] [ 0. 0. 0. 1. ]] SLAMing on 405.42463044 meters Centerline goodness : 0.102200 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.56, Z:-0.71 [[ 0.95146617 -0.0038832 -0.30772887 -0.93593445] [-0.0027214 0.99977513 -0.02103035 -0.56323962] [ 0.30774133 0.02084712 0.95124165 -0.70511549] [ 0. 0. 0. 1. ]] SLAMing on 405.45463044 meters Centerline goodness : 0.104568 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.57, Z:-0.70 [[ 0.95143368 -0.00373408 -0.30783114 -0.93628428] [-0.00277477 0.9997818 -0.02070382 -0.56591002] [ 0.30784128 0.02055247 0.95121572 -0.70454914] [ 0. 0. 0. 1. ]] SLAMing on 405.48463044 meters Centerline goodness : 0.102598 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.57, Z:-0.70 [[ 0.95145388 -0.0035828 -0.30777048 -0.93686033] [-0.00282132 0.99978872 -0.02036061 -0.56827052] [ 0.30777841 0.0202405 0.95124275 -0.7042011 ] [ 0. 0. 0. 1. ]] SLAMing on 405.51463044 meters Centerline goodness : 0.258825 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.57, Z:-0.70 [[ 0.95149913 -0.00348982 -0.30763165 -0.93773288] [-0.00279153 0.99979656 -0.01997599 -0.57149262] [ 0.30763878 0.0198659 0.95129582 -0.70381329] [ 0. 0. 0. 1. ]] SLAMing on 405.54463044 meters Centerline goodness : 0.087718 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.58, Z:-0.70 [[ 0.95155745 -0.00343754 -0.30745178 -0.93828154] [-0.00271292 0.99980471 -0.01957499 -0.57506872] [ 0.30745902 0.01946082 0.9513623 -0.70374094] [ 0. 0. 0. 1. ]] SLAMing on 405.57463044 meters Centerline goodness : 0.102342 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.58, Z:-0.70 [[ 0.95157273 -0.00337165 -0.30740524 -0.93843977] [-0.00265359 0.99981252 -0.01918021 -0.57888825] [ 0.30741227 0.0190671 0.95138538 -0.70359078] [ 0. 0. 0. 1. ]] SLAMing on 405.60463044 meters Centerline goodness : 0.088067 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.59, Z:-0.70 [[ 0.95167685 -0.00416909 -0.30707293 -0.93904679] [-0.00184894 0.99981194 -0.01930454 -0.58639731] [ 0.30709567 0.01893944 0.95149017 -0.70386877] [ 0. 0. 0. 1. ]] SLAMing on 405.63463044 meters Centerline goodness : 0.085607 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.59, Z:-0.70 [[ 0.95158243 -0.00394756 -0.30736833 -0.93791614] [-0.00197383 0.99981845 -0.01895157 -0.58850441] [ 0.30738734 0.01864067 0.95140189 -0.7039399 ] [ 0. 0. 0. 1. ]] SLAMing on 405.66463044 meters Centerline goodness : 0.085885 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.59, Z:-0.70 [[ 0.9514864 -0.0037268 -0.30766822 -0.93668198] [-0.00209797 0.99982482 -0.01859905 -0.59046067] [ 0.30768364 0.01834222 0.95131191 -0.70413251] [ 0. 0. 0. 1. ]] SLAMing on 405.69463044 meters Centerline goodness : 0.094642 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.59, Z:-0.70 [[ 0.95140053 -0.0034466 -0.30793694 -0.93584256] [-0.00225912 0.99983235 -0.01817045 -0.59271814] [ 0.30794794 0.01798304 0.95123324 -0.70409479] [ 0. 0. 0. 1. ]] SLAMing on 405.72463044 meters Centerline goodness : 0.121413 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.60, Z:-0.70 [[ 0.95153598 -0.00380482 -0.30751391 -0.93748652] [-0.00181222 0.99983673 -0.01797836 -0.59950792] [ 0.30753211 0.01766434 0.95137373 -0.70383346] [ 0. 0. 0. 1. ]] SLAMing on 405.75463044 meters Centerline goodness : 0.096055 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.60, Z:-0.70 [[ 0.95160595 -0.00381149 -0.30729722 -0.93828342] [-0.00170503 0.99984222 -0.01768128 -0.60263243] [ 0.30731613 0.01734957 0.95144931 -0.70361551] [ 0. 0. 0. 1. ]] SLAMing on 405.78463044 meters Centerline goodness : 0.127980 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.70 [[ 0.95164169 -0.00379412 -0.30718675 -0.93867203] [-0.00161592 0.99984808 -0.0173553 -0.6057787 ] [ 0.30720593 0.01701241 0.95149099 -0.70354525] [ 0. 0. 0. 1. ]] SLAMing on 405.81463044000003 meters Centerline goodness : 0.142949 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.70 [[ 9.51611004e-01 -4.79356011e-03 -3.07267830e-01 -9.38163024e-01] [-6.25538500e-04 9.99846046e-01 -1.75354883e-02 -6.13453187e-01] [ 3.07304583e-01 1.68791715e-02 9.51461501e-01 -7.03690856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84463044 meters Centerline goodness : 0.473707 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.70 [[ 9.51583230e-01 -4.62997423e-03 -3.07356340e-01 -9.37978269e-01] [-6.68694436e-04 9.99853014e-01 -1.71319456e-02 -6.16208818e-01] [ 3.07390484e-01 1.65079996e-02 9.51440264e-01 -7.03574242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.87463044000003 meters Centerline goodness : 0.148893 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.70 [[ 9.51546968e-01 -4.50251315e-03 -3.07470480e-01 -9.37921504e-01] [-6.99010203e-04 9.99858543e-01 -1.68049215e-02 -6.18881224e-01] [ 3.07502650e-01 1.62055971e-02 9.51409217e-01 -7.03265980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90463044 meters Centerline goodness : 0.150109 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.70 [[ 9.51607372e-01 -4.30286734e-03 -3.07286340e-01 -9.38481406e-01] [-7.81206540e-04 9.99864875e-01 -1.64201501e-02 -6.21338486e-01] [ 3.07315472e-01 1.58655899e-02 9.51475425e-01 -7.03258837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93463044000003 meters Centerline goodness : 0.315332 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.70 [[ 9.51644734e-01 -4.01275786e-03 -3.07174540e-01 -9.38660129e-01] [-9.47542187e-04 9.99871586e-01 -1.59973092e-02 -6.23440255e-01] [ 3.07199287e-01 1.55148159e-02 9.51518727e-01 -7.03363152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96463044 meters Centerline goodness : 0.307511 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.70 [[ 0.95163942 -0.00383506 -0.30719327 -0.93822539] [-0.00105153 0.99987556 -0.01574012 -0.6248838 ] [ 0.30721541 0.01530194 0.95151697 -0.70357901] [ 0. 0. 0. 1. ]] SLAMing on 405.99463044000004 meters Centerline goodness : 0.093373 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.63, Z:-0.70 [[ 0.95151007 -0.00364323 -0.30759601 -0.93690177] [-0.00117493 0.99987953 -0.01547727 -0.62675168] [ 0.30761534 0.01508819 0.95139116 -0.70355063] [ 0. 0. 0. 1. ]] SLAMing on 406.02463044 meters Centerline goodness : 0.276253 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.63, Z:-0.70 [[ 0.95139458 -0.00360679 -0.30795347 -0.93597932] [-0.00119915 0.99988046 -0.01541537 -0.62738488] [ 0.30797226 0.01503539 0.95127652 -0.70335038] [ 0. 0. 0. 1. ]] SLAMing on 406.05463044000004 meters Centerline goodness : 0.308012 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.63, Z:-0.70 [[ 0.95130019 -0.00354278 -0.30824567 -0.93497225] [-0.001255 0.99988116 -0.01536516 -0.62756879] [ 0.30826348 0.01500373 0.95118269 -0.70342019] [ 0. 0. 0. 1. ]] SLAMing on 406.08463044 meters Centerline goodness : 0.304477 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.63, Z:-0.70 [[ 0.95125144 -0.00340431 -0.30839766 -0.93440599] [-0.00136068 0.99988302 -0.01523442 -0.62800771] [ 0.30841344 0.01491139 0.95113553 -0.70341196] [ 0. 0. 0. 1. ]] SLAMing on 406.11463044 meters Centerline goodness : 0.100224 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.63, Z:-0.70 [[ 0.9513753 -0.00311035 -0.30801845 -0.93543875] [-0.00156376 0.99988737 -0.01492675 -0.62905127] [ 0.30803019 0.01468261 0.95126328 -0.70349936] [ 0. 0. 0. 1. ]] SLAMing on 406.14463044 meters Centerline goodness : 0.311920 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.63, Z:-0.70 [[ 0.95144871 -0.00307363 -0.30779199 -0.93630543] [-0.00157668 0.99988836 -0.01485881 -0.62967983] [ 0.3078033 0.01462269 0.95133764 -0.70332742] [ 0. 0. 0. 1. ]] SLAMing on 406.17463044 meters Centerline goodness : 0.310477 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.63, Z:-0.70 [[ 0.95146313 -0.00304278 -0.30774772 -0.93664738] [-0.00158039 0.99988964 -0.01477226 -0.630513 ] [ 0.30775871 0.01454163 0.95135331 -0.70311118] [ 0. 0. 0. 1. ]] SLAMing on 406.20463044 meters Centerline goodness : 0.107043 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.63, Z:-0.70 [[ 0.95149999 -0.00287278 -0.30763535 -0.93696025] [-0.0016814 0.99989291 -0.01453772 -0.63165556] [ 0.30764417 0.0143499 0.95139326 -0.70313589] [ 0. 0. 0. 1. ]] SLAMing on 406.23463044 meters Centerline goodness : 0.076979 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.63, Z:-0.70 [[ 0.95150832 -0.00271414 -0.30761105 -0.93641301] [-0.00171417 0.99989877 -0.01412469 -0.63484302] [ 0.30761825 0.01396706 0.95140734 -0.7035687 ] [ 0. 0. 0. 1. ]] SLAMing on 406.26463044 meters Centerline goodness : 0.307892 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.64, Z:-0.70 [[ 0.95142653 -0.002624 -0.30786471 -0.93552208] [-0.00172543 0.99990253 -0.01385466 -0.63715024] [ 0.30787106 0.01371289 0.95132926 -0.70360835] [ 0. 0. 0. 1. ]] SLAMing on 406.29463044 meters Centerline goodness : 0.293306 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.64, Z:-0.70 [[ 0.95135817 -0.00244774 -0.30807734 -0.93487161] [-0.00180599 0.99990695 -0.01352144 -0.63939568] [ 0.30808177 0.01342012 0.95126522 -0.70353987] [ 0. 0. 0. 1. ]] SLAMing on 406.32463044 meters Centerline goodness : 0.098305 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.64, Z:-0.70 [[ 0.95132265 -0.00220766 -0.30818881 -0.93456764] [-0.00194478 0.99991143 -0.0131659 -0.64135628] [ 0.30819058 0.01312438 0.9512341 -0.70348411] [ 0. 0. 0. 1. ]] SLAMing on 406.35463044 meters Centerline goodness : 0.305421 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.64, Z:-0.70 [[ 0.95128604 -0.00202418 -0.30830304 -0.9342769 ] [-0.00205811 0.99991447 -0.01291538 -0.64269808] [ 0.30830282 0.01292074 0.95120052 -0.70332796] [ 0. 0. 0. 1. ]] SLAMing on 406.38463044 meters Centerline goodness : 0.094029 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.64, Z:-0.70 [[ 0.95122167 -0.0017432 -0.30850333 -0.93356046] [-0.00228399 0.99991684 -0.01269235 -0.64407063] [ 0.3084998 0.01277785 0.95113858 -0.70331 ] [ 0. 0. 0. 1. ]] SLAMing on 406.41463044 meters Centerline goodness : 0.171625 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.64, Z:-0.70 [[ 0.95117942 -0.00160377 -0.30863433 -0.93314259] [-0.00240759 0.99991752 -0.01261585 -0.64432834] [ 0.3086291 0.012743 0.9510971 -0.7033177 ] [ 0. 0. 0. 1. ]] SLAMing on 406.44463044 meters Centerline goodness : 0.304097 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.64, Z:-0.70 [[ 0.95118178 -0.00134269 -0.30862829 -0.93311575] [-0.00262746 0.99991907 -0.01244791 -0.6443786 ] [ 0.30862003 0.01265113 0.95110127 -0.70331181] [ 0. 0. 0. 1. ]] SLAMing on 406.47463044 meters Centerline goodness : 0.086895 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51234746e-01 -7.68693385e-04 -3.08466963e-01 -9.33308539e-01] [-3.07261058e-03 9.99923673e-01 -1.19669498e-02 -6.45426402e-01] [ 3.08452617e-01 1.23311773e-02 9.51159779e-01 -7.03533483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50463044 meters Centerline goodness : 0.089772 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51189618e-01 -6.67372918e-04 -3.08606327e-01 -9.32865438e-01] [-3.13578403e-03 9.99925135e-01 -1.18275222e-02 -6.46334029e-01] [ 3.08591117e-01 1.22179391e-02 9.51116315e-01 -7.03543357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53463044 meters Centerline goodness : 0.089125 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51139665e-01 -6.14445885e-04 -3.08760361e-01 -9.32106231e-01] [-3.15119201e-03 9.99926620e-01 -1.16971767e-02 -6.47569550e-01] [ 3.08744892e-01 1.20986119e-02 9.51067934e-01 -7.03690885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56463044000003 meters Centerline goodness : 0.090094 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51124102e-01 -4.97500524e-04 -3.08808509e-01 -9.31667472e-01] [-3.20441067e-03 9.99928963e-01 -1.14804395e-02 -6.49126111e-01] [ 3.08792283e-01 1.19088720e-02 9.51054943e-01 -7.03903216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59463044 meters Centerline goodness : 0.090052 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51126220e-01 -4.06973140e-04 -3.08802119e-01 -9.31629497e-01] [-3.21753027e-03 9.99931788e-01 -1.12279760e-02 -6.51676081e-01] [ 3.08785624e-01 1.16728025e-02 9.51060032e-01 -7.03878273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62463044000003 meters Centerline goodness : 0.091192 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51202337e-01 -3.20519888e-04 -3.08567677e-01 -9.32133222e-01] [-3.26868353e-03 9.99932886e-01 -1.11148317e-02 -6.52202545e-01] [ 3.08550530e-01 1.15810639e-02 9.51137450e-01 -7.04069205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65463044 meters Centerline goodness : 0.089817 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51246592e-01 -1.89996539e-04 -3.08431328e-01 -9.32166870e-01] [-3.36782072e-03 9.99933796e-01 -1.10028121e-02 -6.52287350e-01] [ 3.08412999e-01 1.15051289e-02 9.51182976e-01 -7.04323870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68463044000003 meters Centerline goodness : 0.094003 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51278719e-01 -5.45598065e-05 -3.08332280e-01 -9.31983753e-01] [-3.47699926e-03 9.99934501e-01 -1.09043128e-02 -6.52069906e-01] [ 3.08312679e-01 1.14451118e-02 9.51216222e-01 -7.04720766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71463044 meters Centerline goodness : 0.094003 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.70 [[ 9.51278719e-01 -5.45598065e-05 -3.08332280e-01 -9.31983753e-01] [-3.47699926e-03 9.99934501e-01 -1.09043128e-02 -6.52069906e-01] [ 3.08312679e-01 1.14451118e-02 9.51216222e-01 -7.04720766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74463044000004 meters Centerline goodness : 0.090396 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.71 [[ 9.51235910e-01 2.34030266e-04 -3.08464243e-01 -9.30480739e-01] [-3.70785107e-03 9.99936140e-01 -1.06755510e-02 -6.52213411e-01] [ 3.08442046e-01 1.12987070e-02 9.51176032e-01 -7.05459049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77463044 meters Centerline goodness : 0.095588 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.71 [[ 9.51229074e-01 2.84025725e-04 -3.08485281e-01 -9.30010325e-01] [-3.72743868e-03 9.99937156e-01 -1.05730820e-02 -6.52993998e-01] [ 3.08462891e-01 1.12072830e-02 9.51170354e-01 -7.05749315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80463044000004 meters Centerline goodness : 0.305105 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.71 [[ 9.51172653e-01 2.75057505e-04 -3.08659210e-01 -9.29499741e-01] [-3.69366132e-03 9.99938142e-01 -1.04914062e-02 -6.53997947e-01] [ 3.08637231e-01 1.11192213e-02 9.51114831e-01 -7.05685476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83463044 meters Centerline goodness : 0.094983 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.66, Z:-0.71 [[ 9.51101794e-01 2.72791389e-04 -3.08877489e-01 -9.28946156e-01] [-3.65933481e-03 9.99939381e-01 -1.03847809e-02 -6.55305477e-01] [ 3.08855932e-01 1.10072699e-02 9.51045137e-01 -7.05553089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86463044 meters Centerline goodness : 0.075805 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.66, Z:-0.71 [[ 9.50953655e-01 2.31529132e-04 -3.09333303e-01 -9.27218705e-01] [-3.55186911e-03 9.99941968e-01 -1.01707355e-02 -6.58353715e-01] [ 3.09312998e-01 1.07706095e-02 9.50899292e-01 -7.05702380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89463044 meters Centerline goodness : 0.087662 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.66, Z:-0.71 [[ 9.50969483e-01 3.39454587e-04 -3.09284542e-01 -9.27078516e-01] [-3.60476421e-03 9.99943639e-01 -9.98622588e-03 -6.59534409e-01] [ 3.09263720e-01 1.06114939e-02 9.50917109e-01 -7.05932831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92463044 meters Centerline goodness : 0.088837 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.66, Z:-0.71 [[ 9.50986023e-01 4.73786034e-04 -3.09233503e-01 -9.26995722e-01] [-3.67886419e-03 9.99945392e-01 -9.78156711e-03 -6.60507901e-01] [ 3.09211982e-01 1.04397617e-02 9.50935835e-01 -7.06082221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95463044 meters Centerline goodness : 0.087359 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.66, Z:-0.71 [[ 9.50984725e-01 5.09552295e-04 -3.09237437e-01 -9.26744511e-01] [-3.69495292e-03 9.99945979e-01 -9.71525002e-03 -6.61092841e-01] [ 3.09215781e-01 1.03816721e-02 9.50935235e-01 -7.06216049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98463044 meters Centerline goodness : 0.087022 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.66, Z:-0.71 [[ 9.50937761e-01 4.63721667e-04 -3.09381899e-01 -9.26244797e-01] [-3.66696608e-03 9.99945527e-01 -9.77225920e-03 -6.61083740e-01] [ 3.09360514e-01 1.04273032e-02 9.50887661e-01 -7.06236145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01463044 meters Centerline goodness : 0.089366 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.66, Z:-0.71 [[ 9.50755423e-01 4.11472260e-04 -3.09941860e-01 -9.24235309e-01] [-3.69221563e-03 9.99943197e-01 -9.99847241e-03 -6.59461847e-01] [ 3.09920141e-01 1.06504740e-02 9.50702937e-01 -7.06396827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04463044 meters Centerline goodness : 0.075661 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.66, Z:-0.71 [[ 9.50717775e-01 3.98730296e-04 -3.10057339e-01 -9.23929126e-01] [-3.71284391e-03 9.99942114e-01 -1.00986466e-02 -6.58526976e-01] [ 3.10035365e-01 1.07521573e-02 9.50664222e-01 -7.06347079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07463044 meters Centerline goodness : 0.243449 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.66, Z:-0.71 [[ 9.50781123e-01 3.76023820e-04 -3.09863058e-01 -9.24386054e-01] [-3.71048706e-03 9.99941382e-01 -1.01717814e-02 -6.57824666e-01] [ 3.09841069e-01 1.08208806e-02 9.50726785e-01 -7.06472354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10463044 meters Centerline goodness : 0.292518 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.66, Z:-0.71 [[ 9.50827949e-01 2.13619240e-04 -3.09719494e-01 -9.24865697e-01] [-3.61852134e-03 9.99939173e-01 -1.04190567e-02 -6.56399398e-01] [ 3.09698429e-01 1.10274569e-02 9.50770886e-01 -7.06333097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13463044 meters Centerline goodness : 0.090483 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.66, Z:-0.71 [[ 9.50784252e-01 2.51901965e-05 -3.09853684e-01 -9.24622083e-01] [-3.49129568e-03 9.99937387e-01 -1.06317288e-02 -6.55591167e-01] [ 3.09834016e-01 1.11902711e-02 9.50724808e-01 -7.06181832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16463044 meters Centerline goodness : 0.089315 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.65, Z:-0.71 [[ 9.50735621e-01 -1.39035448e-04 -3.10002838e-01 -9.24126889e-01] [-3.38415839e-03 9.99935657e-01 -1.08272119e-02 -6.54762638e-01] [ 3.09984397e-01 1.13429148e-02 9.50673978e-01 -7.06162975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.19463044 meters Centerline goodness : 0.141611 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.65, Z:-0.71 [[ 9.50715380e-01 -2.82989563e-04 -3.10064811e-01 -9.23845922e-01] [-3.28536868e-03 9.99934253e-01 -1.09861596e-02 -6.54195690e-01] [ 3.10047534e-01 1.14633881e-02 9.50651943e-01 -7.06223923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22463044 meters Centerline goodness : 0.092258 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.65, Z:-0.71 [[ 9.50786044e-01 -6.85338158e-04 -3.09847428e-01 -9.24781149e-01] [-2.95007995e-03 9.99932205e-01 -1.12642101e-02 -6.53818162e-01] [ 3.09834142e-01 1.16239285e-02 9.50719564e-01 -7.05921829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.25463044 meters Centerline goodness : 0.091533 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.65, Z:-0.71 [[ 9.50815159e-01 -7.80453269e-04 -3.09757848e-01 -9.25326219e-01] [-2.84000547e-03 9.99932831e-01 -1.12369101e-02 -6.54534425e-01] [ 3.09745812e-01 1.15639385e-02 9.50749077e-01 -7.05678029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28463044 meters Centerline goodness : 0.089904 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.66, Z:-0.72 [[ 9.50297615e-01 -2.77565393e-03 -3.11330595e-01 -9.67229165e-01] [-7.95269943e-04 9.99935357e-01 -1.13423406e-02 -6.58724340e-01] [ 3.11341952e-01 1.10261910e-02 9.50233977e-01 -7.19398123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.31463044000003 meters Centerline goodness : 0.079240 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.66, Z:-0.71 [[ 0.95033569 0.00187387 -0.31122108 -0.9463641 ] [-0.00666187 0.99987524 -0.01432222 -0.66021815] [ 0.31115541 0.01568423 0.95022961 -0.71300856] [ 0. 0. 0. 1. ]] SLAMing on 407.34463044 meters Centerline goodness : 0.090672 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.95006107 0.00155492 -0.31206015 -0.94391682] [-0.00632354 0.99987819 -0.01426973 -0.66269018] [ 0.31199995 0.01553044 0.94995518 -0.712729 ] [ 0. 0. 0. 1. ]] SLAMing on 407.37463044000003 meters Centerline goodness : 0.176821 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.95002418 0.00159126 -0.31217226 -0.94357233] [-0.00630929 0.99988063 -0.0141041 -0.66398569] [ 0.31211256 0.01536882 0.94992081 -0.71264331] [ 0. 0. 0. 1. ]] SLAMing on 407.40463044 meters Centerline goodness : 0.087794 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.94999895 0.00169721 -0.31224847 -0.94344978] [-0.00636609 0.99988266 -0.01393369 -0.66491293] [ 0.31218818 0.01522479 0.94989828 -0.71251364] [ 0. 0. 0. 1. ]] SLAMing on 407.43463044000003 meters Centerline goodness : 0.089900 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.67, Z:-0.71 [[ 0.94998881 0.00180612 -0.3122787 -0.94328582] [-0.00643707 0.99988406 -0.01379934 -0.66548363] [ 0.31221758 0.01511937 0.9498903 -0.71252988] [ 0. 0. 0. 1. ]] SLAMing on 407.46463044 meters Centerline goodness : 0.070740 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.67, Z:-0.71 [[ 0.9499549 0.00185489 -0.31238158 -0.94324055] [-0.00647429 0.99988449 -0.01375114 -0.66575182] [ 0.31231999 0.01508542 0.94985718 -0.71229503] [ 0. 0. 0. 1. ]] SLAMing on 407.49463044000004 meters Centerline goodness : 0.091620 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.94992131 0.00176541 -0.31248421 -0.94305476] [-0.00645045 0.99988175 -0.01395981 -0.66483691] [ 0.31242261 0.01527639 0.94982037 -0.71207067] [ 0. 0. 0. 1. ]] SLAMing on 407.52463044 meters Centerline goodness : 0.181581 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.949961 0.00184151 -0.31236311 -0.9433925 ] [-0.00653462 0.99988094 -0.01397843 -0.6642269 ] [ 0.31230018 0.01532014 0.94985993 -0.71210329] [ 0. 0. 0. 1. ]] SLAMing on 407.55463044000004 meters Centerline goodness : 0.072585 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.95000101 0.00187755 -0.3122412 -0.94379698] [-0.00660899 0.99987881 -0.01409559 -0.66295544] [ 0.31217689 0.01545442 0.94989828 -0.71204204] [ 0. 0. 0. 1. ]] SLAMing on 407.58463044 meters Centerline goodness : 0.074337 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.95005424 0.00196101 -0.31207867 -0.94422729] [-0.0067153 0.99987719 -0.0141603 -0.66187349] [ 0.31201257 0.01554875 0.94995073 -0.71208839] [ 0. 0. 0. 1. ]] SLAMing on 407.61463044 meters Centerline goodness : 0.066150 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.95014051 0.00193336 -0.31181609 -0.94491985] [-0.00679364 0.99987177 -0.01450151 -0.65946554] [ 0.31174807 0.01589684 0.95003181 -0.71210088] [ 0. 0. 0. 1. ]] SLAMing on 407.64463044 meters Centerline goodness : 0.072630 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.95013952 0.00178802 -0.31181996 -0.94490749] [-0.00672637 0.99986841 -0.01476238 -0.6580293 ] [ 0.31175253 0.01612374 0.95002652 -0.71210048] [ 0. 0. 0. 1. ]] SLAMing on 407.67463044 meters Centerline goodness : 0.072348 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.66, Z:-0.71 [[ 0.95013932 0.0017148 -0.31182099 -0.94479255] [-0.0067217 0.99986516 -0.01498292 -0.65633502] [ 0.31175325 0.01633183 0.95002273 -0.7121595 ] [ 0. 0. 0. 1. ]] SLAMing on 407.70463044 meters Centerline goodness : 0.114418 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.65, Z:-0.71 [[ 0.95015543 0.00169615 -0.31177199 -0.94477978] [-0.0067691 0.99986171 -0.01518991 -0.65433067] [ 0.31170311 0.0165432 0.95003552 -0.71226569] [ 0. 0. 0. 1. ]] SLAMing on 407.73463044 meters Centerline goodness : 0.075227 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.65, Z:-0.71 [[ 0.9501315 0.00178081 -0.31184446 -0.94439092] [-0.00698108 0.99985456 -0.0155603 -0.64897358] [ 0.3117714 0.01696134 0.95000574 -0.71235626] [ 0. 0. 0. 1. ]] SLAMing on 407.76463044 meters Centerline goodness : 0.068360 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.65, Z:-0.71 [[ 0.95011945 0.00171543 -0.31188152 -0.94417665] [-0.00702142 0.99984908 -0.01589071 -0.64617083] [ 0.31180719 0.01728792 0.94998811 -0.71238438] [ 0. 0. 0. 1. ]] SLAMing on 407.79463044 meters Centerline goodness : 0.119572 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.64, Z:-0.71 [[ 0.95021238 0.00164484 -0.31159865 -0.94463947] [-0.00706146 0.99984293 -0.01625589 -0.64290403] [ 0.31152297 0.01764689 0.95007475 -0.71269615] [ 0. 0. 0. 1. ]] SLAMing on 407.82463044 meters Centerline goodness : 0.170286 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.64, Z:-0.71 [[ 0.95054232 0.00420932 -0.31056655 -0.94842067] [-0.00926739 0.99984734 -0.0148128 -0.63550274] [ 0.31045679 0.01695834 0.95043621 -0.71252654] [ 0. 0. 0. 1. ]] SLAMing on 407.85463044 meters Centerline goodness : 0.094959 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.63, Z:-0.71 [[ 0.95060995 0.00397541 -0.31036257 -0.94891894] [-0.00919202 0.99983997 -0.0153474 -0.6317858 ] [ 0.31025189 0.01744226 0.95049436 -0.71257099] [ 0. 0. 0. 1. ]] SLAMing on 407.88463044 meters Centerline goodness : 0.089218 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.63, Z:-0.71 [[ 0.9506252 0.00352323 -0.3103213 -0.9488555 ] [-0.00893119 0.99983198 -0.01600783 -0.6285499 ] [ 0.31021276 0.01798899 0.95049694 -0.71272599] [ 0. 0. 0. 1. ]] SLAMing on 407.91463044 meters Centerline goodness : 0.089667 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.63, Z:-0.71 [[ 0.95056573 0.00314725 -0.31050746 -0.94820778] [-0.00871301 0.99982525 -0.01653934 -0.62589144] [ 0.31040115 0.01842719 0.95042704 -0.71275822] [ 0. 0. 0. 1. ]] SLAMing on 407.94463044 meters Centerline goodness : 0.080711 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.62, Z:-0.71 [[ 0.95043241 0.00291141 -0.31091761 -0.9463124 ] [-0.00859386 0.99982012 -0.01690799 -0.62268464] [ 0.31081245 0.01874188 0.95028646 -0.71308879] [ 0. 0. 0. 1. ]] SLAMing on 407.97463044 meters Centerline goodness : 0.092893 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.62, Z:-0.71 [[ 0.95040796 0.00275774 -0.31099373 -0.94590592] [-0.00845787 0.99982003 -0.01698164 -0.62264914] [ 0.31089093 0.01876983 0.95026024 -0.71314392] [ 0. 0. 0. 1. ]] SLAMing on 408.00463044 meters Centerline goodness : 0.092895 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.62, Z:-0.71 [[ 0.95034655 0.00240088 -0.31118431 -0.94545229] [-0.0081401 0.99981987 -0.01714571 -0.62346366] [ 0.31108709 0.01882744 0.9501949 -0.71295613] [ 0. 0. 0. 1. ]] SLAMing on 408.03463044 meters Centerline goodness : 0.120399 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.62, Z:-0.71 [[ 0.95041447 -0.00199652 -0.31097967 -0.94566603] [-0.00463805 0.99977717 -0.02059348 -0.62343232] [ 0.31095149 0.02101468 0.95019343 -0.71320104] [ 0. 0. 0. 1. ]] SLAMing on 408.06463044000003 meters Centerline goodness : 0.093225 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95014167 -0.00264404 -0.31180734 -0.94285235] [-0.0040772 0.99977322 -0.02090185 -0.62443235] [ 0.3117919 0.02113102 0.94991541 -0.71324953] [ 0. 0. 0. 1. ]] SLAMing on 408.09463044 meters Centerline goodness : 0.088132 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95007844 -0.00258662 -0.31200043 -0.94173516] [-0.00411501 0.99977479 -0.02081928 -0.6245127 ] [ 0.31198402 0.02106383 0.94985382 -0.71356956] [ 0. 0. 0. 1. ]] SLAMing on 408.12463044000003 meters Centerline goodness : 0.238615 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.9500349 -0.00260836 -0.31213281 -0.94091847] [-0.00411816 0.99977332 -0.02088909 -0.62387195] [ 0.31211655 0.02113078 0.9498088 -0.7138195 ] [ 0. 0. 0. 1. ]] SLAMing on 408.15463044 meters Centerline goodness : 0.078073 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95002927 -0.00272316 -0.31214894 -0.94066539] [-0.00406842 0.999769 -0.02110417 -0.62271993] [ 0.31213431 0.02131953 0.94979874 -0.71393337] [ 0. 0. 0. 1. ]] SLAMing on 408.18463044000003 meters Centerline goodness : 0.081981 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.62, Z:-0.71 [[ 0.9504073 0.00513874 -0.31096551 -0.92189423] [-0.01275014 0.99966669 -0.02244879 -0.62118858] [ 0.3107465 0.02530035 0.95015604 -0.70705782] [ 0. 0. 0. 1. ]] SLAMing on 408.21463044 meters Centerline goodness : 0.095913 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95087475 -0.00124807 -0.30957334 -0.93810808] [-0.00559313 0.99975939 -0.02121028 -0.6151168 ] [ 0.30952532 0.0218998 0.95063898 -0.71457785] [ 0. 0. 0. 1. ]] SLAMing on 408.24463044000004 meters Centerline goodness : 0.117846 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 0.95090313 -0.00129582 -0.30948597 -0.93833245] [-0.00561062 0.99975472 -0.02142473 -0.61353607] [ 0.30943782 0.02210925 0.95066262 -0.71459197] [ 0. 0. 0. 1. ]] SLAMing on 408.27463044 meters Centerline goodness : 0.092797 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 0.95088695 -0.00142114 -0.30953511 -0.93796219] [-0.00555619 0.99974999 -0.02165858 -0.61227088] [ 0.30948851 0.02231469 0.95064132 -0.71470675] [ 0. 0. 0. 1. ]] SLAMing on 408.30463044000004 meters Centerline goodness : 0.100247 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 0.95088784 -0.00142562 -0.30953237 -0.93790656] [-0.00555753 0.99974957 -0.02167739 -0.61220642] [ 0.30948576 0.02233301 0.95064178 -0.71473489] [ 0. 0. 0. 1. ]] SLAMing on 408.33463044 meters Centerline goodness : 0.141398 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 0.95094939 -0.00146332 -0.30934305 -0.93886625] [-0.00546743 0.99975311 -0.02153664 -0.61340078] [ 0.30929819 0.02217157 0.95070661 -0.71437111] [ 0. 0. 0. 1. ]] SLAMing on 408.36463044 meters Centerline goodness : 0.080789 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 0.95098952 -0.00146027 -0.30921966 -0.93942903] [-0.00542736 0.99975599 -0.02141285 -0.61448657] [ 0.30917548 0.02204165 0.95074954 -0.71420568] [ 0. 0. 0. 1. ]] SLAMing on 408.39463044 meters Centerline goodness : 0.083519 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95102762 -0.00146891 -0.30910241 -0.93981182] [-0.00536641 0.99975953 -0.02126207 -0.61586579] [ 0.30905931 0.02187958 0.95079105 -0.71410044] [ 0. 0. 0. 1. ]] SLAMing on 408.42463044 meters Centerline goodness : 0.108455 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.950957 -0.00144718 -0.30931971 -0.93917877] [-0.00529945 0.99976606 -0.02096987 -0.61856486] [ 0.30927769 0.02158067 0.95072687 -0.71395621] [ 0. 0. 0. 1. ]] SLAMing on 408.45463044 meters Centerline goodness : 0.095793 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95084805 -0.00136463 -0.30965484 -0.93783812] [-0.00533829 0.99976945 -0.02079806 -0.61972334] [ 0.30961183 0.02142883 0.95062155 -0.71415242] [ 0. 0. 0. 1. ]] SLAMing on 408.48463044 meters Centerline goodness : 0.096404 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95069007 -0.00138422 -0.31013945 -0.93608967] [-0.00532327 0.9997699 -0.02077995 -0.62026177] [ 0.31009685 0.02140625 0.95046395 -0.71430367] [ 0. 0. 0. 1. ]] SLAMing on 408.51463044 meters Centerline goodness : 0.117204 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95059619 -0.00139575 -0.31042701 -0.93510894] [-0.00531196 0.99977034 -0.02076159 -0.62067711] [ 0.3103847 0.02138486 0.95037047 -0.71431363] [ 0. 0. 0. 1. ]] SLAMing on 408.54463044 meters Centerline goodness : 0.089920 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95061244 -0.00129128 -0.3103777 -0.93606317] [-0.00538824 0.99977199 -0.02066229 -0.62130237] [ 0.31033362 0.02131422 0.95038874 -0.71367086] [ 0. 0. 0. 1. ]] SLAMing on 408.57463044 meters Centerline goodness : 0.137918 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.9506595 -0.00119892 -0.3102339 -0.93689771] [-0.00546014 0.99977298 -0.02059539 -0.6215087 ] [ 0.31018816 0.02127313 0.95043714 -0.71335709] [ 0. 0. 0. 1. ]] SLAMing on 408.60463044 meters Centerline goodness : 0.128278 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95068565 -0.00113652 -0.310154 -0.93743889] [-0.00552896 0.99977228 -0.02061095 -0.62110983] [ 0.3101068 0.02130936 0.95046288 -0.71309682] [ 0. 0. 0. 1. ]] SLAMing on 408.63463044 meters Centerline goodness : 0.089001 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95066647 -0.00112133 -0.31021284 -0.9372761 ] [-0.00557694 0.99977008 -0.02070478 -0.62027384] [ 0.31016473 0.02141338 0.95044164 -0.71299979] [ 0. 0. 0. 1. ]] SLAMing on 408.66463044 meters Centerline goodness : 0.089001 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 0.95066647 -0.00112133 -0.31021284 -0.9372761 ] [-0.00557694 0.99977008 -0.02070478 -0.62027384] [ 0.31016473 0.02141338 0.95044164 -0.71299979] [ 0. 0. 0. 1. ]] SLAMing on 408.69463044 meters Centerline goodness : 0.094356 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.50743403e-01 -7.75868495e-04 -3.09978030e-01 -9.37525707e-01] [-5.90169137e-03 9.99770303e-01 -2.06036680e-02 -6.19251515e-01] [ 3.09922814e-01 2.14181961e-02 9.50520442e-01 -7.13358305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72463044 meters Centerline goodness : 0.093718 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.50814578e-01 -7.98194723e-04 -3.09759585e-01 -9.38011733e-01] [-5.89715827e-03 9.99768801e-01 -2.06776950e-02 -6.18861556e-01] [ 3.09704474e-01 2.14873552e-02 9.50590044e-01 -7.13465880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.75463044 meters Centerline goodness : 0.095136 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.50832593e-01 -7.53655966e-04 -3.09704394e-01 -9.38063816e-01] [-5.95701499e-03 9.99767535e-01 -2.07217105e-02 -6.18451941e-01] [ 3.09648016e-01 2.15477914e-02 9.50607069e-01 -7.13556728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78463044 meters Centerline goodness : 0.078109 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.50836811e-01 -6.59383685e-04 -3.09691661e-01 -9.37973179e-01] [-6.03929351e-03 9.99768093e-01 -2.06709258e-02 -6.18331401e-01] [ 3.09633472e-01 2.15249960e-02 9.50612323e-01 -7.13670452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.81463044000003 meters Centerline goodness : 0.096020 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.50868745e-01 -5.60136337e-04 -3.09593792e-01 -9.38477376e-01] [-6.10951381e-03 9.99769681e-01 -2.05732583e-02 -6.18544777e-01] [ 3.09534011e-01 2.14539358e-02 9.50646320e-01 -7.13486672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84463044 meters Centerline goodness : 0.063182 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.50943642e-01 -5.04652341e-04 -3.09363758e-01 -9.39568715e-01] [-6.14819410e-03 9.99770341e-01 -2.05296269e-02 -6.18646634e-01] [ 3.09303070e-01 2.14245466e-02 9.50722147e-01 -7.13155877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.87463044000003 meters Centerline goodness : 0.088783 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.50991200e-01 -5.00610331e-04 -3.09217540e-01 -9.40336107e-01] [-6.15419028e-03 9.99769975e-01 -2.05456520e-02 -6.18554019e-01] [ 3.09156698e-01 2.14417178e-02 9.50769367e-01 -7.12908048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90463044 meters Centerline goodness : 0.073518 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.62, Z:-0.71 [[ 9.51036791e-01 -4.41495321e-04 -3.09077381e-01 -9.40360728e-01] [-6.28646393e-03 9.99764482e-01 -2.07716585e-02 -6.15886860e-01] [ 3.09013759e-01 2.16976153e-02 9.50810029e-01 -7.13186191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93463044000003 meters Centerline goodness : 0.089467 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 9.51029961e-01 -5.36178110e-04 -3.09098248e-01 -9.39762128e-01] [-6.28023264e-03 9.99758548e-01 -2.10571820e-02 -6.13723879e-01] [ 3.09034906e-01 2.19672198e-02 9.50796965e-01 -7.13590954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96463044 meters Centerline goodness : 0.089342 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 9.51006349e-01 -6.87400323e-04 -3.09170587e-01 -9.39044155e-01] [-6.23022431e-03 9.99751861e-01 -2.13869395e-02 -6.11498875e-01] [ 3.09108571e-01 2.22653173e-02 9.50766084e-01 -7.13930387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99463044000004 meters Centerline goodness : 0.095488 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 9.51030853e-01 -7.92554298e-04 -3.09094952e-01 -9.39058446e-01] [-6.19548930e-03 9.99746936e-01 -2.16258957e-02 -6.09908563e-01] [ 3.09033871e-01 2.24818885e-02 9.50785271e-01 -7.14089802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02463044 meters Centerline goodness : 0.088811 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.61, Z:-0.71 [[ 0.95105375 -0.00115006 -0.30902337 -0.93944252] [-0.00597575 0.99973765 -0.02211166 -0.60747946] [ 0.30896772 0.02287603 0.95079737 -0.71390739] [ 0. 0. 0. 1. ]] SLAMing on 409.05463044000004 meters Centerline goodness : 0.076493 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.61, Z:-0.73 [[ 0.95029811 -0.00277378 -0.31132909 -0.98035719] [-0.00445546 0.99973676 -0.02250694 -0.60981112] [ 0.31130956 0.02277542 0.9500356 -0.72744519] [ 0. 0. 0. 1. ]] SLAMing on 409.08463044 meters Centerline goodness : 0.064412 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.61, Z:-0.73 [[ 0.95016018 -0.00299548 -0.31174776 -0.97908689] [-0.00430833 0.99973219 -0.02273723 -0.60894417] [ 0.31173238 0.02294712 0.94989281 -0.72736019] [ 0. 0. 0. 1. ]] SLAMing on 409.11463044 meters Centerline goodness : 0.092000 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.61, Z:-0.73 [[ 0.95005647 -0.00320558 -0.31206158 -0.97772808] [-0.00416755 0.99972776 -0.02295739 -0.60800251] [ 0.31205021 0.02311135 0.94978447 -0.72758918] [ 0. 0. 0. 1. ]] SLAMing on 409.14463044 meters Centerline goodness : 0.076080 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.61, Z:-0.73 [[ 0.94996061 -0.00359313 -0.31234905 -0.97669012] [-0.00389736 0.99971967 -0.02335355 -0.60587527] [ 0.3123454 0.02340229 0.9496803 -0.72754211] [ 0. 0. 0. 1. ]] SLAMing on 409.17463044 meters Centerline goodness : 0.092652 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.61, Z:-0.73 [[ 0.94998714 -0.00373798 -0.31226666 -0.97714563] [-0.00378893 0.9997168 -0.02349389 -0.60513831] [ 0.31226605 0.02350205 0.94970394 -0.72733743] [ 0. 0. 0. 1. ]] SLAMing on 409.20463044 meters Centerline goodness : 0.072202 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.95003648 -0.00393528 -0.31211408 -0.97782868] [-0.00363181 0.99971348 -0.02365962 -0.60450038] [ 0.31211776 0.02361105 0.94974998 -0.72712297] [ 0. 0. 0. 1. ]] SLAMing on 409.23463044 meters Centerline goodness : 0.067398 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.95005167 -0.00413709 -0.31206523 -0.97804608] [-0.00347627 0.99970983 -0.02383646 -0.6038207 ] [ 0.31207329 0.02373069 0.94976161 -0.72698447] [ 0. 0. 0. 1. ]] SLAMing on 409.26463044 meters Centerline goodness : 0.094576 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.94997193 -0.00473855 -0.31229933 -0.9772018 ] [-0.00299614 0.99970065 -0.0242824 -0.60255224] [ 0.31232091 0.02400329 0.94967336 -0.72691472] [ 0. 0. 0. 1. ]] SLAMing on 409.29463044 meters Centerline goodness : 0.438407 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.94992575 -0.00498457 -0.31243594 -0.97687769] [-0.00279431 0.99969728 -0.02444484 -0.60243542] [ 0.31246321 0.02409382 0.94962426 -0.72674588] [ 0. 0. 0. 1. ]] SLAMing on 409.32463044 meters Centerline goodness : 0.088682 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.9499245 -0.00526018 -0.31243523 -0.97708028] [-0.0025713 0.99969287 -0.02464865 -0.60221563] [ 0.31246892 0.02421772 0.94961923 -0.72653191] [ 0. 0. 0. 1. ]] SLAMing on 409.35463044 meters Centerline goodness : 0.088869 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.94990362 -0.00542423 -0.3124959 -0.97712752] [-0.00244509 0.99968982 -0.02478481 -0.60181246] [ 0.31253341 0.02430726 0.94959572 -0.72628813] [ 0. 0. 0. 1. ]] SLAMing on 409.38463044 meters Centerline goodness : 0.131619 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.95000415 -0.00559918 -0.31218707 -0.97786105] [-0.00237993 0.99968031 -0.02517187 -0.59865526] [ 0.31222821 0.02465636 0.94968711 -0.7263317 ] [ 0. 0. 0. 1. ]] SLAMing on 409.41463044 meters Centerline goodness : 0.095520 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.60, Z:-0.73 [[ 0.95006353 -0.00573988 -0.31200376 -0.97831836] [-0.00233207 0.9996723 -0.02549206 -0.5964984 ] [ 0.31204784 0.02494669 0.94973881 -0.72636906] [ 0. 0. 0. 1. ]] SLAMing on 409.44463044 meters Centerline goodness : 0.273412 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.59, Z:-0.73 [[ 0.95010552 -0.00591291 -0.31187264 -0.97853886] [-0.00228946 0.9996612 -0.02592769 -0.5937357 ] [ 0.31192028 0.02534806 0.94977008 -0.72648647] [ 0. 0. 0. 1. ]] SLAMing on 409.47463044 meters Centerline goodness : 0.087170 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.59, Z:-0.73 [[ 0.95011346 -0.0039287 -0.31187974 -0.97901518] [-0.00411154 0.99967603 -0.02511821 -0.58577601] [ 0.31187738 0.02514746 0.94978951 -0.72615973] [ 0. 0. 0. 1. ]] SLAMing on 409.50463044 meters Centerline goodness : 0.084211 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.58, Z:-0.73 [[ 0.95011484 -0.00386019 -0.3118764 -0.97895432] [-0.00428544 0.99966746 -0.02542857 -0.58211911] [ 0.31187085 0.02549659 0.94978234 -0.72616277] [ 0. 0. 0. 1. ]] SLAMing on 409.53463044 meters Centerline goodness : 0.088075 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.58, Z:-0.73 [[ 0.9500671 -0.00398172 -0.31202029 -0.97839551] [-0.00432215 0.99965475 -0.02591715 -0.57818135] [ 0.31201576 0.02597163 0.94972188 -0.72623584] [ 0. 0. 0. 1. ]] SLAMing on 409.56463044000003 meters Centerline goodness : 0.084605 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.57, Z:-0.73 [[ 0.94996132 -0.00421965 -0.31233905 -0.97749964] [-0.00427176 0.99963976 -0.0264973 -0.57409222] [ 0.31233834 0.02650565 0.94960108 -0.72606762] [ 0. 0. 0. 1. ]] SLAMing on 409.59463044 meters Centerline goodness : 0.049705 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.57, Z:-0.73 [[ 0.94988911 -0.00485258 -0.31254942 -0.97673901] [-0.00396462 0.99961204 -0.02756892 -0.56678321] [ 0.31256194 0.02742655 0.94950135 -0.72606512] [ 0. 0. 0. 1. ]] SLAMing on 409.62463044000003 meters Centerline goodness : 0.084502 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.56, Z:-0.73 [[ 0.94987086 -0.00511706 -0.31260065 -0.97669445] [-0.00383606 0.99960003 -0.02801904 -0.56403991] [ 0.31261899 0.02781362 0.94947131 -0.72594903] [ 0. 0. 0. 1. ]] SLAMing on 409.65463044 meters Centerline goodness : 0.109933 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.56, Z:-0.73 [[ 0.9498657 -0.00530536 -0.31261319 -0.97693537] [-0.00375845 0.99959003 -0.028384 -0.56145745] [ 0.31263562 0.02813593 0.94945634 -0.72568897] [ 0. 0. 0. 1. ]] SLAMing on 409.68463044000003 meters Centerline goodness : 0.083814 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.56, Z:-0.73 [[ 0.94984779 -0.00550071 -0.31266421 -0.97693129] [-0.00367127 0.99958022 -0.02873865 -0.55900879] [ 0.31269105 0.02844522 0.94942887 -0.72552345] [ 0. 0. 0. 1. ]] SLAMing on 409.71463044 meters Centerline goodness : 0.100448 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.73 [[ 0.9498026 -0.00609026 -0.31279056 -0.97658176] [-0.00335903 0.99955434 -0.0296619 -0.55363837] [ 0.31283181 0.02922362 0.94935886 -0.72537606] [ 0. 0. 0. 1. ]] SLAMing on 409.74463044000004 meters Centerline goodness : 0.084831 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.73 [[ 0.94979428 -0.00641562 -0.31280931 -0.97653874] [-0.00318846 0.99953935 -0.03018147 -0.55068669] [ 0.31285885 0.02966357 0.9493363 -0.7253127 ] [ 0. 0. 0. 1. ]] SLAMing on 409.77463044 meters Centerline goodness : 0.094774 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.73 [[ 0.94980532 -0.00656317 -0.31277274 -0.97659625] [-0.00315987 0.99952765 -0.03056958 -0.54762498] [ 0.31282563 0.03002347 0.94933593 -0.72532947] [ 0. 0. 0. 1. ]] SLAMing on 409.80463044000004 meters Centerline goodness : 0.466711 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.72 [[ 0.94999501 -0.00471666 -0.31222947 -0.97902275] [-0.00473575 0.9995533 -0.02950871 -0.54157434] [ 0.31222918 0.02951177 0.94954831 -0.72491308] [ 0. 0. 0. 1. ]] SLAMing on 409.83463044 meters Centerline goodness : 0.440148 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.72 [[ 0.95002085 -0.00491845 -0.31214771 -0.97958884] [-0.004623 0.9995446 -0.02981974 -0.53990871] [ 0.31215223 0.02977244 0.94956547 -0.72464107] [ 0. 0. 0. 1. ]] SLAMing on 409.86463044 meters Centerline goodness : 0.087813 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.72 [[ 0.95005423 -0.00513479 -0.31204261 -0.98020115] [-0.00445953 0.99953919 -0.03002545 -0.53940526] [ 0.31205299 0.02991737 0.94959354 -0.72439569] [ 0. 0. 0. 1. ]] SLAMing on 409.89463044 meters Centerline goodness : 0.088284 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.72 [[ 0.95012192 -0.00574419 -0.31182581 -0.98108973] [-0.00391123 0.99953229 -0.0303299 -0.54016856] [ 0.31185419 0.03003672 0.94965507 -0.7241984 ] [ 0. 0. 0. 1. ]] SLAMing on 409.92463044 meters Centerline goodness : 0.088249 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.72 [[ 0.95011794 -0.00579974 -0.31183692 -0.98081781] [-0.00381796 0.9995359 -0.03022273 -0.54149301] [ 0.31186748 0.02990574 0.94965484 -0.72436777] [ 0. 0. 0. 1. ]] SLAMing on 409.95463044 meters Centerline goodness : 0.086948 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.72 [[ 0.95004869 -0.00576404 -0.31204848 -0.98003759] [-0.00378199 0.99954341 -0.02997765 -0.54324151] [ 0.3120788 0.02966039 0.94959312 -0.72438816] [ 0. 0. 0. 1. ]] SLAMing on 409.98463044 meters Centerline goodness : 0.097792 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.72 [[ 0.95001666 -0.00562029 -0.31214861 -0.97957327] [-0.00383322 0.99955259 -0.02966344 -0.54508188] [ 0.31217567 0.0293773 0.94957007 -0.72450073] [ 0. 0. 0. 1. ]] SLAMing on 410.01463044 meters Centerline goodness : 0.088381 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.72 [[ 0.95002161 -0.00551387 -0.31213543 -0.97947135] [-0.00386849 0.99955932 -0.02943144 -0.54658417] [ 0.31216016 0.029168 0.94958162 -0.72458715] [ 0. 0. 0. 1. ]] SLAMing on 410.04463044 meters Centerline goodness : 0.096071 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.72 [[ 0.95004529 -0.0053238 -0.31206667 -0.97962822] [-0.00396004 0.99956842 -0.02910829 -0.54858855] [ 0.31208695 0.02888999 0.94961419 -0.72458426] [ 0. 0. 0. 1. ]] SLAMing on 410.07463044 meters Centerline goodness : 0.068678 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.72 [[ 0.94997965 -0.0052667 -0.3122674 -0.97883708] [-0.00401564 0.99956916 -0.0290751 -0.54869665] [ 0.31228599 0.02887471 0.94954921 -0.72467666] [ 0. 0. 0. 1. ]] SLAMing on 410.10463044 meters Centerline goodness : 0.088497 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.72 [[ 0.94981467 -0.00509608 -0.31277167 -0.97706486] [-0.00418689 0.99957062 -0.02900093 -0.5483784 ] [ 0.31278517 0.02885505 0.9493855 -0.72477388] [ 0. 0. 0. 1. ]] SLAMing on 410.13463044 meters Centerline goodness : 0.088509 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.73 [[ 0.9497347 -0.00499447 -0.31301606 -0.97587232] [-0.0043044 0.99956987 -0.02900927 -0.54778491] [ 0.31302631 0.02889846 0.9493047 -0.72508257] [ 0. 0. 0. 1. ]] SLAMing on 410.16463044 meters Centerline goodness : 0.280712 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.73 [[ 0.94971614 -0.00495834 -0.31307293 -0.97543349] [-0.00436864 0.99956745 -0.02908318 -0.54706577] [ 0.31308172 0.02898847 0.94928368 -0.72528392] [ 0. 0. 0. 1. ]] SLAMing on 410.19463044 meters Centerline goodness : 0.093540 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.73 [[ 0.9498902 -0.00482511 -0.31254653 -0.97686193] [-0.0045256 0.99956377 -0.0291855 -0.54579012] [ 0.31255101 0.02913749 0.94945399 -0.72543513] [ 0. 0. 0. 1. ]] SLAMing on 410.22463044 meters Centerline goodness : 0.084200 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.73 [[ 0.94996638 -0.00483672 -0.31231471 -0.97773848] [-0.00453155 0.99956146 -0.02926351 -0.54514608] [ 0.31231928 0.02921462 0.94952787 -0.72529831] [ 0. 0. 0. 1. ]] SLAMing on 410.25463044 meters Centerline goodness : 0.090570 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.73 [[ 0.95004749 -0.00485401 -0.31206763 -0.97847966] [-0.00452587 0.99955966 -0.02932593 -0.54466954] [ 0.31207256 0.0292734 0.94960717 -0.72534557] [ 0. 0. 0. 1. ]] SLAMing on 410.28463044 meters Centerline goodness : 0.115410 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.73 [[ 0.95005029 -0.0049133 -0.31205818 -0.97837729] [-0.00449896 0.99955658 -0.02943475 -0.5440925 ] [ 0.31206443 0.02936843 0.94960691 -0.72540951] [ 0. 0. 0. 1. ]] SLAMing on 410.31463044000003 meters Centerline goodness : 0.092850 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.73 [[ 0.9498268 -0.00509309 -0.3127349 -0.97566714] [-0.00442966 0.99954809 -0.02973188 -0.54241101] [ 0.312745 0.02962545 0.949375 -0.7256821 ] [ 0. 0. 0. 1. ]] SLAMing on 410.34463044 meters Centerline goodness : 0.094126 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.54, Z:-0.73 [[ 0.94969806 -0.00518528 -0.31312409 -0.97442533] [-0.00440385 0.99954292 -0.02990904 -0.54125933] [ 0.31313606 0.0297835 0.94924114 -0.72563085] [ 0. 0. 0. 1. ]] SLAMing on 410.37463044000003 meters Centerline goodness : 0.093293 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.54, Z:-0.73 [[ 0.94961374 -0.00520364 -0.31337943 -0.97356811] [-0.00442562 0.99953986 -0.03000793 -0.54029319] [ 0.31339139 0.02988284 0.94915376 -0.72562752] [ 0. 0. 0. 1. ]] SLAMing on 410.40463044 meters Centerline goodness : 0.096250 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.54, Z:-0.73 [[ 0.94965043 -0.00527863 -0.31326697 -0.97401247] [-0.00443932 0.99953099 -0.0302999 -0.53766199] [ 0.31327999 0.03016501 0.94918161 -0.7254906 ] [ 0. 0. 0. 1. ]] SLAMing on 410.43463044000003 meters Centerline goodness : 0.094814 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.54, Z:-0.73 [[ 0.94975731 -0.00536803 -0.31294126 -0.97503508] [-0.00440549 0.99952458 -0.03051573 -0.53606818] [ 0.31295629 0.0303612 0.94928213 -0.72543891] [ 0. 0. 0. 1. ]] SLAMing on 410.46463044 meters Centerline goodness : 0.094741 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.53, Z:-0.73 [[ 0.94988284 -0.00543759 -0.31255882 -0.97629175] [-0.0043959 0.9995175 -0.030748 -0.53414307] [ 0.31257521 0.03058097 0.94940062 -0.72539143] [ 0. 0. 0. 1. ]] SLAMing on 410.49463044000004 meters Centerline goodness : 0.095089 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.53, Z:-0.73 [[ 0.94994516 -0.00549084 -0.31236843 -0.97678405] [-0.00440503 0.99951074 -0.03096563 -0.53223034] [ 0.31238563 0.03079164 0.94945621 -0.72542006] [ 0. 0. 0. 1. ]] SLAMing on 410.52463044 meters Centerline goodness : 0.095089 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.53, Z:-0.73 [[ 0.94994516 -0.00549084 -0.31236843 -0.97678405] [-0.00440503 0.99951074 -0.03096563 -0.53223034] [ 0.31238563 0.03079164 0.94945621 -0.72542006] [ 0. 0. 0. 1. ]] SLAMing on 410.55463044000004 meters Centerline goodness : 0.096259 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.53, Z:-0.73 [[ 0.94988447 -0.00564927 -0.31255013 -0.97622118] [-0.00436023 0.99949999 -0.03131709 -0.52978857] [ 0.31257077 0.0311104 0.94938488 -0.72538757] [ 0. 0. 0. 1. ]] SLAMing on 410.58463044 meters Centerline goodness : 0.096520 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.52, Z:-0.73 [[ 0.94957248 -0.00564553 -0.31349677 -0.97289793] [-0.00454068 0.99948545 -0.03175258 -0.52399834] [ 0.31351472 0.03157486 0.94905824 -0.72547688] [ 0. 0. 0. 1. ]] SLAMing on 410.61463044 meters Centerline goodness : 0.097830 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.52, Z:-0.73 [[ 0.94947277 -0.00586161 -0.31379468 -0.97190814] [-0.004447 0.99947395 -0.03212555 -0.52184672] [ 0.31381791 0.03189778 0.94894723 -0.7254633 ] [ 0. 0. 0. 1. ]] SLAMing on 410.64463044 meters Centerline goodness : 0.302075 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.52, Z:-0.73 [[ 0.9494473 -0.00600668 -0.31386899 -0.97163617] [-0.00438768 0.99946535 -0.03239994 -0.51994959] [ 0.31389579 0.03213919 0.94891333 -0.72542014] [ 0. 0. 0. 1. ]] SLAMing on 410.67463044 meters Centerline goodness : 0.093425 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.52, Z:-0.73 [[ 0.94947087 -0.00618244 -0.31379427 -0.97191077] [-0.00430836 0.99945502 -0.03272761 -0.51775815] [ 0.31382559 0.03242585 0.9489268 -0.72533057] [ 0. 0. 0. 1. ]] SLAMing on 410.70463044 meters Centerline goodness : 0.142675 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94951566 -0.00636266 -0.3136551 -0.97282224] [-0.00424813 0.99944188 -0.03313443 -0.51426861] [ 0.31369087 0.03279411 0.94895869 -0.7248468 ] [ 0. 0. 0. 1. ]] SLAMing on 410.73463044 meters Centerline goodness : 0.095219 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94950141 -0.00656279 -0.31369413 -0.97279282] [-0.00413955 0.99943219 -0.03343886 -0.51244482] [ 0.31373547 0.03304879 0.94893511 -0.72467151] [ 0. 0. 0. 1. ]] SLAMing on 410.76463044 meters Centerline goodness : 0.094396 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94944961 -0.00680809 -0.31384565 -0.97238993] [-0.00399472 0.99942182 -0.03376482 -0.51087922] [ 0.31389406 0.03331172 0.94887346 -0.7244803 ] [ 0. 0. 0. 1. ]] SLAMing on 410.79463044 meters Centerline goodness : 0.106245 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94938897 -0.00704185 -0.31402386 -0.97179284] [-0.00385976 0.99941163 -0.0340806 -0.50938865] [ 0.31407909 0.0335678 0.94880321 -0.7244343 ] [ 0. 0. 0. 1. ]] SLAMing on 410.82463044 meters Centerline goodness : 0.170615 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94922336 -0.00723976 -0.31451965 -0.97035031] [-0.00375293 0.99940347 -0.03433112 -0.5078257 ] [ 0.31458057 0.03376828 0.94862994 -0.72412039] [ 0. 0. 0. 1. ]] SLAMing on 410.85463044 meters Centerline goodness : 0.274149 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94917493 -0.00726193 -0.31466523 -0.97019654] [-0.00372572 0.99940453 -0.034303 -0.5081676 ] [ 0.31472696 0.0337319 0.94858268 -0.72378573] [ 0. 0. 0. 1. ]] SLAMing on 410.88463044 meters Centerline goodness : 0.251829 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94911555 -0.00732579 -0.31484282 -0.96970314] [-0.00366097 0.9994052 -0.0342905 -0.50868829] [ 0.31490676 0.03369828 0.9485242 -0.72364017] [ 0. 0. 0. 1. ]] SLAMing on 410.91463044 meters Centerline goodness : 0.093936 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94902213 -0.00738162 -0.31512302 -0.968786 ] [-0.00358707 0.99940811 -0.03421351 -0.50979746] [ 0.31518905 0.03359975 0.94843393 -0.72357797] [ 0. 0. 0. 1. ]] SLAMing on 410.94463044 meters Centerline goodness : 0.086089 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.72 [[ 0.94876352 -0.01424895 -0.31566558 -0.95033703] [ 0.00397432 0.99944186 -0.03316897 -0.50568808] [ 0.31596201 0.03021495 0.9482906 -0.71618446] [ 0. 0. 0. 1. ]] SLAMing on 410.97463044 meters Centerline goodness : 0.297734 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94872965 -0.00781423 -0.31599207 -0.96688413] [-0.00327323 0.99939789 -0.0345418 -0.51282059] [ 0.31607173 0.03380515 0.94813284 -0.72323957] [ 0. 0. 0. 1. ]] SLAMing on 411.00463044 meters Centerline goodness : 0.093575 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94875403 -0.00766505 -0.31592251 -0.96739312] [-0.00334848 0.99940584 -0.03430391 -0.51402711] [ 0.31599774 0.03360384 0.94816465 -0.72287419] [ 0. 0. 0. 1. ]] SLAMing on 411.03463044 meters Centerline goodness : 0.089011 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94876002 -0.00755202 -0.31590724 -0.96778852] [-0.00344886 0.99940736 -0.03424956 -0.51374539] [ 0.31597868 0.03358413 0.9481717 -0.72252708] [ 0. 0. 0. 1. ]] SLAMing on 411.06463044000003 meters Centerline goodness : 0.087026 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94879856 -0.00748463 -0.31579308 -0.96829295] [-0.00353254 0.99940532 -0.03430047 -0.51291352] [ 0.31586201 0.03365979 0.94820789 -0.72238947] [ 0. 0. 0. 1. ]] SLAMing on 411.09463044 meters Centerline goodness : 0.288295 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.948846 -0.00728215 -0.31565527 -0.96942794] [-0.00375864 0.99940264 -0.03435448 -0.51144503] [ 0.31571688 0.03378355 0.94825182 -0.72185162] [ 0. 0. 0. 1. ]] SLAMing on 411.12463044000003 meters Centerline goodness : 0.459351 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94882689 -0.00719093 -0.31571479 -0.96949514] [-0.00387192 0.99940066 -0.03439942 -0.51045472] [ 0.31577293 0.03386152 0.94823038 -0.72161517] [ 0. 0. 0. 1. ]] SLAMing on 411.15463044 meters Centerline goodness : 0.476621 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94874374 -0.00703211 -0.31596815 -0.96903319] [-0.00404462 0.99940041 -0.03438702 -0.50936276] [ 0.31602051 0.03390244 0.94814643 -0.72127726] [ 0. 0. 0. 1. ]] SLAMing on 411.18463044000003 meters Centerline goodness : 0.225163 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94868733 -0.00717772 -0.31613421 -0.96864611] [-0.00401505 0.99938833 -0.03473953 -0.50723815] [ 0.31619019 0.03422625 0.94807823 -0.72107631] [ 0. 0. 0. 1. ]] SLAMing on 411.21463044 meters Centerline goodness : 0.304787 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94869027 -0.00733715 -0.31612171 -0.96877582] [-0.0039199 0.99938105 -0.03495926 -0.50643049] [ 0.31618255 0.03440467 0.94807432 -0.72093681] [ 0. 0. 0. 1. ]] SLAMing on 411.24463044000004 meters Centerline goodness : 0.471277 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94866407 -0.00743158 -0.31619812 -0.9690768 ] [-0.00386676 0.9993767 -0.03508941 -0.50590607] [ 0.3162618 0.03451072 0.94804403 -0.72047089] [ 0. 0. 0. 1. ]] SLAMing on 411.27463044 meters Centerline goodness : 0.290707 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94866888 -0.0073796 -0.3161849 -0.96912002] [-0.00391671 0.99937695 -0.03507652 -0.50538966] [ 0.31624675 0.03451441 0.94804892 -0.72038603] [ 0. 0. 0. 1. ]] SLAMing on 411.30463044000004 meters Centerline goodness : 0.087113 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.9485805 -0.00732016 -0.31645134 -0.96870647] [-0.00397493 0.99937826 -0.03503271 -0.50520711] [ 0.31651104 0.03448922 0.94796163 -0.71995044] [ 0. 0. 0. 1. ]] SLAMing on 411.33463044 meters Centerline goodness : 0.087570 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94853394 -0.00733981 -0.31659041 -0.96838462] [-0.00395951 0.99937833 -0.03503259 -0.50520737] [ 0.31665073 0.03448314 0.9479152 -0.71976932] [ 0. 0. 0. 1. ]] SLAMing on 411.36463044 meters Centerline goodness : 0.483863 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94849808 -0.00734749 -0.31669765 -0.96881804] [-0.00394491 0.9993795 -0.03500078 -0.50544177] [ 0.3167583 0.03444752 0.94788055 -0.71907413] [ 0. 0. 0. 1. ]] SLAMing on 411.39463044 meters Centerline goodness : 0.095482 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.51, Z:-0.72 [[ 0.94854204 -0.00730899 -0.31656686 -0.96956611] [-0.00397068 0.99938042 -0.03497152 -0.50528368] [ 0.31662633 0.03442894 0.94792532 -0.71877094] [ 0. 0. 0. 1. ]] SLAMing on 411.42463044 meters Centerline goodness : 0.091150 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.50, Z:-0.72 [[ 0.94856212 -0.0073273 -0.31650626 -0.96984083] [-0.00397176 0.99937804 -0.03503942 -0.50467239] [ 0.31656615 0.03449416 0.94794305 -0.71866836] [ 0. 0. 0. 1. ]] SLAMing on 411.45463044 meters Centerline goodness : 0.281534 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.50, Z:-0.72 [[ 0.94857274 -0.00733643 -0.31647424 -0.96979923] [-0.00399179 0.99937471 -0.03513192 -0.50372694] [ 0.31653409 0.03458848 0.94795032 -0.71871594] [ 0. 0. 0. 1. ]] SLAMing on 411.48463044 meters Centerline goodness : 0.095518 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.50, Z:-0.72 [[ 0.94844467 -0.00729558 -0.31685876 -0.96871404] [-0.00412624 0.99936608 -0.03536108 -0.50072098] [ 0.31691588 0.03484546 0.94781334 -0.71850137] [ 0. 0. 0. 1. ]] SLAMing on 411.51463044 meters Centerline goodness : 0.082783 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.50, Z:-0.72 [[ 0.94841318 -0.00733708 -0.31695205 -0.96829547] [-0.00414708 0.99935953 -0.03554332 -0.49909595] [ 0.31700984 0.03502418 0.94777533 -0.71853043] [ 0. 0. 0. 1. ]] SLAMing on 411.54463044 meters Centerline goodness : 0.094873 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.50, Z:-0.72 [[ 0.94840198 -0.00753914 -0.31698082 -0.96838989] [-0.00403842 0.99934896 -0.03585163 -0.49753379] [ 0.31704475 0.03528186 0.94775409 -0.71830636] [ 0. 0. 0. 1. ]] SLAMing on 411.57463044 meters Centerline goodness : 0.094460 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.50, Z:-0.72 [[ 0.94841075 -0.00772002 -0.31695022 -0.96860643] [-0.00392763 0.99934069 -0.0360938 -0.49638823] [ 0.3170199 0.03547661 0.94775513 -0.71818518] [ 0. 0. 0. 1. ]] SLAMing on 411.60463044 meters Centerline goodness : 0.088069 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.49, Z:-0.72 [[ 0.94836577 -0.00804575 -0.31707671 -0.96850879] [-0.00371676 0.99932767 -0.03647443 -0.49447793] [ 0.317157 0.0357696 0.94769825 -0.71783249] [ 0. 0. 0. 1. ]] SLAMing on 411.63463044 meters Centerline goodness : 0.090101 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.49, Z:-0.72 [[ 0.94828572 -0.00817577 -0.3173127 -0.9678333 ] [-0.00363006 0.99932353 -0.03659661 -0.49390777] [ 0.31739725 0.0358559 0.94761455 -0.71766343] [ 0. 0. 0. 1. ]] SLAMing on 411.66463044 meters Centerline goodness : 0.096101 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.49, Z:-0.72 [[ 0.94822713 -0.00840143 -0.31748185 -0.96728982] [-0.00347195 0.99931609 -0.03681433 -0.49321828] [ 0.31757401 0.03601063 0.94754946 -0.71756782] [ 0. 0. 0. 1. ]] SLAMing on 411.69463044 meters Centerline goodness : 0.089831 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.49, Z:-0.71 [[ 0.9479074 -0.01547283 -0.31816999 -0.94929009] [ 0.00419815 0.99933968 -0.03609126 -0.48561998] [ 0.31851833 0.03287545 0.94734644 -0.70952479] [ 0. 0. 0. 1. ]] SLAMing on 411.72463044 meters Centerline goodness : 0.089903 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94787823 -0.01549465 -0.31825584 -0.94913298] [ 0.00419186 0.9993369 -0.03616902 -0.48472824] [ 0.31860523 0.03294974 0.94731464 -0.70936789] [ 0. 0. 0. 1. ]] SLAMing on 411.75463044 meters Centerline goodness : 0.296501 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94784878 -0.0155541 -0.31834063 -0.94881958] [ 0.0042019 0.99933151 -0.03631623 -0.48340053] [ 0.31869269 0.03308466 0.94728052 -0.70927698] [ 0. 0. 0. 1. ]] SLAMing on 411.78463044 meters Centerline goodness : 0.299823 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94781105 -0.01559367 -0.31845101 -0.9484803 ] [ 0.00419372 0.99932659 -0.03645246 -0.4821839 ] [ 0.31880498 0.03321455 0.94723818 -0.70920127] [ 0. 0. 0. 1. ]] SLAMing on 411.81463044000003 meters Centerline goodness : 0.297008 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94773572 -0.01573481 -0.3186682 -0.94799603] [ 0.00424611 0.99931676 -0.03671488 -0.48048665] [ 0.31902818 0.0334429 0.947155 -0.70896006] [ 0. 0. 0. 1. ]] SLAMing on 411.84463044 meters Centerline goodness : 0.096188 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94766474 -0.01598958 -0.31886655 -0.94810466] [ 0.00434243 0.99929825 -0.03720424 -0.47746408] [ 0.31923766 0.03387249 0.94706915 -0.70830553] [ 0. 0. 0. 1. ]] SLAMing on 411.87463044000003 meters Centerline goodness : 0.095438 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94764616 -0.01601962 -0.31892026 -0.94832612] [ 0.00432892 0.99929353 -0.03733225 -0.47623208] [ 0.319293 0.03399718 0.94704602 -0.70795246] [ 0. 0. 0. 1. ]] SLAMing on 411.90463044 meters Centerline goodness : 0.333226 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94764398 -0.01602389 -0.31892652 -0.94859229] [ 0.00430832 0.99929086 -0.03740602 -0.47530008] [ 0.31929974 0.03407355 0.94704101 -0.7076191 ] [ 0. 0. 0. 1. ]] SLAMing on 411.93463044000003 meters Centerline goodness : 0.326561 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94769089 -0.01600839 -0.31878787 -0.94907697] [ 0.00429999 0.9992912 -0.03739788 -0.47502673] [ 0.31916059 0.03407084 0.94708801 -0.70751815] [ 0. 0. 0. 1. ]] SLAMing on 411.96463044 meters Centerline goodness : 0.256484 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.47, Z:-0.71 [[ 0.94770806 -0.01598798 -0.31873785 -0.94934435] [ 0.00429221 0.99929255 -0.03736269 -0.47491855] [ 0.31910971 0.03404084 0.94710623 -0.70731265] [ 0. 0. 0. 1. ]] SLAMing on 411.99463044000004 meters Centerline goodness : 0.471149 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.47, Z:-0.70 [[ 0.94785416 -0.0230744 -0.317868 -0.9311908 ] [ 0.01222548 0.99927401 -0.03608314 -0.47164996] [ 0.31846983 0.03031546 0.94744812 -0.69959044] [ 0. 0. 0. 1. ]] SLAMing on 412.02463044 meters Centerline goodness : 0.477195 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94829829 -0.01627986 -0.31696265 -0.9480977 ] [ 0.00487393 0.9993128 -0.03674482 -0.47911543] [ 0.31734304 0.03330019 0.94772596 -0.70699092] [ 0. 0. 0. 1. ]] SLAMing on 412.05463044000004 meters Centerline goodness : 0.089981 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94826651 -0.01621167 -0.31706121 -0.9478464 ] [ 0.00486269 0.99931989 -0.03655295 -0.48052507] [ 0.31743816 0.03312017 0.94770041 -0.70686998] [ 0. 0. 0. 1. ]] SLAMing on 412.08463044 meters Centerline goodness : 0.471654 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.48, Z:-0.71 [[ 0.94827341 -0.01623794 -0.31703921 -0.94744007] [ 0.00499044 0.99933005 -0.03625659 -0.48383788] [ 0.31741555 0.032799 0.94771915 -0.70706347] [ 0. 0. 0. 1. ]] SLAMing on 412.11463044 meters Centerline goodness : 0.301451 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.49, Z:-0.71 [[ 0.9482559 -0.01615429 -0.31709586 -0.94728428] [ 0.00497739 0.99933845 -0.03602621 -0.48557069] [ 0.31746806 0.03258375 0.94770899 -0.70702135] [ 0. 0. 0. 1. ]] SLAMing on 412.14463044 meters Centerline goodness : 0.114086 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.49, Z:-0.71 [[ 0.9482112 -0.01593461 -0.31724061 -0.94681805] [ 0.00486665 0.99935248 -0.03565016 -0.48778375] [ 0.31760326 0.03225998 0.94767477 -0.70699138] [ 0. 0. 0. 1. ]] SLAMing on 412.17463044 meters Centerline goodness : 0.472657 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.49, Z:-0.71 [[ 0.94813274 -0.01569382 -0.31748704 -0.94586382] [ 0.00473201 0.99936667 -0.03526854 -0.48981862] [ 0.31783946 0.0319369 0.94760652 -0.70702344] [ 0. 0. 0. 1. ]] SLAMing on 412.20463044 meters Centerline goodness : 0.091505 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.49, Z:-0.71 [[ 0.9480592 -0.01540217 -0.31772082 -0.94515236] [ 0.0045896 0.99938542 -0.03475219 -0.49338235] [ 0.31806081 0.03148892 0.94754724 -0.70695138] [ 0. 0. 0. 1. ]] SLAMing on 412.23463044 meters Centerline goodness : 0.299505 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.49, Z:-0.71 [[ 0.94803253 -0.01524077 -0.31780819 -0.94494999] [ 0.00449198 0.99939367 -0.03452706 -0.49460272] [ 0.31814171 0.03130519 0.94752617 -0.70684648] [ 0. 0. 0. 1. ]] SLAMing on 412.26463044 meters Centerline goodness : 0.295494 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.50, Z:-0.71 [[ 0.94804935 -0.01502243 -0.3177684 -0.94475159] [ 0.00435329 0.99940352 -0.03425872 -0.4957383 ] [ 0.31809351 0.03109561 0.94754925 -0.70703719] [ 0. 0. 0. 1. ]] SLAMing on 412.29463044 meters Centerline goodness : 0.170578 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.50, Z:-0.71 [[ 0.94807913 -0.01485701 -0.31768731 -0.9448538 ] [ 0.0042518 0.99941109 -0.03404987 -0.49677589] [ 0.3180061 0.03093123 0.94758397 -0.70716439] [ 0. 0. 0. 1. ]] SLAMing on 412.32463044 meters Centerline goodness : 0.241172 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.50, Z:-0.71 [[ 0.94819097 -0.01460812 -0.3173649 -0.94622423] [ 0.00414009 0.99942565 -0.03363363 -0.49946249] [ 0.31767395 0.03057719 0.94770686 -0.70682666] [ 0. 0. 0. 1. ]] SLAMing on 412.35463044 meters Centerline goodness : 0.089792 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.50, Z:-0.71 [[ 0.94817679 -0.01441835 -0.31741594 -0.946303 ] [ 0.004027 0.99943498 -0.03336916 -0.50068572] [ 0.31771772 0.03036163 0.94769912 -0.70658789] [ 0. 0. 0. 1. ]] SLAMing on 412.38463044 meters Centerline goodness : 0.198479 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.50, Z:-0.71 [[ 0.94812707 -0.01421054 -0.31757382 -0.94601512] [ 0.00389709 0.99944486 -0.03308748 -0.50196311] [ 0.31786771 0.03013352 0.9476561 -0.70637841] [ 0. 0. 0. 1. ]] SLAMing on 412.41463044 meters Centerline goodness : 0.093139 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.50, Z:-0.71 [[ 0.94809911 -0.01406107 -0.31766391 -0.94578148] [ 0.00382133 0.99945349 -0.03283465 -0.50356684] [ 0.31795199 0.0299166 0.9476347 -0.70629919] [ 0. 0. 0. 1. ]] SLAMing on 412.44463044 meters Centerline goodness : 0.092886 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.71 [[ 0.94810406 -0.01393247 -0.31765481 -0.94626846] [ 0.00381519 0.99946609 -0.03244979 -0.50704249] [ 0.31793731 0.02955387 0.94765101 -0.70582316] [ 0. 0. 0. 1. ]] SLAMing on 412.47463044 meters Centerline goodness : 0.092886 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.71 [[ 0.94810406 -0.01393247 -0.31765481 -0.94626846] [ 0.00381519 0.99946609 -0.03244979 -0.50704249] [ 0.31793731 0.02955387 0.94765101 -0.70582316] [ 0. 0. 0. 1. ]] SLAMing on 412.50463044 meters Centerline goodness : 0.091740 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.71 [[ 0.9481649 -0.01374216 -0.31748146 -0.946888 ] [ 0.0037125 0.99947536 -0.03217477 -0.50858544] [ 0.31775705 0.02932834 0.94771847 -0.70576536] [ 0. 0. 0. 1. ]] SLAMing on 412.53463044 meters Centerline goodness : 0.298883 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.71 [[ 0.94824219 -0.01346818 -0.31726229 -0.94742277] [ 0.00354899 0.99948725 -0.03182218 -0.51007101] [ 0.3175282 0.02904917 0.94780377 -0.70587339] [ 0. 0. 0. 1. ]] SLAMing on 412.56463044000003 meters Centerline goodness : 0.299461 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.71 [[ 0.94829934 -0.01327138 -0.31709971 -0.94765438] [ 0.00343211 0.99949573 -0.03156744 -0.5112885 ] [ 0.31735875 0.02884706 0.94786669 -0.70605677] [ 0. 0. 0. 1. ]] SLAMing on 412.59463044 meters Centerline goodness : 0.297035 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.71 [[ 0.94831802 -0.01287526 -0.31706019 -0.94783069] [ 0.00320643 0.9995143 -0.03099817 -0.51461461] [ 0.3173053 0.02837949 0.9478987 -0.70597662] [ 0. 0. 0. 1. ]] SLAMing on 412.62463044000003 meters Centerline goodness : 0.088405 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.52, Z:-0.71 [[ 0.94830058 -0.01261267 -0.31712288 -0.94758923] [ 0.00305125 0.99952616 -0.03062911 -0.51653264] [ 0.31735893 0.02807798 0.94788973 -0.7059872 ] [ 0. 0. 0. 1. ]] SLAMing on 412.65463044 meters Centerline goodness : 0.298349 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.52, Z:-0.71 [[ 0.94822955 -0.01232718 -0.31734643 -0.94682878] [ 0.00288461 0.99953949 -0.03020746 -0.51867257] [ 0.31757267 0.02772819 0.94782844 -0.70597715] [ 0. 0. 0. 1. ]] SLAMing on 412.68463044000003 meters Centerline goodness : 0.289944 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.53, Z:-0.72 [[ 0.94747024 -0.01234482 -0.3196056 -0.98768597] [ 0.00292793 0.99954777 -0.02992785 -0.52502837] [ 0.31983052 0.02741996 0.94707792 -0.72015295] [ 0. 0. 0. 1. ]] SLAMing on 412.71463044 meters Centerline goodness : 0.301000 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.53, Z:-0.72 [[ 0.94746409 -0.01215517 -0.3196311 -0.9869102 ] [ 0.00290246 0.99956326 -0.02940853 -0.53020254] [ 0.31984897 0.02693581 0.94708558 -0.72058221] [ 0. 0. 0. 1. ]] SLAMing on 412.74463044000004 meters Centerline goodness : 0.089473 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.53, Z:-0.72 [[ 0.9475414 -0.01185389 -0.31941317 -0.98752626] [ 0.00275497 0.99957784 -0.02892318 -0.53287321] [ 0.31962118 0.02652593 0.94717405 -0.7206146 ] [ 0. 0. 0. 1. ]] SLAMing on 412.77463044 meters Centerline goodness : 0.093352 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.54, Z:-0.72 [[ 0.94760435 -0.01154429 -0.31923771 -0.98812889] [ 0.00260025 0.99959243 -0.02842892 -0.53550171] [ 0.3194358 0.02610927 0.94724816 -0.72061684] [ 0. 0. 0. 1. ]] SLAMing on 412.80463044000004 meters Centerline goodness : 0.087481 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.54, Z:-0.72 [[ 0.9475922 -0.01124456 -0.31928448 -0.98792325] [ 0.00245283 0.99960703 -0.02792452 -0.53840395] [ 0.31947301 0.02567791 0.9472474 -0.72062077] [ 0. 0. 0. 1. ]] SLAMing on 412.83463044 meters Centerline goodness : 0.296758 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.72 [[ 0.94729261 -0.0123646 -0.32013096 -0.9848999 ] [ 0.00351524 0.99959595 -0.02820607 -0.54658774] [ 0.32035037 0.02559406 0.94695332 -0.72070154] [ 0. 0. 0. 1. ]] SLAMing on 412.86463044 meters Centerline goodness : 0.293200 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.55, Z:-0.73 [[ 0.94762213 -0.00794743 -0.31929474 -1.00357379] [-0.00191931 0.99953063 -0.03057515 -0.55492882] [ 0.31938786 0.02958651 0.94716209 -0.72874185] [ 0. 0. 0. 1. ]] SLAMing on 412.89463044 meters Centerline goodness : 0.080016 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.56, Z:-0.73 [[ 0.94757522 -0.00771815 -0.31943957 -1.0029607 ] [-0.0020107 0.99954442 -0.03011498 -0.55815337] [ 0.31952648 0.02917851 0.947128 -0.72881247] [ 0. 0. 0. 1. ]] SLAMing on 412.92463044 meters Centerline goodness : 0.101940 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.56, Z:-0.73 [[ 0.94758411 -0.00743075 -0.31942 -1.00281674] [-0.00215545 0.9995581 -0.0296473 -0.56096015] [ 0.31949915 0.02878181 0.94714935 -0.72898913] [ 0. 0. 0. 1. ]] SLAMing on 412.95463044 meters Centerline goodness : 0.091451 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94762477 -0.00680461 -0.31931332 -1.00347201] [-0.00252447 0.99958221 -0.02879308 -0.56575697] [ 0.31937584 0.02809114 0.94721168 -0.728791 ] [ 0. 0. 0. 1. ]] SLAMing on 412.98463044 meters Centerline goodness : 0.090023 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94764285 -0.00650414 -0.31926591 -1.00361398] [-0.00270537 0.99959315 -0.02839394 -0.56776909] [ 0.3193207 0.02777105 0.94723971 -0.72878785] [ 0. 0. 0. 1. ]] SLAMing on 413.01463044 meters Centerline goodness : 0.096106 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94764741 -0.00624097 -0.31925763 -1.00350841] [-0.00287165 0.99960199 -0.02806447 -0.56938255] [ 0.31930571 0.02751202 0.94725232 -0.72889524] [ 0. 0. 0. 1. ]] SLAMing on 413.04463044 meters Centerline goodness : 0.072473 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94762273 -0.00609618 -0.31933369 -1.0030557 ] [-0.00296649 0.99960671 -0.02788587 -0.57040851] [ 0.31937809 0.02737258 0.94723195 -0.72906076] [ 0. 0. 0. 1. ]] SLAMing on 413.07463044 meters Centerline goodness : 0.113675 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94750597 -0.00581072 -0.31968527 -1.0010298 ] [-0.00320962 0.99961162 -0.02768221 -0.57123445] [ 0.31972197 0.02725513 0.94711933 -0.72968148] [ 0. 0. 0. 1. ]] SLAMing on 413.10463044 meters Centerline goodness : 0.117275 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94750504 -0.00570085 -0.31969 -1.00064437] [-0.00331424 0.99961222 -0.02764835 -0.57099605] [ 0.31972365 0.02725648 0.94711872 -0.72995474] [ 0. 0. 0. 1. ]] SLAMing on 413.13463044 meters Centerline goodness : 0.065575 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94753522 -0.00559529 -0.31960242 -1.00061938] [-0.00340587 0.99961331 -0.02759778 -0.57081025] [ 0.31963325 0.02723839 0.94714975 -0.73016764] [ 0. 0. 0. 1. ]] SLAMing on 413.16463044 meters Centerline goodness : 0.086498 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94759028 -0.00552095 -0.31944041 -1.00095776] [-0.0034605 0.99961466 -0.02754179 -0.57092228] [ 0.31946938 0.02720375 0.94720603 -0.73031575] [ 0. 0. 0. 1. ]] SLAMing on 413.19463044 meters Centerline goodness : 0.085719 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94768499 -0.00537673 -0.31916178 -1.00146358] [-0.00353043 0.99962043 -0.02732291 -0.57232433] [ 0.31918755 0.02702029 0.94730629 -0.73059739] [ 0. 0. 0. 1. ]] SLAMing on 413.22463044 meters Centerline goodness : 0.099493 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.57, Z:-0.73 [[ 0.94768009 -0.0052811 -0.31917792 -1.00136512] [-0.00356156 0.99962599 -0.02711448 -0.57369656] [ 0.31920174 0.02683263 0.94730684 -0.73061398] [ 0. 0. 0. 1. ]] SLAMing on 413.25463044 meters Centerline goodness : 0.096029 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.58, Z:-0.73 [[ 0.94765369 -0.00515779 -0.31925832 -1.00112502] [-0.00360183 0.99963323 -0.02684094 -0.57556489] [ 0.31927967 0.02658583 0.94728754 -0.7305795 ] [ 0. 0. 0. 1. ]] SLAMing on 413.28463044 meters Centerline goodness : 0.103569 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.58, Z:-0.73 [[ 0.94762476 -0.00516555 -0.31934405 -1.00098301] [-0.00353906 0.99963799 -0.02667151 -0.57733144] [ 0.31936622 0.02640476 0.94726343 -0.73040366] [ 0. 0. 0. 1. ]] SLAMing on 413.31463044000003 meters Centerline goodness : 0.295859 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.58, Z:-0.74 [[ 0.94765558 -0.00733108 -0.3192102 -1.04488972] [-0.00132104 0.9996378 -0.02687981 -0.58494191] [ 0.31929164 0.02589449 0.94730266 -0.7448792 ] [ 0. 0. 0. 1. ]] SLAMing on 413.34463044 meters Centerline goodness : 0.112412 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.59, Z:-0.74 [[ 0.94771373 -0.00718462 -0.31904085 -1.04532387] [-0.00136943 0.99964577 -0.02657937 -0.58680002] [ 0.3191188 0.02562654 0.94736818 -0.74481609] [ 0. 0. 0. 1. ]] SLAMing on 413.37463044000003 meters Centerline goodness : 0.088365 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.59, Z:-0.74 [[ 0.94776246 -0.00701711 -0.31889979 -1.04579133] [-0.00144663 0.99965316 -0.02629583 -0.58858286] [ 0.31897371 0.02538353 0.94742359 -0.74479168] [ 0. 0. 0. 1. ]] SLAMing on 413.40463044 meters Centerline goodness : 0.087852 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.59, Z:-0.74 [[ 0.94775109 -0.00688649 -0.31893642 -1.04576843] [-0.00151095 0.99965886 -0.0260746 -0.58990372] [ 0.31900718 0.02519413 0.94741737 -0.74468236] [ 0. 0. 0. 1. ]] SLAMing on 413.43463044000003 meters Centerline goodness : 0.103164 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.60, Z:-0.76 [[ 0.94688667 -0.0068593 -0.32149431 -1.08710235] [-0.0013556 0.99967844 -0.02532141 -0.59611732] [ 0.32156462 0.02441232 0.94657289 -0.75871432] [ 0. 0. 0. 1. ]] SLAMing on 413.46463044 meters Centerline goodness : 0.065590 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.60, Z:-0.76 [[ 0.94683374 -0.00673269 -0.32165282 -1.08671845] [-0.00143865 0.99968241 -0.02515979 -0.59686289] [ 0.32172006 0.02428489 0.94652335 -0.75853329] [ 0. 0. 0. 1. ]] SLAMing on 413.49463044000004 meters Centerline goodness : 0.087155 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.60, Z:-0.77 [[ 0.94769306 -0.00153369 -0.31917944 -1.10165446] [-0.00709781 0.99963991 -0.02587787 -0.60382079] [ 0.3191042 0.02678975 0.94734092 -0.7661527 ] [ 0. 0. 0. 1. ]] SLAMing on 413.52463044 meters Centerline goodness : 0.092265 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.77 [[ 0.94775822 -0.001486 -0.31898613 -1.10236949] [-0.00708865 0.9996441 -0.02571834 -0.60518537] [ 0.31891082 0.02663595 0.94741037 -0.76605146] [ 0. 0. 0. 1. ]] SLAMing on 413.55463044000004 meters Centerline goodness : 0.164742 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.77 [[ 0.94789895 -0.001438 -0.3185679 -1.10347537] [-0.00701505 0.99965312 -0.02538566 -0.60798179] [ 0.3184939 0.02629781 0.94756006 -0.76619688] [ 0. 0. 0. 1. ]] SLAMing on 413.58463044 meters Centerline goodness : 0.093604 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.77 [[ 0.94789324 -0.00143431 -0.31858492 -1.10332507] [-0.00696586 0.9996575 -0.02522627 -0.60957575] [ 0.31851198 0.02613103 0.94755859 -0.76625745] [ 0. 0. 0. 1. ]] SLAMing on 413.61463044 meters Centerline goodness : 0.173071 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.77 [[ 0.94785094 -0.00147039 -0.31871058 -1.10276151] [-0.00688505 0.99966153 -0.02508826 -0.61136266] [ 0.3186396 0.02597427 0.94752 -0.76633419] [ 0. 0. 0. 1. ]] SLAMing on 413.64463044 meters Centerline goodness : 0.093679 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.77 [[ 0.94785406 -0.00150137 -0.31870116 -1.10243013] [-0.00679849 0.99966611 -0.0249288 -0.6132843 ] [ 0.31863217 0.02579555 0.94752738 -0.76660723] [ 0. 0. 0. 1. ]] SLAMing on 413.67463044 meters Centerline goodness : 0.176525 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.77 [[ 0.94780433 -0.00146579 -0.31884917 -1.10176183] [-0.00677507 0.99967108 -0.02473503 -0.61497277] [ 0.31878056 0.02560419 0.94748266 -0.76674257] [ 0. 0. 0. 1. ]] SLAMing on 413.70463044 meters Centerline goodness : 0.097070 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.62, Z:-0.77 [[ 0.94763885 -0.00138365 -0.31934104 -1.09994672] [-0.00673567 0.99968155 -0.02431942 -0.61877445] [ 0.319273 0.02519701 0.94732775 -0.76688444] [ 0. 0. 0. 1. ]] SLAMing on 413.73463044 meters Centerline goodness : 0.278855 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.62, Z:-0.77 [[ 0.94756876 -0.00131304 -0.31954923 -1.09900028] [-0.00674174 0.99968684 -0.02409923 -0.62056444] [ 0.31948081 0.02498999 0.94726317 -0.76707114] [ 0. 0. 0. 1. ]] SLAMing on 413.76463044 meters Centerline goodness : 0.089071 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.62, Z:-0.77 [[ 0.94748813 -0.00124632 -0.3197885 -1.09803883] [-0.00675349 0.9996914 -0.02390576 -0.62204103] [ 0.31971961 0.02481011 0.94718733 -0.76715921] [ 0. 0. 0. 1. ]] SLAMing on 413.79463044 meters Centerline goodness : 0.309332 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.62, Z:-0.77 [[ 0.94746749 -0.00111848 -0.31985012 -1.09752337] [-0.00680239 0.99969725 -0.02364605 -0.62371367] [ 0.31977973 0.02457961 0.94717304 -0.7673866 ] [ 0. 0. 0. 1. ]] SLAMing on 413.82463044 meters Centerline goodness : 0.134635 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.63, Z:-0.77 [[ 9.47501996e-01 -7.19847024e-04 -3.19749042e-01 -1.09784908e+00] [-6.97674979e-03 9.99712852e-01 -2.29246181e-02 -6.28728510e-01] [ 3.19673729e-01 2.39519304e-02 9.47224900e-01 -7.67411557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85463044 meters Centerline goodness : 0.107738 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.63, Z:-0.77 [[ 9.47504950e-01 -5.20643731e-04 -3.19740673e-01 -1.09788216e+00] [-7.04586976e-03 9.99721850e-01 -2.25072879e-02 -6.31575718e-01] [ 3.19663456e-01 2.35786179e-02 9.47237734e-01 -7.67365497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88463044 meters Centerline goodness : 0.101682 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.63, Z:-0.77 [[ 9.47459886e-01 -3.62649860e-04 -3.19874401e-01 -1.09748331e+00] [-7.08054806e-03 9.99730563e-01 -2.21058246e-02 -6.34660071e-01] [ 3.19796232e-01 2.32092681e-02 9.47202038e-01 -7.67341153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91463044 meters Centerline goodness : 0.094048 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.64, Z:-0.77 [[ 9.47262040e-01 -3.89947385e-04 -3.20459786e-01 -1.09537871e+00] [-6.93211475e-03 9.99740332e-01 -2.17074828e-02 -6.41521693e-01] [ 3.20385038e-01 2.27841384e-02 9.47013363e-01 -7.67503955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94463044 meters Centerline goodness : 0.098294 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.64, Z:-0.77 [[ 9.47235276e-01 -1.48688301e-04 -3.20539094e-01 -1.09502528e+00] [-7.06361140e-03 9.99747373e-01 -2.13376551e-02 -6.43613078e-01] [ 3.20461289e-01 2.24759432e-02 9.46994928e-01 -7.67551099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97463044 meters Centerline goodness : 0.135157 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.65, Z:-0.77 [[ 9.47215798e-01 1.05551509e-04 -3.20596663e-01 -1.09487559e+00] [-7.22252141e-03 9.99753175e-01 -2.10100781e-02 -6.45422412e-01] [ 3.20515314e-01 2.22165942e-02 9.46982765e-01 -7.67498133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00463044 meters Centerline goodness : 0.092215 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.65, Z:-0.77 [[ 9.47277807e-01 3.12430761e-04 -3.20413262e-01 -1.09520205e+00] [-7.35390304e-03 9.99757309e-01 -2.07664133e-02 -6.46799670e-01] [ 3.20329012e-01 2.20278505e-02 9.47050209e-01 -7.67674502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03463044 meters Centerline goodness : 0.092100 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.65, Z:-0.77 [[ 9.47381088e-01 9.56672806e-04 -3.20106480e-01 -1.09638572e+00] [-7.79053226e-03 9.99768249e-01 -2.00687966e-02 -6.49970393e-01] [ 3.20013096e-01 2.15065982e-02 9.47168984e-01 -7.67512537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06463044000003 meters Centerline goodness : 0.124618 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.65, Z:-0.77 [[ 0.94736307 0.00119069 -0.32015902 -1.09645136] [-0.00793365 0.99977332 -0.01975775 -0.65156964] [ 0.32006292 0.0212578 0.94715777 -0.76731702] [ 0. 0. 0. 1. ]] SLAMing on 414.09463044 meters Centerline goodness : 0.089434 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.65, Z:-0.77 [[ 0.94736762 0.00137281 -0.32014483 -1.09638556] [-0.00804112 0.99977736 -0.01950804 -0.65311372] [ 0.32004678 0.02105561 0.94716774 -0.76737381] [ 0. 0. 0. 1. ]] SLAMing on 414.12463044000003 meters Centerline goodness : 0.170760 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.66, Z:-0.77 [[ 0.9473916 0.00160037 -0.32007281 -1.09650993] [-0.00816707 0.99978279 -0.01917498 -0.65515168] [ 0.31997259 0.02078027 0.94719888 -0.76745007] [ 0. 0. 0. 1. ]] SLAMing on 414.15463044 meters Centerline goodness : 0.089219 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.66, Z:-0.77 [[ 0.94741395 0.0018063 -0.32000554 -1.0967801 ] [-0.0082728 0.99978811 -0.01884918 -0.65725049] [ 0.31990368 0.02050532 0.94722815 -0.76737599] [ 0. 0. 0. 1. ]] SLAMing on 414.18463044000003 meters Centerline goodness : 0.170969 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.66, Z:-0.77 [[ 0.94745157 0.0021766 -0.31989183 -1.09738891] [-0.00843839 0.99979894 -0.01818993 -0.66292532] [ 0.31978792 0.01993346 0.94727944 -0.76722099] [ 0. 0. 0. 1. ]] SLAMing on 414.21463044 meters Centerline goodness : 0.080819 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.67, Z:-0.77 [[ 0.9474421 0.00238294 -0.3199184 -1.09732318] [-0.0085133 0.99980594 -0.01776508 -0.6659347 ] [ 0.31981398 0.01955495 0.94727853 -0.76716392] [ 0. 0. 0. 1. ]] SLAMing on 414.24463044000004 meters Centerline goodness : 0.088947 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.67, Z:-0.77 [[ 0.94738247 0.00258253 -0.3200934 -1.09678728] [-0.00856889 0.99981371 -0.01729483 -0.66978605] [ 0.31998911 0.01912766 0.94722812 -0.76711675] [ 0. 0. 0. 1. ]] SLAMing on 414.27463044 meters Centerline goodness : 0.114367 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.67, Z:-0.77 [[ 0.94729489 0.00278885 -0.32035078 -1.09615555] [-0.00862563 0.99982162 -0.01680241 -0.67359194] [ 0.32024678 0.01868006 0.94714997 -0.7669338 ] [ 0. 0. 0. 1. ]] SLAMing on 414.30463044000004 meters Centerline goodness : 0.142563 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.68, Z:-0.77 [[ 9.47285303e-01 -9.75996064e-04 -3.20389767e-01 -1.09588497e+00] [-5.44080654e-03 9.99802156e-01 -1.91323184e-02 -6.80341135e-01] [ 3.20345053e-01 1.98669428e-02 9.47092578e-01 -7.66962798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33463044 meters Centerline goodness : 0.092113 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.68, Z:-0.77 [[ 9.47189541e-01 -7.66287549e-04 -3.20673333e-01 -1.09534688e+00] [-5.49639530e-03 9.99811447e-01 -1.86241592e-02 -6.84379399e-01] [ 3.20627141e-01 1.94031562e-02 9.47006734e-01 -7.66663159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36463044 meters Centerline goodness : 0.092113 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.68, Z:-0.77 [[ 9.47189541e-01 -7.66287549e-04 -3.20673333e-01 -1.09534688e+00] [-5.49639530e-03 9.99811447e-01 -1.86241592e-02 -6.84379399e-01] [ 3.20627141e-01 1.94031562e-02 9.47006734e-01 -7.66663159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39463044 meters Centerline goodness : 0.090868 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.47135761e-01 -5.27253296e-04 -3.20832624e-01 -1.09470977e+00] [-5.58276262e-03 9.99820159e-01 -1.81240689e-02 -6.87915863e-01] [ 3.20784481e-01 1.89570862e-02 9.46962484e-01 -7.66690488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42463044 meters Centerline goodness : 0.092358 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.47104464e-01 -2.38988061e-04 -3.20925345e-01 -1.09406426e+00] [-5.73640734e-03 9.99827353e-01 -1.76736549e-02 -6.90478245e-01] [ 3.20874162e-01 1.85797559e-02 9.46939578e-01 -7.66919021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45463044 meters Centerline goodness : 0.174121 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46942324e-01 1.12208764e-04 -3.21403521e-01 -1.09241977e+00] [-5.95363834e-03 9.99834481e-01 -1.71919770e-02 -6.93302590e-01] [ 3.21348393e-01 1.81933310e-02 9.46786255e-01 -7.66934010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48463044 meters Centerline goodness : 0.065096 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46866378e-01 1.35458392e-04 -3.21627182e-01 -1.09213829e+00] [-5.97130118e-03 9.99834954e-01 -1.71583392e-02 -6.93802404e-01] [ 3.21571775e-01 1.81671872e-02 9.46710910e-01 -7.66581681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51463044 meters Centerline goodness : 0.090280 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46766800e-01 2.80845081e-04 -3.21920096e-01 -1.09179674e+00] [-6.08746813e-03 9.99836431e-01 -1.70309764e-02 -6.94374307e-01] [ 3.21862657e-01 1.80840414e-02 9.46613648e-01 -7.66063721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54463044 meters Centerline goodness : 0.073453 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 9.46801615e-01 6.24282451e-04 -3.21817204e-01 -1.09268243e+00] [-6.33719545e-03 9.99840382e-01 -1.67047753e-02 -6.95427491e-01] [ 3.21755407e-01 1.78555268e-02 9.46654445e-01 -7.65626650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57463044 meters Centerline goodness : 0.089467 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 9.46821520e-01 7.06913950e-04 -3.21758465e-01 -1.09301284e+00] [-6.36444694e-03 9.99843087e-01 -1.65316312e-02 -6.96712208e-01] [ 3.21696291e-01 1.77003189e-02 9.46677450e-01 -7.65485103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60463044 meters Centerline goodness : 0.086767 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 9.46851919e-01 7.11628270e-04 -3.21668986e-01 -1.09335342e+00] [-6.32212190e-03 9.99845563e-01 -1.63975861e-02 -6.98222562e-01] [ 3.21607640e-01 1.75597164e-02 9.46710189e-01 -7.65403305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63463044 meters Centerline goodness : 0.131918 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 9.46868770e-01 8.03183372e-04 -3.21619164e-01 -1.09356521e+00] [-6.33171497e-03 9.99849628e-01 -1.61440646e-02 -7.00338834e-01] [ 3.21557835e-01 1.73227115e-02 9.46731473e-01 -7.65340899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66463044 meters Centerline goodness : 0.097479 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 9.46752905e-01 9.58194783e-04 -3.21959653e-01 -1.09287595e+00] [-6.34107241e-03 9.99857098e-01 -1.56708172e-02 -7.04262323e-01] [ 3.21898629e-01 1.68779612e-02 9.46623688e-01 -7.65023947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.69463044 meters Centerline goodness : 0.312366 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.76 [[ 0.94667934 0.00116191 -0.32217524 -1.09219511] [-0.0064398 0.99986195 -0.01531674 -0.70626111] [ 0.32211297 0.01657478 0.94655613 -0.76497395] [ 0. 0. 0. 1. ]] SLAMing on 414.72463044 meters Centerline goodness : 0.087554 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.76 [[ 0.94663203 0.00139182 -0.32231329 -1.09179781] [-0.00655648 0.99986692 -0.0149387 -0.70836477] [ 0.3222496 0.01625469 0.94651518 -0.76489149] [ 0. 0. 0. 1. ]] SLAMing on 414.75463044 meters Centerline goodness : 0.312772 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.76 [[ 0.94663787 0.00155502 -0.32229539 -1.09170081] [-0.00662491 0.99987097 -0.01463431 -0.71036774] [ 0.32223105 0.01598857 0.94652603 -0.76498872] [ 0. 0. 0. 1. ]] SLAMing on 414.78463044 meters Centerline goodness : 0.154643 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.76 [[ 0.94667703 0.0017694 -0.32217925 -1.0919268 ] [-0.00667184 0.99987815 -0.01411294 -0.71430524] [ 0.32211502 0.01550992 0.94657348 -0.76498775] [ 0. 0. 0. 1. ]] SLAMing on 414.81463044000003 meters Centerline goodness : 0.087031 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.72, Z:-0.77 [[ 0.94665998 0.00187103 -0.32222878 -1.09170652] [-0.0067154 0.99988052 -0.013923 -0.71569554] [ 0.32216423 0.01534425 0.94655943 -0.76503164] [ 0. 0. 0. 1. ]] SLAMing on 414.84463044 meters Centerline goodness : 0.086917 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.72, Z:-0.77 [[ 0.94658238 0.00192044 -0.32245637 -1.09086702] [-0.00673581 0.99988184 -0.01381827 -0.71651395] [ 0.32239173 0.01525214 0.94648346 -0.76503365] [ 0. 0. 0. 1. ]] SLAMing on 414.87463044000003 meters Centerline goodness : 0.087627 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.72, Z:-0.77 [[ 0.94652641 0.00193919 -0.3226205 -1.09007532] [-0.00674662 0.99988224 -0.01378366 -0.71686622] [ 0.32255578 0.0152232 0.94642803 -0.76519913] [ 0. 0. 0. 1. ]] SLAMing on 414.90463044 meters Centerline goodness : 0.316552 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.72, Z:-0.77 [[ 0.94651344 0.00190803 -0.32265874 -1.08981721] [-0.00676063 0.99988026 -0.01391941 -0.71627962] [ 0.32259355 0.01535629 0.94641301 -0.76527654] [ 0. 0. 0. 1. ]] SLAMing on 414.93463044000003 meters Centerline goodness : 0.151311 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.72, Z:-0.77 [[ 0.94651512 0.00184036 -0.32265421 -1.08988175] [-0.00674697 0.99987798 -0.01408932 -0.71523338] [ 0.32258891 0.01551269 0.94641204 -0.76520678] [ 0. 0. 0. 1. ]] SLAMing on 414.96463044 meters Centerline goodness : 0.317109 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.77 [[ 0.94656119 0.0019065 -0.32251865 -1.09013648] [-0.00684295 0.99987614 -0.01417286 -0.71409721] [ 0.32245168 0.01562246 0.946457 -0.76536043] [ 0. 0. 0. 1. ]] SLAMing on 414.99463044000004 meters Centerline goodness : 0.312978 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.77 [[ 0.94658152 0.00202003 -0.32245829 -1.09010365] [-0.00699836 0.99987354 -0.01428013 -0.71233161] [ 0.32238867 0.01577399 0.94647595 -0.76548166] [ 0. 0. 0. 1. ]] SLAMing on 415.02463044 meters Centerline goodness : 0.086428 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.77 [[ 0.94659119 0.00212847 -0.3224292 -1.08987717] [-0.00724412 0.99986619 -0.01466689 -0.70791182] [ 0.32235484 0.01621927 0.94647995 -0.76576054] [ 0. 0. 0. 1. ]] SLAMing on 415.05463044000004 meters Centerline goodness : 0.074768 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.77 [[ 0.94658967 0.0018619 -0.3224353 -1.08963469] [-0.00711563 0.99986043 -0.01511604 -0.70550685] [ 0.32236215 0.01660302 0.9464708 -0.76590907] [ 0. 0. 0. 1. ]] SLAMing on 415.08463044 meters Centerline goodness : 0.087163 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 0.94656741 0.00165095 -0.32250181 -1.08933988] [-0.00702735 0.99985506 -0.01550736 -0.70316613] [ 0.32242947 0.01694509 0.94644181 -0.76597983] [ 0. 0. 0. 1. ]] SLAMing on 415.11463044 meters Centerline goodness : 0.082769 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 0.9465385 0.00145622 -0.32258758 -1.08902163] [-0.00694445 0.99985006 -0.01586294 -0.70078223] [ 0.32251611 0.01725508 0.94640669 -0.76598618] [ 0. 0. 0. 1. ]] SLAMing on 415.14463044 meters Centerline goodness : 0.087583 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.77 [[ 0.94652279 0.00128954 -0.3226344 -1.08864546] [-0.00687774 0.99984542 -0.01618118 -0.69857104] [ 0.32256366 0.01753485 0.94638534 -0.76614192] [ 0. 0. 0. 1. ]] SLAMing on 415.17463044 meters Centerline goodness : 0.087754 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46480219e-01 8.56935285e-04 -3.22760687e-01 -1.08765482e+00] [-6.64175454e-03 9.99836440e-01 -1.68220431e-02 -6.94465383e-01] [ 3.22693480e-01 1.80654282e-02 9.46331104e-01 -7.66504097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20463044 meters Centerline goodness : 0.086673 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46443432e-01 5.69092005e-04 -3.22869179e-01 -1.08730272e+00] [-6.47057079e-03 9.99831042e-01 -1.72052142e-02 -6.92505851e-01] [ 3.22804836e-01 1.83729098e-02 9.46287205e-01 -7.66456361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23463044 meters Centerline goodness : 0.150300 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46455258e-01 2.46334716e-04 -3.22834918e-01 -1.08743933e+00] [-6.27198530e-03 9.99825001e-01 -1.76246791e-02 -6.90407562e-01] [ 3.22774081e-01 1.87057861e-02 9.46291174e-01 -7.66389658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26463044 meters Centerline goodness : 0.246013 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46588576e-01 -2.23612739e-04 -3.22443820e-01 -1.08904193e+00] [-5.99043715e-03 9.99814974e-01 -1.82793106e-02 -6.86497237e-01] [ 3.22388247e-01 1.92345660e-02 9.46412093e-01 -7.66078905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29463044 meters Centerline goodness : 0.070505 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.69, Z:-0.77 [[ 9.46632790e-01 -3.46146912e-04 -3.22313886e-01 -1.08965135e+00] [-5.93088059e-03 9.99811405e-01 -1.84926803e-02 -6.85005272e-01] [ 3.22259501e-01 1.94173827e-02 9.46452207e-01 -7.65901545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32463044 meters Centerline goodness : 0.094941 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.77 [[ 9.46640834e-01 -5.39137298e-04 -3.22289996e-01 -1.08970983e+00] [-5.81509559e-03 9.99807240e-01 -1.87528015e-02 -6.83427150e-01] [ 3.22237982e-01 1.96263148e-02 9.46455224e-01 -7.65885314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35463044 meters Centerline goodness : 0.090777 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.77 [[ 9.46516197e-01 -9.81406704e-04 -3.22654810e-01 -1.08837572e+00] [-5.52952850e-03 9.99799178e-01 -1.92620650e-02 -6.80934625e-01] [ 3.22608918e-01 2.00159854e-02 9.46320689e-01 -7.65902142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38463044 meters Centerline goodness : 0.088211 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.77 [[ 0.94647521 -0.00125849 -0.32277405 -1.08795132] [-0.00533649 0.99979471 -0.01954646 -0.67998528] [ 0.32273239 0.02022272 0.94627419 -0.76586301] [ 0. 0. 0. 1. ]] SLAMing on 415.41463044 meters Centerline goodness : 0.076433 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.77 [[ 0.94649569 -0.00152535 -0.32271286 -1.08843421] [-0.00514944 0.99979013 -0.01982862 -0.67908084] [ 0.32267538 0.02042949 0.94628919 -0.76564322] [ 0. 0. 0. 1. ]] SLAMing on 415.44463044 meters Centerline goodness : 0.089182 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.77 [[ 0.94652994 -0.00171964 -0.32261139 -1.08936677] [-0.00499944 0.99978753 -0.01999741 -0.67854978] [ 0.32257723 0.02054102 0.94632024 -0.76517037] [ 0. 0. 0. 1. ]] SLAMing on 415.47463044 meters Centerline goodness : 0.089715 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.76 [[ 0.94658259 -0.00178321 -0.32245653 -1.09025981] [-0.00494991 0.99978653 -0.02005953 -0.67807639] [ 0.32242347 0.02058413 0.9463717 -0.76484519] [ 0. 0. 0. 1. ]] SLAMing on 415.50463044 meters Centerline goodness : 0.088647 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.76 [[ 0.94664407 -0.00182218 -0.32227579 -1.09092732] [-0.00490703 0.9997866 -0.02006668 -0.67766862] [ 0.32224358 0.02057742 0.94643312 -0.76472383] [ 0. 0. 0. 1. ]] SLAMing on 415.53463044 meters Centerline goodness : 0.088087 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.76 [[ 0.9465903 -0.00197494 -0.3224328 -1.09054653] [-0.0047713 0.99978596 -0.02013128 -0.67812106] [ 0.32240354 0.0205945 0.94637827 -0.76460763] [ 0. 0. 0. 1. ]] SLAMing on 415.56463044000003 meters Centerline goodness : 0.126783 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.76 [[ 0.94651516 -0.00217548 -0.32265201 -1.08999061] [-0.00459635 0.9997849 -0.02022467 -0.67878502] [ 0.3226266 0.02062597 0.94630156 -0.76448634] [ 0. 0. 0. 1. ]] SLAMing on 415.59463044 meters Centerline goodness : 0.089640 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.76 [[ 0.94640165 -0.00232943 -0.32298373 -1.08922216] [-0.00444154 0.99978558 -0.02022522 -0.67981145] [ 0.32296159 0.02057572 0.94618838 -0.76424517] [ 0. 0. 0. 1. ]] SLAMing on 415.62463044000003 meters Centerline goodness : 0.089608 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.68, Z:-0.76 [[ 0.94629824 -0.00236395 -0.32328635 -1.08817172] [-0.00429892 0.99979285 -0.01989421 -0.68281185] [ 0.32326641 0.02021564 0.94609205 -0.76422332] [ 0. 0. 0. 1. ]] SLAMing on 415.65463044 meters Centerline goodness : 0.093389 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94570163 -0.00398758 -0.32501159 -1.13012471] [-0.00255626 0.99980258 -0.01970468 -0.68717264] [ 0.32502599 0.01946556 0.94550473 -0.77855099] [ 0. 0. 0. 1. ]] SLAMing on 415.68463044000003 meters Centerline goodness : 0.179844 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94566297 -0.00396947 -0.32512427 -1.13003648] [-0.00250935 0.9998066 -0.01950548 -0.68898926] [ 0.32513881 0.01926146 0.94547012 -0.77829633] [ 0. 0. 0. 1. ]] SLAMing on 415.71463044 meters Centerline goodness : 0.075375 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94563922 -0.00399124 -0.32519307 -1.12991483] [-0.00245276 0.99980872 -0.01940355 -0.69025118] [ 0.32520831 0.01914638 0.94544856 -0.77819836] [ 0. 0. 0. 1. ]] SLAMing on 415.74463044000004 meters Centerline goodness : 0.091205 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94563912 -0.00388266 -0.32519469 -1.13005362] [-0.00250292 0.99981223 -0.01921553 -0.69149278] [ 0.32520824 0.01898489 0.94545184 -0.77801389] [ 0. 0. 0. 1. ]] SLAMing on 415.77463044 meters Centerline goodness : 0.092785 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94561825 -0.00380793 -0.32525625 -1.1297703 ] [-0.0025802 0.99981221 -0.01920669 -0.69099788] [ 0.32526831 0.01900142 0.94543084 -0.77807587] [ 0. 0. 0. 1. ]] SLAMing on 415.80463044000004 meters Centerline goodness : 0.092807 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.9456039 -0.00369572 -0.32529925 -1.1294895 ] [-0.00267854 0.99981313 -0.01914504 -0.69069913] [ 0.32530922 0.01897495 0.9454173 -0.77816897] [ 0. 0. 0. 1. ]] SLAMing on 415.83463044 meters Centerline goodness : 0.069704 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94561566 -0.00364944 -0.32526559 -1.12944154] [-0.00272317 0.99981321 -0.0191346 -0.69046659] [ 0.32527466 0.01897973 0.94542909 -0.77830117] [ 0. 0. 0. 1. ]] SLAMing on 415.86463044 meters Centerline goodness : 0.089678 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94569848 -0.00368708 -0.32502429 -1.13036359] [-0.00269847 0.99981215 -0.01919339 -0.69006935] [ 0.325034 0.01902823 0.94551088 -0.77819208] [ 0. 0. 0. 1. ]] SLAMing on 415.89463044 meters Centerline goodness : 0.092960 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94570544 -0.00372847 -0.32500357 -1.13052647] [-0.00267383 0.99981112 -0.0192503 -0.68965621] [ 0.32501396 0.01907411 0.94551685 -0.77809485] [ 0. 0. 0. 1. ]] SLAMing on 415.92463044 meters Centerline goodness : 0.132404 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94569988 -0.00380324 -0.32501888 -1.1304079 ] [-0.00262598 0.99980951 -0.01934012 -0.68921493] [ 0.32503053 0.01914344 0.94550975 -0.77814159] [ 0. 0. 0. 1. ]] SLAMing on 415.95463044 meters Centerline goodness : 0.078416 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94562086 -0.00407401 -0.32524544 -1.12953331] [-0.00244447 0.99980431 -0.01963057 -0.68824676] [ 0.32526177 0.01935813 0.94542585 -0.7782368 ] [ 0. 0. 0. 1. ]] SLAMing on 415.98463044 meters Centerline goodness : 0.090539 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94557487 -0.00418559 -0.32537771 -1.1290754 ] [-0.00236996 0.99980217 -0.01974853 -0.68768654] [ 0.325396 0.01944485 0.94537788 -0.77821053] [ 0. 0. 0. 1. ]] SLAMing on 416.01463044 meters Centerline goodness : 0.143214 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94561419 -0.00421427 -0.32526303 -1.12941012] [-0.0023486 0.99980156 -0.01978182 -0.68737328] [ 0.32528185 0.01946988 0.94541665 -0.77823418] [ 0. 0. 0. 1. ]] SLAMing on 416.04463044 meters Centerline goodness : 0.067968 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94562699 -0.00424894 -0.32522537 -1.12976504] [-0.00232349 0.99980091 -0.01981778 -0.68710022] [ 0.32524483 0.01949588 0.94542885 -0.7780614 ] [ 0. 0. 0. 1. ]] SLAMing on 416.07463044 meters Centerline goodness : 0.312191 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94564237 -0.00448752 -0.32517745 -1.13016806] [-0.00213414 0.99979763 -0.02000366 -0.68675718] [ 0.32520141 0.01961028 0.94544142 -0.77785901] [ 0. 0. 0. 1. ]] SLAMing on 416.10463044 meters Centerline goodness : 0.091862 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.69, Z:-0.78 [[ 0.94556689 -0.00449838 -0.32539671 -1.12958659] [-0.00211997 0.99979809 -0.01998191 -0.68712888] [ 0.3254209 0.01958406 0.94536644 -0.77778693] [ 0. 0. 0. 1. ]] SLAMing on 416.13463044 meters Centerline goodness : 0.092597 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.69, Z:-0.79 [[ 0.94593178 0.00222841 -0.32435799 -1.14410397] [-0.00964527 0.99972745 -0.02126034 -0.6940537 ] [ 0.32422221 0.02323936 0.94569545 -0.78553969] [ 0. 0. 0. 1. ]] SLAMing on 416.16463044 meters Centerline goodness : 0.086284 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.69, Z:-0.79 [[ 0.94592563 0.00204351 -0.32437713 -1.14400237] [-0.00949234 0.9997263 -0.02138282 -0.69402528] [ 0.32424466 0.02330565 0.94568613 -0.78555234] [ 0. 0. 0. 1. ]] SLAMing on 416.19463044 meters Centerline goodness : 0.094334 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.69, Z:-0.79 [[ 0.94596351 0.00190442 -0.32426751 -1.14435726] [-0.00937234 0.99972556 -0.0214699 -0.69400051] [ 0.32413763 0.02334889 0.94572175 -0.78558065] [ 0. 0. 0. 1. ]] SLAMing on 416.22463044 meters Centerline goodness : 0.089051 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.69, Z:-0.79 [[ 0.94596896 0.00181531 -0.32425212 -1.14436863] [-0.00930089 0.99972478 -0.02153739 -0.69396407] [ 0.32412379 0.02338954 0.94572549 -0.78562405] [ 0. 0. 0. 1. ]] SLAMing on 416.25463044 meters Centerline goodness : 0.096904 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.69, Z:-0.79 [[ 0.94595206 0.00175559 -0.32430173 -1.14411604] [-0.00925133 0.99972447 -0.02157314 -0.69392314] [ 0.3241745 0.02340737 0.94570767 -0.78571721] [ 0. 0. 0. 1. ]] SLAMing on 416.28463044 meters Centerline goodness : 0.096904 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.69, Z:-0.79 [[ 0.94595206 0.00175559 -0.32430173 -1.14411604] [-0.00925133 0.99972447 -0.02157314 -0.69392314] [ 0.3241745 0.02340737 0.94570767 -0.78571721] [ 0. 0. 0. 1. ]] SLAMing on 416.31463044000003 meters Centerline goodness : 0.311268 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.70, Z:-0.79 [[ 0.94562007 0.00937522 -0.3251381 -1.15814702] [-0.01772039 0.99958493 -0.02271473 -0.69985928] [ 0.32479019 0.02724107 0.9453937 -0.7922473 ] [ 0. 0. 0. 1. ]] SLAMing on 416.34463044 meters Centerline goodness : 0.312465 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.70, Z:-0.78 [[ 0.94543213 0.00291064 -0.32580611 -1.14040599] [-0.01053239 0.99971052 -0.02163208 -0.69640965] [ 0.32564883 0.02388318 0.9451891 -0.7844224 ] [ 0. 0. 0. 1. ]] SLAMing on 416.37463044000003 meters Centerline goodness : 0.309766 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.70, Z:-0.78 [[ 0.94539717 0.00288666 -0.32590774 -1.14047122] [-0.01044919 0.99971518 -0.02145638 -0.69808202] [ 0.32575298 0.02369027 0.94515806 -0.78416365] [ 0. 0. 0. 1. ]] SLAMing on 416.40463044 meters Centerline goodness : 0.086771 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.70, Z:-0.78 [[ 0.94532592 0.00278898 -0.32611521 -1.14025808] [-0.01028117 0.99972127 -0.02125277 -0.70044455] [ 0.32596504 0.02344364 0.9450911 -0.78386774] [ 0. 0. 0. 1. ]] SLAMing on 416.43463044000003 meters Centerline goodness : 0.090634 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.70, Z:-0.78 [[ 9.45698404e-01 -7.28958924e-03 -3.24963677e-01 -1.12345979e+00] [ 1.07328298e-04 9.99755446e-01 -2.21141834e-02 -7.01880053e-01] [ 3.25045409e-01 2.08784701e-02 9.45467912e-01 -7.76365126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46463044 meters Centerline goodness : 0.092918 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.71, Z:-0.78 [[ 0.94663081 -0.00226608 -0.32231192 -1.13596819] [-0.00557687 0.99971044 -0.02340797 -0.70986478] [ 0.32227163 0.02395619 0.94634407 -0.78397067] [ 0. 0. 0. 1. ]] SLAMing on 416.49463044000004 meters Centerline goodness : 0.313024 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.71, Z:-0.78 [[ 0.94656228 -0.00231781 -0.32251276 -1.1352719 ] [-0.0054719 0.99971484 -0.02324448 -0.71161941] [ 0.32247467 0.0237671 0.94627967 -0.78402651] [ 0. 0. 0. 1. ]] SLAMing on 416.52463044 meters Centerline goodness : 0.309572 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.71, Z:-0.78 [[ 0.94643804 -0.00241418 -0.32287646 -1.13421959] [-0.00534992 0.99971752 -0.02315706 -0.71295647] [ 0.32284116 0.02364408 0.94615778 -0.78393871] [ 0. 0. 0. 1. ]] SLAMing on 416.55463044000004 meters Centerline goodness : 0.274659 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.72, Z:-0.78 [[ 0.94628909 -0.00240673 -0.32331281 -1.13354793] [-0.00527616 0.99972419 -0.02288445 -0.71516628] [ 0.32327871 0.02336116 0.9460154 -0.78336886] [ 0. 0. 0. 1. ]] SLAMing on 416.58463044 meters Centerline goodness : 0.272686 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.72, Z:-0.78 [[ 0.94634213 -0.00236066 -0.32315786 -1.13421701] [-0.0052656 0.99972794 -0.02272288 -0.71633199] [ 0.32312358 0.02320524 0.94607223 -0.78325744] [ 0. 0. 0. 1. ]] SLAMing on 416.61463044 meters Centerline goodness : 0.091578 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.72, Z:-0.78 [[ 0.94641984 -0.00233563 -0.32293038 -1.13541012] [-0.00523433 0.99973154 -0.02257105 -0.71770049] [ 0.3228964 0.02305201 0.94615354 -0.78297542] [ 0. 0. 0. 1. ]] SLAMing on 416.64463044 meters Centerline goodness : 0.309307 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.72, Z:-0.78 [[ 0.94652119 -0.00236793 -0.32263297 -1.13648014] [-0.00514182 0.99973537 -0.02242223 -0.71924998] [ 0.32260069 0.02288203 0.94625853 -0.78289265] [ 0. 0. 0. 1. ]] SLAMing on 416.67463044 meters Centerline goodness : 0.088366 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.72, Z:-0.78 [[ 0.94684874 -0.00937758 -0.3215424 -1.11850678] [ 0.00264209 0.99976799 -0.02137742 -0.71862912] [ 0.32166827 0.01939164 0.94665384 -0.7753837 ] [ 0. 0. 0. 1. ]] SLAMing on 416.70463044 meters Centerline goodness : 0.297212 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.72, Z:-0.78 [[ 0.94682899 -0.00125217 -0.32173483 -1.13322269] [-0.00635791 0.99972434 -0.02260144 -0.72381099] [ 0.32167444 0.02344526 0.94656002 -0.78142949] [ 0. 0. 0. 1. ]] SLAMing on 416.73463044 meters Centerline goodness : 0.108457 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.72, Z:-0.78 [[ 0.94678059 -0.00115313 -0.3218776 -1.1328115 ] [-0.00639775 0.99972862 -0.02240008 -0.72498363] [ 0.32181607 0.02326726 0.94651627 -0.7814259 ] [ 0. 0. 0. 1. ]] SLAMing on 416.76463044 meters Centerline goodness : 0.310891 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46732434e-01 -1.10375776e-03 -3.22019377e-01 -1.13258409e+00] [-6.39707012e-03 9.99732328e-01 -2.22339915e-02 -7.26219399e-01] [ 3.21957722e-01 2.31096214e-02 9.46471960e-01 -7.81255719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79463044 meters Centerline goodness : 0.310649 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46715313e-01 -8.94285584e-04 -3.22070359e-01 -1.13268979e+00] [-6.51229968e-03 9.99738547e-01 -2.19186442e-02 -7.28140798e-01] [ 3.22005754e-01 2.28481348e-02 9.46461968e-01 -7.81068176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82463044 meters Centerline goodness : 0.308453 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46666933e-01 -8.34128919e-04 -3.22212697e-01 -1.13207751e+00] [-6.55810353e-03 9.99739621e-01 -2.18559093e-02 -7.28526636e-01] [ 3.22147031e-01 2.28033708e-02 9.46414971e-01 -7.81158022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85463044 meters Centerline goodness : 0.305402 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46581000e-01 -6.89945572e-04 -3.22465402e-01 -1.13111624e+00] [-6.67305709e-03 9.99741660e-01 -2.17274670e-02 -7.28974087e-01] [ 3.22397087e-01 2.27186375e-02 9.46331856e-01 -7.81228386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88463044 meters Centerline goodness : 0.313303 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46494381e-01 -5.11703447e-04 -3.22719885e-01 -1.13021184e+00] [-6.81006974e-03 9.99744400e-01 -2.15582173e-02 -7.29600600e-01] [ 3.22648430e-01 2.26024764e-02 9.46248973e-01 -7.81267965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91463044 meters Centerline goodness : 0.092853 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46418863e-01 -1.22035900e-04 -3.22941667e-01 -1.12987631e+00] [-7.09433138e-03 9.99750750e-01 -2.11685738e-02 -7.31312183e-01] [ 3.22863758e-01 2.23253928e-02 9.46182102e-01 -7.80997962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94463044 meters Centerline goodness : 0.463492 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46426178e-01 3.54692985e-05 -3.22920252e-01 -1.13024172e+00] [-7.20433903e-03 9.99753415e-01 -2.10049214e-02 -7.32128788e-01] [ 3.22839879e-01 2.22060344e-02 9.46193059e-01 -7.80782554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97463044 meters Centerline goodness : 0.313049 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46428173e-01 2.25699342e-04 -3.22914325e-01 -1.13062719e+00] [-7.35467412e-03 9.99755417e-01 -2.08570079e-02 -7.32567726e-01] [ 3.22830639e-01 2.21145896e-02 9.46198353e-01 -7.80486980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00463044 meters Centerline goodness : 0.312566 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46404713e-01 6.42742038e-04 -3.22982517e-01 -1.13048110e+00] [-7.72334457e-03 9.99757111e-01 -2.06414386e-02 -7.32468083e-01] [ 3.22890801e-01 2.20296600e-02 9.46179806e-01 -7.80332669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03463044 meters Centerline goodness : 0.324415 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46291210e-01 7.13167764e-04 -3.23314765e-01 -1.12946416e+00] [-7.82897570e-03 9.99754894e-01 -2.07089148e-02 -7.31585188e-01] [ 3.23220750e-01 2.21278875e-02 9.46064852e-01 -7.80213588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06463044000003 meters Centerline goodness : 0.313176 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46206247e-01 7.78690950e-04 -3.23563180e-01 -1.12883088e+00] [-7.93554457e-03 9.99752160e-01 -2.08001538e-02 -7.30484892e-01] [ 3.23466791e-01 2.22488855e-02 9.45977919e-01 -7.80052871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09463044 meters Centerline goodness : 0.101829 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.73, Z:-0.78 [[ 9.46156676e-01 8.64012246e-04 -3.23707889e-01 -1.12844631e+00] [-8.05753737e-03 9.99749463e-01 -2.08827070e-02 -7.29270181e-01] [ 3.23608745e-01 2.23666011e-02 9.45926591e-01 -7.79977724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12463044000003 meters Centerline goodness : 0.172385 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.73, Z:-0.77 [[ 0.94638313 0.00897303 -0.32292175 -1.10915492] [-0.01696391 0.99961537 -0.02193959 -0.7286744 ] [ 0.32260068 0.02624128 0.94617134 -0.77244282] [ 0. 0. 0. 1. ]] SLAMing on 417.15463044 meters Centerline goodness : 0.127411 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.73, Z:-0.77 [[ 0.94637461 0.00884972 -0.32295012 -1.10918632] [-0.01692735 0.99960997 -0.02221193 -0.72697091] [ 0.32262759 0.02648749 0.9461553 -0.77226019] [ 0. 0. 0. 1. ]] SLAMing on 417.18463044000003 meters Centerline goodness : 0.177305 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.73, Z:-0.77 [[ 0.94636042 0.00870419 -0.32299567 -1.10907376] [-0.0168742 0.99960436 -0.02250287 -0.7253191 ] [ 0.32267201 0.02674612 0.94613288 -0.77215758] [ 0. 0. 0. 1. ]] SLAMing on 417.21463044 meters Centerline goodness : 0.084893 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.72, Z:-0.77 [[ 0.94620652 0.00850314 -0.32345156 -1.10782239] [-0.01684758 0.99959334 -0.02300688 -0.72146423] [ 0.32312439 0.02721863 0.945965 -0.7718357 ] [ 0. 0. 0. 1. ]] SLAMing on 417.24463044000004 meters Centerline goodness : 0.119133 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.72, Z:-0.77 [[ 0.94619102 0.00838943 -0.32349987 -1.10754963] [-0.01681295 0.99958823 -0.02325285 -0.71967799] [ 0.32317158 0.02744062 0.94594246 -0.7718504 ] [ 0. 0. 0. 1. ]] SLAMing on 417.27463044 meters Centerline goodness : 0.162159 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.72, Z:-0.77 [[ 0.94616697 0.00823256 -0.32357424 -1.10754819] [-0.01674111 0.99958316 -0.0235209 -0.71783587] [ 0.32324573 0.02767169 0.9459104 -0.77155501] [ 0. 0. 0. 1. ]] SLAMing on 417.30463044000004 meters Centerline goodness : 0.313687 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.72, Z:-0.77 [[ 0.94621324 0.00808174 -0.3234427 -1.10790186] [-0.01666111 0.99957873 -0.02376501 -0.71635584] [ 0.32311438 0.02787568 0.94594928 -0.77154764] [ 0. 0. 0. 1. ]] SLAMing on 417.33463044 meters Centerline goodness : 0.317395 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94619595 0.00788969 -0.32349802 -1.10799598] [-0.01655509 0.99957383 -0.02404353 -0.71430991] [ 0.32317046 0.02810543 0.94592333 -0.77121931] [ 0. 0. 0. 1. ]] SLAMing on 417.36463044 meters Centerline goodness : 0.477021 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94614098 0.00775432 -0.32366204 -1.10738268] [-0.01645871 0.99957249 -0.02416487 -0.71366048] [ 0.32333629 0.02819043 0.94586412 -0.77116715] [ 0. 0. 0. 1. ]] SLAMing on 417.39463044 meters Centerline goodness : 0.254877 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94611068 0.0075824 -0.32375467 -1.10707259] [-0.01632791 0.99957124 -0.02430499 -0.71341036] [ 0.32343157 0.02828144 0.94582883 -0.77114904] [ 0. 0. 0. 1. ]] SLAMing on 417.42463044 meters Centerline goodness : 0.118967 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94611602 0.00726227 -0.32374642 -1.10761457] [-0.01607742 0.99956901 -0.02456232 -0.71302148] [ 0.32342851 0.02844381 0.94582501 -0.77067001] [ 0. 0. 0. 1. ]] SLAMing on 417.45463044 meters Centerline goodness : 0.234094 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94612955 0.00722702 -0.32370765 -1.10793092] [-0.01605968 0.99956781 -0.02462294 -0.71249811] [ 0.32338979 0.02849513 0.9458367 -0.77046029] [ 0. 0. 0. 1. ]] SLAMing on 417.48463044 meters Centerline goodness : 0.121730 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.76 [[ 0.94586534 0.00165877 -0.32455508 -1.09156498] [-0.00973366 0.99968211 -0.02325797 -0.70714244] [ 0.32441333 0.02515802 0.94558081 -0.76233505] [ 0. 0. 0. 1. ]] SLAMing on 417.51463044 meters Centerline goodness : 0.089627 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.71, Z:-0.76 [[ 0.94581455 0.00166687 -0.32470302 -1.09095163] [-0.00978157 0.99967925 -0.02336047 -0.70598861] [ 0.32455994 0.02527078 0.94552749 -0.7623482 ] [ 0. 0. 0. 1. ]] SLAMing on 417.54463044 meters Centerline goodness : 0.340210 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.76 [[ 0.94558968 0.00148478 -0.32535819 -1.08887828] [-0.00973576 0.99967092 -0.02373306 -0.70390523] [ 0.32521588 0.02560935 0.94529297 -0.76215643] [ 0. 0. 0. 1. ]] SLAMing on 417.57463044 meters Centerline goodness : 0.287256 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.76 [[ 0.94553247 0.00136425 -0.32552494 -1.08843002] [-0.0096732 0.99966737 -0.02390762 -0.703155 ] [ 0.32538404 0.0257543 0.94523116 -0.76203018] [ 0. 0. 0. 1. ]] SLAMing on 417.60463044 meters Centerline goodness : 0.117428 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.70, Z:-0.76 [[ 0.94550822 0.00128214 -0.32559569 -1.08839107] [-0.00963087 0.99966483 -0.02403088 -0.70242835] [ 0.32545575 0.02585717 0.94520366 -0.76182387] [ 0. 0. 0. 1. ]] SLAMing on 417.63463044 meters Centerline goodness : 0.089044 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.71, Z:-0.77 [[ 0.94622426 0.00841431 -0.323402 -1.10471594] [-0.01730122 0.9995473 -0.02461435 -0.70884394] [ 0.32304849 0.02888594 0.94594148 -0.76915773] [ 0. 0. 0. 1. ]] SLAMing on 417.66463044 meters Centerline goodness : 0.312474 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94620969 0.00846266 -0.32344337 -1.10546463] [-0.01729907 0.99955126 -0.02445463 -0.7101668 ] [ 0.32309127 0.02873448 0.94593148 -0.76847616] [ 0. 0. 0. 1. ]] SLAMing on 417.69463044 meters Centerline goodness : 0.098158 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94616968 0.00838469 -0.3235624 -1.10551596] [-0.0172103 0.99955352 -0.02442472 -0.71120962] [ 0.32321315 0.02867853 0.94589154 -0.7681428 ] [ 0. 0. 0. 1. ]] SLAMing on 417.72463044 meters Centerline goodness : 0.308983 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.72, Z:-0.76 [[ 0.94612611 0.01511082 -0.32344558 -1.08981294] [-0.02456897 0.99938101 -0.02517851 -0.71762923] [ 0.3228649 0.03176877 0.94591173 -0.76193201] [ 0. 0. 0. 1. ]] SLAMing on 417.75463044 meters Centerline goodness : 0.300435 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.71, Z:-0.77 [[ 0.94656849 0.00817405 -0.32239924 -1.10837342] [-0.01675414 0.99957521 -0.02384734 -0.71302826] [ 0.32206736 0.02797467 0.94630335 -0.76880512] [ 0. 0. 0. 1. ]] SLAMing on 417.78463044 meters Centerline goodness : 0.094742 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.72, Z:-0.76 [[ 0.94610873 0.01490977 -0.32350574 -1.09486814] [-0.02377745 0.9994416 -0.02347596 -0.71859981] [ 0.32297508 0.02990295 0.94593494 -0.76357401] [ 0. 0. 0. 1. ]] SLAMing on 417.81463044000003 meters Centerline goodness : 0.301026 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.72, Z:-0.76 [[ 0.94582762 0.02322153 -0.32383774 -1.07595814] [-0.03263815 0.99918675 -0.02367673 -0.72213479] [ 0.32302457 0.03296357 0.94581633 -0.75658399] [ 0. 0. 0. 1. ]] SLAMing on 417.84463044 meters Centerline goodness : 0.123252 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.72, Z:-0.76 [[ 0.94571231 0.02318075 -0.32417723 -1.07492451] [-0.03270617 0.99917765 -0.02396509 -0.72070111] [ 0.32335511 0.03326668 0.94569276 -0.75629634] [ 0. 0. 0. 1. ]] SLAMing on 417.87463044000003 meters Centerline goodness : 0.088672 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.72, Z:-0.76 [[ 0.94560124 0.023008 -0.32451336 -1.07450637] [-0.03275573 0.99916044 -0.02460662 -0.71749745] [ 0.32367476 0.03389773 0.94556099 -0.75534198] [ 0. 0. 0. 1. ]] SLAMing on 417.90463044 meters Centerline goodness : 0.311983 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.72, Z:-0.75 [[ 0.94556797 0.0230058 -0.32461045 -1.07450012] [-0.03281747 0.99915405 -0.02478296 -0.71610595] [ 0.32376569 0.03408687 0.94552306 -0.75493369] [ 0. 0. 0. 1. ]] SLAMing on 417.93463044000003 meters Centerline goodness : 0.312593 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.94555951 0.0229854 -0.32463654 -1.07414652] [-0.032845 0.99914965 -0.0249234 -0.71484564] [ 0.32378761 0.03422925 0.94551041 -0.75502517] [ 0. 0. 0. 1. ]] SLAMing on 417.96463044 meters Centerline goodness : 0.311662 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.94549131 0.02288182 -0.32484244 -1.07317516] [-0.03279111 0.99914794 -0.02506256 -0.71435082] [ 0.32399218 0.03434838 0.94543601 -0.7551482 ] [ 0. 0. 0. 1. ]] SLAMing on 417.99463044000004 meters Centerline goodness : 0.086111 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.94540833 0.02268871 -0.32509739 -1.07219959] [-0.03267181 0.99914634 -0.02528122 -0.71382089] [ 0.32424627 0.03452259 0.94534256 -0.75519082] [ 0. 0. 0. 1. ]] SLAMing on 418.02463044 meters Centerline goodness : 0.475327 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.94531462 0.02256803 -0.32537816 -1.07141723] [-0.03258923 0.99914652 -0.02538065 -0.71364938] [ 0.32452767 0.03459652 0.94524329 -0.75504197] [ 0. 0. 0. 1. ]] SLAMing on 418.05463044000004 meters Centerline goodness : 0.088574 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.94536752 0.02260457 -0.3252219 -1.07167318] [-0.03260012 0.99914777 -0.02531744 -0.71377249] [ 0.32437244 0.03453656 0.94529876 -0.7552433 ] [ 0. 0. 0. 1. ]] SLAMing on 418.08463044 meters Centerline goodness : 0.174175 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.94542526 0.02264079 -0.32505151 -1.07195902] [-0.0326113 0.99914892 -0.02525762 -0.71371442] [ 0.32420301 0.03447955 0.94535896 -0.7554337 ] [ 0. 0. 0. 1. ]] SLAMing on 418.11463044 meters Centerline goodness : 0.308093 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.94554808 0.02230086 -0.32471757 -1.07248595] [-0.03237576 0.99914642 -0.02565619 -0.7119995 ] [ 0.32386824 0.03477214 0.94546299 -0.75574979] [ 0. 0. 0. 1. ]] SLAMing on 418.14463044 meters Centerline goodness : 0.119459 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.9454453 0.02210905 -0.32502981 -1.0714209 ] [-0.03230363 0.99913983 -0.02600155 -0.71025038] [ 0.32417536 0.03508269 0.94534625 -0.75562221] [ 0. 0. 0. 1. ]] SLAMing on 418.17463044 meters Centerline goodness : 0.119459 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.71, Z:-0.76 [[ 0.9454453 0.02210905 -0.32502981 -1.0714209 ] [-0.03230363 0.99913983 -0.02600155 -0.71025038] [ 0.32417536 0.03508269 0.94534625 -0.75562221] [ 0. 0. 0. 1. ]] SLAMing on 418.20463044 meters Centerline goodness : 0.113694 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.70, Z:-0.75 [[ 0.94457864 0.01707299 -0.32784099 -1.05567125] [-0.02691308 0.99931246 -0.025501 -0.70015788] [ 0.32718021 0.03291091 0.94438868 -0.74849576] [ 0. 0. 0. 1. ]] SLAMing on 418.23463044 meters Centerline goodness : 0.091675 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.69, Z:-0.76 [[ 0.94477359 0.01043228 -0.32755769 -1.07012494] [-0.01962843 0.99950018 -0.02478147 -0.69139439] [ 0.32713544 0.02984232 0.94450614 -0.75505109] [ 0. 0. 0. 1. ]] SLAMing on 418.26463044 meters Centerline goodness : 0.088674 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.69, Z:-0.76 [[ 0.94493119 0.01046215 -0.32710179 -1.07122417] [-0.01977096 0.99948825 -0.02514631 -0.68730521] [ 0.32667132 0.03022865 0.94465448 -0.75513742] [ 0. 0. 0. 1. ]] SLAMing on 418.29463044 meters Centerline goodness : 0.101118 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.69, Z:-0.75 [[ 0.94494453 0.01009649 -0.32707476 -1.0715397 ] [-0.01955064 0.99948029 -0.02563031 -0.68524878] [ 0.326646 0.03061374 0.94465083 -0.75490102] [ 0. 0. 0. 1. ]] SLAMing on 418.32463044 meters Centerline goodness : 0.091223 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.68, Z:-0.75 [[ 0.94489773 0.00982832 -0.32721811 -1.07119513] [-0.01940219 0.99947346 -0.02600694 -0.68335393] [ 0.32679021 0.03092264 0.94459089 -0.754737 ] [ 0. 0. 0. 1. ]] SLAMing on 418.35463044 meters Centerline goodness : 0.121545 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.68, Z:-0.75 [[ 0.94482211 0.00977915 -0.32743784 -1.0702624 ] [-0.01939669 0.99947063 -0.02611932 -0.68228593] [ 0.32700908 0.03102932 0.94451164 -0.75483538] [ 0. 0. 0. 1. ]] SLAMing on 418.38463044 meters Centerline goodness : 0.089780 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.67, Z:-0.75 [[ 0.94445227 0.00378348 -0.32862684 -1.05413312] [-0.01274516 0.99960319 -0.02512032 -0.67223871] [ 0.32840139 0.02791334 0.94412572 -0.74715832] [ 0. 0. 0. 1. ]] SLAMing on 418.41463044 meters Centerline goodness : 0.095095 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.75 [[ 0.94453291 0.00357305 -0.32839733 -1.05515554] [-0.01258728 0.99959996 -0.02532748 -0.67165258] [ 0.32817546 0.02805627 0.94420004 -0.74691166] [ 0. 0. 0. 1. ]] SLAMing on 418.44463044 meters Centerline goodness : 0.096229 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.75 [[ 0.94459429 0.00331227 -0.32822349 -1.05619537] [-0.01237916 0.99959719 -0.02553856 -0.67139469] [ 0.32800669 0.02818671 0.9442548 -0.74652293] [ 0. 0. 0. 1. ]] SLAMing on 418.47463044 meters Centerline goodness : 0.103484 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.67, Z:-0.75 [[ 0.94427108 -0.00440563 -0.32913935 -1.07494813] [-0.0038085 0.99969728 -0.02430747 -0.6693389 ] [ 0.3291468 0.02420637 0.94396845 -0.75356241] [ 0. 0. 0. 1. ]] SLAMing on 418.50463044 meters Centerline goodness : 0.166375 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.66, Z:-0.75 [[ 0.94396121 -0.0107218 -0.32988223 -1.05644579] [ 0.00322193 0.99972395 -0.02327335 -0.66464685] [ 0.3300407 0.02090629 0.94373517 -0.74581071] [ 0. 0. 0. 1. ]] SLAMing on 418.53463044 meters Centerline goodness : 0.113061 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.75 [[ 0.9439136 -0.01078437 -0.33001637 -1.05577141] [ 0.00330443 0.99972497 -0.02321797 -0.66572899] [ 0.330176 0.02082524 0.94368963 -0.74596866] [ 0. 0. 0. 1. ]] SLAMing on 418.56463044000003 meters Centerline goodness : 0.301381 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.75 [[ 0.94386404 -0.01087221 -0.33015523 -1.05558215] [ 0.00342618 0.99972667 -0.02312665 -0.66716054] [ 0.33031643 0.02069725 0.9436433 -0.74570415] [ 0. 0. 0. 1. ]] SLAMing on 418.59463044 meters Centerline goodness : 0.305188 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.75 [[ 0.94395066 -0.010943 -0.32990515 -1.05670133] [ 0.00359429 0.99973183 -0.02287699 -0.67004306] [ 0.33006702 0.02040897 0.94373685 -0.74543555] [ 0. 0. 0. 1. ]] SLAMing on 418.62463044000003 meters Centerline goodness : 0.098390 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.75 [[ 0.94393591 -0.01069814 -0.32995537 -1.05680537] [ 0.0034439 0.99973951 -0.02256224 -0.67129098] [ 0.33011079 0.02016098 0.94372687 -0.74520734] [ 0. 0. 0. 1. ]] SLAMing on 418.65463044 meters Centerline goodness : 0.090745 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.74 [[ 0.94392746 -0.0105532 -0.3299842 -1.05697 ] [ 0.00334777 0.99974357 -0.02239633 -0.67189013] [ 0.33013593 0.0200358 0.94372074 -0.74499151] [ 0. 0. 0. 1. ]] SLAMing on 418.68463044000003 meters Centerline goodness : 0.303129 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.67, Z:-0.74 [[ 0.94387677 -0.01055885 -0.330129 -1.05656282] [ 0.00334785 0.9997434 -0.02240391 -0.67205724] [ 0.33028085 0.0200413 0.94366991 -0.74489728] [ 0. 0. 0. 1. ]] SLAMing on 418.71463044 meters Centerline goodness : 0.091299 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.68, Z:-0.75 [[ 0.94392231 -0.00419203 -0.33014102 -1.07266993] [-0.00384578 0.99971196 -0.02368968 -0.67720355] [ 0.33014524 0.02363087 0.94363431 -0.75319156] [ 0. 0. 0. 1. ]] SLAMing on 418.74463044000004 meters Centerline goodness : 0.279902 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.68, Z:-0.75 [[ 0.94391959 -0.00410152 -0.33014995 -1.07244178] [-0.00392046 0.99971312 -0.02362851 -0.67711659] [ 0.33015215 0.02359775 0.94363272 -0.7532849 ] [ 0. 0. 0. 1. ]] SLAMing on 418.77463044 meters Centerline goodness : 0.098768 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.68, Z:-0.75 [[ 0.94398073 -0.00399184 -0.32997644 -1.07289183] [-0.00400702 0.99971447 -0.02355697 -0.67693941] [ 0.32997626 0.02355955 0.94369519 -0.75338826] [ 0. 0. 0. 1. ]] SLAMing on 418.80463044000004 meters Centerline goodness : 0.090394 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.68, Z:-0.75 [[ 0.94399525 -0.00409733 -0.3299336 -1.07285881] [-0.00398284 0.99970855 -0.02381061 -0.67523266] [ 0.329935 0.02379118 0.94370381 -0.75345571] [ 0. 0. 0. 1. ]] SLAMing on 418.83463044 meters Centerline goodness : 0.087545 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.67, Z:-0.75 [[ 0.94399167 -0.00417438 -0.32994287 -1.07277876] [-0.00397472 0.99970358 -0.02402005 -0.67370505] [ 0.32994534 0.02398616 0.94369526 -0.75346139] [ 0. 0. 0. 1. ]] SLAMing on 418.86463044 meters Centerline goodness : 0.090269 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.67, Z:-0.75 [[ 0.94395489 -0.00426003 -0.330047 -1.07258227] [-0.00398379 0.99969684 -0.02429729 -0.67161459] [ 0.33005045 0.02425039 0.94365175 -0.75332486] [ 0. 0. 0. 1. ]] SLAMing on 418.89463044 meters Centerline goodness : 0.087914 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.67, Z:-0.75 [[ 0.94411542 -0.00228029 -0.32960714 -1.07453746] [-0.00568391 0.99971475 -0.02319705 -0.66588908] [ 0.32956602 0.02377415 0.94383316 -0.75302931] [ 0. 0. 0. 1. ]] SLAMing on 418.92463044 meters Centerline goodness : 0.090204 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.66, Z:-0.75 [[ 0.94404883 -0.0024594 -0.32979654 -1.07414601] [-0.00562456 0.99970671 -0.02355555 -0.66357246] [ 0.32975775 0.02409255 0.94375811 -0.75280911] [ 0. 0. 0. 1. ]] SLAMing on 418.95463044 meters Centerline goodness : 0.306429 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.66, Z:-0.75 [[ 0.94397487 -0.00264439 -0.33000674 -1.07369712] [-0.00555855 0.99969864 -0.02391078 -0.66138288] [ 0.32997052 0.02440554 0.9436757 -0.75260275] [ 0. 0. 0. 1. ]] SLAMing on 418.98463044 meters Centerline goodness : 0.064861 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.66, Z:-0.75 [[ 0.9439575 -0.00279582 -0.33005519 -1.07381459] [-0.00551316 0.99969107 -0.02423579 -0.65912959] [ 0.33002098 0.02469721 0.94365047 -0.75239006] [ 0. 0. 0. 1. ]] SLAMing on 419.01463044 meters Centerline goodness : 0.082233 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.65, Z:-0.75 [[ 0.94425222 -0.00130647 -0.32922036 -1.07797344] [-0.00679006 0.99970214 -0.02344207 -0.65400766] [ 0.32915292 0.02437065 0.94396209 -0.75155738] [ 0. 0. 0. 1. ]] SLAMing on 419.04463044 meters Centerline goodness : 0.082131 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.65, Z:-0.75 [[ 0.94434203 -0.00143701 -0.32896209 -1.07903465] [-0.00677397 0.99969348 -0.02381282 -0.65120414] [ 0.32889548 0.02471583 0.94404284 -0.75137336] [ 0. 0. 0. 1. ]] SLAMing on 419.07463044 meters Centerline goodness : 0.085310 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.65, Z:-0.75 [[ 0.94437161 -0.00169208 -0.32887595 -1.07952819] [-0.00667968 0.99968181 -0.0243242 -0.64792367] [ 0.32881247 0.02516787 0.94405982 -0.75121389] [ 0. 0. 0. 1. ]] SLAMing on 419.10463044 meters Centerline goodness : 0.095761 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.64, Z:-0.75 [[ 0.94437407 -0.00192888 -0.32886759 -1.07950506] [-0.00660818 0.99966962 -0.02483929 -0.64448176] [ 0.32880685 0.02563079 0.94404932 -0.75123243] [ 0. 0. 0. 1. ]] SLAMing on 419.13463044 meters Centerline goodness : 0.082656 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.64, Z:-0.75 [[ 9.44076260e-01 4.08145134e-05 -3.29727180e-01 -1.07731641e+00] [-8.42510733e-03 9.99676479e-01 -2.39990604e-02 -6.36357223e-01] [ 3.29619527e-01 2.54349301e-02 9.43771176e-01 -7.50588840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16463044 meters Centerline goodness : 0.112972 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.63, Z:-0.75 [[ 9.44065161e-01 -1.73116395e-04 -3.29758914e-01 -1.07728917e+00] [-8.34754961e-03 9.99666863e-01 -2.44229622e-02 -6.33423938e-01] [ 3.29653287e-01 2.58095466e-02 9.43749213e-01 -7.50478193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.19463044 meters Centerline goodness : 0.237516 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.63, Z:-0.75 [[ 9.44032563e-01 -4.69296745e-04 -3.29851936e-01 -1.07737089e+00] [-8.21609728e-03 9.99655270e-01 -2.49366381e-02 -6.30316572e-01] [ 3.29749929e-01 2.62510939e-02 9.43703272e-01 -7.50148476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22463044 meters Centerline goodness : 0.134285 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 9.44036349e-01 -8.69846568e-04 -3.29840288e-01 -1.07781136e+00] [-8.05154842e-03 9.99637775e-01 -2.56805677e-02 -6.24792983e-01] [ 3.29743150e-01 2.68991144e-02 9.43687391e-01 -7.49815899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.25463044 meters Centerline goodness : 0.063716 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94401943 -0.001178 -0.32988774 -1.07800133] [-0.00787175 0.99962846 -0.02609568 -0.6226643 ] [ 0.32979591 0.02723162 0.94365942 -0.74948009] [ 0. 0. 0. 1. ]] SLAMing on 419.28463044 meters Centerline goodness : 0.081794 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94403877 -0.00144413 -0.32983135 -1.07849835] [-0.00769604 0.99962172 -0.02640424 -0.62112243] [ 0.32974471 0.02746502 0.94367055 -0.74918522] [ 0. 0. 0. 1. ]] SLAMing on 419.31463044000003 meters Centerline goodness : 0.082431 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94407326 -0.00162565 -0.32973176 -1.07936849] [-0.00757191 0.99961727 -0.02660787 -0.62023279] [ 0.32964882 0.02761648 0.94369963 -0.74879555] [ 0. 0. 0. 1. ]] SLAMing on 419.34463044 meters Centerline goodness : 0.124904 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94412642 -0.00183565 -0.32957841 -1.0809104 ] [-0.00738543 0.99961556 -0.02672422 -0.61966644] [ 0.32950076 0.02766512 0.94374991 -0.74796474] [ 0. 0. 0. 1. ]] SLAMing on 419.37463044000003 meters Centerline goodness : 0.085695 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94413278 -0.00197508 -0.32955938 -1.08120586] [-0.00726299 0.99961448 -0.02679805 -0.61967896] [ 0.32948526 0.0276945 0.94375446 -0.747748 ] [ 0. 0. 0. 1. ]] SLAMing on 419.40463044 meters Centerline goodness : 0.085002 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94412369 -0.00213592 -0.32958444 -1.081381 ] [-0.00713081 0.99961256 -0.02690498 -0.61959782] [ 0.32951421 0.02775183 0.94374267 -0.74753108] [ 0. 0. 0. 1. ]] SLAMing on 419.43463044000003 meters Centerline goodness : 0.104709 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94411811 -0.00226692 -0.32959953 -1.08141706] [-0.00702045 0.99961119 -0.02698478 -0.6195096 ] [ 0.32953255 0.02779076 0.94373512 -0.74744204] [ 0. 0. 0. 1. ]] SLAMing on 419.46463044 meters Centerline goodness : 0.087699 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94421795 -0.00237868 -0.32931262 -1.08241851] [-0.00693363 0.99960866 -0.0271007 -0.6185646 ] [ 0.32924821 0.0278723 0.94383195 -0.74732623] [ 0. 0. 0. 1. ]] SLAMing on 419.49463044000004 meters Centerline goodness : 0.086609 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94421709 -0.00249821 -0.3293142 -1.0825433 ] [-0.00686467 0.99960465 -0.02726564 -0.61763803] [ 0.32925212 0.02800532 0.94382665 -0.74719967] [ 0. 0. 0. 1. ]] SLAMing on 419.52463044 meters Centerline goodness : 0.095913 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.62, Z:-0.75 [[ 0.94413654 -0.00268411 -0.32954359 -1.0818603 ] [-0.00676177 0.99959855 -0.02751402 -0.61645292] [ 0.32948515 0.02820528 0.94373937 -0.7471231 ] [ 0. 0. 0. 1. ]] SLAMing on 419.55463044000004 meters Centerline goodness : 0.115760 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 9.43592381e-01 -9.68554355e-03 -3.30967686e-01 -1.09772990e+00] [ 1.03428152e-03 9.99653417e-01 -2.63054277e-02 -6.10379415e-01] [ 3.31107761e-01 2.44792874e-02 9.43275365e-01 -7.54356326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58463044 meters Centerline goodness : 0.085948 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 9.43578432e-01 -9.73490612e-03 -3.31006002e-01 -1.09740186e+00] [ 1.03952560e-03 9.99649955e-01 -2.64364527e-02 -6.09334313e-01] [ 3.31147492e-01 2.46007774e-02 9.43258258e-01 -7.54508843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61463044 meters Centerline goodness : 0.175244 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 9.43574106e-01 -9.79302428e-03 -3.31016621e-01 -1.09757813e+00] [ 1.06251155e-03 9.99647041e-01 -2.65455231e-02 -6.08442822e-01] [ 3.31159747e-01 2.46959592e-02 9.43251468e-01 -7.54321115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64463044 meters Centerline goodness : 0.085658 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 9.43606904e-01 -9.84410486e-03 -3.30921598e-01 -1.09785765e+00] [ 1.09530328e-03 9.99645190e-01 -2.66137853e-02 -6.07904312e-01] [ 3.31066173e-01 2.47504920e-02 9.43282886e-01 -7.54323048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67463044 meters Centerline goodness : 0.106678 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 0.94357555 -0.0098914 -0.33100957 -1.09775069] [ 0.00112023 0.99964344 -0.02667854 -0.60753851] [ 0.33115544 0.02480241 0.94325019 -0.7541538 ] [ 0. 0. 0. 1. ]] SLAMing on 419.70463044 meters Centerline goodness : 0.108164 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 0.94347242 -0.0100315 -0.33129921 -1.0963108 ] [ 0.00121217 0.99963964 -0.02681633 -0.60716782] [ 0.33144883 0.02489887 0.94314459 -0.75451136] [ 0. 0. 0. 1. ]] SLAMing on 419.73463044 meters Centerline goodness : 0.108109 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 0.94342275 -0.01009046 -0.33143882 -1.0956291 ] [ 0.00124224 0.99963743 -0.02689739 -0.60685437] [ 0.33159006 0.02496388 0.94309323 -0.75466235] [ 0. 0. 0. 1. ]] SLAMing on 419.76463044 meters Centerline goodness : 0.088275 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.61, Z:-0.75 [[ 0.94348998 -0.01000865 -0.33124988 -1.09628621] [ 0.00112935 0.99963514 -0.02698709 -0.60530424] [ 0.33139913 0.02508795 0.94315705 -0.75460942] [ 0. 0. 0. 1. ]] SLAMing on 419.79463044 meters Centerline goodness : 0.084836 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.61, Z:-0.75 [[ 0.94405155 -0.0029763 -0.32978449 -1.07875099] [-0.0067455 0.99957583 -0.02833105 -0.60599941] [ 0.32972892 0.02897054 0.94363104 -0.74735213] [ 0. 0. 0. 1. ]] SLAMing on 419.82463044 meters Centerline goodness : 0.119603 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.60, Z:-0.76 [[ 9.44331233e-01 -8.10105717e-03 -3.28896482e-01 -1.10027153e+00] [-4.15117685e-04 9.99666659e-01 -2.58147041e-02 -6.03253267e-01] [ 3.28995973e-01 2.45141621e-02 9.44013085e-01 -7.55043644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85463044 meters Centerline goodness : 0.085736 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.60, Z:-0.75 [[ 9.44345457e-01 -8.16545178e-03 -3.28854046e-01 -1.10048050e+00] [-4.01821164e-04 9.99662499e-01 -2.59755171e-02 -6.02175920e-01] [ 3.28955159e-01 2.46620021e-02 9.44023458e-01 -7.54955477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88463044 meters Centerline goodness : 0.107158 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.60, Z:-0.76 [[ 9.44201985e-01 -8.31719341e-03 -3.29261956e-01 -1.09888934e+00] [-3.87808675e-04 9.99652349e-01 -2.63634213e-02 -5.99833701e-01] [ 3.29366758e-01 2.50200853e-02 9.43870507e-01 -7.55180322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91463044 meters Centerline goodness : 0.109461 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.60, Z:-0.76 [[ 9.44145917e-01 -8.29837844e-03 -3.29423170e-01 -1.09835971e+00] [-4.47777476e-04 9.99649636e-01 -2.64651642e-02 -5.98638764e-01] [ 3.29527369e-01 2.51344850e-02 9.43811406e-01 -7.55175090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94463044 meters Centerline goodness : 0.113959 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.60, Z:-0.76 [[ 9.44187793e-01 -8.19205555e-03 -3.29305787e-01 -1.09869178e+00] [-5.76464334e-04 9.99648095e-01 -2.65208316e-02 -5.97266956e-01] [ 3.29407162e-01 2.52304785e-02 9.43850806e-01 -7.55200225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97463044 meters Centerline goodness : 0.118836 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.60, Z:-0.76 [[ 0.94456543 -0.00112158 -0.32832131 -1.11811732] [-0.00839626 0.9995846 -0.02757036 -0.59885986] [ 0.32821585 0.02879868 0.94416365 -0.76298795] [ 0. 0. 0. 1. ]] SLAMing on 420.00463044 meters Centerline goodness : 0.280387 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.60, Z:-0.76 [[ 0.94463292 -0.00133811 -0.32812629 -1.11861492] [-0.00828459 0.99957565 -0.02792658 -0.59706243] [ 0.32802442 0.02909876 0.94422097 -0.76309841] [ 0. 0. 0. 1. ]] SLAMing on 420.03463044 meters Centerline goodness : 0.089413 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.59, Z:-0.76 [[ 0.94468505 -0.00151135 -0.32797541 -1.11889047] [-0.00822033 0.99956614 -0.02828355 -0.59476145] [ 0.32787586 0.02941511 0.94426277 -0.76323724] [ 0. 0. 0. 1. ]] SLAMing on 420.06463044000003 meters Centerline goodness : 0.088750 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.59, Z:-0.76 [[ 0.94468639 -0.00153802 -0.32797144 -1.11885223] [-0.00828206 0.99955825 -0.028543 -0.59233066] [ 0.32787046 0.02968046 0.94425634 -0.76323042] [ 0. 0. 0. 1. ]] SLAMing on 420.09463044 meters Centerline goodness : 0.088750 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.59, Z:-0.76 [[ 0.94468639 -0.00153802 -0.32797144 -1.11885223] [-0.00828206 0.99955825 -0.028543 -0.59233066] [ 0.32787046 0.02968046 0.94425634 -0.76323042] [ 0. 0. 0. 1. ]] SLAMing on 420.12463044000003 meters Centerline goodness : 0.296446 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.59, Z:-0.76 [[ 0.94446314 -0.00119201 -0.32861522 -1.11716094] [-0.00875152 0.99954751 -0.02877821 -0.585695 ] [ 0.32850083 0.03005584 0.94402535 -0.76290579] [ 0. 0. 0. 1. ]] SLAMing on 420.15463044 meters Centerline goodness : 0.096540 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.58, Z:-0.76 [[ 0.944405 -0.00141474 -0.32878138 -1.11673551] [-0.00867352 0.99953551 -0.02921518 -0.58283017] [ 0.32867 0.03044265 0.94395407 -0.76276236] [ 0. 0. 0. 1. ]] SLAMing on 420.18463044000003 meters Centerline goodness : 0.088815 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.58, Z:-0.76 [[ 0.94452517 -0.00158228 -0.32843522 -1.11802308] [-0.00860125 0.99952626 -0.02955114 -0.58058317] [ 0.32832639 0.03073675 0.9440641 -0.76265413] [ 0. 0. 0. 1. ]] SLAMing on 420.21463044 meters Centerline goodness : 0.298340 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.58, Z:-0.76 [[ 9.45008908e-01 1.88850292e-04 -3.27044534e-01 -1.12426295e+00] [-1.00418498e-02 9.99545084e-01 -2.84391640e-02 -5.76608548e-01] [ 3.26890386e-01 3.01593954e-02 9.44580905e-01 -7.61692500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24463044000004 meters Centerline goodness : 0.094471 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.57, Z:-0.76 [[ 9.45092603e-01 -3.71819944e-05 -3.26802648e-01 -1.12472347e+00] [-9.92672748e-03 9.99535292e-01 -2.88211907e-02 -5.74370754e-01] [ 3.26651851e-01 3.04827750e-02 9.44653041e-01 -7.61909039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27463044 meters Centerline goodness : 0.096693 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.57, Z:-0.76 [[ 9.45054966e-01 -3.21746810e-04 -3.26911313e-01 -1.12410578e+00] [-9.77328372e-03 9.99524729e-01 -2.92369331e-02 -5.72183186e-01] [ 3.26765349e-01 3.08255059e-02 9.44602665e-01 -7.62069169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30463044000004 meters Centerline goodness : 0.096384 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.57, Z:-0.76 [[ 9.44988913e-01 -5.51920209e-04 -3.27101894e-01 -1.12326151e+00] [-9.66597331e-03 9.99514754e-01 -2.96112318e-02 -5.69899083e-01] [ 3.26959513e-01 3.11440439e-02 9.44525026e-01 -7.62169250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33463044 meters Centerline goodness : 0.296420 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.57, Z:-0.76 [[ 9.44918943e-01 -7.14103997e-04 -3.27303654e-01 -1.12268481e+00] [-9.63403146e-03 9.99503651e-01 -2.99939468e-02 -5.66750690e-01] [ 3.27162616e-01 3.14951022e-02 9.44443053e-01 -7.62052658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36463044 meters Centerline goodness : 0.094725 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.57, Z:-0.76 [[ 9.44904458e-01 -7.63078516e-04 -3.27345356e-01 -1.12244672e+00] [-9.63587683e-03 9.99499102e-01 -3.01445525e-02 -5.65239663e-01] [ 3.27204392e-01 3.16379816e-02 9.44423805e-01 -7.62098567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39463044 meters Centerline goodness : 0.448900 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.56, Z:-0.76 [[ 9.44884850e-01 -9.04540970e-04 -3.27401591e-01 -1.12233039e+00] [-9.55550050e-03 9.99494001e-01 -3.03386765e-02 -5.64119245e-01] [ 3.27263368e-01 3.17950418e-02 9.44398096e-01 -7.61997697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42463044 meters Centerline goodness : 0.097175 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.56, Z:-0.77 [[ 0.94494736 -0.00803415 -0.32712373 -1.13959055] [-0.0016039 0.99957281 -0.0291826 -0.56016319] [ 0.32721844 0.0281007 0.94453081 -0.76987968] [ 0. 0. 0. 1. ]] SLAMing on 420.45463044 meters Centerline goodness : 0.155479 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.56, Z:-0.77 [[ 0.94489547 -0.00847714 -0.32726241 -1.1390849 ] [-0.00131469 0.99955836 -0.02968761 -0.55830946] [ 0.32736954 0.02848193 0.94446703 -0.76985978] [ 0. 0. 0. 1. ]] SLAMing on 420.48463044 meters Centerline goodness : 0.094199 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.56, Z:-0.77 [[ 0.94489978 -0.0086346 -0.32724585 -1.13925526] [-0.00122198 0.99955208 -0.02990224 -0.55717554] [ 0.32735747 0.02865451 0.94446599 -0.76974812] [ 0. 0. 0. 1. ]] SLAMing on 420.51463044 meters Centerline goodness : 0.480720 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.56, Z:-0.77 [[ 0.94491265 -0.00878177 -0.32720478 -1.13942068] [-0.00114587 0.99954516 -0.03013563 -0.55580356] [ 0.3273206 0.02885047 0.9444728 -0.76971085] [ 0. 0. 0. 1. ]] SLAMing on 420.54463044 meters Centerline goodness : 0.101623 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.55, Z:-0.77 [[ 9.44990107e-01 -8.94360914e-03 -3.26976620e-01 -1.14001850e+00] [-1.06368118e-03 9.99536824e-01 -3.04139019e-02 -5.53721175e-01] [ 3.27097183e-01 2.90886353e-02 9.44542897e-01 -7.69804061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57463044 meters Centerline goodness : 0.303590 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.55, Z:-0.76 [[ 0.94500265 -0.0155563 -0.3266925 -1.1230115 ] [ 0.00636006 0.99955339 -0.02919894 -0.54794139] [ 0.32700083 0.02551529 0.94467954 -0.76228498] [ 0. 0. 0. 1. ]] SLAMing on 420.60463044 meters Centerline goodness : 0.316677 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.55, Z:-0.76 [[ 0.94498054 -0.01562956 -0.32675295 -1.12323727] [ 0.00644252 0.99955342 -0.02917961 -0.5482393 ] [ 0.32706309 0.02546905 0.94465923 -0.76191906] [ 0. 0. 0. 1. ]] SLAMing on 420.63463044 meters Centerline goodness : 0.310732 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.55, Z:-0.76 [[ 0.94498046 -0.01570483 -0.32674958 -1.12347706] [ 0.00655241 0.99955525 -0.02909243 -0.54924155] [ 0.32706115 0.02535078 0.94466309 -0.76174165] [ 0. 0. 0. 1. ]] SLAMing on 420.66463044 meters Centerline goodness : 0.087457 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.55, Z:-0.76 [[ 0.94493225 -0.01980793 -0.32666603 -1.12349871] [ 0.00993456 0.99944279 -0.03186557 -0.55289313] [ 0.32711519 0.02686552 0.94460251 -0.76168544] [ 0. 0. 0. 1. ]] SLAMing on 420.69463044 meters Centerline goodness : 0.089844 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.56, Z:-0.77 [[ 0.94580386 -0.01557983 -0.3243645 -1.14008265] [ 0.00492054 0.99942135 -0.03365644 -0.56170509] [ 0.32470117 0.03023634 0.94533323 -0.77000752] [ 0. 0. 0. 1. ]] SLAMing on 420.72463044 meters Centerline goodness : 0.083058 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.56, Z:-0.77 [[ 0.94574921 -0.01572404 -0.32451685 -1.13965241] [ 0.00515055 0.99942827 -0.03341559 -0.56484102] [ 0.32485674 0.02993132 0.94528949 -0.76990585] [ 0. 0. 0. 1. ]] SLAMing on 420.75463044 meters Centerline goodness : 0.088697 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.57, Z:-0.77 [[ 0.94572433 -0.01565165 -0.32459286 -1.13936531] [ 0.00519512 0.99944 -0.03305599 -0.56766507] [ 0.32492846 0.02957556 0.94527603 -0.76992413] [ 0. 0. 0. 1. ]] SLAMing on 420.78463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 420.81463044000003 meters Centerline goodness : 0.089433 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.57, Z:-0.77 [[ 0.94535689 -0.01510051 -0.32568747 -1.13525145] [ 0.00487543 0.99946992 -0.0321888 -0.57364332] [ 0.3260009 0.02884204 0.94492939 -0.77029451] [ 0. 0. 0. 1. ]] SLAMing on 420.84463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 420.87463044000003 meters Centerline goodness : 0.087439 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.58, Z:-0.78 [[ 0.94492839 -0.00495892 -0.32723958 -1.14905912] [-0.00555674 0.99949797 -0.0311917 -0.58166806] [ 0.32722998 0.03129231 0.94442646 -0.77832027] [ 0. 0. 0. 1. ]] SLAMing on 420.90463044 meters Centerline goodness : 0.088272 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.58, Z:-0.78 [[ 0.94503748 -0.00475213 -0.32692749 -1.14977455] [-0.00571521 0.99950152 -0.03104922 -0.58216144] [ 0.32691207 0.03121114 0.94453923 -0.77859608] [ 0. 0. 0. 1. ]] SLAMing on 420.93463044000003 meters Centerline goodness : 0.063552 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.58, Z:-0.78 [[ 0.94515588 -0.00465465 -0.32658643 -1.15098844] [-0.0057778 0.99950372 -0.03096656 -0.58283978] [ 0.32656849 0.03115518 0.94465992 -0.77854033] [ 0. 0. 0. 1. ]] SLAMing on 420.96463044 meters Centerline goodness : 0.105951 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.58, Z:-0.78 [[ 0.94524639 -0.00457747 -0.32632547 -1.15193877] [-0.00579723 0.99950836 -0.0308129 -0.58423896] [ 0.32630608 0.03101757 0.94475513 -0.77848765] [ 0. 0. 0. 1. ]] SLAMing on 420.99463044000004 meters Centerline goodness : 0.049780 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.59, Z:-0.78 [[ 0.94519675 -0.00429423 -0.32647308 -1.15180964] [-0.00588609 0.99952689 -0.03018842 -0.58920913] [ 0.32644826 0.03045564 0.94472429 -0.77831589] [ 0. 0. 0. 1. ]] SLAMing on 421.02463044 meters Centerline goodness : 0.086144 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.59, Z:-0.78 [[ 0.9450909 -0.00411842 -0.32678161 -1.15096583] [-0.0059417 0.99953878 -0.02978126 -0.59200024] [ 0.32675355 0.03008764 0.94463054 -0.77824099] [ 0. 0. 0. 1. ]] SLAMing on 421.05463044000004 meters Centerline goodness : 0.047920 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.60, Z:-0.78 [[ 0.94503674 -0.00392601 -0.32694059 -1.15054153] [-0.00598896 0.9995523 -0.02931432 -0.59517664] [ 0.3269093 0.02966114 0.94459014 -0.77820025] [ 0. 0. 0. 1. ]] SLAMing on 421.08463044 meters Centerline goodness : 0.106293 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.60, Z:-0.78 [[ 0.94506637 -0.00377723 -0.32685669 -1.15093553] [-0.00594804 0.99956896 -0.0287493 -0.60030889] [ 0.32682439 0.02911416 0.94463653 -0.77811683] [ 0. 0. 0. 1. ]] SLAMing on 421.11463044 meters Centerline goodness : 0.065109 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.60, Z:-0.78 [[ 0.94512779 -0.00368993 -0.32668002 -1.15146924] [-0.00596889 0.99957428 -0.0285592 -0.60160974] [ 0.32664633 0.02894201 0.94470341 -0.77813643] [ 0. 0. 0. 1. ]] SLAMing on 421.14463044 meters Centerline goodness : 0.089719 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.60, Z:-0.78 [[ 0.94518531 -0.00359002 -0.3265147 -1.15185786] [-0.00601807 0.9995782 -0.02841126 -0.60240887] [ 0.32647897 0.02881889 0.94476503 -0.7782708 ] [ 0. 0. 0. 1. ]] SLAMing on 421.17463044 meters Centerline goodness : 0.089124 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.60, Z:-0.78 [[ 0.94518698 -0.00346795 -0.32651116 -1.15197018] [-0.00607425 0.99958383 -0.02820059 -0.60378594] [ 0.32647307 0.02863814 0.94477256 -0.77822968] [ 0. 0. 0. 1. ]] SLAMing on 421.20463044 meters Centerline goodness : 0.103786 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.60, Z:-0.78 [[ 0.94514317 -0.00345292 -0.32663812 -1.15137877] [-0.00605024 0.99958755 -0.02807338 -0.60495345] [ 0.32660034 0.0285096 0.94473246 -0.778392 ] [ 0. 0. 0. 1. ]] SLAMing on 421.23463044 meters Centerline goodness : 0.087819 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.61, Z:-0.78 [[ 0.94510643 -0.00341957 -0.32674478 -1.15112693] [-0.00603131 0.99959233 -0.02790681 -0.60642276] [ 0.32670701 0.02834561 0.94470051 -0.77832465] [ 0. 0. 0. 1. ]] SLAMing on 421.26463044 meters Centerline goodness : 0.103868 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.61, Z:-0.78 [[ 0.9451088 -0.0034485 -0.32673761 -1.15108709] [-0.00594792 0.99959707 -0.0277548 -0.60798005] [ 0.32670167 0.02817471 0.94470747 -0.77836625] [ 0. 0. 0. 1. ]] SLAMing on 421.29463044 meters Centerline goodness : 0.104977 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.61, Z:-0.78 [[ 0.94509822 -0.00347213 -0.32676797 -1.15118378] [-0.00586446 0.99960231 -0.02758299 -0.60975963] [ 0.32673379 0.02798495 0.944702 -0.77822198] [ 0. 0. 0. 1. ]] SLAMing on 421.32463044 meters Centerline goodness : 0.236433 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.61, Z:-0.78 [[ 0.94510751 -0.00779721 -0.3266665 -1.15102321] [-0.00236101 0.99952621 -0.03068855 -0.61217149] [ 0.32675101 0.02977524 0.94464131 -0.77854055] [ 0. 0. 0. 1. ]] SLAMing on 421.35463044 meters Centerline goodness : 0.311276 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.61, Z:-0.78 [[ 0.94505116 -0.00787243 -0.32682767 -1.15054322] [-0.00224061 0.99953058 -0.03055502 -0.61392662] [ 0.32691479 0.02960835 0.94458989 -0.77852236] [ 0. 0. 0. 1. ]] SLAMing on 421.38463044 meters Centerline goodness : 0.087996 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.62, Z:-0.78 [[ 0.94497818 -0.00785519 -0.32703904 -1.14974783] [-0.00217881 0.99953836 -0.03030371 -0.61600469] [ 0.32712611 0.0293489 0.94452483 -0.778573 ] [ 0. 0. 0. 1. ]] SLAMing on 421.41463044 meters Centerline goodness : 0.307024 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.62, Z:-0.78 [[ 0.94496185 -0.00774141 -0.32708894 -1.1494411 ] [-0.00218771 0.99954819 -0.02997723 -0.6181447 ] [ 0.32717323 0.02904291 0.94451797 -0.77870256] [ 0. 0. 0. 1. ]] SLAMing on 421.44463044 meters Centerline goodness : 0.308235 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.62, Z:-0.79 [[ 0.94443821 -0.01610867 -0.32829406 -1.16883088] [ 0.00690609 0.99955037 -0.02917827 -0.6202704 ] [ 0.32861647 0.02528985 0.9441248 -0.78600667] [ 0. 0. 0. 1. ]] SLAMing on 421.47463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 421.50463044 meters Centerline goodness : 0.307983 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.62, Z:-0.79 [[ 0.94419557 -0.01622006 -0.32898577 -1.16713633] [ 0.00710143 0.99955708 -0.02890014 -0.62384922] [ 0.32930882 0.02495112 0.94389255 -0.7856554 ] [ 0. 0. 0. 1. ]] SLAMing on 421.53463044 meters Centerline goodness : 0.492592 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.63, Z:-0.79 [[ 0.94413769 -0.01597144 -0.329164 -1.1669624 ] [ 0.0069629 0.99956872 -0.02852867 -0.62556285] [ 0.32947768 0.02464305 0.94384171 -0.78532766] [ 0. 0. 0. 1. ]] SLAMing on 421.56463044000003 meters Centerline goodness : 0.436376 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.63, Z:-0.79 [[ 0.94512385 -0.01085465 -0.3265319 -1.18215336] [ 0.00157739 0.99958789 -0.02866289 -0.63373457] [ 0.32670846 0.02657491 0.94475148 -0.79218859] [ 0. 0. 0. 1. ]] SLAMing on 421.59463044 meters Centerline goodness : 0.298623 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.63, Z:-0.79 [[ 0.94516576 -0.01084836 -0.32641077 -1.18302147] [ 0.00160654 0.99959051 -0.02856974 -0.63461337] [ 0.32658704 0.02647875 0.94479616 -0.79181817] [ 0. 0. 0. 1. ]] SLAMing on 421.62463044000003 meters Centerline goodness : 0.092156 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.64, Z:-0.79 [[ 0.94521969 -0.01084787 -0.3262546 -1.18411159] [ 0.00162799 0.99959191 -0.02851954 -0.63507591] [ 0.32643083 0.0264261 0.94485161 -0.79139574] [ 0. 0. 0. 1. ]] SLAMing on 421.65463044 meters Centerline goodness : 0.302851 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.79 [[ 0.94526998 -0.01075558 -0.32611191 -1.18504036] [ 0.00156945 0.99959488 -0.02841869 -0.63518919] [ 0.32628546 0.02635152 0.94490391 -0.7910441 ] [ 0. 0. 0. 1. ]] SLAMing on 421.68463044000003 meters Centerline goodness : 0.097800 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.79 [[ 0.94549183 -0.01066018 -0.32547128 -1.18747465] [ 0.00155552 0.99960049 -0.02822118 -0.63578324] [ 0.32564209 0.02617662 0.94513069 -0.79081034] [ 0. 0. 0. 1. ]] SLAMing on 421.71463044 meters Centerline goodness : 0.089843 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.79 [[ 0.94555343 -0.01083672 -0.32528644 -1.1883094 ] [ 0.00174522 0.99959999 -0.02822799 -0.63679388] [ 0.32546222 0.02612338 0.94519411 -0.79062853] [ 0. 0. 0. 1. ]] SLAMing on 421.74463044000004 meters Centerline goodness : 0.105401 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.79 [[ 0.94562094 -0.01119328 -0.32507805 -1.18926257] [ 0.00207347 0.99959485 -0.02838711 -0.63763504] [ 0.32526409 0.02616941 0.94526104 -0.79052501] [ 0. 0. 0. 1. ]] SLAMing on 421.77463044 meters Centerline goodness : 0.098863 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.79 [[ 0.94558842 -0.01193221 -0.32514636 -1.18980164] [ 0.00284973 0.99959271 -0.02839548 -0.64022954] [ 0.32535276 0.02592386 0.94523729 -0.79040047] [ 0. 0. 0. 1. ]] SLAMing on 421.80463044000004 meters Centerline goodness : 0.314051 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.79 [[ 0.94561728 -0.01186273 -0.32506496 -1.19000789] [ 0.00286027 0.99959939 -0.02815825 -0.64108238] [ 0.32526876 0.02569716 0.94527239 -0.79060199] [ 0. 0. 0. 1. ]] SLAMing on 421.83463044 meters Centerline goodness : 0.089710 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.79 [[ 0.94565959 -0.01183084 -0.32494303 -1.19021561] [ 0.00291156 0.99960588 -0.02792131 -0.64232849] [ 0.32514529 0.02545797 0.94532134 -0.79092968] [ 0. 0. 0. 1. ]] SLAMing on 421.86463044 meters Centerline goodness : 0.316343 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.65, Z:-0.80 [[ 0.94606022 -0.00417763 -0.32396391 -1.20732461] [-0.00539249 0.99957532 -0.02863736 -0.64795559] [ 0.32394596 0.02883964 0.94563592 -0.79881256] [ 0. 0. 0. 1. ]] SLAMing on 421.89463044 meters Centerline goodness : 0.089667 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.65, Z:-0.80 [[ 0.94613675 -0.00443352 -0.32373691 -1.20721712] [-0.00508988 0.99957899 -0.02856447 -0.64896982] [ 0.32372726 0.02867368 0.94571586 -0.79973525] [ 0. 0. 0. 1. ]] SLAMing on 421.92463044 meters Centerline goodness : 0.313521 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.65, Z:-0.79 [[ 0.94597024 0.00243506 -0.32424431 -1.19033815] [-0.01247146 0.99950512 -0.02887877 -0.6536188 ] [ 0.32401353 0.03136225 0.94553247 -0.79362306] [ 0. 0. 0. 1. ]] SLAMing on 421.95463044 meters Centerline goodness : 0.091696 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.65, Z:-0.80 [[ 0.94581225 -0.00433341 -0.32468508 -1.20684688] [-0.00479826 0.99961526 -0.02731875 -0.64762457] [ 0.32467855 0.02739633 0.94542757 -0.80079734] [ 0. 0. 0. 1. ]] SLAMing on 421.98463044 meters Centerline goodness : 0.091696 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.65, Z:-0.80 [[ 0.94581225 -0.00433341 -0.32468508 -1.20684688] [-0.00479826 0.99961526 -0.02731875 -0.64762457] [ 0.32467855 0.02739633 0.94542757 -0.80079734] [ 0. 0. 0. 1. ]] SLAMing on 422.01463044 meters Centerline goodness : 0.092899 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.65, Z:-0.80 [[ 0.94576437 -0.00443587 -0.32482314 -1.20592441] [-0.00477937 0.99960854 -0.02756667 -0.64507788] [ 0.32481827 0.02762402 0.94537295 -0.80107665] [ 0. 0. 0. 1. ]] SLAMing on 422.04463044 meters Centerline goodness : 0.123441 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.65, Z:-0.80 [[ 0.94543848 0.00151274 -0.32579718 -1.19096348] [-0.01127768 0.99954189 -0.02808589 -0.64948366] [ 0.32560544 0.03022772 0.94502242 -0.79551092] [ 0. 0. 0. 1. ]] SLAMing on 422.07463044 meters Centerline goodness : 0.244034 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.65, Z:-0.80 [[ 0.94541464 0.00135573 -0.32586704 -1.19053525] [-0.01118146 0.99953746 -0.02828152 -0.64841967] [ 0.32567797 0.03038143 0.9449925 -0.79564662] [ 0. 0. 0. 1. ]] SLAMing on 422.10463044 meters Centerline goodness : 0.267444 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.65, Z:-0.80 [[ 0.94536861 0.00120678 -0.32600112 -1.19007345] [-0.01107525 0.9995348 -0.028417 -0.64754054] [ 0.32581517 0.03047509 0.94494219 -0.79561228] [ 0. 0. 0. 1. ]] SLAMing on 422.13463044 meters Centerline goodness : 0.091449 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.64, Z:-0.80 [[ 0.94498004 -0.00659302 -0.32706155 -1.20657101] [-0.00253385 0.99961937 -0.02747173 -0.64237542] [ 0.32711818 0.02678896 0.94460365 -0.80293716] [ 0. 0. 0. 1. ]] SLAMing on 422.16463044 meters Centerline goodness : 0.100445 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.80 [[ 0.94451346 -0.01352225 -0.32819426 -1.18830039] [ 0.00506564 0.9996331 -0.0266084 -0.63866997] [ 0.32843365 0.02346948 0.94423542 -0.79500718] [ 0. 0. 0. 1. ]] SLAMing on 422.19463044 meters Centerline goodness : 0.172986 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.64, Z:-0.80 [[ 0.94477675 -0.0067678 -0.32764477 -1.20497898] [-0.00255517 0.99960422 -0.02801566 -0.64391225] [ 0.3277047 0.02730573 0.94438553 -0.80299793] [ 0. 0. 0. 1. ]] SLAMing on 422.22463044 meters Centerline goodness : 0.090023 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.64, Z:-0.80 [[ 0.94462728 -0.01408892 -0.32784267 -1.1863263 ] [ 0.00546752 0.99961494 -0.02720428 -0.64114221] [ 0.32809971 0.02390542 0.94434057 -0.7952725 ] [ 0. 0. 0. 1. ]] SLAMing on 422.25463044 meters Centerline goodness : 0.092320 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.65, Z:-0.80 [[ 0.94476184 -0.006529 -0.32769258 -1.20389161] [-0.00284263 0.99960075 -0.02811172 -0.64531308] [ 0.32774529 0.02749039 0.94436608 -0.80272598] [ 0. 0. 0. 1. ]] SLAMing on 422.28463044 meters Centerline goodness : 0.295167 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.65, Z:-0.80 [[ 0.94459732 -0.0064681 -0.32816774 -1.20257693] [-0.00287058 0.99960479 -0.02796462 -0.64550558] [ 0.32821892 0.02735733 0.94420544 -0.80256044] [ 0. 0. 0. 1. ]] SLAMing on 422.31463044000003 meters Centerline goodness : 0.309523 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.64, Z:-0.80 [[ 0.94456155 -0.00643593 -0.32827133 -1.20234611] [-0.00291984 0.99960368 -0.02799924 -0.64459151] [ 0.32832143 0.02740551 0.9441684 -0.80241976] [ 0. 0. 0. 1. ]] SLAMing on 422.34463044 meters Centerline goodness : 0.102898 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.64, Z:-0.80 [[ 0.94458515 -0.00656569 -0.32820083 -1.20247099] [-0.0028546 0.99959786 -0.02821281 -0.64328731] [ 0.32825408 0.02758628 0.94418656 -0.80241877] [ 0. 0. 0. 1. ]] SLAMing on 422.37463044000003 meters Centerline goodness : 0.104476 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.64, Z:-0.80 [[ 0.94462012 -0.00672731 -0.32809691 -1.2029179 ] [-0.00277429 0.99959043 -0.02848305 -0.64182223] [ 0.32815414 0.0278159 0.94421456 -0.80224287] [ 0. 0. 0. 1. ]] SLAMing on 422.40463044 meters Centerline goodness : 0.262006 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.64, Z:-0.80 [[ 0.94465611 -0.00686243 -0.32799046 -1.20332209] [-0.00271536 0.99958339 -0.02873455 -0.64023812] [ 0.328051 0.02803488 0.94424392 -0.80213162] [ 0. 0. 0. 1. ]] SLAMing on 422.43463044000003 meters Centerline goodness : 0.235244 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.64, Z:-0.80 [[ 0.94497602 -0.00385141 -0.32711694 -1.20651862] [-0.00513964 0.9996325 -0.02661689 -0.63673761] [ 0.32709923 0.02683359 0.94460894 -0.80201793] [ 0. 0. 0. 1. ]] SLAMing on 422.46463044 meters Centerline goodness : 0.093215 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.64, Z:-0.80 [[ 0.94504353 -0.00386138 -0.32692173 -1.20689818] [-0.00516895 0.99962882 -0.02674901 -0.63521649] [ 0.32690367 0.02696882 0.94467279 -0.80214002] [ 0. 0. 0. 1. ]] SLAMing on 422.49463044000004 meters Centerline goodness : 0.376043 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.63, Z:-0.80 [[ 0.9450076 -0.00410748 -0.32702258 -1.20676949] [-0.00505166 0.99961851 -0.02715341 -0.63267004] [ 0.32700936 0.02731219 0.94462634 -0.8019159 ] [ 0. 0. 0. 1. ]] SLAMing on 422.52463044 meters Centerline goodness : 0.325812 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.63, Z:-0.80 [[ 0.94496003 -0.00426546 -0.32715798 -1.20621132] [-0.00497028 0.99961249 -0.02738899 -0.63122146] [ 0.32714803 0.02750757 0.94457266 -0.80197025] [ 0. 0. 0. 1. ]] SLAMing on 422.55463044000004 meters Centerline goodness : 0.475675 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.63, Z:-0.80 [[ 0.94494327 -0.00428894 -0.32720607 -1.20574694] [-0.00497884 0.99960992 -0.02748109 -0.63019278] [ 0.3271963 0.02759718 0.94455332 -0.80215457] [ 0. 0. 0. 1. ]] SLAMing on 422.58463044 meters Centerline goodness : 0.471077 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.63, Z:-0.80 [[ 0.94490697 -0.00436635 -0.32730987 -1.205392 ] [-0.00495616 0.99960558 -0.02764271 -0.62881173] [ 0.32730147 0.02774199 0.94451264 -0.80210069] [ 0. 0. 0. 1. ]] SLAMing on 422.61463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 422.64463044 meters Centerline goodness : 0.122671 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.9447166 -0.00479014 -0.32785302 -1.20395991] [-0.00474558 0.9995888 -0.02827914 -0.6239343 ] [ 0.32785367 0.02827162 0.9443054 -0.80169048] [ 0. 0. 0. 1. ]] SLAMing on 422.67463044 meters Centerline goodness : 0.478333 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.94466307 -0.00488527 -0.32800582 -1.20353637] [-0.00470917 0.99958412 -0.02845017 -0.62242969] [ 0.32800839 0.02842046 0.9442472 -0.80160215] [ 0. 0. 0. 1. ]] SLAMing on 422.70463044 meters Centerline goodness : 0.315369 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.94460524 -0.005011 -0.32817042 -1.20316685] [-0.00464828 0.99957891 -0.02864266 -0.62098845] [ 0.32817576 0.02858143 0.94418418 -0.80142357] [ 0. 0. 0. 1. ]] SLAMing on 422.73463044 meters Centerline goodness : 0.518289 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.94456629 -0.00546409 -0.32827529 -1.20268166] [-0.00430841 0.99956912 -0.0290345 -0.61923192] [ 0.32829249 0.02883936 0.94413576 -0.80143487] [ 0. 0. 0. 1. ]] SLAMing on 422.76463044 meters Centerline goodness : 0.494121 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.94455619 -0.00555683 -0.32830279 -1.20234494] [-0.00422616 0.99956822 -0.02907766 -0.61903639] [ 0.32832262 0.02885295 0.94412487 -0.80163803] [ 0. 0. 0. 1. ]] SLAMing on 422.79463044 meters Centerline goodness : 0.463175 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.94452078 -0.00571067 -0.32840201 -1.20208873] [-0.00410876 0.99956517 -0.02919897 -0.61873914] [ 0.32842596 0.02892836 0.94408662 -0.80155331] [ 0. 0. 0. 1. ]] SLAMing on 422.82463044 meters Centerline goodness : 0.457966 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.94449497 -0.00581833 -0.32847434 -1.20173997] [-0.00402426 0.99956324 -0.02927681 -0.61856276] [ 0.32850121 0.02897366 0.94405904 -0.80162018] [ 0. 0. 0. 1. ]] SLAMing on 422.85463044 meters Centerline goodness : 0.317824 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.62, Z:-0.80 [[ 0.94444885 -0.005881 -0.32860581 -1.2014264 ] [-0.00397278 0.99956256 -0.02930721 -0.6184937 ] [ 0.32863442 0.02898464 0.94401234 -0.80155391] [ 0. 0. 0. 1. ]] SLAMing on 422.88463044 meters Centerline goodness : 0.095647 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.61, Z:-0.82 [[ 0.94381254 -0.00627755 -0.33042168 -1.24390474] [-0.00372192 0.99955426 -0.02962138 -0.6143551 ] [ 0.33046035 0.02918683 0.94336848 -0.81562647] [ 0. 0. 0. 1. ]] SLAMing on 422.91463044 meters Centerline goodness : 0.103429 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.61, Z:-0.81 [[ 0.94377644 -0.01268659 -0.33034087 -1.22627758] [ 0.00353817 0.99959377 -0.02828048 -0.61044555] [ 0.33056546 0.02552165 0.94343793 -0.80758917] [ 0. 0. 0. 1. ]] SLAMing on 422.94463044 meters Centerline goodness : 0.092954 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.61, Z:-0.81 [[ 0.94374671 -0.01271926 -0.33042453 -1.22606899] [ 0.00352175 0.99958989 -0.02841921 -0.60921236] [ 0.3306505 0.02565686 0.94340446 -0.80745648] [ 0. 0. 0. 1. ]] SLAMing on 422.97463044 meters Centerline goodness : 0.100710 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.61, Z:-0.81 [[ 0.94366757 -0.01264694 -0.33065326 -1.22541724] [ 0.00341782 0.99958857 -0.02847831 -0.60823257] [ 0.33087738 0.02574394 0.94332254 -0.80727322] [ 0. 0. 0. 1. ]] SLAMing on 423.00463044 meters Centerline goodness : 0.462643 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.61, Z:-0.81 [[ 9.43643586e-01 -8.96328650e-03 -3.30842019e-01 -1.22510545e+00] [ 4.50433303e-04 9.99667060e-01 -2.57985784e-02 -6.06132805e-01] [ 3.30963108e-01 2.41956408e-02 9.43333447e-01 -8.07033671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03463044 meters Centerline goodness : 0.306111 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.60, Z:-0.81 [[ 0.94371046 -0.0153395 -0.33041682 -1.24140453] [ 0.00766754 0.99967018 -0.02450996 -0.59845323] [ 0.33068382 0.02059683 0.94351682 -0.81448954] [ 0. 0. 0. 1. ]] SLAMing on 423.06463044000003 meters Centerline goodness : 0.250494 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.60, Z:-0.81 [[ 0.94376354 -0.01198335 -0.33040397 -1.24206766] [ 0.00501421 0.99974678 -0.02193706 -0.59698876] [ 0.33058318 0.01904668 0.94358465 -0.81417049] [ 0. 0. 0. 1. ]] SLAMing on 423.09463044 meters Centerline goodness : 0.283211 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.59, Z:-0.81 [[ 0.94377188 -0.01217351 -0.33037318 -1.2425202 ] [ 0.00506652 0.99973704 -0.02236462 -0.59352136] [ 0.33055856 0.01943326 0.94358539 -0.81380312] [ 0. 0. 0. 1. ]] SLAMing on 423.12463044000003 meters Centerline goodness : 0.091687 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.59, Z:-0.81 [[ 0.94374618 -0.01232942 -0.3304408 -1.24239727] [ 0.00514947 0.99973144 -0.02259502 -0.5920347 ] [ 0.33063064 0.01962236 0.94355622 -0.8136506 ] [ 0. 0. 0. 1. ]] SLAMing on 423.15463044 meters Centerline goodness : 0.091444 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.59, Z:-0.81 [[ 0.94372719 -0.01245571 -0.33049031 -1.24239274] [ 0.00521313 0.99972664 -0.02279199 -0.5906919 ] [ 0.33068385 0.01978653 0.94353415 -0.81345016] [ 0. 0. 0. 1. ]] SLAMing on 423.18463044000003 meters Centerline goodness : 0.102536 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.59, Z:-0.81 [[ 0.94369483 -0.01254339 -0.33057939 -1.24223074] [ 0.0052442 0.99972257 -0.02296265 -0.5892508 ] [ 0.33077571 0.01993611 0.9434988 -0.81328864] [ 0. 0. 0. 1. ]] SLAMing on 423.21463044 meters Centerline goodness : 0.294919 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.59, Z:-0.81 [[ 0.94368338 -0.01281441 -0.33060167 -1.24221266] [ 0.00537357 0.99971148 -0.02341113 -0.58600976] [ 0.33080629 0.02031618 0.94347997 -0.81312449] [ 0. 0. 0. 1. ]] SLAMing on 423.24463044000004 meters Centerline goodness : 0.091432 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.58, Z:-0.81 [[ 0.94368325 -0.01295883 -0.33059641 -1.24235897] [ 0.00544402 0.99970555 -0.0236469 -0.58436385] [ 0.3308055 0.02051541 0.94347593 -0.81295202] [ 0. 0. 0. 1. ]] SLAMing on 423.27463044 meters Centerline goodness : 0.090185 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.58, Z:-0.81 [[ 0.94369098 -0.0131183 -0.33056806 -1.24259217] [ 0.00552299 0.99969897 -0.02390539 -0.58254034] [ 0.33078214 0.02073357 0.94347936 -0.81277787] [ 0. 0. 0. 1. ]] SLAMing on 423.30463044000004 meters Centerline goodness : 0.091720 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.58, Z:-0.81 [[ 0.9436931 -0.01331845 -0.33055402 -1.24268107] [ 0.00561703 0.99969032 -0.02424286 -0.58030326] [ 0.33077453 0.02102109 0.94347566 -0.81263672] [ 0. 0. 0. 1. ]] SLAMing on 423.33463044 meters Centerline goodness : 0.103665 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.57, Z:-0.81 [[ 0.9437198 -0.01350405 -0.33047024 -1.24293069] [ 0.00564519 0.99967825 -0.02472907 -0.57480409] [ 0.33069786 0.02147174 0.94349239 -0.81244694] [ 0. 0. 0. 1. ]] SLAMing on 423.36463044 meters Centerline goodness : 0.096418 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.57, Z:-0.81 [[ 0.94373945 -0.01372843 -0.33040487 -1.24288408] [ 0.00574399 0.99966769 -0.02512989 -0.57206068] [ 0.33064007 0.02181823 0.9435047 -0.81252207] [ 0. 0. 0. 1. ]] SLAMing on 423.39463044 meters Centerline goodness : 0.308592 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.57, Z:-0.81 [[ 0.94379813 -0.01050218 -0.33035557 -1.24308892] [ 0.00317878 0.99973725 -0.02270068 -0.57001241] [ 0.33050718 0.02037473 0.94358353 -0.81249619] [ 0. 0. 0. 1. ]] SLAMing on 423.42463044 meters Centerline goodness : 0.101842 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.57, Z:-0.81 [[ 0.94375568 -0.01068477 -0.33047094 -1.24256592] [ 0.00325482 0.99972952 -0.02302812 -0.56768281] [ 0.33062761 0.0206573 0.94353519 -0.81249146] [ 0. 0. 0. 1. ]] SLAMing on 423.45463044 meters Centerline goodness : 0.103652 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.56, Z:-0.81 [[ 0.94370214 -0.01109226 -0.33061039 -1.24174602] [ 0.003475 0.99971492 -0.02362218 -0.56405281] [ 0.33077817 0.02114343 0.94347165 -0.81262495] [ 0. 0. 0. 1. ]] SLAMing on 423.48463044 meters Centerline goodness : 0.114340 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.56, Z:-0.81 [[ 0.9436585 -0.01122792 -0.33073036 -1.24125063] [ 0.00354177 0.99970967 -0.02383341 -0.56255101] [ 0.33090194 0.02131923 0.94342429 -0.81261354] [ 0. 0. 0. 1. ]] SLAMing on 423.51463044 meters Centerline goodness : 0.097065 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.56, Z:-0.81 [[ 0.94361093 -0.01129491 -0.33086378 -1.24069511] [ 0.00356773 0.99970673 -0.02395261 -0.56143827] [ 0.33103729 0.02142151 0.94337449 -0.81267662] [ 0. 0. 0. 1. ]] SLAMing on 423.54463044 meters Centerline goodness : 0.482078 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.56, Z:-0.81 [[ 0.94353249 -0.01138698 -0.33108425 -1.23997346] [ 0.00360718 0.99970297 -0.02410298 -0.56030206] [ 0.33126037 0.02154766 0.94329331 -0.81258285] [ 0. 0. 0. 1. ]] SLAMing on 423.57463044 meters Centerline goodness : 0.481010 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.56, Z:-0.81 [[ 0.94347351 -0.0114881 -0.33124879 -1.23958237] [ 0.00364661 0.99969844 -0.02428432 -0.55896558] [ 0.33142787 0.02170368 0.94323089 -0.81239893] [ 0. 0. 0. 1. ]] SLAMing on 423.60463044 meters Centerline goodness : 0.103876 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.56, Z:-0.81 [[ 0.94339516 -0.01170654 -0.33146421 -1.23918806] [ 0.00373902 0.99968878 -0.02466488 -0.55621676] [ 0.33164979 0.02202937 0.94314533 -0.81203468] [ 0. 0. 0. 1. ]] SLAMing on 423.63463044 meters Centerline goodness : 0.110603 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94338054 -0.01188755 -0.33149938 -1.23917067] [ 0.00382323 0.99968093 -0.02496836 -0.55428517] [ 0.33169042 0.02228727 0.94312499 -0.81187228] [ 0. 0. 0. 1. ]] SLAMing on 423.66463044 meters Centerline goodness : 0.130067 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94334361 -0.0119973 -0.3316005 -1.23914458] [ 0.00385635 0.99967505 -0.02519758 -0.55259773] [ 0.33179505 0.02249121 0.94308334 -0.81153692] [ 0. 0. 0. 1. ]] SLAMing on 423.69463044 meters Centerline goodness : 0.141895 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94338212 -0.01217793 -0.33148435 -1.23961032] [ 0.00393756 0.99966658 -0.02551929 -0.55053205] [ 0.33168459 0.0227692 0.94311552 -0.81138361] [ 0. 0. 0. 1. ]] SLAMing on 423.72463044 meters Centerline goodness : 0.120845 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94348989 -0.01267095 -0.33115899 -1.24115235] [ 0.00422043 0.99964716 -0.0262247 -0.54653568] [ 0.33137444 0.02334511 0.94321047 -0.8109006 ] [ 0. 0. 0. 1. ]] SLAMing on 423.75463044 meters Centerline goodness : 0.319487 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94348819 -0.01289873 -0.33115503 -1.2411431 ] [ 0.00436301 0.99963913 -0.02650609 -0.54508041] [ 0.33137743 0.02356335 0.94320399 -0.81082969] [ 0. 0. 0. 1. ]] SLAMing on 423.78463044 meters Centerline goodness : 0.110042 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94342825 -0.01302406 -0.33132085 -1.24053905] [ 0.00443882 0.99963482 -0.02665571 -0.54411277] [ 0.33154703 0.02367708 0.94314154 -0.81085082] [ 0. 0. 0. 1. ]] SLAMing on 423.81463044000003 meters Centerline goodness : 0.315212 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94330206 -0.01335347 -0.33166685 -1.23935985] [ 0.00471118 0.99962844 -0.02684756 -0.54357567] [ 0.33190212 0.02376281 0.94301448 -0.81084409] [ 0. 0. 0. 1. ]] SLAMing on 423.84463044 meters Centerline goodness : 0.482256 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94327439 -0.01340722 -0.33174337 -1.23904165] [ 0.00477231 0.99962862 -0.02682991 -0.54380194] [ 0.33197989 0.02372479 0.94298806 -0.81089067] [ 0. 0. 0. 1. ]] SLAMing on 423.87463044000003 meters Centerline goodness : 0.278406 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94322858 -0.01346034 -0.33187147 -1.23859699] [ 0.00483993 0.99962942 -0.02678806 -0.54437462] [ 0.33210906 0.02366103 0.94294418 -0.81091209] [ 0. 0. 0. 1. ]] SLAMing on 423.90463044 meters Centerline goodness : 0.278406 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94322858 -0.01346034 -0.33187147 -1.23859699] [ 0.00483993 0.99962942 -0.02678806 -0.54437462] [ 0.33210906 0.02366103 0.94294418 -0.81091209] [ 0. 0. 0. 1. ]] SLAMing on 423.93463044000003 meters Centerline goodness : 0.082920 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94317764 -0.01346867 -0.33201587 -1.23782856] [ 0.00487479 0.99963152 -0.02670329 -0.54503196] [ 0.33225318 0.02356744 0.94289575 -0.81107082] [ 0. 0. 0. 1. ]] SLAMing on 423.96463044 meters Centerline goodness : 0.082789 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94306869 -0.01333348 -0.33233065 -1.23654242] [ 0.00479233 0.99963714 -0.02650716 -0.54563899] [ 0.3325635 0.02340544 0.94279038 -0.8112195 ] [ 0. 0. 0. 1. ]] SLAMing on 423.99463044000004 meters Centerline goodness : 0.083697 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94302584 -0.01324565 -0.33245575 -1.23626471] [ 0.00472219 0.99963944 -0.02643277 -0.54561564] [ 0.332686 0.02335686 0.94274837 -0.81108203] [ 0. 0. 0. 1. ]] SLAMing on 424.02463044 meters Centerline goodness : 0.472880 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.9429968 -0.01320554 -0.3325397 -1.23626388] [ 0.00468793 0.99964038 -0.02640313 -0.54564164] [ 0.33276878 0.02333914 0.94271959 -0.81079876] [ 0. 0. 0. 1. ]] SLAMing on 424.05463044000004 meters Centerline goodness : 0.118921 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94297758 -0.01313059 -0.33259715 -1.23632735] [ 0.0046271 0.99964217 -0.0263461 -0.54561766] [ 0.33282408 0.02330482 0.94270092 -0.81058442] [ 0. 0. 0. 1. ]] SLAMing on 424.08463044 meters Centerline goodness : 0.131127 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94291045 -0.01304503 -0.33279079 -1.2359131 ] [ 0.00455208 0.99964406 -0.02628735 -0.54564557] [ 0.33301526 0.02327173 0.94263422 -0.81034574] [ 0. 0. 0. 1. ]] SLAMing on 424.11463044 meters Centerline goodness : 0.481999 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.55, Z:-0.81 [[ 0.94274761 -0.01275284 -0.33326312 -1.23497661] [ 0.00431647 0.99965151 -0.02604266 -0.54619675] [ 0.3334791 0.02311313 0.94247412 -0.80985463] [ 0. 0. 0. 1. ]] SLAMing on 424.14463044 meters Centerline goodness : 0.365570 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.55, Z:-0.81 [[ 0.94269312 -0.01268245 -0.33341992 -1.23489404] [ 0.00424342 0.99965224 -0.02602663 -0.5460124 ] [ 0.33363405 0.02312028 0.94241911 -0.80945621] [ 0. 0. 0. 1. ]] SLAMing on 424.17463044 meters Centerline goodness : 0.483601 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 0.94267541 -0.0126408 -0.33347156 -1.2352147 ] [ 0.00418983 0.99965188 -0.02604945 -0.54560821] [ 0.33368475 0.02315899 0.94240021 -0.80903249] [ 0. 0. 0. 1. ]] SLAMing on 424.20463044 meters Centerline goodness : 0.094559 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94268388 -0.01250431 -0.33345277 -1.23578932] [ 0.00404893 0.9996527 -0.02603998 -0.54485783] [ 0.33366257 0.02319734 0.94240712 -0.80857333] [ 0. 0. 0. 1. ]] SLAMing on 424.23463044 meters Centerline goodness : 0.134146 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 9.42885791e-01 -8.15549028e-03 -3.33016326e-01 -1.23744153e+00] [ 6.24342111e-04 9.99741770e-01 -2.27157061e-02 -5.44639990e-01] [ 3.33115589e-01 2.12104004e-02 9.42647401e-01 -8.08488095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26463044 meters Centerline goodness : 0.477619 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 9.42870960e-01 -8.14423625e-03 -3.33058590e-01 -1.23745643e+00] [ 5.90843046e-04 9.99740467e-01 -2.27738723e-02 -5.43902001e-01] [ 3.33157626e-01 2.12760375e-02 9.42631066e-01 -8.08332371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29463044 meters Centerline goodness : 0.115825 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 9.42832938e-01 -8.19210089e-03 -3.33165035e-01 -1.23726319e+00] [ 6.10173881e-04 9.99738592e-01 -2.28555418e-02 -5.43425835e-01] [ 3.33265178e-01 2.13456690e-02 9.42591472e-01 -8.08188687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32463044 meters Centerline goodness : 0.293278 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 9.42816135e-01 -8.20962196e-03 -3.33212152e-01 -1.23770834e+00] [ 6.37571499e-04 9.99739218e-01 -2.28274038e-02 -5.43665052e-01] [ 3.33312660e-01 2.13095980e-02 9.42575499e-01 -8.07781218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35463044 meters Centerline goodness : 0.101018 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 9.42851527e-01 -8.15921777e-03 -3.33113232e-01 -1.23829101e+00] [ 6.31735781e-04 9.99742135e-01 -2.26994308e-02 -5.44403360e-01] [ 3.33212543e-01 2.11917534e-02 9.42613553e-01 -8.07601877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38463044 meters Centerline goodness : 0.097369 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 9.42918561e-01 -8.21357430e-03 -3.32922100e-01 -1.23888102e+00] [ 7.13844186e-04 9.99743359e-01 -2.26430430e-02 -5.45285111e-01] [ 3.33022639e-01 2.11128910e-02 9.42682432e-01 -8.07657373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41463044 meters Centerline goodness : 0.320469 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 9.42919324e-01 -8.25437780e-03 -3.32918931e-01 -1.23900247e+00] [ 7.87618967e-04 9.99745251e-01 -2.25568845e-02 -5.46330786e-01] [ 3.33020313e-01 2.10071090e-02 9.42685617e-01 -8.07638877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44463044 meters Centerline goodness : 0.091171 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 9.42876135e-01 -8.20859609e-03 -3.33042359e-01 -1.23879534e+00] [ 8.02742384e-04 9.99749472e-01 -2.23684849e-02 -5.47504528e-01] [ 3.33142537e-01 2.08233633e-02 9.42646507e-01 -8.07515923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47463044 meters Centerline goodness : 0.092516 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 9.42874684e-01 -8.10010711e-03 -3.33049124e-01 -1.23880807e+00] [ 7.31427608e-04 9.99752297e-01 -2.22443345e-02 -5.47668506e-01] [ 3.33146808e-01 2.07300185e-02 9.42647055e-01 -8.07444240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50463044 meters Centerline goodness : 0.285855 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 9.42884471e-01 -8.07522337e-03 -3.33022020e-01 -1.23903568e+00] [ 6.94402593e-04 9.99751613e-01 -2.22762331e-02 -5.47045521e-01] [ 3.33119187e-01 2.07726629e-02 9.42655878e-01 -8.07297750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53463044 meters Centerline goodness : 0.320268 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.55, Z:-0.81 [[ 9.42875743e-01 -8.09654637e-03 -3.33046211e-01 -1.23935438e+00] [ 6.90745660e-04 9.99749992e-01 -2.23489552e-02 -5.46310028e-01] [ 3.33143896e-01 2.08422375e-02 9.42645610e-01 -8.06950513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56463044000003 meters Centerline goodness : 0.119535 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 9.42792422e-01 -8.08680544e-03 -3.33282243e-01 -1.23932706e+00] [ 5.91063628e-04 9.99744731e-01 -2.25859342e-02 -5.43508795e-01] [ 3.33379814e-01 2.10968566e-02 9.42556535e-01 -8.06239016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59463044 meters Centerline goodness : 0.090582 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94294111 -0.00492882 -0.33292308 -1.24021397] [-0.00190763 0.99979405 -0.02020463 -0.54192441] [ 0.3329541 0.01968687 0.9427375 -0.80645837] [ 0. 0. 0. 1. ]] SLAMing on 424.62463044000003 meters Centerline goodness : 0.324057 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.94289431 -0.00503833 -0.33305394 -1.2399234 ] [-0.0019074 0.99978753 -0.02052442 -0.5394509 ] [ 0.33308659 0.01998763 0.94268437 -0.80620361] [ 0. 0. 0. 1. ]] SLAMing on 424.65463044 meters Centerline goodness : 0.105528 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.54, Z:-0.81 [[ 0.9428776 -0.00508467 -0.33310056 -1.23987596] [-0.00196523 0.99978122 -0.02082414 -0.53667023] [ 0.33313357 0.02028923 0.94266132 -0.80599552] [ 0. 0. 0. 1. ]] SLAMing on 424.68463044000003 meters Centerline goodness : 0.327244 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.53, Z:-0.81 [[ 9.42891788e-01 -1.23211545e-03 -3.33096921e-01 -1.24022540e+00] [-5.18120478e-03 9.99817931e-01 -1.83646446e-02 -5.30964815e-01] [ 3.33058902e-01 1.90417159e-02 9.42713732e-01 -8.05545343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71463044 meters Centerline goodness : 0.093702 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.53, Z:-0.81 [[ 0.94277809 -0.00139388 -0.33341794 -1.23957824] [-0.00519767 0.99980831 -0.01887679 -0.52672524] [ 0.33338034 0.01952962 0.94259013 -0.80504971] [ 0. 0. 0. 1. ]] SLAMing on 424.74463044000004 meters Centerline goodness : 0.325208 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.52, Z:-0.80 [[ 0.94260839 -0.00150151 -0.33389695 -1.23872908] [-0.00525561 0.99979929 -0.01933289 -0.5223662 ] [ 0.33385896 0.01997818 0.9424113 -0.80433958] [ 0. 0. 0. 1. ]] SLAMing on 424.77463044 meters Centerline goodness : 0.327184 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.52, Z:-0.80 [[ 0.94248966 -0.00167186 -0.33423114 -1.23803387] [-0.00525923 0.99978951 -0.01983142 -0.5180151 ] [ 0.33419394 0.02044871 0.94228247 -0.80388007] [ 0. 0. 0. 1. ]] SLAMing on 424.80463044000004 meters Centerline goodness : 0.323947 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.51, Z:-0.80 [[ 0.94240236 -0.00189692 -0.33447599 -1.23745612] [-0.00520142 0.99977989 -0.02032533 -0.51418241] [ 0.33444093 0.02089439 0.94218506 -0.80354573] [ 0. 0. 0. 1. ]] SLAMing on 424.83463044 meters Centerline goodness : 0.331430 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.51, Z:-0.80 [[ 0.94236719 -0.00241079 -0.33457177 -1.23695049] [-0.00494429 0.99976451 -0.02113017 -0.50812123] [ 0.33454392 0.0215666 0.94213335 -0.80347005] [ 0. 0. 0. 1. ]] SLAMing on 424.86463044 meters Centerline goodness : 0.124244 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.51, Z:-0.80 [[ 0.94236243 -0.00270029 -0.33458296 -1.23718275] [-0.0047756 0.99975703 -0.02151926 -0.50603061] [ 0.33455978 0.02187678 0.94212057 -0.80320267] [ 0. 0. 0. 1. ]] SLAMing on 424.89463044 meters Centerline goodness : 0.234110 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.50, Z:-0.80 [[ 0.94241175 -0.00292743 -0.33444211 -1.23771453] [-0.00463999 0.99975102 -0.02182585 -0.50428503] [ 0.33442274 0.02212075 0.94216352 -0.80306779] [ 0. 0. 0. 1. ]] SLAMing on 424.92463044 meters Centerline goodness : 0.319914 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94260521 -0.01011473 -0.33375605 -1.22102654] [ 0.00344581 0.99978253 -0.02056741 -0.49815797] [ 0.3338915 0.01823689 0.94243508 -0.79492181] [ 0. 0. 0. 1. ]] SLAMing on 424.95463044 meters Centerline goodness : 0.327487 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94260937 -0.01014983 -0.33374325 -1.22117133] [ 0.00346122 0.99978119 -0.02062971 -0.4973334 ] [ 0.33387962 0.01829059 0.94243825 -0.79478339] [ 0. 0. 0. 1. ]] SLAMing on 424.98463044 meters Centerline goodness : 0.231768 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94260311 -0.0101546 -0.33376078 -1.22124598] [ 0.00347668 0.99978177 -0.02059935 -0.49734198] [ 0.33389712 0.01825663 0.94243271 -0.79465443] [ 0. 0. 0. 1. ]] SLAMing on 425.01463044 meters Centerline goodness : 0.094743 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94260496 -0.01026981 -0.33375203 -1.22137066] [ 0.00357316 0.99977992 -0.02067243 -0.4972033 ] [ 0.33389087 0.01829338 0.94243421 -0.79453217] [ 0. 0. 0. 1. ]] SLAMing on 425.04463044 meters Centerline goodness : 0.325544 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94265984 -0.01044065 -0.33359171 -1.22216059] [ 0.00374432 0.99977851 -0.02071011 -0.49743185] [ 0.33373405 0.01827351 0.94249014 -0.79429231] [ 0. 0. 0. 1. ]] SLAMing on 425.07463044 meters Centerline goodness : 0.095579 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94265841 -0.01043501 -0.33359592 -1.22217897] [ 0.00375936 0.99977969 -0.0206505 -0.49766855] [ 0.33373792 0.01821226 0.94248996 -0.79426178] [ 0. 0. 0. 1. ]] SLAMing on 425.10463044 meters Centerline goodness : 0.338663 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94258099 -0.01044912 -0.33381415 -1.22151682] [ 0.00378154 0.99978029 -0.02061749 -0.49783306] [ 0.33395624 0.01817132 0.94241341 -0.79423052] [ 0. 0. 0. 1. ]] SLAMing on 425.13463044 meters Centerline goodness : 0.330713 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94246506 -0.01040633 -0.33414266 -1.22043699] [ 0.00375668 0.99978196 -0.02054071 -0.49803301] [ 0.33428356 0.01810363 0.94229866 -0.79419398] [ 0. 0. 0. 1. ]] SLAMing on 425.16463044 meters Centerline goodness : 0.331896 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94225099 -0.01029592 -0.33474926 -1.21881726] [ 0.00366639 0.99978456 -0.02043032 -0.49788753] [ 0.33488749 0.01802317 0.94208574 -0.79389781] [ 0. 0. 0. 1. ]] SLAMing on 425.19463044 meters Centerline goodness : 0.324304 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94216222 -0.01020808 -0.3350017 -1.21835582] [ 0.00359316 0.99978626 -0.02035979 -0.49775377] [ 0.33513793 0.01797851 0.94199753 -0.79356278] [ 0. 0. 0. 1. ]] SLAMing on 425.22463044 meters Centerline goodness : 0.327564 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94213246 -0.01022708 -0.33508482 -1.21851794] [ 0.00357665 0.99978431 -0.02045809 -0.49687052] [ 0.33522178 0.01807575 0.94196583 -0.79318315] [ 0. 0. 0. 1. ]] SLAMing on 425.25463044 meters Centerline goodness : 0.091294 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.50, Z:-0.79 [[ 0.94213983 -0.0102285 -0.33506406 -1.21913214] [ 0.00352843 0.99978159 -0.02059902 -0.49563857] [ 0.33520158 0.01822491 0.94197014 -0.79266036] [ 0. 0. 0. 1. ]] SLAMing on 425.28463044 meters Centerline goodness : 0.111555 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.49, Z:-0.79 [[ 0.9421663 -0.01013534 -0.33499244 -1.22012394] [ 0.00339205 0.9997798 -0.02070862 -0.49411352] [ 0.33512856 0.01837465 0.94199322 -0.79197212] [ 0. 0. 0. 1. ]] SLAMing on 425.31463044000003 meters Centerline goodness : 0.335256 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.49, Z:-0.79 [[ 9.42439078e-01 -6.00445826e-03 -3.34323990e-01 -1.22293349e+00] [ 4.22103347e-05 9.99840887e-01 -1.78381521e-02 -4.91452709e-01] [ 3.34377903e-01 1.67972597e-02 9.42289377e-01 -7.91471974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34463044 meters Centerline goodness : 0.106939 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.49, Z:-0.79 [[ 0.94273227 -0.00318901 -0.33353515 -1.22649819] [-0.00223063 0.99987166 -0.01586486 -0.4892045 ] [ 0.33354293 0.0157003 0.94260417 -0.79099319] [ 0. 0. 0. 1. ]] SLAMing on 425.37463044000003 meters Centerline goodness : 0.245000 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.49, Z:-0.79 [[ 0.94276404 -0.00306709 -0.33344647 -1.22709075] [-0.00240724 0.99986905 -0.01600304 -0.48740627] [ 0.33345189 0.01588977 0.9426332 -0.79070393] [ 0. 0. 0. 1. ]] SLAMing on 425.40463044 meters Centerline goodness : 0.096403 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.49, Z:-0.79 [[ 0.94274057 -0.00296146 -0.3335138 -1.22730288] [-0.0025613 0.99986681 -0.0161184 -0.48580163] [ 0.33351711 0.0160497 0.94260742 -0.7903067 ] [ 0. 0. 0. 1. ]] SLAMing on 425.43463044000003 meters Centerline goodness : 0.331603 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.48, Z:-0.79 [[ 9.42731208e-01 1.11802452e-03 -3.33551524e-01 -1.22754860e+00] [-5.86262576e-03 9.99895448e-01 -1.32182656e-02 -4.83607509e-01] [ 3.33501872e-01 1.44167593e-02 9.42639199e-01 -7.89972635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46463044 meters Centerline goodness : 0.100013 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.48, Z:-0.79 [[ 9.42663351e-01 1.17658893e-03 -3.33743050e-01 -1.22710747e+00] [-5.97464173e-03 9.99893029e-01 -1.33504285e-02 -4.81853210e-01] [ 3.33691641e-01 1.45789548e-02 9.42569543e-01 -7.89779544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49463044000004 meters Centerline goodness : 0.093764 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.48, Z:-0.79 [[ 0.94259621 0.00126522 -0.33393229 -1.22691347] [-0.00611944 0.99989035 -0.01348501 -0.48003234] [ 0.33387861 0.0147544 0.9425006 -0.78942126] [ 0. 0. 0. 1. ]] SLAMing on 425.52463044 meters Centerline goodness : 0.264496 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.48, Z:-0.79 [[ 0.94259095 0.00127038 -0.33394712 -1.22703713] [-0.00620406 0.9998868 -0.01370774 -0.47801227] [ 0.3338919 0.01499262 0.94249213 -0.78921394] [ 0. 0. 0. 1. ]] SLAMing on 425.55463044000004 meters Centerline goodness : 0.092808 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.48, Z:-0.79 [[ 0.94255692 0.00124526 -0.33404326 -1.22717599] [-0.00628483 0.99988216 -0.01400627 -0.475489 ] [ 0.33398645 0.01530111 0.94245367 -0.78880693] [ 0. 0. 0. 1. ]] SLAMing on 425.58463044 meters Centerline goodness : 0.262490 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.47, Z:-0.79 [[ 0.94255464 0.00339101 -0.3340348 -1.22757781] [-0.00819773 0.99988214 -0.01298127 -0.46895615] [ 0.33395141 0.01497388 0.94247135 -0.78873536] [ 0. 0. 0. 1. ]] SLAMing on 425.61463044 meters Centerline goodness : 0.091617 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.47, Z:-0.79 [[ 0.9425948 0.0035492 -0.33391981 -1.22776088] [-0.0084346 0.99987754 -0.01318174 -0.46649997] [ 0.33383213 0.01524152 0.94250931 -0.78894784] [ 0. 0. 0. 1. ]] SLAMing on 425.64463044 meters Centerline goodness : 0.333262 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.45, Z:-0.80 [[ 9.43557850e-01 -8.31838342e-04 -3.31206720e-01 -1.24296104e+00] [-3.28150335e-03 9.99924285e-01 -1.18598548e-02 -4.54847366e-01] [ 3.31191508e-01 1.22773151e-02 9.43483679e-01 -7.96642358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67463044 meters Centerline goodness : 0.098674 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.45, Z:-0.80 [[ 9.43501714e-01 -8.84321492e-04 -3.31366463e-01 -1.24248127e+00] [-3.27953998e-03 9.99922543e-01 -1.20063586e-02 -4.53711725e-01] [ 3.31351414e-01 1.24147495e-02 9.43425733e-01 -7.96584769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70463044 meters Centerline goodness : 0.326690 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.45, Z:-0.79 [[ 0.94306807 -0.00744767 -0.33251638 -1.22392272] [ 0.00411086 0.9999339 -0.01073739 -0.44926197] [ 0.33257437 0.00875916 0.94303635 -0.78873126] [ 0. 0. 0. 1. ]] SLAMing on 425.73463044 meters Centerline goodness : 0.093701 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.45, Z:-0.79 [[ 0.94295501 -0.00729219 -0.33284032 -1.22277332] [ 0.00397573 0.99993545 -0.01064409 -0.44894905] [ 0.33289645 0.00871362 0.94292313 -0.78877449] [ 0. 0. 0. 1. ]] SLAMing on 425.76463044 meters Centerline goodness : 0.094754 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.45, Z:-0.79 [[ 0.94273379 -0.00701645 -0.3334723 -1.22093289] [ 0.00372367 0.99993781 -0.01051236 -0.44829768] [ 0.33352532 0.00866861 0.94270129 -0.78859931] [ 0. 0. 0. 1. ]] SLAMing on 425.79463044 meters Centerline goodness : 0.094754 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.45, Z:-0.79 [[ 0.94273379 -0.00701645 -0.3334723 -1.22093289] [ 0.00372367 0.99993781 -0.01051236 -0.44829768] [ 0.33352532 0.00866861 0.94270129 -0.78859931] [ 0. 0. 0. 1. ]] SLAMing on 425.82463044 meters Centerline goodness : 0.092549 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.45, Z:-0.79 [[ 0.94272555 -0.00701419 -0.33349564 -1.22087658] [ 0.00369563 0.99993716 -0.0105842 -0.44767768] [ 0.33354892 0.00874552 0.94269223 -0.78858019] [ 0. 0. 0. 1. ]] SLAMing on 425.85463044 meters Centerline goodness : 0.316808 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.45, Z:-0.77 [[ 0.94320203 -0.00666044 -0.33215294 -1.18079814] [ 0.00360012 0.99994522 -0.00982809 -0.44860452] [ 0.33220021 0.00807408 0.94317434 -0.77398467] [ 0. 0. 0. 1. ]] SLAMing on 425.88463044 meters Centerline goodness : 0.325484 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.45, Z:-0.78 [[ 9.43292348e-01 8.79288428e-04 -3.31962004e-01 -1.19976783e+00] [-4.76029576e-03 9.99929501e-01 -1.08781249e-02 -4.52083357e-01] [ 3.31929036e-01 1.18414893e-02 9.43230033e-01 -7.81707369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91463044 meters Centerline goodness : 0.089160 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.45, Z:-0.78 [[ 0.94338271 0.00122407 -0.33170404 -1.20045804] [-0.00505187 0.99993023 -0.01067778 -0.4516514 ] [ 0.33166783 0.01174896 0.94332307 -0.78180101] [ 0. 0. 0. 1. ]] SLAMing on 425.94463044 meters Centerline goodness : 0.098495 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.45, Z:-0.77 [[ 0.94363585 -0.00555843 -0.33093881 -1.18281917] [ 0.00264764 0.99995375 -0.0092457 -0.44877975] [ 0.33097489 0.00784836 0.94360692 -0.774687 ] [ 0. 0. 0. 1. ]] SLAMing on 425.97463044 meters Centerline goodness : 0.284932 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.45, Z:-0.78 [[ 0.94371404 0.00142339 -0.33075941 -1.2005478 ] [-0.00522534 0.99993011 -0.01060569 -0.45395562] [ 0.33072119 0.01173707 0.94365552 -0.78245478] [ 0. 0. 0. 1. ]] SLAMing on 426.00463044 meters Centerline goodness : 0.259993 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94370485 0.00138669 -0.33078579 -1.20025859] [-0.00515972 0.99993126 -0.01052843 -0.45532609] [ 0.33074845 0.0116425 0.94364713 -0.78256875] [ 0. 0. 0. 1. ]] SLAMing on 426.03463044 meters Centerline goodness : 0.313656 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94366119 0.0014197 -0.33091017 -1.19966089] [-0.00508118 0.99993507 -0.01020006 -0.45862082] [ 0.3308742 0.01130681 0.94360713 -0.78273954] [ 0. 0. 0. 1. ]] SLAMing on 426.06463044000003 meters Centerline goodness : 0.328299 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94366357 0.00161411 -0.33090249 -1.19982038] [-0.00518469 0.99993747 -0.00990803 -0.46015567] [ 0.33086581 0.01106547 0.94361294 -0.78262474] [ 0. 0. 0. 1. ]] SLAMing on 426.09463044 meters Centerline goodness : 0.323868 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94367423 0.00181247 -0.33087108 -1.19985184] [-0.00529294 0.99993973 -0.00961839 -0.46174249] [ 0.3308337 0.01082791 0.94362695 -0.7826411 ] [ 0. 0. 0. 1. ]] SLAMing on 426.12463044000003 meters Centerline goodness : 0.090942 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94371164 0.00192851 -0.33076368 -1.20014435] [-0.00535369 0.99994107 -0.00944464 -0.46292434] [ 0.33072597 0.01068383 0.94366635 -0.78267934] [ 0. 0. 0. 1. ]] SLAMing on 426.15463044 meters Centerline goodness : 0.302067 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94368508 0.00197623 -0.33083919 -1.20005542] [-0.00539612 0.99994108 -0.00941883 -0.46322276] [ 0.33080108 0.01067366 0.94364014 -0.78251564] [ 0. 0. 0. 1. ]] SLAMing on 426.18463044000003 meters Centerline goodness : 0.318574 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94355781 0.00268213 -0.33119702 -1.198912 ] [-0.00600987 0.99994122 -0.00902388 -0.46314269] [ 0.33115335 0.010505 0.94351847 -0.78244135] [ 0. 0. 0. 1. ]] SLAMing on 426.21463044 meters Centerline goodness : 0.284613 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94347308 0.00291828 -0.33143631 -1.19811955] [-0.00622624 0.99994084 -0.00891929 -0.4626122 ] [ 0.33139068 0.01047871 0.94343543 -0.78243022] [ 0. 0. 0. 1. ]] SLAMing on 426.24463044000004 meters Centerline goodness : 0.087893 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94343236 0.00314916 -0.3315501 -1.19782997] [-0.00642976 0.99994062 -0.00879829 -0.46243514] [ 0.33150271 0.01043238 0.94339659 -0.78237797] [ 0. 0. 0. 1. ]] SLAMing on 426.27463044 meters Centerline goodness : 0.319932 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94347014 0.00335842 -0.33144053 -1.1981392 ] [-0.00663606 0.99993963 -0.00875786 -0.46245435] [ 0.33139111 0.01046224 0.94343546 -0.78234248] [ 0. 0. 0. 1. ]] SLAMing on 426.30463044000004 meters Centerline goodness : 0.319478 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94342678 0.00341655 -0.33156333 -1.19758101] [-0.00669692 0.99993928 -0.00875161 -0.46270654] [ 0.3315133 0.01047696 0.94339237 -0.78243365] [ 0. 0. 0. 1. ]] SLAMing on 426.33463044 meters Centerline goodness : 0.093470 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94334958 0.0035009 -0.33178203 -1.19673552] [-0.00677791 0.99993901 -0.00872034 -0.4626459 ] [ 0.33173127 0.01047512 0.94331577 -0.78251787] [ 0. 0. 0. 1. ]] SLAMing on 426.36463044 meters Centerline goodness : 0.095485 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.46, Z:-0.78 [[ 0.94327536 0.00356305 -0.33199232 -1.19578827] [-0.00684621 0.99993854 -0.00872016 -0.46255628] [ 0.33194084 0.0104984 0.94324178 -0.78272065] [ 0. 0. 0. 1. ]] SLAMing on 426.39463044 meters Centerline goodness : 0.301059 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.46, Z:-0.78 [[ 0.94313521 0.00373712 -0.33238833 -1.19448098] [-0.0070227 0.99993763 -0.00868405 -0.46201073] [ 0.33233515 0.01052449 0.94310264 -0.78271965] [ 0. 0. 0. 1. ]] SLAMing on 426.42463044 meters Centerline goodness : 0.282299 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.46, Z:-0.78 [[ 0.94310206 0.00373102 -0.33248247 -1.19447079] [-0.00703494 0.99993711 -0.00873391 -0.46197258] [ 0.33242897 0.01057596 0.94306899 -0.78251875] [ 0. 0. 0. 1. ]] SLAMing on 426.45463044 meters Centerline goodness : 0.304375 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.46, Z:-0.79 [[ 9.43376494e-01 -2.57530126e-03 -3.31713971e-01 -1.21196023e+00] [ 5.25464570e-05 9.99971012e-01 -7.61395582e-03 -4.58421920e-01] [ 3.31723963e-01 7.16539655e-03 9.43349283e-01 -7.90100046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48463044 meters Centerline goodness : 0.317772 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.46, Z:-0.79 [[ 9.43380530e-01 -2.40000282e-03 -3.31703806e-01 -1.21213947e+00] [-6.87938979e-05 9.99972389e-01 -7.43083234e-03 -4.58949817e-01] [ 3.31712482e-01 7.03292175e-03 9.43354317e-01 -7.89970847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51463044 meters Centerline goodness : 0.281457 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.47, Z:-0.80 [[ 0.94386804 0.00319998 -0.33030724 -1.22819336] [-0.00661467 0.99993567 -0.00921448 -0.46661434] [ 0.33025651 0.01088212 0.94382849 -0.79819433] [ 0. 0. 0. 1. ]] SLAMing on 426.54463044 meters Centerline goodness : 0.327202 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.46, Z:-0.79 [[ 0.94371091 -0.00417169 -0.3307451 -1.20982202] [ 0.00153779 0.99996499 -0.00822479 -0.46460558] [ 0.33076784 0.00725321 0.94368429 -0.79060028] [ 0. 0. 0. 1. ]] SLAMing on 426.57463044 meters Centerline goodness : 0.326820 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.47, Z:-0.79 [[ 0.94366038 -0.00410559 -0.33089007 -1.2095132 ] [ 0.00154993 0.9999669 -0.00798708 -0.46659668] [ 0.33091191 0.00702424 0.94363551 -0.79048599] [ 0. 0. 0. 1. ]] SLAMing on 426.60463044 meters Centerline goodness : 0.107058 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.47, Z:-0.79 [[ 0.94367889 -0.00401403 -0.3308384 -1.20991047] [ 0.00154576 0.99996898 -0.00772343 -0.46848857] [ 0.33085914 0.00677704 0.94365582 -0.79025899] [ 0. 0. 0. 1. ]] SLAMing on 426.63463044 meters Centerline goodness : 0.097607 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.47, Z:-0.79 [[ 0.94388438 -0.00394957 -0.33025244 -1.21208579] [ 0.00164064 0.99997223 -0.00726986 -0.47296152] [ 0.33027198 0.00632008 0.94386465 -0.78996771] [ 0. 0. 0. 1. ]] SLAMing on 426.66463044 meters Centerline goodness : 0.095451 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.48, Z:-0.79 [[ 0.94392006 -0.00395352 -0.33015039 -1.21278212] [ 0.00170346 0.99997331 -0.00710427 -0.47515034] [ 0.33016967 0.00614347 0.94390161 -0.78964952] [ 0. 0. 0. 1. ]] SLAMing on 426.69463044 meters Centerline goodness : 0.323926 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.48, Z:-0.79 [[ 0.94395373 -0.00392381 -0.33005448 -1.21326012] [ 0.00173601 0.99997453 -0.00692309 -0.4772887 ] [ 0.33007324 0.0059621 0.9439365 -0.789513 ] [ 0. 0. 0. 1. ]] SLAMing on 426.72463044 meters Centerline goodness : 0.303694 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.48, Z:-0.79 [[ 0.94400295 -0.00376325 -0.32991555 -1.21343325] [ 0.00165839 0.99997644 -0.0066612 -0.47910491] [ 0.32993284 0.00574107 0.94398695 -0.78972546] [ 0. 0. 0. 1. ]] SLAMing on 426.75463044 meters Centerline goodness : 0.271162 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.48, Z:-0.79 [[ 0.94400644 -0.00318572 -0.32991165 -1.21343671] [ 0.00130452 0.99998161 -0.00592338 -0.48282471] [ 0.32992446 0.00516133 0.94399323 -0.7896797 ] [ 0. 0. 0. 1. ]] SLAMing on 426.78463044 meters Centerline goodness : 0.092542 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.49, Z:-0.79 [[ 0.94399922 -0.00303 -0.32993376 -1.21350375] [ 0.00124612 0.99998344 -0.00561812 -0.48532262] [ 0.32994532 0.00489236 0.94398737 -0.78958122] [ 0. 0. 0. 1. ]] SLAMing on 426.81463044000003 meters Centerline goodness : 0.315791 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.49, Z:-0.79 [[ 9.44018494e-01 -2.87242346e-03 -3.29880028e-01 -1.21382747e+00] [ 1.20925221e-03 9.99985504e-01 -5.24683286e-03 -4.88458330e-01] [ 3.29890317e-01 4.55419910e-03 9.44008283e-01 -7.89498205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84463044 meters Centerline goodness : 0.337405 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.49, Z:-0.79 [[ 9.44038379e-01 -2.59088970e-03 -3.29825447e-01 -1.21418790e+00] [ 1.09812307e-03 9.99988295e-01 -4.71215629e-03 -4.92058254e-01] [ 3.29833795e-01 4.08626745e-03 9.44030174e-01 -7.89324592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.87463044000003 meters Centerline goodness : 0.336766 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.50, Z:-0.79 [[ 9.44098103e-01 -2.21138208e-03 -3.29657218e-01 -1.21470348e+00] [ 9.23898038e-04 9.99991323e-01 -4.06213615e-03 -4.96297434e-01] [ 3.29663340e-01 3.53048538e-03 9.44091954e-01 -7.89314184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90463044 meters Centerline goodness : 0.333055 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.51, Z:-0.79 [[ 9.44252876e-01 -2.22683465e-03 -3.29213529e-01 -1.21504384e+00] [ 1.19013322e-03 9.99993679e-01 -3.35051194e-03 -5.06790296e-01] [ 3.29218909e-01 2.77192258e-03 9.44249557e-01 -7.89988083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93463044000003 meters Centerline goodness : 0.295330 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.51, Z:-0.79 [[ 9.44251013e-01 -1.81094829e-03 -3.29221421e-01 -1.21468903e+00] [ 9.79729565e-04 9.99995900e-01 -2.69068223e-03 -5.10954456e-01] [ 3.29224944e-01 2.21813146e-03 9.44248916e-01 -7.90208973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96463044 meters Centerline goodness : 0.094990 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.51, Z:-0.79 [[ 9.44218518e-01 -1.36563351e-03 -3.29316754e-01 -1.21403229e+00] [ 7.31083399e-04 9.99997630e-01 -2.05069368e-03 -5.14802191e-01] [ 3.29318775e-01 1.69554493e-03 9.44217279e-01 -7.90402475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99463044000004 meters Centerline goodness : 0.317321 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.53, Z:-0.80 [[ 0.94405377 0.00595675 -0.32973777 -1.23048841] [-0.00721992 0.99997054 -0.00260636 -0.52670001] [ 0.32971253 0.00484123 0.94406897 -0.79869571] [ 0. 0. 0. 1. ]] SLAMing on 427.02463044 meters Centerline goodness : 0.324702 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.53, Z:-0.80 [[ 0.94397911 0.00629802 -0.3299451 -1.22963061] [-0.00742741 0.99997008 -0.00216244 -0.52925961] [ 0.3299216 0.00449193 0.94399765 -0.79880806] [ 0. 0. 0. 1. ]] SLAMing on 427.05463044000004 meters Centerline goodness : 0.306760 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.53, Z:-0.80 [[ 0.94392574 0.0065399 -0.33009306 -1.22873697] [-0.0075735 0.99996962 -0.00184529 -0.5311169 ] [ 0.33007096 0.00424178 0.94394659 -0.79913311] [ 0. 0. 0. 1. ]] SLAMing on 427.08463044 meters Centerline goodness : 0.313436 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.53, Z:-0.80 [[ 9.43683867e-01 7.23921730e-03 -3.30769336e-01 -1.22593671e+00] [-8.06384451e-03 9.99966859e-01 -1.12084929e-03 -5.34580687e-01] [ 3.30750260e-01 3.72499989e-03 9.43710967e-01 -7.99518412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11463044 meters Centerline goodness : 0.095308 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.54, Z:-0.81 [[ 9.42856964e-01 7.35814844e-03 -3.33116501e-01 -1.26902761e+00] [-8.19303398e-03 9.99965830e-01 -1.10160299e-03 -5.37804243e-01] [ 3.33097013e-01 3.76788887e-03 9.42885032e-01 -8.14072344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14463044 meters Centerline goodness : 0.322519 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.54, Z:-0.81 [[ 9.42819605e-01 7.66389439e-03 -3.33215330e-01 -1.26870604e+00] [-8.41453729e-03 9.99964269e-01 -8.09597121e-04 -5.38953728e-01] [ 3.33197220e-01 3.56715686e-03 9.42850406e-01 -8.14054596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17463044 meters Centerline goodness : 0.265301 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.54, Z:-0.81 [[ 9.42864083e-01 7.81833407e-03 -3.33085868e-01 -1.26897393e+00] [-8.51494505e-03 9.99963548e-01 -6.31629249e-04 -5.39914796e-01] [ 3.33068788e-01 3.43174839e-03 9.42896286e-01 -8.14164699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20463044 meters Centerline goodness : 0.335626 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.54, Z:-0.81 [[ 9.42815848e-01 8.08450723e-03 -3.33216022e-01 -1.26848106e+00] [-8.67566213e-03 9.99962325e-01 -2.86148038e-04 -5.42020160e-01] [ 3.33201154e-01 3.16065453e-03 9.42850466e-01 -8.14217481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23463044 meters Centerline goodness : 0.095965 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.54, Z:-0.81 [[ 9.42682747e-01 8.18168364e-03 -3.33590016e-01 -1.26732279e+00] [-8.70400754e-03 9.99962117e-01 -7.11773332e-05 -5.43604540e-01] [ 3.33576796e-01 2.97066766e-03 9.42718249e-01 -8.14135100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26463044 meters Centerline goodness : 0.325780 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.55, Z:-0.81 [[ 9.42588362e-01 8.34131591e-03 -3.33852666e-01 -1.26641866e+00] [-8.76778945e-03 9.99961536e-01 2.29378956e-04 -5.45594896e-01] [ 3.33841738e-01 2.71093994e-03 9.42625241e-01 -8.14157365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29463044 meters Centerline goodness : 0.478286 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.55, Z:-0.81 [[ 9.42543345e-01 8.45821627e-03 -3.33976798e-01 -1.26592362e+00] [-8.77946622e-03 9.99961310e-01 5.47527767e-04 -5.48106692e-01] [ 3.33968507e-01 2.41606936e-03 9.42581136e-01 -8.14161476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32463044 meters Centerline goodness : 0.319523 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.55, Z:-0.81 [[ 0.94289359 0.00540821 -0.33305019 -1.26885042] [-0.00622208 0.99997969 -0.00137712 -0.55372842] [ 0.33303598 0.00337074 0.94290809 -0.81442507] [ 0. 0. 0. 1. ]] SLAMing on 427.35463044 meters Centerline goodness : 0.093000 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.56, Z:-0.81 [[ 9.42916835e-01 5.55098673e-03 -3.32982024e-01 -1.26909126e+00] [-6.25127313e-03 9.99979928e-01 -1.03175349e-03 -5.56388230e-01] [ 3.32969613e-01 3.05441931e-03 9.42932610e-01 -8.14382616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38463044 meters Centerline goodness : 0.107219 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.56, Z:-0.83 [[ 9.42255994e-01 4.99789523e-03 -3.34856183e-01 -1.31059584e+00] [-5.68601215e-03 9.99983257e-01 -1.07469266e-03 -5.60736727e-01] [ 3.34845205e-01 2.91663192e-03 9.42268636e-01 -8.29016254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41463044 meters Centerline goodness : 0.097803 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.56, Z:-0.83 [[ 9.42182886e-01 5.24914859e-03 -3.35057988e-01 -1.30979835e+00] [-5.81418124e-03 9.99982864e-01 -6.83354611e-04 -5.62864910e-01] [ 3.35048659e-01 2.59193289e-03 9.42197261e-01 -8.29051659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44463044 meters Centerline goodness : 0.091566 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.56, Z:-0.83 [[ 9.42091494e-01 5.46780249e-03 -3.35311376e-01 -1.30886548e+00] [-5.94763074e-03 9.99982231e-01 -4.04122882e-04 -5.64291053e-01] [ 3.35303209e-01 2.37502898e-03 9.42107275e-01 -8.29077527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47463044 meters Centerline goodness : 0.092988 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.57, Z:-0.83 [[ 9.42082691e-01 5.68183366e-03 -3.35332552e-01 -1.30863294e+00] [-6.08594697e-03 9.99981469e-01 -1.54285455e-04 -5.65934152e-01] [ 3.35325461e-01 2.18616578e-03 9.42099812e-01 -8.29161764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50463044 meters Centerline goodness : 0.090302 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.57, Z:-0.83 [[ 9.42157654e-01 5.84987632e-03 -3.35118984e-01 -1.30926493e+00] [-6.19548286e-03 9.99980807e-01 3.77252509e-05 -5.66873877e-01] [ 3.35112773e-01 2.04068079e-03 9.42175814e-01 -8.29224964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53463044 meters Centerline goodness : 0.323124 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.57, Z:-0.83 [[ 9.42194802e-01 5.97038203e-03 -3.35012401e-01 -1.30978515e+00] [-6.26897519e-03 9.99980332e-01 1.90048968e-04 -5.67734823e-01] [ 3.35006947e-01 1.92112128e-03 9.42213699e-01 -8.29087729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56463044000003 meters Centerline goodness : 0.325786 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.57, Z:-0.83 [[ 9.42243491e-01 6.10694161e-03 -3.34872975e-01 -1.31013136e+00] [-6.35021307e-03 9.99979769e-01 3.68411731e-04 -5.68770899e-01] [ 3.34868451e-01 1.77938119e-03 9.42263209e-01 -8.29167651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59463044 meters Centerline goodness : 0.330820 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.57, Z:-0.83 [[ 9.42230958e-01 6.26958141e-03 -3.34905233e-01 -1.30962340e+00] [-6.38959716e-03 9.99979310e-01 7.43420574e-04 -5.72050498e-01] [ 3.34902964e-01 1.43943564e-03 9.42251523e-01 -8.29407270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62463044000003 meters Centerline goodness : 0.330059 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.57, Z:-0.83 [[ 9.42193749e-01 6.40253301e-03 -3.35007384e-01 -1.30907207e+00] [-6.43673055e-03 9.99978776e-01 1.00818625e-03 -5.73990060e-01] [ 3.35006729e-01 1.20644548e-03 9.42214963e-01 -8.29531947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65463044 meters Centerline goodness : 0.093898 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.58, Z:-0.83 [[ 9.42114024e-01 6.60176044e-03 -3.35227658e-01 -1.30820937e+00] [-6.53319135e-03 9.99977771e-01 1.33223642e-03 -5.76018488e-01] [ 3.35229001e-01 9.34987820e-04 9.42136212e-01 -8.29583316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68463044000003 meters Centerline goodness : 0.323351 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.58, Z:-0.83 [[ 9.42056461e-01 6.76089991e-03 -3.35386217e-01 -1.30766166e+00] [-6.60157819e-03 9.99976905e-01 1.61510626e-03 -5.77858798e-01] [ 3.35389391e-01 6.92557042e-04 9.42079337e-01 -8.29578272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71463044 meters Centerline goodness : 0.323351 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.58, Z:-0.83 [[ 9.42056461e-01 6.76089991e-03 -3.35386217e-01 -1.30766166e+00] [-6.60157819e-03 9.99976905e-01 1.61510626e-03 -5.77858798e-01] [ 3.35389391e-01 6.92557042e-04 9.42079337e-01 -8.29578272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74463044000004 meters Centerline goodness : 0.093667 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.58, Z:-0.83 [[ 9.41964918e-01 6.95145944e-03 -3.35639346e-01 -1.30731140e+00] [-6.65464118e-03 9.99975788e-01 2.03448317e-03 -5.81266099e-01] [ 3.35645363e-01 3.17147643e-04 9.41988370e-01 -8.29193215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77463044 meters Centerline goodness : 0.324050 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.58, Z:-0.83 [[ 9.41946225e-01 7.04515857e-03 -3.35689850e-01 -1.30706494e+00] [-6.68908627e-03 9.99975170e-01 2.21699906e-03 -5.82542237e-01] [ 3.35697134e-01 1.57164467e-04 9.41969962e-01 -8.29238851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80463044000004 meters Centerline goodness : 0.099045 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.58, Z:-0.83 [[ 9.41901491e-01 7.19679297e-03 -3.35812131e-01 -1.30665574e+00] [-6.77488115e-03 9.99974103e-01 2.42795260e-03 -5.83763863e-01] [ 3.35820908e-01 -1.18048964e-05 9.41925856e-01 -8.29204584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83463044 meters Centerline goodness : 0.298014 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.59, Z:-0.84 [[ 0.94193051 0.01403765 -0.33551433 -1.32498109] [-0.01435408 0.99989579 0.00153687 -0.59075746] [ 0.33550094 0.00336838 0.94203385 -0.83687899] [ 0. 0. 0. 1. ]] SLAMing on 427.86463044 meters Centerline goodness : 0.303310 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41831639e-01 7.64579922e-03 -3.35998075e-01 -1.30816698e+00] [-7.17433504e-03 9.99970767e-01 2.64453892e-03 -5.86808608e-01] [ 3.36008472e-01 -8.01476670e-05 9.41858960e-01 -8.28886632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89463044 meters Centerline goodness : 0.091651 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41845628e-01 7.69420698e-03 -3.35957754e-01 -1.30832488e+00] [-7.22014034e-03 9.99970396e-01 2.66022017e-03 -5.86849995e-01] [ 3.35968277e-01 -7.98546090e-05 9.41873299e-01 -8.28871730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92463044 meters Centerline goodness : 0.093264 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41900824e-01 7.72476844e-03 -3.35802271e-01 -1.30883864e+00] [-7.25169514e-03 9.99970161e-01 2.66275837e-03 -5.86818964e-01] [ 3.35812820e-01 -7.29186061e-05 9.41928736e-01 -8.28870508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95463044 meters Centerline goodness : 0.093270 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41999878e-01 7.86944386e-03 -3.35520940e-01 -1.30973806e+00] [-7.39335733e-03 9.99969034e-01 2.69628019e-03 -5.86442347e-01] [ 3.35531768e-01 -5.92694080e-05 9.42028890e-01 -8.28864056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98463044 meters Centerline goodness : 0.091154 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.42000687e-01 7.82150975e-03 -3.35519791e-01 -1.30998124e+00] [-7.36083380e-03 9.99969411e-01 2.64473222e-03 -5.86355013e-01] [ 3.35530213e-01 -2.16341544e-05 9.42029445e-01 -8.28675731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01463044 meters Centerline goodness : 0.089831 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41977405e-01 7.87307112e-03 -3.35583942e-01 -1.31006735e+00] [-7.38684549e-03 9.99969003e-01 2.72535546e-03 -5.86906662e-01] [ 3.35594997e-01 -8.83165384e-05 9.42006364e-01 -8.28445033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04463044 meters Centerline goodness : 0.092535 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41974557e-01 7.83437444e-03 -3.35592844e-01 -1.31058370e+00] [-7.33308833e-03 9.99969301e-01 2.76093882e-03 -5.87630150e-01] [ 3.35604172e-01 -1.39802154e-04 9.42003089e-01 -8.28047490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07463044 meters Centerline goodness : 0.285099 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41971880e-01 7.86531840e-03 -3.35599633e-01 -1.31077082e+00] [-7.33057666e-03 9.99969041e-01 2.86018733e-03 -5.88472096e-01] [ 3.35611740e-01 -2.34077194e-04 9.42000374e-01 -8.27876635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10463044 meters Centerline goodness : 0.092537 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41998090e-01 7.84175664e-03 -3.35526608e-01 -1.31094181e+00] [-7.29562645e-03 9.99969216e-01 2.88814368e-03 -5.88848512e-01] [ 3.35538927e-01 -2.72749040e-04 9.42026302e-01 -8.27882910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13463044 meters Centerline goodness : 0.093387 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41997518e-01 7.85362389e-03 -3.35527937e-01 -1.31095867e+00] [-7.29028647e-03 9.99969108e-01 2.93850200e-03 -5.89218426e-01] [ 3.35540650e-01 -3.21966808e-04 9.42025673e-01 -8.27854241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16463044 meters Centerline goodness : 0.069919 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41927938e-01 7.78890994e-03 -3.35724728e-01 -1.31020826e+00] [-7.23577090e-03 9.99969621e-01 2.89850129e-03 -5.89447972e-01] [ 3.35737105e-01 -3.00952121e-04 9.41955681e-01 -8.27891071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.19463044 meters Centerline goodness : 0.091528 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41853247e-01 7.77877724e-03 -3.35934444e-01 -1.30955900e+00] [-7.22417042e-03 9.99969698e-01 2.90066460e-03 -5.89627412e-01] [ 3.35946828e-01 -3.05152696e-04 9.41880903e-01 -8.27841992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22463044 meters Centerline goodness : 0.092008 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41772705e-01 7.72202120e-03 -3.36161482e-01 -1.30883222e+00] [-7.17435620e-03 9.99970142e-01 2.87117304e-03 -5.89792841e-01] [ 3.36173616e-01 -2.92250183e-04 9.41799986e-01 -8.27788748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.25463044 meters Centerline goodness : 0.324411 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41636652e-01 7.67417979e-03 -3.36543492e-01 -1.30775380e+00] [-7.09592113e-03 9.99970478e-01 2.94812955e-03 -5.90876592e-01] [ 3.36556181e-01 -3.87980761e-04 9.41663309e-01 -8.27564301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28463044 meters Centerline goodness : 0.091512 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41651823e-01 7.68128285e-03 -3.36500879e-01 -1.30788871e+00] [-7.06684328e-03 9.99970376e-01 3.05065903e-03 -5.91870968e-01] [ 3.36514344e-01 -4.94659665e-04 9.41678210e-01 -8.27547489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.31463044000003 meters Centerline goodness : 0.323451 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41672984e-01 7.78960461e-03 -3.36439168e-01 -1.30835790e+00] [-7.11177494e-03 9.99969440e-01 3.24694723e-03 -5.93042798e-01] [ 3.36454179e-01 -6.64882835e-04 9.41699604e-01 -8.27276640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34463044 meters Centerline goodness : 0.326190 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.59, Z:-0.83 [[ 9.41710297e-01 7.87496920e-03 -3.36332723e-01 -1.30903760e+00] [-7.13672509e-03 9.99968647e-01 3.43111063e-03 -5.94234555e-01] [ 3.36349198e-01 -8.30798030e-04 9.41736973e-01 -8.26967899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.37463044000003 meters Centerline goodness : 0.090833 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41730388e-01 7.83685307e-03 -3.36277354e-01 -1.30939012e+00] [-7.03835959e-03 9.99968774e-01 3.59337679e-03 -5.96471118e-01] [ 3.36295015e-01 -1.01715118e-03 9.41756141e-01 -8.26794163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40463044 meters Centerline goodness : 0.091906 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41665557e-01 7.86516955e-03 -3.36458196e-01 -1.30882651e+00] [-7.03102892e-03 9.99968446e-01 3.69746859e-03 -5.97439434e-01] [ 3.36476661e-01 -1.11613151e-03 9.41691144e-01 -8.26719566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43463044000003 meters Centerline goodness : 0.090369 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41596527e-01 7.96547176e-03 -3.36648975e-01 -1.30832839e+00] [-7.08704178e-03 9.99967521e-01 3.83806047e-03 -5.98247459e-01] [ 3.36668613e-01 -1.22805906e-03 9.41622396e-01 -8.26581761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46463044 meters Centerline goodness : 0.090178 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 0.94157642 0.00807347 -0.33670264 -1.30819888] [-0.00715766 0.99996654 0.00396112 -0.59872592] [ 0.33672335 -0.0013197 0.9416027 -0.82651509] [ 0. 0. 0. 1. ]] SLAMing on 428.49463044000004 meters Centerline goodness : 0.323160 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 0.94157142 0.00811653 -0.33671559 -1.30806918] [-0.00719747 0.99996619 0.0039776 -0.59878513] [ 0.33673649 -0.00132169 0.941598 -0.82655343] [ 0. 0. 0. 1. ]] SLAMing on 428.52463044 meters Centerline goodness : 0.089836 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41637475e-01 8.25527755e-03 -3.36527437e-01 -1.30844729e+00] [-7.33872998e-03 9.99965089e-01 3.99541324e-03 -5.98440090e-01] [ 3.36548672e-01 -1.29254685e-03 9.41665185e-01 -8.26705535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55463044000004 meters Centerline goodness : 0.089853 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41637019e-01 8.25867377e-03 -3.36528629e-01 -1.30837778e+00] [-7.36690747e-03 9.99965154e-01 3.92665907e-03 -5.97961848e-01] [ 3.36549331e-01 -1.21831227e-03 9.41665048e-01 -8.26750019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58463044 meters Centerline goodness : 0.087838 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41561613e-01 8.30111820e-03 -3.36738506e-01 -1.30787937e+00] [-7.42785032e-03 9.99964880e-01 3.88149238e-03 -5.97198689e-01] [ 3.36758900e-01 -1.15342101e-03 9.41590204e-01 -8.26568679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61463044 meters Centerline goodness : 0.076079 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41520851e-01 8.32532357e-03 -3.36851861e-01 -1.30743229e+00] [-7.47166953e-03 9.99964750e-01 3.83045961e-03 -5.96633329e-01] [ 3.36871877e-01 -1.08961181e-03 9.41549867e-01 -8.26607883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64463044 meters Centerline goodness : 0.326011 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41486177e-01 8.36986987e-03 -3.36947657e-01 -1.30735546e+00] [-7.51378808e-03 9.99964380e-01 3.84464497e-03 -5.96633559e-01] [ 3.36967834e-01 -1.08792681e-03 9.41515531e-01 -8.26432364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67463044 meters Centerline goodness : 0.090677 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41530596e-01 8.28675988e-03 -3.36825573e-01 -1.30805204e+00] [-7.43197784e-03 9.99965059e-01 3.82701290e-03 -5.97444440e-01] [ 3.36845517e-01 -1.09996955e-03 9.41559285e-01 -8.26107340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70463044 meters Centerline goodness : 0.090295 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.60, Z:-0.83 [[ 9.41587945e-01 8.21235239e-03 -3.36667044e-01 -1.30842580e+00] [-7.36067226e-03 9.99965667e-01 3.80598630e-03 -5.97937680e-01] [ 3.36686741e-01 -1.10557505e-03 9.41616066e-01 -8.26186580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73463044 meters Centerline goodness : 0.089231 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 0.94107609 0.00783755 -0.33810406 -1.35135291] [-0.0069127 0.99996835 0.00393939 -0.60148555] [ 0.33812424 -0.00137006 0.94110049 -0.84090778] [ 0. 0. 0. 1. ]] SLAMing on 428.76463044 meters Centerline goodness : 0.331899 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 0.9410293 0.00786818 -0.33823357 -1.35085846] [-0.00693475 0.99996808 0.00396805 -0.60166326] [ 0.338254 -0.00138849 0.94105383 -0.84090756] [ 0. 0. 0. 1. ]] SLAMing on 428.79463044 meters Centerline goodness : 0.090320 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 0.94095299 0.00788649 -0.33844539 -1.34976114] [-0.00695123 0.99996794 0.0039754 -0.60171787] [ 0.33846589 -0.00138805 0.94097764 -0.84118918] [ 0. 0. 0. 1. ]] SLAMing on 428.82463044 meters Centerline goodness : 0.090620 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 9.40872739e-01 7.84507383e-03 -3.38669373e-01 -1.34874122e+00] [-6.92671111e-03 9.99968326e-01 3.92025911e-03 -6.01751453e-01] [ 3.38689400e-01 -1.34260003e-03 9.40897278e-01 -8.41377828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85463044 meters Centerline goodness : 0.090437 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 9.40806063e-01 7.74919658e-03 -3.38856758e-01 -1.34808436e+00] [-6.86488335e-03 9.99969185e-01 3.80819885e-03 -6.01878724e-01] [ 3.38875827e-01 -1.25656445e-03 9.40830269e-01 -8.41402855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88463044 meters Centerline goodness : 0.091909 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 9.40836532e-01 7.70394098e-03 -3.38773182e-01 -1.34855415e+00] [-6.82698215e-03 9.99969551e-01 3.78020534e-03 -6.02185493e-01] [ 3.38791989e-01 -1.24375682e-03 9.40860479e-01 -8.41216265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91463044 meters Centerline goodness : 0.092552 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 9.40886775e-01 7.73580709e-03 -3.38632889e-01 -1.34913529e+00] [-6.83486245e-03 9.99969219e-01 3.85295501e-03 -6.02756883e-01] [ 3.38652271e-01 -1.31068519e-03 9.40910687e-01 -8.41074565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94463044 meters Centerline goodness : 0.092807 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 0.9408946 0.00776836 -0.33861039 -1.34888697] [-0.0068444 0.99996888 0.00392268 -0.60340766] [ 0.33863033 -0.00137325 0.94091849 -0.84127544] [ 0. 0. 0. 1. ]] SLAMing on 428.97463044 meters Centerline goodness : 0.092684 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.84 [[ 0.94085338 0.00781289 -0.33872388 -1.34819208] [-0.00685544 0.99996841 0.00402297 -0.604206 ] [ 0.33874461 -0.00146292 0.94087722 -0.84146167] [ 0. 0. 0. 1. ]] SLAMing on 429.00463044 meters Centerline goodness : 0.080319 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.84 [[ 0.94085569 0.00784106 -0.33871684 -1.34755721] [-0.00684872 0.99996804 0.00412483 -0.60552074] [ 0.33873836 -0.00156109 0.94087932 -0.84192398] [ 0. 0. 0. 1. ]] SLAMing on 429.03463044 meters Centerline goodness : 0.087474 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.84 [[ 0.94087984 0.00796766 -0.33864678 -1.34783142] [-0.00692637 0.99996684 0.00428329 -0.60627184] [ 0.33866968 -0.00168447 0.94090383 -0.8418589 ] [ 0. 0. 0. 1. ]] SLAMing on 429.06463044000003 meters Centerline goodness : 0.094582 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.84 [[ 0.94088208 0.00800818 -0.33863959 -1.34781129] [-0.00694066 0.99996639 0.00436324 -0.60687776] [ 0.33866316 -0.00175491 0.94090605 -0.84186572] [ 0. 0. 0. 1. ]] SLAMing on 429.09463044 meters Centerline goodness : 0.088864 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.84 [[ 0.94082354 0.00803289 -0.33880163 -1.34720408] [-0.00694525 0.9999661 0.00442253 -0.60742583] [ 0.33882567 -0.00180776 0.94084744 -0.84189682] [ 0. 0. 0. 1. ]] SLAMing on 429.12463044000003 meters Centerline goodness : 0.326091 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.84 [[ 0.94065434 0.00785253 -0.33927532 -1.34514434] [-0.00677942 0.99996757 0.00434803 -0.6083132 ] [ 0.33929846 -0.00178991 0.94067707 -0.84216158] [ 0. 0. 0. 1. ]] SLAMing on 429.15463044 meters Centerline goodness : 0.089039 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94062825 0.00790228 -0.33934651 -1.34479976] [-0.00679931 0.99996703 0.00443911 -0.60885525] [ 0.3393704 -0.00186823 0.94065097 -0.84223461] [ 0. 0. 0. 1. ]] SLAMing on 429.18463044000003 meters Centerline goodness : 0.095196 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94062211 0.0080051 -0.33936112 -1.34482039] [-0.0068684 0.99996606 0.0045505 -0.60913322] [ 0.33938603 -0.00194943 0.94064516 -0.84210924] [ 0. 0. 0. 1. ]] SLAMing on 429.21463044 meters Centerline goodness : 0.090133 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.84 [[ 0.94062714 0.00803228 -0.33934652 -1.34505353] [-0.00689096 0.99996582 0.00456813 -0.60918519] [ 0.33937161 -0.00195849 0.94065035 -0.84196971] [ 0. 0. 0. 1. ]] SLAMing on 429.24463044000004 meters Centerline goodness : 0.286062 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94062255 0.00795404 -0.33936109 -1.34497712] [-0.00683239 0.99996653 0.00449986 -0.60925348] [ 0.33938552 -0.00191402 0.94064542 -0.8419581 ] [ 0. 0. 0. 1. ]] SLAMing on 429.27463044 meters Centerline goodness : 0.323745 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94048727 0.00758997 -0.33974414 -1.34354169] [-0.00657654 0.99996983 0.00413426 -0.60867967] [ 0.33976527 -0.00165388 0.94050881 -0.84204242] [ 0. 0. 0. 1. ]] SLAMing on 429.30463044000004 meters Centerline goodness : 0.319825 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94038237 0.00754481 -0.34003541 -1.34241856] [-0.00654727 0.99997024 0.00408089 -0.60843529] [ 0.34005608 -0.00161129 0.94040378 -0.84214244] [ 0. 0. 0. 1. ]] SLAMing on 429.33463044 meters Centerline goodness : 0.093395 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94033116 0.00758502 -0.34017609 -1.34181023] [-0.00658057 0.99996992 0.00410634 -0.60830584] [ 0.340197 -0.00162277 0.94035279 -0.84222114] [ 0. 0. 0. 1. ]] SLAMing on 429.36463044 meters Centerline goodness : 0.323591 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94036558 0.00767198 -0.34007899 -1.34184307] [-0.00664611 0.99996917 0.0041813 -0.60838823] [ 0.34010059 -0.00167175 0.94038758 -0.84238748] [ 0. 0. 0. 1. ]] SLAMing on 429.39463044 meters Centerline goodness : 0.333440 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94045229 0.00746488 -0.33984374 -1.34299647] [-0.0064959 0.99997095 0.00398883 -0.60820125] [ 0.33986364 -0.00154372 0.94047346 -0.84211144] [ 0. 0. 0. 1. ]] SLAMing on 429.42463044 meters Centerline goodness : 0.327059 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 0.94044177 0.00731346 -0.33987615 -1.34292936] [-0.00640083 0.99997227 0.00380623 -0.6076671 ] [ 0.33989456 -0.00140405 0.9404625 -0.84205699] [ 0. 0. 0. 1. ]] SLAMing on 429.45463044 meters Centerline goodness : 0.088231 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 9.40400714e-01 7.20809357e-03 -3.39991970e-01 -1.34232569e+00] [-6.35913813e-03 9.99973260e-01 3.61115230e-03 -6.06543412e-01] [ 3.40008908e-01 -1.23387430e-03 9.40421405e-01 -8.42230720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48463044 meters Centerline goodness : 0.114856 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.61, Z:-0.84 [[ 9.40364846e-01 7.20002455e-03 -3.40091335e-01 -1.34171026e+00] [-6.39341043e-03 9.99973464e-01 3.49228267e-03 -6.05367313e-01] [ 3.40107455e-01 -1.10967637e-03 9.40385925e-01 -8.42452275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51463044 meters Centerline goodness : 0.087847 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.60, Z:-0.84 [[ 9.40361733e-01 7.16643708e-03 -3.40100652e-01 -1.34141241e+00] [-6.44823875e-03 9.99973955e-01 3.24190341e-03 -6.03194357e-01] [ 3.40115027e-01 -8.55511706e-04 9.40383452e-01 -8.42673747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54463044 meters Centerline goodness : 0.087693 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.60, Z:-0.84 [[ 9.40381455e-01 7.01808246e-03 -3.40049211e-01 -1.34161357e+00] [-6.37914376e-03 9.99975162e-01 2.99685935e-03 -6.01845366e-01] [ 3.40061797e-01 -6.48968151e-04 9.40402867e-01 -8.42680805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57463044 meters Centerline goodness : 0.096187 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.60, Z:-0.84 [[ 9.40398550e-01 6.94573841e-03 -3.40003417e-01 -1.34184027e+00] [-6.36558933e-03 9.99975758e-01 2.82167476e-03 -6.00614553e-01] [ 3.40014773e-01 -4.89176737e-04 9.40419967e-01 -8.42652536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60463044 meters Centerline goodness : 0.096187 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.60, Z:-0.84 [[ 9.40398550e-01 6.94573841e-03 -3.40003417e-01 -1.34184027e+00] [-6.36558933e-03 9.99975758e-01 2.82167476e-03 -6.00614553e-01] [ 3.40014773e-01 -4.89176737e-04 9.40419967e-01 -8.42652536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63463044 meters Centerline goodness : 0.095388 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.60, Z:-0.84 [[ 9.40439139e-01 6.83982459e-03 -3.39893283e-01 -1.34213627e+00] [-6.32187485e-03 9.99976555e-01 2.63119555e-03 -5.99528011e-01] [ 3.39903311e-01 -3.25716481e-04 9.40460331e-01 -8.42707486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66463044 meters Centerline goodness : 0.084546 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.60, Z:-0.84 [[ 9.40446291e-01 6.59555287e-03 -3.39878319e-01 -1.34243826e+00] [-6.17227014e-03 9.99978245e-01 2.32648207e-03 -5.98288938e-01] [ 3.39886269e-01 -9.01106364e-05 9.40466542e-01 -8.42521829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.69463044 meters Centerline goodness : 0.118718 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.60, Z:-0.85 [[ 9.41034636e-01 1.15364269e-02 -3.38113480e-01 -1.35622972e+00] [-1.19559766e-02 9.99928170e-01 8.41759173e-04 -6.03601027e-01] [ 3.38098905e-01 3.25035233e-03 9.41104971e-01 -8.50579758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72463044 meters Centerline goodness : 0.053044 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.60, Z:-0.85 [[ 9.41017078e-01 1.14435999e-02 -3.38165498e-01 -1.35591956e+00] [-1.18814289e-02 9.99929113e-01 7.75245327e-04 -6.03515737e-01] [ 3.38150398e-01 3.28837022e-03 9.41086338e-01 -8.50652579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.75463044 meters Centerline goodness : 0.087293 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.60, Z:-0.85 [[ 9.40906952e-01 1.13525253e-02 -3.38474857e-01 -1.35508715e+00] [-1.18114202e-02 9.99929995e-01 7.03990815e-04 -6.03356664e-01] [ 3.38459154e-01 3.33547892e-03 9.40975173e-01 -8.50479647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78463044 meters Centerline goodness : 0.088336 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40823328e-01 1.12225294e-02 -3.38711559e-01 -1.35423126e+00] [-1.17194921e-02 9.99931157e-01 5.78029565e-04 -6.03021894e-01] [ 3.38694728e-01 3.42570373e-03 9.40890082e-01 -8.50514183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.81463044000003 meters Centerline goodness : 0.329628 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40690064e-01 1.09739939e-02 -3.39089626e-01 -1.35326937e+00] [-1.15312211e-02 9.99933444e-01 3.71460722e-04 -6.02510408e-01] [ 3.39071134e-01 3.56068802e-03 9.40754000e-01 -8.50267812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84463044 meters Centerline goodness : 0.085061 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40707087e-01 1.08040682e-02 -3.39047856e-01 -1.35378207e+00] [-1.13908224e-02 9.99935089e-01 2.59372159e-04 -6.02508726e-01] [ 3.39028650e-01 3.61804069e-03 9.40769092e-01 -8.49954380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.87463044000003 meters Centerline goodness : 0.284654 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40698478e-01 1.06817086e-02 -3.39075618e-01 -1.35423162e+00] [-1.12858088e-02 9.99936295e-01 1.90178617e-04 -6.02557403e-01] [ 3.39056049e-01 3.64784186e-03 9.40759103e-01 -8.49528922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90463044 meters Centerline goodness : 0.088022 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40740793e-01 1.06174088e-02 -3.38960221e-01 -1.35473191e+00] [-1.12209947e-02 9.99937027e-01 1.79055756e-04 -6.02614903e-01] [ 3.38940777e-01 3.63502578e-03 9.40800689e-01 -8.49420501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93463044000003 meters Centerline goodness : 0.088572 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40788236e-01 1.04454792e-02 -3.38833865e-01 -1.35478494e+00] [-1.10862091e-02 9.99938545e-01 4.44529887e-05 -6.02148985e-01] [ 3.38813506e-01 3.71456222e-03 9.40846220e-01 -8.49612106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96463044 meters Centerline goodness : 0.089466 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40794443e-01 1.02639865e-02 -3.38822176e-01 -1.35474648e+00] [-1.09523116e-02 9.99940014e-01 -1.19540790e-04 -6.01952247e-01] [ 3.38800625e-01 3.82334935e-03 9.40850423e-01 -8.49595766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99463044000004 meters Centerline goodness : 0.089682 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40797459e-01 1.01475323e-02 -3.38817310e-01 -1.35484264e+00] [-1.08632077e-02 9.99940970e-01 -2.15882896e-04 -6.01788357e-01] [ 3.38795119e-01 3.88374489e-03 9.40852158e-01 -8.49480722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02463044 meters Centerline goodness : 0.089593 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40762598e-01 1.00402308e-02 -3.38917287e-01 -1.35466551e+00] [-1.07899503e-02 9.99941733e-01 -3.27914401e-04 -6.01299786e-01] [ 3.38894247e-01 3.96539027e-03 9.40816116e-01 -8.49343502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05463044000004 meters Centerline goodness : 0.089164 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40721337e-01 1.00111286e-02 -3.39032657e-01 -1.35436853e+00] [-1.07592740e-02 9.99942064e-01 -3.27195636e-04 -6.01005647e-01] [ 3.39009740e-01 3.95554516e-03 9.40774548e-01 -8.49235177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08463044 meters Centerline goodness : 0.092900 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40724312e-01 9.85298828e-03 -3.39029037e-01 -1.35442166e+00] [-1.06262701e-02 9.99943449e-01 -4.24623088e-04 -6.01324247e-01] [ 3.39005681e-01 4.00206739e-03 9.40775814e-01 -8.49130715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11463044 meters Centerline goodness : 0.238382 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40755154e-01 9.67649853e-03 -3.38948530e-01 -1.35459595e+00] [-1.04755374e-02 9.99944991e-01 -5.27954865e-04 -6.01672181e-01] [ 3.38924776e-01 4.04734425e-03 9.40804770e-01 -8.49127326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14463044 meters Centerline goodness : 0.405041 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40767864e-01 9.62192760e-03 -3.38914805e-01 -1.35460363e+00] [-1.04205560e-02 9.99945560e-01 -5.36773198e-04 -6.02026122e-01] [ 3.38891190e-01 4.03665967e-03 9.40816915e-01 -8.49138225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17463044 meters Centerline goodness : 0.336644 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40786832e-01 9.66615338e-03 -3.38860889e-01 -1.35470577e+00] [-1.04381746e-02 9.99945417e-01 -4.55855039e-04 -6.02433865e-01] [ 3.38837987e-01 3.96595155e-03 9.40836378e-01 -8.49168386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20463044 meters Centerline goodness : 0.088741 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.60, Z:-0.85 [[ 9.40746982e-01 9.70630650e-03 -3.38970358e-01 -1.35434940e+00] [-1.04107987e-02 9.99945772e-01 -2.60044354e-04 -6.04322370e-01] [ 3.38949452e-01 3.77358811e-03 9.40797018e-01 -8.49059238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23463044 meters Centerline goodness : 0.335371 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.85 [[ 9.40682346e-01 9.63235422e-03 -3.39151797e-01 -1.35384288e+00] [-1.03111319e-02 9.99946819e-01 -1.99491236e-04 -6.05834737e-01] [ 3.39131839e-01 3.68469681e-03 9.40731640e-01 -8.48976387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26463044 meters Centerline goodness : 0.484545 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.85 [[ 9.40602465e-01 9.62103148e-03 -3.39373596e-01 -1.35313251e+00] [-1.02448231e-02 9.99947519e-01 -4.64955109e-05 -6.07691119e-01] [ 3.39355338e-01 3.52055626e-03 9.40651668e-01 -8.48891993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29463044 meters Centerline goodness : 0.340612 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.61, Z:-0.85 [[ 9.40501512e-01 9.79670498e-03 -3.39648244e-01 -1.35216427e+00] [-1.03116089e-02 9.99946792e-01 2.88828197e-04 -6.09875779e-01] [ 3.39633002e-01 3.23067649e-03 9.40552490e-01 -8.48872576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 430.35463044 meters Centerline goodness : 0.088349 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.62, Z:-0.85 [[ 0.94047972 0.00639875 -0.33978956 -1.3509334 ] [-0.00742507 0.99997095 -0.00172037 -0.61675776] [ 0.33976868 0.00414093 0.94049992 -0.84925017] [ 0. 0. 0. 1. ]] SLAMing on 430.38463044 meters Centerline goodness : 0.092025 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.62, Z:-0.85 [[ 0.94046882 0.00648578 -0.33981808 -1.35087595] [-0.0074141 0.99997149 -0.00143353 -0.6195099 ] [ 0.33979909 0.00386763 0.94049009 -0.84916734] [ 0. 0. 0. 1. ]] SLAMing on 430.41463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 430.44463044 meters Centerline goodness : 0.297067 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.63, Z:-0.85 [[ 9.40358047e-01 6.00183573e-03 -3.40133387e-01 -1.34995389e+00] [-6.84110066e-03 9.99975795e-01 -1.26830715e-03 -6.28514013e-01] [ 3.40117542e-01 3.51954957e-03 9.40376345e-01 -8.49040579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47463044 meters Centerline goodness : 0.087705 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.63, Z:-0.85 [[ 9.40283320e-01 6.22480682e-03 -3.40335907e-01 -1.34940447e+00] [-6.95656537e-03 9.99975370e-01 -9.29930916e-04 -6.30642695e-01] [ 3.40321736e-01 3.24196752e-03 9.40303465e-01 -8.48912666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50463044 meters Centerline goodness : 0.087758 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.63, Z:-0.85 [[ 9.40246675e-01 6.39335566e-03 -3.40434009e-01 -1.34894056e+00] [-7.04962145e-03 9.99974912e-01 -6.90847147e-04 -6.32261849e-01] [ 3.40421051e-01 3.04949762e-03 9.40268158e-01 -8.48948513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53463044 meters Centerline goodness : 0.087651 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.63, Z:-0.85 [[ 9.40233233e-01 6.63304272e-03 -3.40466548e-01 -1.34918460e+00] [-7.18371781e-03 9.99974133e-01 -3.56860529e-04 -6.34257966e-01] [ 3.40455374e-01 2.78134773e-03 9.40256562e-01 -8.48641215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56463044000003 meters Centerline goodness : 0.145220 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.64, Z:-0.85 [[ 9.40240007e-01 6.92715340e-03 -3.40441984e-01 -1.34959922e+00] [-7.35882160e-03 9.99972923e-01 2.32267631e-05 -6.36340223e-01] [ 3.40432927e-01 2.48341309e-03 9.40265524e-01 -8.48390711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59463044 meters Centerline goodness : 0.074521 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.64, Z:-0.85 [[ 9.40237838e-01 7.18312824e-03 -3.40442667e-01 -1.34985217e+00] [-7.49348067e-03 9.99971842e-01 4.03215922e-04 -6.38615079e-01] [ 3.40435978e-01 2.17198168e-03 9.40265190e-01 -8.48186370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62463044000003 meters Centerline goodness : 0.070001 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.65, Z:-0.84 [[ 0.94023107 0.01262866 -0.34030288 -1.32965838] [-0.01407367 0.99989938 -0.00177816 -0.64523244] [ 0.34024618 0.00646119 0.9403142 -0.84046802] [ 0. 0. 0. 1. ]] SLAMing on 430.65463044 meters Centerline goodness : 0.079313 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.64, Z:-0.85 [[ 9.40058408e-01 5.18981379e-03 -3.40973980e-01 -1.34804571e+00] [-5.74116969e-03 9.99983335e-01 -6.07986389e-04 -6.44686257e-01] [ 3.40965142e-01 2.52913219e-03 9.40072537e-01 -8.47787775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68463044000003 meters Centerline goodness : 0.090467 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.65, Z:-0.85 [[ 9.40056069e-01 5.42696002e-03 -3.40976737e-01 -1.34812221e+00] [-5.86768853e-03 9.99982751e-01 -2.61278247e-04 -6.46779307e-01] [ 3.40969438e-01 2.24636149e-03 9.40071698e-01 -8.47700959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71463044 meters Centerline goodness : 0.075158 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.65, Z:-0.85 [[ 9.40031473e-01 5.92211199e-03 -3.41036299e-01 -1.34830512e+00] [-6.19986391e-03 9.99980743e-01 2.75427389e-04 -6.49177281e-01] [ 3.41031363e-01 1.85546823e-03 9.40050087e-01 -8.47344339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74463044000004 meters Centerline goodness : 0.069698 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.65, Z:-0.85 [[ 9.40012689e-01 6.02872627e-03 -3.41086205e-01 -1.34827934e+00] [-6.28033062e-03 9.99980211e-01 3.66524616e-04 -6.49583016e-01] [ 3.41081665e-01 1.79759635e-03 9.40031950e-01 -8.47223364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77463044 meters Centerline goodness : 0.092508 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.65, Z:-0.85 [[ 9.39976024e-01 6.14564997e-03 -3.41185149e-01 -1.34817214e+00] [-6.38216009e-03 9.99979542e-01 4.29229646e-04 -6.49604377e-01] [ 3.41180807e-01 1.77403267e-03 9.39996016e-01 -8.47040088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80463044000004 meters Centerline goodness : 0.250946 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.65, Z:-0.85 [[ 9.39932004e-01 6.12374487e-03 -3.41306793e-01 -1.34805908e+00] [-6.37401968e-03 9.99979610e-01 3.88140281e-04 -6.49599930e-01] [ 3.41302211e-01 1.81067074e-03 9.39951872e-01 -8.46848087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83463044 meters Centerline goodness : 0.087495 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.65, Z:-0.84 [[ 9.40114888e-01 1.30253993e-02 -3.40608772e-01 -1.33027718e+00] [-1.42651416e-02 9.99897603e-01 -1.13563264e-03 -6.51718980e-01] [ 3.40559103e-01 5.92645752e-03 9.40204432e-01 -8.39211883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86463044 meters Centerline goodness : 0.090586 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.65, Z:-0.84 [[ 9.40168871e-01 1.30107864e-02 -3.40460298e-01 -1.33093321e+00] [-1.42450562e-02 9.99897900e-01 -1.12582994e-03 -6.52317081e-01] [ 3.40410889e-01 5.90834634e-03 9.40258219e-01 -8.39075537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89463044 meters Centerline goodness : 0.311889 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.65, Z:-0.84 [[ 9.40166621e-01 1.29701181e-02 -3.40468060e-01 -1.33106800e+00] [-1.42072032e-02 9.99898422e-01 -1.14059939e-03 -6.52644136e-01] [ 3.40418682e-01 5.90945239e-03 9.40255390e-01 -8.38906990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92463044 meters Centerline goodness : 0.088382 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.65, Z:-0.84 [[ 9.40118918e-01 1.29996549e-02 -3.40598632e-01 -1.33083855e+00] [-1.42130417e-02 9.99898420e-01 -1.06757632e-03 -6.53341223e-01] [ 3.40550156e-01 5.84459126e-03 9.40208185e-01 -8.38715523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95463044 meters Centerline goodness : 0.299441 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.65, Z:-0.84 [[ 9.40079797e-01 1.29816835e-02 -3.40707281e-01 -1.33038177e+00] [-1.41752882e-02 9.99899011e-01 -1.01415363e-03 -6.53923406e-01] [ 3.40659708e-01 5.78300923e-03 9.40168878e-01 -8.38698662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98463044 meters Centerline goodness : 0.309639 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.65, Z:-0.84 [[ 9.40038401e-01 1.29696679e-02 -3.40821937e-01 -1.32998430e+00] [-1.41358977e-02 9.99899643e-01 -9.38672877e-04 -6.54862267e-01] [ 3.40775559e-01 5.70021258e-03 9.40127399e-01 -8.38669305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01463044 meters Centerline goodness : 0.088288 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.94009123 0.00855025 -0.34081575 -1.32979944] [-0.01063706 0.99993437 -0.00425486 -0.65614132] [ 0.340757 0.00762523 0.94012048 -0.83888596] [ 0. 0. 0. 1. ]] SLAMing on 431.04463044 meters Centerline goodness : 0.336843 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.9400084 0.00860655 -0.34104271 -1.3292832 ] [-0.01062148 0.99993542 -0.00404138 -0.65784017] [ 0.3409859 0.0074213 0.94003911 -0.83867755] [ 0. 0. 0. 1. ]] SLAMing on 431.07463044 meters Centerline goodness : 0.087508 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93998679 0.00873965 -0.3410989 -1.32916725] [-0.01065654 0.9999362 -0.00374646 -0.65972042] [ 0.3410444 0.00715655 0.94001995 -0.83856298] [ 0. 0. 0. 1. ]] SLAMing on 431.10463044 meters Centerline goodness : 0.088699 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93996106 0.0088939 -0.3411658 -1.32895911] [-0.01071088 0.99993671 -0.00344254 -0.66160842] [ 0.34111359 0.00689004 0.93999683 -0.83847541] [ 0. 0. 0. 1. ]] SLAMing on 431.13463044 meters Centerline goodness : 0.338778 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93990311 0.00875024 -0.34132913 -1.32877366] [-0.01050001 0.9999395 -0.00327917 -0.66478407] [ 0.34127979 0.00666606 0.93993812 -0.83808873] [ 0. 0. 0. 1. ]] SLAMing on 431.16463044 meters Centerline goodness : 0.335308 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.67, Z:-0.84 [[ 0.9398351 0.00867322 -0.34151831 -1.32833658] [-0.01042291 0.99994027 -0.0032886 -0.66556197] [ 0.34146939 0.00665036 0.93986937 -0.83787891] [ 0. 0. 0. 1. ]] SLAMing on 431.19463044 meters Centerline goodness : 0.089417 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.67, Z:-0.84 [[ 0.93982679 0.0086775 -0.34154107 -1.32800541] [-0.01041782 0.99994041 -0.00326156 -0.66594322] [ 0.34149242 0.00662342 0.93986119 -0.83802536] [ 0. 0. 0. 1. ]] SLAMing on 431.22463044 meters Centerline goodness : 0.340841 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.67, Z:-0.84 [[ 0.93980262 0.00873531 -0.34160611 -1.32752775] [-0.01047156 0.99993993 -0.00323886 -0.66585259] [ 0.34155729 0.00662104 0.93983763 -0.8381907 ] [ 0. 0. 0. 1. ]] SLAMing on 431.25463044 meters Centerline goodness : 0.335194 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93977248 0.0088311 -0.34168656 -1.32689071] [-0.01061397 0.99993806 -0.0033486 -0.66421484] [ 0.34163583 0.00677357 0.939808 -0.83839256] [ 0. 0. 0. 1. ]] SLAMing on 431.28463044 meters Centerline goodness : 0.338413 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93973831 0.00870638 -0.34178372 -1.32652405] [-0.01055391 0.99993802 -0.00354633 -0.66323928] [ 0.34173166 0.00693978 0.93977195 -0.83841504] [ 0. 0. 0. 1. ]] SLAMing on 431.31463044000003 meters Centerline goodness : 0.092272 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93972756 0.008607 -0.3418158 -1.32654188] [-0.01050434 0.99993798 -0.00370012 -0.66246225] [ 0.34176276 0.00706765 0.93975969 -0.83828499] [ 0. 0. 0. 1. ]] SLAMing on 431.34463044 meters Centerline goodness : 0.335234 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93972591 0.00859946 -0.34182053 -1.32660815] [-0.01051178 0.99993775 -0.0037425 -0.66212655] [ 0.34176706 0.00711006 0.9397578 -0.83814734] [ 0. 0. 0. 1. ]] SLAMing on 431.37463044000003 meters Centerline goodness : 0.087740 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.93984059 0.00852331 -0.34150699 -1.32753585] [-0.01041689 0.99993886 -0.0037113 -0.66268124] [ 0.34145447 0.00704547 0.93987191 -0.83817589] [ 0. 0. 0. 1. ]] SLAMing on 431.40463044 meters Centerline goodness : 0.341933 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.66, Z:-0.84 [[ 0.9398176 0.00839122 -0.3415735 -1.32745365] [-0.01027216 0.9999404 -0.00369827 -0.66372749] [ 0.34152211 0.00698439 0.93984779 -0.83797213] [ 0. 0. 0. 1. ]] SLAMing on 431.43463044000003 meters Centerline goodness : 0.087714 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.67, Z:-0.84 [[ 0.93977496 0.00833455 -0.3416922 -1.32708684] [-0.01018054 0.99994166 -0.00360954 -0.66522887] [ 0.34164219 0.00687077 0.93980498 -0.83790325] [ 0. 0. 0. 1. ]] SLAMing on 431.46463044 meters Centerline goodness : 0.088549 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.67, Z:-0.84 [[ 0.93974117 0.00832119 -0.34178546 -1.32657992] [-0.0101255 0.99994263 -0.00349529 -0.66652785] [ 0.34173676 0.00674542 0.93977151 -0.83797081] [ 0. 0. 0. 1. ]] SLAMing on 431.49463044000004 meters Centerline goodness : 0.087680 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.67, Z:-0.84 [[ 0.93974036 0.00835368 -0.34178688 -1.32626642] [-0.01011599 0.99994314 -0.00337402 -0.66757638] [ 0.34173926 0.00662822 0.93977143 -0.83809708] [ 0. 0. 0. 1. ]] SLAMing on 431.52463044 meters Centerline goodness : 0.087680 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.67, Z:-0.84 [[ 0.93974036 0.00835368 -0.34178688 -1.32626642] [-0.01011599 0.99994314 -0.00337402 -0.66757638] [ 0.34173926 0.00662822 0.93977143 -0.83809708] [ 0. 0. 0. 1. ]] SLAMing on 431.55463044000004 meters Centerline goodness : 0.313924 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.67, Z:-0.85 [[ 0.93926282 0.00761693 -0.34311417 -1.36821148] [-0.00922658 0.99995275 -0.00305909 -0.67120206] [ 0.34307466 0.00603906 0.93928872 -0.8536057 ] [ 0. 0. 0. 1. ]] SLAMing on 431.58463044 meters Centerline goodness : 0.087853 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.67, Z:-0.85 [[ 0.93920609 0.0075991 -0.34326982 -1.367581 ] [-0.0092377 0.99995241 -0.00313855 -0.67069816] [ 0.34322963 0.00611877 0.93923159 -0.85361178] [ 0. 0. 0. 1. ]] SLAMing on 431.61463044 meters Centerline goodness : 0.093692 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.67, Z:-0.85 [[ 0.93912963 0.00758226 -0.34347933 -1.36668284] [-0.00925414 0.99995197 -0.00322856 -0.66995154] [ 0.34343835 0.00621064 0.93915469 -0.85373284] [ 0. 0. 0. 1. ]] SLAMing on 431.64463044 meters Centerline goodness : 0.087094 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.67, Z:-0.85 [[ 0.93902624 0.00751888 -0.34376327 -1.36567851] [-0.00925816 0.9999513 -0.00341846 -0.66863859] [ 0.34372082 0.00639264 0.93905012 -0.85372137] [ 0. 0. 0. 1. ]] SLAMing on 431.67463044 meters Centerline goodness : 0.329726 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.67, Z:-0.85 [[ 0.93899167 0.00737269 -0.34386086 -1.36527698] [-0.00920416 0.99995082 -0.00369422 -0.66703366] [ 0.34381671 0.00663379 0.93901334 -0.85377859] [ 0. 0. 0. 1. ]] SLAMing on 431.70463044 meters Centerline goodness : 0.087848 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.66, Z:-0.85 [[ 0.93898086 0.00732449 -0.34389141 -1.3647599 ] [-0.00928711 0.99994863 -0.00406031 -0.66370537] [ 0.343844 0.00700631 0.93900065 -0.85403962] [ 0. 0. 0. 1. ]] SLAMing on 431.73463044 meters Centerline goodness : 0.308498 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.66, Z:-0.85 [[ 0.93903052 0.00722434 -0.3437579 -1.36505518] [-0.00926396 0.99994788 -0.00429132 -0.66208339] [ 0.34370898 0.00721424 0.9390485 -0.85414465] [ 0. 0. 0. 1. ]] SLAMing on 431.76463044 meters Centerline goodness : 0.147801 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.66, Z:-0.86 [[ 9.39483855e-01 2.21804776e-04 -3.42593107e-01 -1.38304457e+00] [-1.42099158e-03 9.99993711e-01 -3.24932183e-03 -6.57190603e-01] [ 3.42590232e-01 3.53950732e-03 9.39478262e-01 -8.62407295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79463044 meters Centerline goodness : 0.089128 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.66, Z:-0.86 [[ 9.39492344e-01 3.38896261e-06 -3.42569898e-01 -1.38348691e+00] [-1.28365877e-03 9.99993014e-01 -3.51052050e-03 -6.56058950e-01] [ 3.42567493e-01 3.73784999e-03 9.39485785e-01 -8.62077511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82463044 meters Centerline goodness : 0.071186 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.66, Z:-0.86 [[ 9.39426379e-01 -2.11157734e-04 -3.42750687e-01 -1.38319012e+00] [-1.11870878e-03 9.99992595e-01 -3.68227039e-03 -6.55819001e-01] [ 3.42748926e-01 3.84266014e-03 9.39419186e-01 -8.61794558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85463044 meters Centerline goodness : 0.145204 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.66, Z:-0.86 [[ 9.39364798e-01 -3.65531956e-04 -3.42919296e-01 -1.38288840e+00] [-9.84237994e-04 9.99992439e-01 -3.76207385e-03 -6.56082881e-01] [ 3.42918078e-01 3.87147394e-03 9.39357335e-01 -8.61527324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88463044 meters Centerline goodness : 0.087960 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.66, Z:-0.86 [[ 9.39282783e-01 -4.33893679e-04 -3.43143796e-01 -1.38238243e+00] [-9.02664272e-04 9.99992616e-01 -3.73530718e-03 -6.56728874e-01] [ 3.43142883e-01 3.81825337e-03 9.39275456e-01 -8.61283854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91463044 meters Centerline goodness : 0.089875 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.66, Z:-0.88 [[ 9.38845399e-01 -1.98804858e-03 -3.44333218e-01 -1.42439363e+00] [ 7.44765643e-04 9.99992718e-01 -3.74292761e-03 -6.61200624e-01] [ 3.44338152e-01 3.25758281e-03 9.38840042e-01 -8.76398909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94463044 meters Centerline goodness : 0.333162 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.66, Z:-0.88 [[ 9.38866715e-01 -1.87965977e-03 -3.44275702e-01 -1.42471372e+00] [ 6.98445985e-04 9.99993437e-01 -3.55499892e-03 -6.62129479e-01] [ 3.44280124e-01 3.09721218e-03 9.38861866e-01 -8.76216171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97463044 meters Centerline goodness : 0.167242 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.66, Z:-0.88 [[ 9.38921291e-01 -1.81249316e-03 -3.44127191e-01 -1.42524355e+00] [ 6.86065260e-04 9.99994002e-01 -3.39502671e-03 -6.63155204e-01] [ 3.44131280e-01 2.95156915e-03 9.38916903e-01 -8.76133341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00463044 meters Centerline goodness : 0.087674 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.66, Z:-0.88 [[ 9.38928529e-01 -1.75140547e-03 -3.44107758e-01 -1.42560137e+00] [ 6.70308150e-04 9.99994459e-01 -3.26067720e-03 -6.64082364e-01] [ 3.44111562e-01 2.83088461e-03 9.38924501e-01 -8.75919699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03463044 meters Centerline goodness : 0.331997 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.67, Z:-0.88 [[ 9.38849983e-01 -1.59630858e-03 -3.44322758e-01 -1.42488448e+00] [ 5.94563424e-04 9.99995278e-01 -3.01488984e-03 -6.65624810e-01] [ 3.44325945e-01 2.62580755e-03 9.38846499e-01 -8.75804064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06463044000003 meters Centerline goodness : 0.287156 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.67, Z:-0.87 [[ 0.93861422 0.00513334 -0.34493043 -1.40699396] [-0.00707752 0.99996537 -0.00437741 -0.66947987] [ 0.34489601 0.00654995 0.93861805 -0.86763196] [ 0. 0. 0. 1. ]] SLAMing on 432.09463044 meters Centerline goodness : 0.088622 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.67, Z:-0.88 [[ 0.9379877 0.00418585 -0.34664327 -1.44863243] [-0.00607372 0.99997205 -0.00435995 -0.67273954] [ 0.34661533 0.00619499 0.9379869 -0.88290341] [ 0. 0. 0. 1. ]] SLAMing on 432.12463044000003 meters Centerline goodness : 0.087577 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.67, Z:-0.88 [[ 0.93800764 0.00424487 -0.34658857 -1.44897512] [-0.00608097 0.99997265 -0.00421031 -0.67393879] [ 0.34656122 0.0060569 0.9380078 -0.88273896] [ 0. 0. 0. 1. ]] SLAMing on 432.15463044 meters Centerline goodness : 0.168634 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.68, Z:-0.88 [[ 0.93804941 0.00430136 -0.34647481 -1.44940272] [-0.00608819 0.99997319 -0.00406893 -0.67510028] [ 0.34644802 0.00592626 0.93805045 -0.88266782] [ 0. 0. 0. 1. ]] SLAMing on 432.18463044000003 meters Centerline goodness : 0.336091 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.68, Z:-0.88 [[ 0.93800736 0.00438525 -0.3465876 -1.44894419] [-0.00604096 0.99997492 -0.00369697 -0.67855167] [ 0.3465627 0.00556151 0.93801032 -0.88256276] [ 0. 0. 0. 1. ]] SLAMing on 432.21463044 meters Centerline goodness : 0.343123 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.68, Z:-0.88 [[ 0.9379203 0.00446225 -0.34682214 -1.44826229] [-0.0060402 0.99997574 -0.0034689 -0.68043435] [ 0.34679824 0.00534843 0.9379245 -0.8824368 ] [ 0. 0. 0. 1. ]] SLAMing on 432.24463044000004 meters Centerline goodness : 0.092449 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.68, Z:-0.88 [[ 0.93781832 0.00457634 -0.34709631 -1.44753489] [-0.00606821 0.99997643 -0.00321132 -0.68231909] [ 0.34707343 0.00511789 0.93782399 -0.88226298] [ 0. 0. 0. 1. ]] SLAMing on 432.27463044 meters Centerline goodness : 0.087761 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.68, Z:-0.88 [[ 0.93776384 0.00465032 -0.3472425 -1.44717412] [-0.00606842 0.9999771 -0.00299656 -0.68421949] [ 0.34722061 0.00491728 0.93777058 -0.88212342] [ 0. 0. 0. 1. ]] SLAMing on 432.30463044000004 meters Centerline goodness : 0.330412 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.69, Z:-0.88 [[ 0.93774278 0.00488116 -0.34729621 -1.44705489] [-0.00616206 0.99997768 -0.00258391 -0.6871396 ] [ 0.34727584 0.0045631 0.93775192 -0.88198691] [ 0. 0. 0. 1. ]] SLAMing on 432.33463044 meters Centerline goodness : 0.341131 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.69, Z:-0.88 [[ 0.93769444 0.00498 -0.34742531 -1.44639469] [-0.00620284 0.99997786 -0.00240765 -0.68835897] [ 0.34740563 0.00441267 0.93770457 -0.88206894] [ 0. 0. 0. 1. ]] SLAMing on 432.36463044 meters Centerline goodness : 0.296341 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.69, Z:-0.88 [[ 0.93758608 0.00505626 -0.34771652 -1.44541136] [-0.00623886 0.99997794 -0.00228152 -0.68938537] [ 0.34769732 0.00430847 0.93759694 -0.88200493] [ 0. 0. 0. 1. ]] SLAMing on 432.39463044 meters Centerline goodness : 0.088646 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93748467 0.00523435 -0.34798722 -1.44494816] [-0.00632811 0.99997796 -0.0020066 -0.69143934] [ 0.34796905 0.00408325 0.93749713 -0.88161617] [ 0. 0. 0. 1. ]] SLAMing on 432.42463044 meters Centerline goodness : 0.334127 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.69, Z:-0.88 [[ 0.93747924 0.00537868 -0.34799962 -1.44500676] [-0.00640616 0.99997786 -0.00180197 -0.69259255] [ 0.34798223 0.00391865 0.93749294 -0.88147833] [ 0. 0. 0. 1. ]] SLAMing on 432.45463044 meters Centerline goodness : 0.337774 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93745909 0.00548988 -0.34805217 -1.44487619] [-0.00647131 0.99997769 -0.0016573 -0.69349144] [ 0.3480353 0.003806 0.9374737 -0.88139094] [ 0. 0. 0. 1. ]] SLAMing on 432.48463044 meters Centerline goodness : 0.335919 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93744041 0.00553818 -0.34810172 -1.44467527] [-0.00648944 0.99997772 -0.00156679 -0.69430056] [ 0.34808529 0.00372776 0.93745546 -0.88139496] [ 0. 0. 0. 1. ]] SLAMing on 432.51463044 meters Centerline goodness : 0.094604 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93740392 0.00547915 -0.34820092 -1.44435543] [-0.00643107 0.99997808 -0.00157805 -0.69497096] [ 0.34818464 0.00371857 0.9374186 -0.88134712] [ 0. 0. 0. 1. ]] SLAMing on 432.54463044 meters Centerline goodness : 0.101036 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 0.93735927 0.00545225 -0.34832151 -1.44403041] [-0.00640461 0.99997824 -0.0015827 -0.69526772] [ 0.3483053 0.00371442 0.93737379 -0.88123649] [ 0. 0. 0. 1. ]] SLAMing on 432.57463044 meters Centerline goodness : 0.348074 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 9.37329680e-01 5.76331176e-03 -3.48396119e-01 -1.44410813e+00] [-6.66895592e-03 9.99976782e-01 -1.40022332e-03 -6.94755777e-01] [ 3.48379960e-01 3.63590924e-03 9.37346352e-01 -8.80963784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60463044 meters Centerline goodness : 0.322428 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 9.37336619e-01 5.87845956e-03 -3.48375525e-01 -1.44406203e+00] [-6.79001631e-03 9.99975974e-01 -1.39565662e-03 -6.93909203e-01] [ 3.48358951e-01 3.67367556e-03 9.37354013e-01 -8.80993874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.63463044 meters Centerline goodness : 0.331417 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93730698 0.00584402 -0.34845585 -1.44401451] [-0.0067967 0.99997576 -0.00151157 -0.69296472] [ 0.34843857 0.00378516 0.93732397 -0.88076077] [ 0. 0. 0. 1. ]] SLAMing on 432.66463044 meters Centerline goodness : 0.334736 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93727735 0.00572645 -0.34853748 -1.44387056] [-0.00672693 0.999976 -0.00166034 -0.69232818] [ 0.34851961 0.00390079 0.93729337 -0.88062093] [ 0. 0. 0. 1. ]] SLAMing on 432.69463044 meters Centerline goodness : 0.167573 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93715978 0.00550566 -0.34885703 -1.44310625] [-0.00656617 0.99997672 -0.00185755 -0.69191196] [ 0.34883868 0.00403148 0.93717412 -0.88033005] [ 0. 0. 0. 1. ]] SLAMing on 432.72463044 meters Centerline goodness : 0.097155 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93708244 0.00547775 -0.34906518 -1.44265274] [-0.00651573 0.99997715 -0.0017995 -0.69245927] [ 0.34904735 0.0039607 0.93709672 -0.88009017] [ 0. 0. 0. 1. ]] SLAMing on 432.75463044 meters Centerline goodness : 0.088289 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93702107 0.00542572 -0.3492307 -1.44225227] [-0.00643787 0.99997777 -0.00173759 -0.69327168] [ 0.34921351 0.00387646 0.93703516 -0.87989329] [ 0. 0. 0. 1. ]] SLAMing on 432.78463044 meters Centerline goodness : 0.090706 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.69, Z:-0.88 [[ 0.93696663 0.00537698 -0.34937747 -1.44207816] [-0.00633973 0.9999786 -0.00161216 -0.69464894] [ 0.34936133 0.0037255 0.93698067 -0.87960799] [ 0. 0. 0. 1. ]] SLAMing on 432.81463044000003 meters Centerline goodness : 0.089725 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 9.37062946e-01 1.26990346e-03 -3.49158163e-01 -1.44318916e+00] [-2.99664144e-03 9.99985807e-01 -4.40532798e-03 -6.97954855e-01] [ 3.49147613e-01 5.17437143e-03 9.37053451e-01 -8.79248914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84463044 meters Centerline goodness : 0.304313 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 9.37018597e-01 1.18384400e-03 -3.49277466e-01 -1.44299650e+00] [-2.83549256e-03 9.99987086e-01 -4.21750814e-03 -7.00233755e-01] [ 3.49267962e-01 4.94225721e-03 9.37009853e-01 -8.78983310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.87463044000003 meters Centerline goodness : 0.087256 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 9.36883427e-01 1.16224107e-03 -3.49639948e-01 -1.44209451e+00] [-2.72574346e-03 9.99988366e-01 -3.97974068e-03 -7.02761944e-01] [ 3.49631255e-01 4.68158189e-03 9.36875695e-01 -8.78677256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90463044 meters Centerline goodness : 0.087310 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 9.36753689e-01 1.17299780e-03 -3.49987357e-01 -1.44110862e+00] [-2.64327649e-03 9.99989575e-01 -3.72331572e-03 -7.05208088e-01] [ 3.49979341e-01 4.41294309e-03 9.36747024e-01 -8.78431389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93463044000003 meters Centerline goodness : 0.087315 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 9.36629761e-01 1.20434668e-03 -3.50318769e-01 -1.44005287e+00] [-2.59393489e-03 9.99990520e-01 -3.49744709e-03 -7.07400367e-01] [ 3.50311235e-01 4.18451711e-03 9.36624006e-01 -8.78316200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96463044 meters Centerline goodness : 0.087484 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 9.36311817e-01 1.31627367e-03 -3.51167266e-01 -1.43758160e+00] [-2.56483594e-03 9.99991936e-01 -3.09033117e-03 -7.11020444e-01] [ 3.51160367e-01 3.79420002e-03 9.36307642e-01 -8.77866226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99463044000004 meters Centerline goodness : 0.095363 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93620402 0.00145143 -0.35145402 -1.43688718] [-0.00263307 0.99999237 -0.00288423 -0.7122625 ] [ 0.35144715 0.00362563 0.9362007 -0.87760464] [ 0. 0. 0. 1. ]] SLAMing on 433.02463044 meters Centerline goodness : 0.088022 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93618282 0.00155425 -0.35151004 -1.43674951] [-0.00268507 0.99999267 -0.00272959 -0.71324513] [ 0.35150322 0.00349922 0.93618013 -0.87751093] [ 0. 0. 0. 1. ]] SLAMing on 433.05463044000004 meters Centerline goodness : 0.118475 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.9361827 0.00163911 -0.35150999 -1.4374679 ] [-0.00272988 0.99999287 -0.00260752 -0.71407574] [ 0.35150321 0.00340069 0.9361805 -0.876929 ] [ 0. 0. 0. 1. ]] SLAMing on 433.08463044 meters Centerline goodness : 0.087538 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93620503 0.00161212 -0.35145064 -1.43776969] [-0.00270725 0.99999289 -0.00262463 -0.71426393] [ 0.35144391 0.00340865 0.93620274 -0.87680782] [ 0. 0. 0. 1. ]] SLAMing on 433.11463044 meters Centerline goodness : 0.090088 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93616357 0.00160598 -0.35156108 -1.43789745] [-0.00271487 0.99999277 -0.00266127 -0.71413019] [ 0.35155427 0.00344583 0.93616116 -0.87643454] [ 0. 0. 0. 1. ]] SLAMing on 433.14463044 meters Centerline goodness : 0.091474 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93613978 0.00156418 -0.35162461 -1.43782609] [-0.00270475 0.99999255 -0.00275252 -0.71360903] [ 0.35161768 0.0035278 0.93613704 -0.87630851] [ 0. 0. 0. 1. ]] SLAMing on 433.17463044 meters Centerline goodness : 0.088072 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93615897 0.00159482 -0.35157339 -1.43793971] [-0.00278478 0.99999198 -0.00287905 -0.71219228] [ 0.35156598 0.0036743 0.9361559 -0.87629307] [ 0. 0. 0. 1. ]] SLAMing on 433.20463044 meters Centerline goodness : 0.314746 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93614076 0.001582 -0.35162192 -1.43793409] [-0.00279688 0.99999175 -0.00294713 -0.7116568 ] [ 0.35161436 0.00374238 0.93613746 -0.87614577] [ 0. 0. 0. 1. ]] SLAMing on 433.23463044 meters Centerline goodness : 0.310146 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93611142 0.00150191 -0.35170039 -1.43786521] [-0.00275996 0.99999146 -0.00307572 -0.71093959] [ 0.35169276 0.0038499 0.93610757 -0.87599747] [ 0. 0. 0. 1. ]] SLAMing on 433.26463044 meters Centerline goodness : 0.323306 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93606082 0.00152639 -0.35183493 -1.43754521] [-0.00279714 0.99999127 -0.00310349 -0.71044076] [ 0.35182712 0.00388919 0.93605692 -0.87582691] [ 0. 0. 0. 1. ]] SLAMing on 433.29463044 meters Centerline goodness : 0.090283 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93619927 0.00185002 -0.35146481 -1.43938565] [-0.00307799 0.99999096 -0.00293516 -0.70969258] [ 0.3514562 0.0038297 0.93619649 -0.87534707] [ 0. 0. 0. 1. ]] SLAMing on 433.32463044 meters Centerline goodness : 0.335649 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93624402 0.00180786 -0.3513458 -1.4398181 ] [-0.00307467 0.99999063 -0.0030477 -0.70891146] [ 0.35133699 0.00393367 0.9362408 -0.87530623] [ 0. 0. 0. 1. ]] SLAMing on 433.35463044 meters Centerline goodness : 0.090110 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93624483 0.00168371 -0.35134425 -1.43982768] [-0.00301268 0.99999023 -0.00323589 -0.70816398] [ 0.35133537 0.00408807 0.93624075 -0.87527304] [ 0. 0. 0. 1. ]] SLAMing on 433.38463044 meters Centerline goodness : 0.327921 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93620236 0.00153791 -0.35145808 -1.43935428] [-0.00294094 0.9999897 -0.00345821 -0.70714576] [ 0.35144914 0.0042712 0.93619723 -0.87524127] [ 0. 0. 0. 1. ]] SLAMing on 433.41463044 meters Centerline goodness : 0.327921 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93620236 0.00153791 -0.35145808 -1.43935428] [-0.00294094 0.9999897 -0.00345821 -0.70714576] [ 0.35144914 0.0042712 0.93619723 -0.87524127] [ 0. 0. 0. 1. ]] SLAMing on 433.44463044 meters Centerline goodness : 0.093441 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.71, Z:-0.88 [[ 0.93617125 0.00148637 -0.35154115 -1.43899295] [-0.00294431 0.99998914 -0.00361273 -0.70591164] [ 0.35153196 0.00441718 0.93616546 -0.87528898] [ 0. 0. 0. 1. ]] SLAMing on 433.47463044 meters Centerline goodness : 0.325049 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 0.93614085 0.00145464 -0.35162223 -1.43866634] [-0.00296297 0.99998857 -0.00375157 -0.7044672 ] [ 0.35161276 0.00455384 0.93613446 -0.87532316] [ 0. 0. 0. 1. ]] SLAMing on 433.50463044 meters Centerline goodness : 0.169103 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 9.36082261e-01 1.42438858e-03 -3.51778298e-01 -1.43776401e+00] [-2.97923108e-03 9.99988040e-01 -3.87867537e-03 -7.02817061e-01] [ 3.51768566e-01 4.67878805e-03 9.36075309e-01 -8.75518438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53463044 meters Centerline goodness : 0.321242 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 9.36013974e-01 1.24459845e-03 -3.51960638e-01 -1.43727911e+00] [-2.84475577e-03 9.99987836e-01 -4.02927969e-03 -7.02544007e-01] [ 3.51951342e-01 4.77270416e-03 9.36006129e-01 -8.75389926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56463044000003 meters Centerline goodness : 0.071206 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.70, Z:-0.88 [[ 9.35933173e-01 9.92269494e-04 -3.52176249e-01 -1.43669594e+00] [-2.63152210e-03 9.99987818e-01 -4.17595288e-03 -7.02677435e-01] [ 3.52167815e-01 4.83517241e-03 9.35924383e-01 -8.75226054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59463044 meters Centerline goodness : 0.325587 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.70, Z:-0.88 [[ 9.35374928e-01 -7.69735128e-03 -3.53573888e-01 -1.45545772e+00] [ 6.84778771e-03 9.99969879e-01 -3.65374971e-03 -7.01649483e-01] [ 3.53591362e-01 9.96426951e-04 9.35399463e-01 -8.82544951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62463044000003 meters Centerline goodness : 0.088230 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.70, Z:-0.88 [[ 9.35258133e-01 -7.72729644e-03 -3.53882062e-01 -1.45465496e+00] [ 6.92089533e-03 9.99969769e-01 -3.54422937e-03 -7.02494941e-01] [ 3.53898751e-01 8.65588630e-04 9.35283339e-01 -8.82279436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65463044 meters Centerline goodness : 0.319176 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.70, Z:-0.88 [[ 9.35215368e-01 -7.79334980e-03 -3.53993615e-01 -1.45433702e+00] [ 7.01859160e-03 9.99969340e-01 -3.47242461e-03 -7.03400051e-01] [ 3.54009823e-01 7.62928243e-04 9.35241393e-01 -8.82163695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68463044000003 meters Centerline goodness : 0.090489 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.70, Z:-0.88 [[ 9.35194804e-01 -7.85587993e-03 -3.54046557e-01 -1.45408930e+00] [ 7.10435051e-03 9.99968907e-01 -3.42238601e-03 -7.04279262e-01] [ 3.54062435e-01 6.85326777e-04 9.35221537e-01 -8.82121353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71463044 meters Centerline goodness : 0.106961 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.71, Z:-0.89 [[ 9.35416035e-01 -2.39361838e-03 -3.53540821e-01 -1.46985462e+00] [ 8.01725395e-04 9.99988872e-01 -4.64909524e-03 -7.11509443e-01] [ 3.53548015e-01 4.06539558e-03 9.35407544e-01 -8.89870467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74463044000004 meters Centerline goodness : 0.319186 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.71, Z:-0.89 [[ 9.35341442e-01 -2.31277869e-03 -3.53738658e-01 -1.46926970e+00] [ 7.71509687e-04 9.99989586e-01 -4.49803714e-03 -7.12373664e-01] [ 3.53745377e-01 3.93428774e-03 9.35333486e-01 -8.89740275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77463044 meters Centerline goodness : 0.088267 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.71, Z:-0.89 [[ 9.35269349e-01 -2.28083306e-03 -3.53929432e-01 -1.46885373e+00] [ 7.76340859e-04 9.99990050e-01 -4.39274729e-03 -7.13212747e-01] [ 3.53935930e-01 3.83363202e-03 9.35261814e-01 -8.89520796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80463044000004 meters Centerline goodness : 0.107912 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.71, Z:-0.89 [[ 9.35232970e-01 -2.33234841e-03 -3.54025214e-01 -1.46874339e+00] [ 8.42516337e-04 9.99990130e-01 -4.36233431e-03 -7.14094771e-01] [ 3.54031894e-01 3.78152685e-03 9.35225704e-01 -8.89328774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83463044 meters Centerline goodness : 0.090700 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.72, Z:-0.89 [[ 9.35231410e-01 -2.35419469e-03 -3.54029189e-01 -1.46904878e+00] [ 8.91638778e-04 9.99990382e-01 -4.29423197e-03 -7.15222150e-01] [ 3.54035893e-01 3.70043447e-03 9.35224515e-01 -8.89084016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86463044 meters Centerline goodness : 0.066816 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.72, Z:-0.89 [[ 9.35255672e-01 -2.29268262e-03 -3.53965494e-01 -1.46963306e+00] [ 8.79739741e-04 9.99990991e-01 -4.15260924e-03 -7.16284745e-01] [ 3.53971825e-01 3.57235383e-03 9.35249264e-01 -8.88793137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89463044 meters Centerline goodness : 0.088912 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.72, Z:-0.89 [[ 9.35382522e-01 -1.82949613e-03 -3.53632847e-01 -1.47068787e+00] [ 5.91796917e-04 9.99993316e-01 -3.60805684e-03 -7.18471878e-01] [ 3.53637085e-01 3.16563447e-03 9.35377352e-01 -8.88764413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92463044 meters Centerline goodness : 0.088435 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.72, Z:-0.89 [[ 9.35374434e-01 -1.73368105e-03 -3.53654723e-01 -1.47072783e+00] [ 5.44956351e-04 9.99993863e-01 -3.46081105e-03 -7.19532145e-01] [ 3.53658552e-01 3.04442779e-03 9.35369638e-01 -8.88671017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95463044 meters Centerline goodness : 0.088586 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.72, Z:-0.89 [[ 9.35304271e-01 -1.71425549e-03 -3.53840334e-01 -1.47036063e+00] [ 5.47527469e-04 9.99994079e-01 -3.39740962e-03 -7.20335296e-01] [ 3.53844063e-01 2.98387442e-03 9.35299671e-01 -8.88442294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98463044 meters Centerline goodness : 0.063467 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.72, Z:-0.89 [[ 9.35301138e-01 -1.32554852e-03 -3.53850284e-01 -1.47048714e+00] [ 2.64357314e-04 9.99995322e-01 -3.04730184e-03 -7.21474593e-01] [ 3.53852668e-01 2.75660197e-03 9.35297113e-01 -8.88292528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01463044 meters Centerline goodness : 0.088049 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.72, Z:-0.89 [[ 9.35285003e-01 -1.03330804e-03 -3.53893904e-01 -1.47025899e+00] [ 3.56654719e-05 9.99996007e-01 -2.82555454e-03 -7.21857989e-01] [ 3.53895411e-01 2.63007700e-03 9.35281306e-01 -8.88305454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04463044 meters Centerline goodness : 0.163491 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.93556083 0.00533122 -0.35312536 -1.48706843] [-0.0071347 0.99996731 -0.00380573 -0.72734016] [ 0.35309352 0.00607993 0.93556828 -0.89688354] [ 0. 0. 0. 1. ]] SLAMing on 434.07463044 meters Centerline goodness : 0.097363 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.93557507 0.00533735 -0.35308753 -1.48715815] [-0.00714871 0.99996713 -0.00382617 -0.72753594] [ 0.3530555 0.00610379 0.93558247 -0.89686576] [ 0. 0. 0. 1. ]] SLAMing on 434.10463044 meters Centerline goodness : 0.087096 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.93566806 0.00549211 -0.35283867 -1.4881588 ] [-0.00728924 0.99996635 -0.00376484 -0.72775226] [ 0.35280612 0.00609457 0.9356766 -0.89668344] [ 0. 0. 0. 1. ]] SLAMing on 434.13463044 meters Centerline goodness : 0.090824 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.93566836 0.00560915 -0.35283602 -1.4882489 ] [-0.0073864 0.99996591 -0.00369083 -0.72785746] [ 0.35280329 0.00605959 0.93567789 -0.89658098] [ 0. 0. 0. 1. ]] SLAMing on 434.16463044 meters Centerline goodness : 0.090158 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.9356599 0.00568483 -0.35285724 -1.48805354] [-0.0074387 0.9999658 -0.00361465 -0.72824689] [ 0.35282463 0.00600689 0.93567019 -0.89666544] [ 0. 0. 0. 1. ]] SLAMing on 434.19463044 meters Centerline goodness : 0.091169 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.93559201 0.00566687 -0.35303751 -1.48713207] [-0.00736174 0.99996692 -0.0034583 -0.73049905] [ 0.35300624 0.00583453 0.93560278 -0.89686789] [ 0. 0. 0. 1. ]] SLAMing on 434.22463044 meters Centerline goodness : 0.092155 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.93560518 0.0057214 -0.35300173 -1.48732775] [-0.00733888 0.99996781 -0.00324383 -0.73234355] [ 0.35297181 0.00562558 0.93561705 -0.89679328] [ 0. 0. 0. 1. ]] SLAMing on 434.25463044 meters Centerline goodness : 0.175174 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.73, Z:-0.90 [[ 0.93560344 0.00589789 -0.35300343 -1.48759333] [-0.00739262 0.99996851 -0.00288624 -0.73470405] [ 0.35297529 0.00531 0.93561758 -0.89656996] [ 0. 0. 0. 1. ]] SLAMing on 434.28463044 meters Centerline goodness : 0.104380 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.74, Z:-0.90 [[ 0.93560673 0.00607945 -0.35299162 -1.48769173] [-0.00743688 0.99996925 -0.0024894 -0.73744119] [ 0.35296563 0.00495425 0.93562317 -0.89651422] [ 0. 0. 0. 1. ]] SLAMing on 434.31463044000003 meters Centerline goodness : 0.092793 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.74, Z:-0.90 [[ 0.93549822 0.00616352 -0.35327765 -1.48671988] [-0.0073898 0.99997044 -0.00212242 -0.74059615] [ 0.35325413 0.00459617 0.93551611 -0.89645758] [ 0. 0. 0. 1. ]] SLAMing on 434.34463044 meters Centerline goodness : 0.079005 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.75, Z:-0.90 [[ 0.93539698 0.00205591 -0.35359336 -1.48424461] [-0.00400718 0.99998052 -0.00478639 -0.74614682] [ 0.35357664 0.00589408 0.93538699 -0.89733182] [ 0. 0. 0. 1. ]] SLAMing on 434.37463044000003 meters Centerline goodness : 0.092611 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.75, Z:-0.90 [[ 0.93527699 0.00226897 -0.3539093 -1.48320057] [-0.00406411 0.99998237 -0.00432916 -0.74934397] [ 0.35389324 0.00548729 0.93526973 -0.89729117] [ 0. 0. 0. 1. ]] SLAMing on 434.40463044 meters Centerline goodness : 0.103251 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.75, Z:-0.90 [[ 0.93524984 0.00254472 -0.35397918 -1.48297196] [-0.00419922 0.99998355 -0.003906 -0.75169101] [ 0.35396342 0.00513952 0.93524515 -0.89724126] [ 0. 0. 0. 1. ]] SLAMing on 434.43463044000003 meters Centerline goodness : 0.093074 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.76, Z:-0.91 [[ 0.93604172 0.00800646 -0.35179795 -1.49839118] [-0.01020066 0.99993836 -0.00438398 -0.75997295] [ 0.35174116 0.00769216 0.93606569 -0.90540758] [ 0. 0. 0. 1. ]] SLAMing on 434.46463044 meters Centerline goodness : 0.316105 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.77, Z:-0.90 [[ 0.9358677 0.01481286 -0.35204009 -1.48299155] [-0.01756941 0.9998349 -0.00463647 -0.76770383] [ 0.35191329 0.01052426 0.93597344 -0.89898444] [ 0. 0. 0. 1. ]] SLAMing on 434.49463044000004 meters Centerline goodness : 0.096466 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.77, Z:-0.90 [[ 0.9358377 0.0150845 -0.3521083 -1.48264586] [-0.01766965 0.99983535 -0.00412914 -0.77038334] [ 0.35198804 0.01008583 0.93595016 -0.89916564] [ 0. 0. 0. 1. ]] SLAMing on 434.52463044 meters Centerline goodness : 0.097126 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.77, Z:-0.90 [[ 0.93580216 0.01527906 -0.35219436 -1.48229469] [-0.01777409 0.99983461 -0.00385156 -0.77157515] [ 0.35207726 0.00986424 0.93591896 -0.89921009] [ 0. 0. 0. 1. ]] SLAMing on 434.55463044000004 meters Centerline goodness : 0.096112 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.77, Z:-0.90 [[ 0.93581969 0.01541722 -0.35214177 -1.482648 ] [-0.01784129 0.99983421 -0.00363935 -0.77256031] [ 0.35202728 0.00968844 0.9359396 -0.89911907] [ 0. 0. 0. 1. ]] SLAMing on 434.58463044 meters Centerline goodness : 0.313530 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.78, Z:-0.89 [[ 0.93560695 0.020636 -0.35243977 -1.47265984] [-0.02363495 0.9997118 -0.00420773 -0.78214002] [ 0.35225137 0.01226667 0.93582504 -0.89325569] [ 0. 0. 0. 1. ]] SLAMing on 434.61463044 meters Centerline goodness : 0.088130 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.78, Z:-0.89 [[ 0.9356218 0.02049908 -0.35240834 -1.47281336] [-0.02350219 0.99971477 -0.00424487 -0.78278588] [ 0.35222081 0.01225396 0.93583671 -0.89327943] [ 0. 0. 0. 1. ]] SLAMing on 434.64463044 meters Centerline goodness : 0.318750 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.78, Z:-0.89 [[ 0.93558649 0.02052083 -0.3525008 -1.47233071] [-0.02349116 0.99971543 -0.00415041 -0.7836031 ] [ 0.35231532 0.01216371 0.93580231 -0.89340654] [ 0. 0. 0. 1. ]] SLAMing on 434.67463044 meters Centerline goodness : 0.310417 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.78, Z:-0.89 [[ 0.93555416 0.02064874 -0.35257912 -1.47183794] [-0.02355838 0.99971461 -0.00396305 -0.78447583] [ 0.35239667 0.01201384 0.93577361 -0.89357083] [ 0. 0. 0. 1. ]] SLAMing on 434.70463044 meters Centerline goodness : 0.088049 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.79, Z:-0.89 [[ 0.93558022 0.02062913 -0.35251113 -1.4721732 ] [-0.02350961 0.99971604 -0.00389166 -0.78564443] [ 0.35233075 0.01192836 0.93579953 -0.89349204] [ 0. 0. 0. 1. ]] SLAMing on 434.73463044 meters Centerline goodness : 0.087517 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.79, Z:-0.89 [[ 0.93560921 0.02048458 -0.3524426 -1.47265198] [-0.02338596 0.9997186 -0.00397598 -0.78585991] [ 0.35226198 0.01196218 0.93582498 -0.89332391] [ 0. 0. 0. 1. ]] SLAMing on 434.76463044 meters Centerline goodness : 0.093280 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.79, Z:-0.89 [[ 0.93561446 0.02042609 -0.35243206 -1.4729325 ] [-0.02334384 0.99971937 -0.0040305 -0.78583046] [ 0.35225083 0.01199811 0.93582872 -0.89311125] [ 0. 0. 0. 1. ]] SLAMing on 434.79463044 meters Centerline goodness : 0.312053 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.79, Z:-0.89 [[ 0.93562574 0.02062643 -0.35239043 -1.47312337] [-0.02349376 0.99971653 -0.00386159 -0.78612738] [ 0.35221089 0.01189198 0.93584511 -0.89305186] [ 0. 0. 0. 1. ]] SLAMing on 434.82463044 meters Centerline goodness : 0.094240 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.9360832 0.02771077 -0.35068556 -1.4899379 ] [-0.03128915 0.99950006 -0.00454061 -0.79249158] [ 0.35038442 0.01522304 0.93648226 -0.90119647] [ 0. 0. 0. 1. ]] SLAMing on 434.85463044 meters Centerline goodness : 0.078378 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.93612697 0.02767626 -0.35057141 -1.49026367] [-0.03126067 0.99950083 -0.00456828 -0.792337 ] [ 0.35026998 0.01523559 0.93652486 -0.90121248] [ 0. 0. 0. 1. ]] SLAMing on 434.88463044 meters Centerline goodness : 0.092653 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.9362216 0.02754578 -0.3503289 -1.49076717] [-0.03114269 0.99950419 -0.00463661 -0.7923885 ] [ 0.35002749 0.01525108 0.93661527 -0.90142463] [ 0. 0. 0. 1. ]] SLAMing on 434.91463044 meters Centerline goodness : 0.098144 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.93631011 0.02747614 -0.35009776 -1.49112572] [-0.03106049 0.9995068 -0.00462631 -0.79268457] [ 0.34979797 0.01520587 0.93670174 -0.90171351] [ 0. 0. 0. 1. ]] SLAMing on 434.94463044 meters Centerline goodness : 0.090161 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.93618111 0.0277223 -0.35042317 -1.48940336] [-0.03117327 0.99950513 -0.00420989 -0.79394143] [ 0.35013305 0.01486506 0.93658202 -0.90232806] [ 0. 0. 0. 1. ]] SLAMing on 434.97463044 meters Centerline goodness : 0.091709 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.93609995 0.0276874 -0.35064269 -1.48832157] [-0.03113746 0.99950627 -0.00420384 -0.7942124 ] [ 0.35035318 0.01485334 0.93649988 -0.90257045] [ 0. 0. 0. 1. ]] SLAMing on 435.00463044 meters Centerline goodness : 0.309180 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.93606947 0.02775794 -0.35071847 -1.48768613] [-0.03117642 0.99950547 -0.00410325 -0.79440874] [ 0.35043114 0.01477507 0.93647195 -0.9028869 ] [ 0. 0. 0. 1. ]] SLAMing on 435.03463044 meters Centerline goodness : 0.097340 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.9360895 0.02786921 -0.35065617 -1.4874519 ] [-0.03123615 0.99950423 -0.00394813 -0.79460565] [ 0.3503723 0.01464895 0.93649595 -0.90323205] [ 0. 0. 0. 1. ]] SLAMing on 435.06463044000003 meters Centerline goodness : 0.093692 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.80, Z:-0.90 [[ 0.93621749 0.02792135 -0.35031015 -1.48808383] [-0.03119592 0.99950641 -0.00370698 -0.79543513] [ 0.35003374 0.01439879 0.93662642 -0.9037546 ] [ 0. 0. 0. 1. ]] SLAMing on 435.09463044 meters Centerline goodness : 0.095368 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.80, Z:-0.90 [[ 0.93625508 0.02774347 -0.35022382 -1.48802481] [-0.03104343 0.99951077 -0.00381091 -0.795641 ] [ 0.34994676 0.01444013 0.93665829 -0.90404148] [ 0. 0. 0. 1. ]] SLAMing on 435.12463044000003 meters Centerline goodness : 0.093717 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.80, Z:-0.90 [[ 0.93619045 0.02768546 -0.35040115 -1.48754991] [-0.03099455 0.99951218 -0.003838 -0.79603718] [ 0.35012396 0.01445362 0.93659186 -0.90392853] [ 0. 0. 0. 1. ]] SLAMing on 435.15463044 meters Centerline goodness : 0.093484 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.80, Z:-0.90 [[ 0.93611753 0.0277536 -0.35059052 -1.48681797] [-0.0310581 0.99951034 -0.00380506 -0.79591672] [ 0.35031325 0.01445065 0.93652112 -0.90397053] [ 0. 0. 0. 1. ]] SLAMing on 435.18463044000003 meters Centerline goodness : 0.095990 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.90 [[ 0.93621212 0.02776232 -0.35033715 -1.48741302] [-0.03110272 0.99950854 -0.00391073 -0.79474359] [ 0.3500564 0.01455771 0.9366155 -0.9040902 ] [ 0. 0. 0. 1. ]] SLAMing on 435.21463044 meters Centerline goodness : 0.314481 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.80, Z:-0.90 [[ 0.93603766 0.03482399 -0.35017251 -1.4721609 ] [-0.03887004 0.999234 -0.00453064 -0.79982392] [ 0.3497465 0.01785207 0.93667427 -0.89747597] [ 0. 0. 0. 1. ]] SLAMing on 435.24463044000004 meters Centerline goodness : 0.313019 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.80, Z:-0.90 [[ 0.9361361 0.03455873 -0.34993556 -1.47263704] [-0.03872766 0.99923769 -0.00492082 -0.79818452] [ 0.34949875 0.01815874 0.93676085 -0.8976041 ] [ 0. 0. 0. 1. ]] SLAMing on 435.27463044 meters Centerline goodness : 0.090993 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.80, Z:-0.90 [[ 0.93610106 0.0344591 -0.3500391 -1.47200911] [-0.03873158 0.99923607 -0.00521055 -0.79652891] [ 0.34959214 0.01843517 0.9367206 -0.89762208] [ 0. 0. 0. 1. ]] SLAMing on 435.30463044000004 meters Centerline goodness : 0.096467 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.80, Z:-0.90 [[ 0.93600313 0.03448393 -0.35029845 -1.47069938] [-0.03881191 0.99923226 -0.00534006 -0.79549811] [ 0.34984537 0.01859406 0.93662291 -0.89780689] [ 0. 0. 0. 1. ]] SLAMing on 435.33463044 meters Centerline goodness : 0.096467 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.80, Z:-0.90 [[ 0.93600313 0.03448393 -0.35029845 -1.47069938] [-0.03881191 0.99923226 -0.00534006 -0.79549811] [ 0.34984537 0.01859406 0.93662291 -0.89780689] [ 0. 0. 0. 1. ]] SLAMing on 435.36463044 meters Centerline goodness : 0.312639 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.79, Z:-0.90 [[ 0.93596936 0.03445552 -0.35039147 -1.46992146] [-0.03883863 0.99923043 -0.00548747 -0.79406873] [ 0.34993275 0.01874483 0.93658727 -0.89803737] [ 0. 0. 0. 1. ]] SLAMing on 435.39463044 meters Centerline goodness : 0.256732 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.79, Z:-0.90 [[ 0.9360869 0.03432298 -0.35009034 -1.47048315] [-0.03875099 0.99923293 -0.00564895 -0.79294821] [ 0.34962791 0.01885425 0.93669891 -0.898348 ] [ 0. 0. 0. 1. ]] SLAMing on 435.42463044 meters Centerline goodness : 0.092730 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.79, Z:-0.90 [[ 0.93618992 0.03418732 -0.34982805 -1.47115139] [-0.03861152 0.99923816 -0.00567833 -0.79326284] [ 0.34936741 0.01882338 0.93679672 -0.89859734] [ 0. 0. 0. 1. ]] SLAMing on 435.45463044 meters Centerline goodness : 0.069783 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.91 [[ 0.93648314 0.02634966 -0.34972135 -1.48878377] [-0.02980788 0.99954548 -0.004509 -0.79058209] [ 0.34944358 0.01464705 0.93684292 -0.90692999] [ 0. 0. 0. 1. ]] SLAMing on 435.48463044 meters Centerline goodness : 0.169542 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.79, Z:-0.91 [[ 0.93647973 0.02625272 -0.34973777 -1.48842871] [-0.02971231 0.99954823 -0.00452943 -0.79052727] [ 0.34946086 0.01463324 0.93683669 -0.90709833] [ 0. 0. 0. 1. ]] SLAMing on 435.51463044 meters Centerline goodness : 0.097659 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.79, Z:-0.92 [[ 0.93660824 0.01831318 -0.34989946 -1.50647106] [-0.02085851 0.99977629 -0.0035072 -0.78720822] [ 0.34975696 0.01058326 0.93678069 -0.91533391] [ 0. 0. 0. 1. ]] SLAMing on 435.54463044 meters Centerline goodness : 0.098483 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.79, Z:-0.92 [[ 0.93657269 0.01833646 -0.34999339 -1.50546965] [-0.02092689 0.99977445 -0.00362072 -0.78552629] [ 0.34984806 0.01071534 0.93674517 -0.91573415] [ 0. 0. 0. 1. ]] SLAMing on 435.57463044 meters Centerline goodness : 0.091628 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.78, Z:-0.91 [[ 0.93640724 0.0123265 -0.35069864 -1.4874457 ] [-0.01424949 0.99989426 -0.00290313 -0.7797843 ] [ 0.35062577 0.00771579 0.93648387 -0.90803943] [ 0. 0. 0. 1. ]] SLAMing on 435.60463044 meters Centerline goodness : 0.087671 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.78, Z:-0.92 [[ 0.93643941 0.01914926 -0.35030636 -1.50239563] [-0.02206343 0.9997472 -0.00432949 -0.7849816 ] [ 0.35013489 0.01178327 0.93662517 -0.91580825] [ 0. 0. 0. 1. ]] SLAMing on 435.63463044 meters Centerline goodness : 0.094915 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.78, Z:-0.92 [[ 0.93633958 0.01914626 -0.35057327 -1.50157546] [-0.02210526 0.99974579 -0.00444027 -0.78446896] [ 0.35039914 0.01190712 0.93652478 -0.91565911] [ 0. 0. 0. 1. ]] SLAMing on 435.66463044 meters Centerline goodness : 0.313026 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.78, Z:-0.92 [[ 0.93632987 0.01907052 -0.35060332 -1.50107148] [-0.02205282 0.99974661 -0.00451514 -0.7839126 ] [ 0.35042838 0.01195945 0.93651317 -0.91593449] [ 0. 0. 0. 1. ]] SLAMing on 435.69463044 meters Centerline goodness : 0.091945 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.78, Z:-0.92 [[ 0.93630776 0.0190182 -0.35066521 -1.50077674] [-0.02199347 0.99974797 -0.00450359 -0.7844039 ] [ 0.35049118 0.01192909 0.93649006 -0.91599804] [ 0. 0. 0. 1. ]] SLAMing on 435.72463044 meters Centerline goodness : 0.091199 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.78, Z:-0.92 [[ 0.93648253 0.01514722 -0.35038697 -1.50101425] [-0.01899177 0.99979122 -0.00753853 -0.78411639] [ 0.35019963 0.01371417 0.93657469 -0.91650537] [ 0. 0. 0. 1. ]] SLAMing on 435.75463044 meters Centerline goodness : 0.090494 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93647302 0.00829044 -0.35064163 -1.48252935] [-0.01150364 0.99990875 -0.00708177 -0.78087411] [ 0.35055093 0.01066554 0.93648294 -0.90851195] [ 0. 0. 0. 1. ]] SLAMing on 435.78463044 meters Centerline goodness : 0.091137 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93646735 0.00827191 -0.35065721 -1.48234015] [-0.01146417 0.99990958 -0.00702869 -0.78156894] [ 0.35056737 0.01060214 0.9364775 -0.90861207] [ 0. 0. 0. 1. ]] SLAMing on 435.81463044000003 meters Centerline goodness : 0.091894 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93646416 0.00822815 -0.35066676 -1.4820819 ] [-0.01142298 0.99990995 -0.00704315 -0.78173276] [ 0.35057723 0.01060131 0.93647382 -0.90873715] [ 0. 0. 0. 1. ]] SLAMing on 435.84463044 meters Centerline goodness : 0.090362 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93646647 0.00833076 -0.35065817 -1.48125692] [-0.01152029 0.99990906 -0.0070107 -0.78106741] [ 0.35056787 0.01060496 0.93647728 -0.90925485] [ 0. 0. 0. 1. ]] SLAMing on 435.87463044000003 meters Centerline goodness : 0.092172 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93651079 0.00829299 -0.35054067 -1.48129358] [-0.01151213 0.99990852 -0.00710046 -0.78051121] [ 0.35044972 0.01068513 0.93652059 -0.90950293] [ 0. 0. 0. 1. ]] SLAMing on 435.90463044 meters Centerline goodness : 0.320074 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93655664 0.00822726 -0.3504197 -1.4815517 ] [-0.01148574 0.99990796 -0.00722147 -0.77978622] [ 0.35032804 0.01078815 0.93656494 -0.90958111] [ 0. 0. 0. 1. ]] SLAMing on 435.93463044000003 meters Centerline goodness : 0.088743 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93654524 0.00815076 -0.35045196 -1.48163169] [-0.0114516 0.99990743 -0.00734747 -0.7790599 ] [ 0.35035963 0.01089448 0.93655189 -0.90939253] [ 0. 0. 0. 1. ]] SLAMing on 435.96463044 meters Centerline goodness : 0.090258 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93642206 0.00802474 -0.35078387 -1.48044461] [-0.01142044 0.99990581 -0.00761258 -0.77760555] [ 0.35068974 0.01113469 0.9364255 -0.90943928] [ 0. 0. 0. 1. ]] SLAMing on 435.99463044000004 meters Centerline goodness : 0.089221 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93628831 0.00796255 -0.35114215 -1.47899635] [-0.01141233 0.9999048 -0.00775596 -0.77669349] [ 0.35104696 0.01126916 0.93629004 -0.90957176] [ 0. 0. 0. 1. ]] SLAMing on 436.02463044 meters Centerline goodness : 0.090985 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93620608 0.00789394 -0.35136286 -1.4778364 ] [-0.01141219 0.99990333 -0.00794332 -0.77528289] [ 0.35126618 0.01144641 0.93620567 -0.90980327] [ 0. 0. 0. 1. ]] SLAMing on 436.05463044000004 meters Centerline goodness : 0.317513 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.93623049 0.01931888 -0.35085503 -1.47696156] [-0.02469034 0.99963635 -0.01084205 -0.78190477] [ 0.35051799 0.01881339 0.93636702 -0.91131774] [ 0. 0. 0. 1. ]] SLAMing on 436.08463044 meters Centerline goodness : 0.302044 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.78, Z:-0.91 [[ 0.9363253 0.01969508 -0.35058099 -1.47712678] [-0.0250476 0.99962858 -0.01073914 -0.78016996] [ 0.35023927 0.01883654 0.93647084 -0.91173069] [ 0. 0. 0. 1. ]] SLAMing on 436.11463044 meters Centerline goodness : 0.323778 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.91 [[ 0.9361482 0.02655887 -0.35060115 -1.46138966] [-0.03264374 0.9994014 -0.01145577 -0.78601199] [ 0.35008703 0.02216923 0.9364548 -0.90510581] [ 0. 0. 0. 1. ]] SLAMing on 436.14463044 meters Centerline goodness : 0.302263 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93608931 0.02651915 -0.35076137 -1.46097324] [-0.03263416 0.99940082 -0.0115327 -0.78571103] [ 0.35024536 0.02224244 0.93639386 -0.90495973] [ 0. 0. 0. 1. ]] SLAMing on 436.17463044 meters Centerline goodness : 0.300161 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93597672 0.02640863 -0.35107002 -1.46004142] [-0.03256264 0.99940196 -0.01163597 -0.78576822] [ 0.35055278 0.02232276 0.93627691 -0.90479723] [ 0. 0. 0. 1. ]] SLAMing on 436.20463044 meters Centerline goodness : 0.321336 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93588815 0.02620963 -0.35132096 -1.45931498] [-0.03240356 0.99940566 -0.01176147 -0.78606968] [ 0.3508039 0.02239147 0.93618121 -0.90469969] [ 0. 0. 0. 1. ]] SLAMing on 436.23463044 meters Centerline goodness : 0.298191 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93597273 0.02612753 -0.35110169 -1.46017566] [-0.03218433 0.99941665 -0.01142511 -0.78850398] [ 0.35059837 0.02199357 0.93626763 -0.90489248] [ 0. 0. 0. 1. ]] SLAMing on 436.26463044 meters Centerline goodness : 0.300551 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.91 [[ 0.9361422 0.02614114 -0.35064858 -1.461464 ] [-0.03210442 0.99942173 -0.01120289 -0.78967104] [ 0.35015296 0.02174487 0.9364401 -0.90518983] [ 0. 0. 0. 1. ]] SLAMing on 436.29463044 meters Centerline goodness : 0.322045 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.91 [[ 0.93620715 0.02604239 -0.35048249 -1.46192922] [-0.03197411 0.99942653 -0.01114728 -0.79049458] [ 0.3499912 0.02164253 0.93650294 -0.90530215] [ 0. 0. 0. 1. ]] SLAMing on 436.32463044 meters Centerline goodness : 0.330743 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.91 [[ 0.93615116 0.02591319 -0.35064157 -1.46167468] [-0.03184634 0.99943043 -0.01116399 -0.79146358] [ 0.35015256 0.02161783 0.93644319 -0.90511507] [ 0. 0. 0. 1. ]] SLAMing on 436.35463044 meters Centerline goodness : 0.326967 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.79, Z:-0.91 [[ 0.93574083 0.01806382 -0.35222549 -1.47803975] [-0.02306118 0.99968407 -0.00999692 -0.79025956] [ 0.35193363 0.01747726 0.93586178 -0.9124808 ] [ 0. 0. 0. 1. ]] SLAMing on 436.38463044 meters Centerline goodness : 0.102298 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.79, Z:-0.91 [[ 0.93571622 0.01813992 -0.35228695 -1.47783423] [-0.0231156 0.99968356 -0.00992219 -0.79056237] [ 0.35199549 0.01742768 0.93583944 -0.91242647] [ 0. 0. 0. 1. ]] SLAMing on 436.41463044 meters Centerline goodness : 0.327657 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93572256 0.01202372 -0.35253186 -1.46141604] [-0.01620055 0.99982915 -0.00890007 -0.78635906] [ 0.35236462 0.01403921 0.93575749 -0.90429756] [ 0. 0. 0. 1. ]] SLAMing on 436.44463044 meters Centerline goodness : 0.087899 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93579497 0.01193148 -0.35234274 -1.46200916] [-0.01614385 0.999829 -0.00901931 -0.786002 ] [ 0.35217488 0.0141284 0.93582757 -0.90428529] [ 0. 0. 0. 1. ]] SLAMing on 436.47463044 meters Centerline goodness : 0.090447 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93584089 0.01192582 -0.35222096 -1.4623457 ] [-0.01615054 0.99982854 -0.00905841 -0.78581565] [ 0.35205254 0.01416579 0.93587304 -0.90430486] [ 0. 0. 0. 1. ]] SLAMing on 436.50463044 meters Centerline goodness : 0.308651 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.79, Z:-0.90 [[ 0.93584931 0.0119462 -0.3521979 -1.46236269] [-0.016191 0.99982742 -0.00910909 -0.78518034] [ 0.3520283 0.01422717 0.93588122 -0.90431627] [ 0. 0. 0. 1. ]] SLAMing on 436.53463044 meters Centerline goodness : 0.088865 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.78, Z:-0.90 [[ 0.9356975 0.01210177 -0.35259572 -1.46094609] [-0.01638419 0.99982378 -0.00916348 -0.78342542] [ 0.35242269 0.01435124 0.93573088 -0.90425063] [ 0. 0. 0. 1. ]] SLAMing on 436.56463044000003 meters Centerline goodness : 0.087163 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.78, Z:-0.90 [[ 0.93558441 0.01198186 -0.35289977 -1.45995706] [-0.0163287 0.99982303 -0.00934299 -0.78251361] [ 0.35272537 0.01450355 0.93561448 -0.90417088] [ 0. 0. 0. 1. ]] SLAMing on 436.59463044 meters Centerline goodness : 0.090068 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.78, Z:-0.90 [[ 0.93554662 0.01191619 -0.35300215 -1.45950242] [-0.01630049 0.99982248 -0.00944978 -0.78197634] [ 0.35282688 0.01459482 0.93557479 -0.90423551] [ 0. 0. 0. 1. ]] SLAMing on 436.62463044000003 meters Centerline goodness : 0.091430 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.79, Z:-0.90 [[ 0.93532368 0.01915919 -0.35327403 -1.44340095] [-0.024337 0.99965157 -0.01021999 -0.78727558] [ 0.35295513 0.01815662 0.93546406 -0.89662729] [ 0. 0. 0. 1. ]] SLAMing on 436.65463044 meters Centerline goodness : 0.091835 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.79, Z:-0.90 [[ 0.93538193 0.01905853 -0.35312521 -1.44380451] [-0.02426276 0.99965238 -0.01031659 -0.78709623] [ 0.35280584 0.01821774 0.93551919 -0.89671066] [ 0. 0. 0. 1. ]] SLAMing on 436.68463044000003 meters Centerline goodness : 0.338563 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.78, Z:-0.89 [[ 0.93532399 0.01284961 -0.35355894 -1.42693336] [-0.01730046 0.99980586 -0.00943102 -0.78259657] [ 0.35336912 0.01493779 0.9353647 -0.88847645] [ 0. 0. 0. 1. ]] SLAMing on 436.71463044 meters Centerline goodness : 0.090971 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.78, Z:-0.89 [[ 0.93532055 0.01298938 -0.35356293 -1.42695894] [-0.01741076 0.99980491 -0.00932733 -0.7826649 ] [ 0.3533728 0.01487985 0.93536424 -0.88841958] [ 0. 0. 0. 1. ]] SLAMing on 436.74463044000004 meters Centerline goodness : 0.090860 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.78, Z:-0.89 [[ 0.93529286 0.01295189 -0.35363754 -1.4267005 ] [-0.01738997 0.99980483 -0.00937499 -0.78263695] [ 0.3534471 0.01491811 0.93533555 -0.88839913] [ 0. 0. 0. 1. ]] SLAMing on 436.77463044 meters Centerline goodness : 0.090903 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.93490117 0.01920605 -0.3543881 -1.41241161] [-0.02431366 0.99965471 -0.00996492 -0.78918473] [ 0.35407434 0.01793269 0.93504533 -0.88196335] [ 0. 0. 0. 1. ]] SLAMing on 436.80463044000004 meters Centerline goodness : 0.092443 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.9348951 0.01914061 -0.35440765 -1.41223392] [-0.02427724 0.99965472 -0.01005248 -0.78891932] [ 0.35409287 0.01800205 0.93503699 -0.88200117] [ 0. 0. 0. 1. ]] SLAMing on 436.83463044 meters Centerline goodness : 0.091783 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.93485658 0.01909977 -0.35451145 -1.41200567] [-0.02426906 0.99965403 -0.0101405 -0.78852178] [ 0.35419512 0.01808357 0.93499669 -0.88184942] [ 0. 0. 0. 1. ]] SLAMing on 436.86463044 meters Centerline goodness : 0.091450 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.93482822 0.01913149 -0.35458452 -1.41192347] [-0.02430522 0.99965313 -0.01014243 -0.78859784] [ 0.35426748 0.01809968 0.93496896 -0.8816741 ] [ 0. 0. 0. 1. ]] SLAMing on 436.89463044 meters Centerline goodness : 0.308798 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.79, Z:-0.89 [[ 0.93483814 0.01188876 -0.35487505 -1.42863738] [-0.01601773 0.99983386 -0.0086994 -0.78528803] [ 0.35471267 0.01381682 0.93487326 -0.88949443] [ 0. 0. 0. 1. ]] SLAMing on 436.92463044 meters Centerline goodness : 0.092503 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.79, Z:-0.89 [[ 0.93471824 0.01195724 -0.35518844 -1.42798101] [-0.01610443 0.99983227 -0.00872177 -0.78512978] [ 0.35502458 0.0138725 0.93475403 -0.88911911] [ 0. 0. 0. 1. ]] SLAMing on 436.95463044 meters Centerline goodness : 0.090470 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.79, Z:-0.89 [[ 0.93467271 0.01193311 -0.35530906 -1.4278304 ] [-0.01610222 0.99983181 -0.00877884 -0.78519152] [ 0.35514454 0.01392661 0.93470766 -0.88888938] [ 0. 0. 0. 1. ]] SLAMing on 436.98463044 meters Centerline goodness : 0.090789 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.79, Z:-0.89 [[ 0.93465746 0.01184235 -0.35535221 -1.42780145] [-0.01605027 0.99983161 -0.00889582 -0.78508171] [ 0.35518702 0.01401805 0.93469015 -0.88876385] [ 0. 0. 0. 1. ]] SLAMing on 437.01463044 meters Centerline goodness : 0.306203 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.9347828 0.01859382 -0.35473285 -1.41101869] [-0.02377164 0.99966493 -0.01024357 -0.78997552] [ 0.35442352 0.01800809 0.93491159 -0.88153015] [ 0. 0. 0. 1. ]] SLAMing on 437.04463044 meters Centerline goodness : 0.328766 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.93482788 0.01857329 -0.35461511 -1.41137817] [-0.02372868 0.99966645 -0.01019455 -0.79038556] [ 0.35430748 0.01794469 0.93495679 -0.8815862 ] [ 0. 0. 0. 1. ]] SLAMing on 437.07463044 meters Centerline goodness : 0.344134 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.93484795 0.01860091 -0.35456074 -1.41183854] [-0.02373563 0.99966687 -0.01013785 -0.79073556] [ 0.35425405 0.01789307 0.93497802 -0.88134443] [ 0. 0. 0. 1. ]] SLAMing on 437.10463044 meters Centerline goodness : 0.091145 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.79, Z:-0.88 [[ 0.93492833 0.01863741 -0.3543468 -1.41276228] [-0.02367946 0.9996706 -0.00989802 -0.79196965] [ 0.35404561 0.01764468 0.9350617 -0.88133245] [ 0. 0. 0. 1. ]] SLAMing on 437.13463044 meters Centerline goodness : 0.336762 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.79, Z:-0.87 [[ 0.93524401 0.01157075 -0.35381459 -1.39493135] [-0.01581807 0.99983334 -0.00911474 -0.79049554] [ 0.35365016 0.01412117 0.93527117 -0.8729962 ] [ 0. 0. 0. 1. ]] SLAMing on 437.16463044 meters Centerline goodness : 0.092448 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.79, Z:-0.87 [[ 0.93520377 0.01161668 -0.35391944 -1.39476336] [-0.01579628 0.99983542 -0.00892286 -0.79213721] [ 0.35375754 0.0139353 0.93523335 -0.87285336] [ 0. 0. 0. 1. ]] SLAMing on 437.19463044 meters Centerline goodness : 0.091052 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.79, Z:-0.87 [[ 0.93511951 0.01170135 -0.35413922 -1.3943133 ] [-0.01579481 0.99983766 -0.00867055 -0.7941097 ] [ 0.35398027 0.01370156 0.93515252 -0.87263294] [ 0. 0. 0. 1. ]] SLAMing on 437.22463044 meters Centerline goodness : 0.091052 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.79, Z:-0.87 [[ 0.93511951 0.01170135 -0.35413922 -1.3943133 ] [-0.01579481 0.99983766 -0.00867055 -0.7941097 ] [ 0.35398027 0.01370156 0.93515252 -0.87263294] [ 0. 0. 0. 1. ]] SLAMing on 437.25463044 meters Centerline goodness : 0.088852 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.80, Z:-0.87 [[ 0.93504516 0.0117924 -0.35433244 -1.39390865] [-0.01579073 0.99984008 -0.00839476 -0.79621726] [ 0.35417678 0.01344465 0.93508184 -0.87242124] [ 0. 0. 0. 1. ]] SLAMing on 437.28463044 meters Centerline goodness : 0.087790 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.80, Z:-0.87 [[ 0.93511186 0.00781537 -0.35426646 -1.39389839] [-0.01261542 0.99985723 -0.01124174 -0.79858903] [ 0.35412802 0.01498151 0.93507695 -0.87253046] [ 0. 0. 0. 1. ]] SLAMing on 437.31463044000003 meters Centerline goodness : 0.090270 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.80, Z:-0.86 [[ 0.93519874 0.00157476 -0.35411981 -1.37655842] [-0.00549403 0.99993428 -0.01006255 -0.79619954] [ 0.35408069 0.01135603 0.93514593 -0.86424345] [ 0. 0. 0. 1. ]] SLAMing on 437.34463044 meters Centerline goodness : 0.337820 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.80, Z:-0.86 [[ 0.93520089 0.00172903 -0.3541134 -1.3765846 ] [-0.0055675 0.99993627 -0.00982118 -0.79758001] [ 0.35407385 0.0111563 0.93515092 -0.86421767] [ 0. 0. 0. 1. ]] SLAMing on 437.37463044000003 meters Centerline goodness : 0.091324 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.80, Z:-0.86 [[ 0.93520017 0.00192541 -0.35411428 -1.37647349] [-0.00567548 0.99993827 -0.00955179 -0.79890745] [ 0.35407404 0.0109426 0.93515338 -0.86430502] [ 0. 0. 0. 1. ]] SLAMing on 437.40463044 meters Centerline goodness : 0.327713 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.80, Z:-0.86 [[ 0.93507405 0.00204607 -0.35444651 -1.37532101] [-0.00565311 0.99994224 -0.00914136 -0.80254875] [ 0.35440733 0.01055158 0.93503161 -0.86417685] [ 0. 0. 0. 1. ]] SLAMing on 437.43463044000003 meters Centerline goodness : 0.089523 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.80, Z:-0.86 [[ 0.93500272 0.00204386 -0.35463465 -1.37469878] [-0.00559022 0.99994409 -0.00897577 -0.80450302] [ 0.35459648 0.01037486 0.93496187 -0.86410687] [ 0. 0. 0. 1. ]] SLAMing on 437.46463044 meters Centerline goodness : 0.090499 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.81, Z:-0.86 [[ 0.93491191 0.00212408 -0.35487352 -1.37425384] [-0.005598 0.99994594 -0.00876276 -0.80637961] [ 0.35483572 0.01017899 0.93487325 -0.86381475] [ 0. 0. 0. 1. ]] SLAMing on 437.49463044000004 meters Centerline goodness : 0.327663 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.81, Z:-0.86 [[ 0.9348844 0.00230154 -0.35494488 -1.37421845] [-0.00568332 0.99994785 -0.00848534 -0.80803025] [ 0.35490684 0.00995008 0.93484872 -0.86365618] [ 0. 0. 0. 1. ]] SLAMing on 437.52463044 meters Centerline goodness : 0.087363 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.81, Z:-0.86 [[ 0.93485783 0.00248018 -0.35501363 -1.37406406] [-0.00577798 0.99994945 -0.00822935 -0.80937459] [ 0.35497527 0.00974453 0.9348249 -0.86354034] [ 0. 0. 0. 1. ]] SLAMing on 437.55463044000004 meters Centerline goodness : 0.089541 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.81, Z:-0.86 [[ 0.93486627 0.00268877 -0.3549899 -1.37419152] [-0.005902 0.99995083 -0.00796908 -0.81056585] [ 0.35495102 0.00954518 0.93483617 -0.86346664] [ 0. 0. 0. 1. ]] SLAMing on 437.58463044 meters Centerline goodness : 0.089428 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.81, Z:-0.86 [[ 0.93527865 0.0101968 -0.35376528 -1.35612163] [-0.01439781 0.9998536 -0.00924528 -0.8140744 ] [ 0.35361921 0.01374036 0.93528854 -0.85606261] [ 0. 0. 0. 1. ]] SLAMing on 437.61463044 meters Centerline goodness : 0.089722 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.81, Z:-0.86 [[ 0.93527971 0.0101742 -0.35376314 -1.35564318] [-0.01439779 0.99985301 -0.00930922 -0.81382483] [ 0.35361642 0.01380013 0.93528872 -0.85637689] [ 0. 0. 0. 1. ]] SLAMing on 437.64463044 meters Centerline goodness : 0.091230 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.81, Z:-0.86 [[ 0.93522657 0.01016098 -0.35390396 -1.35492609] [-0.01440409 0.99985247 -0.00935734 -0.81359708] [ 0.35375667 0.01384889 0.93523496 -0.85649546] [ 0. 0. 0. 1. ]] SLAMing on 437.67463044 meters Centerline goodness : 0.101256 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.81, Z:-0.86 [[ 0.93517301 0.01014967 -0.35404579 -1.35435179] [-0.01441082 0.99985196 -0.00940118 -0.81328058] [ 0.35389796 0.01389382 0.93518083 -0.85652555] [ 0. 0. 0. 1. ]] SLAMing on 437.70463044 meters Centerline goodness : 0.093678 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.81, Z:-0.86 [[ 0.93518827 0.01016836 -0.35400496 -1.35446746] [-0.01442667 0.99985182 -0.00939197 -0.81332163] [ 0.353857 0.01389038 0.93519639 -0.85649302] [ 0. 0. 0. 1. ]] SLAMing on 437.73463044 meters Centerline goodness : 0.181564 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93549599 0.00423298 -0.35331196 -1.3379448 ] [-0.00762212 0.99993732 -0.00820168 -0.80944939] [ 0.35325509 0.01036563 0.93546961 -0.84849154] [ 0. 0. 0. 1. ]] SLAMing on 437.76463044 meters Centerline goodness : 0.090443 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93553793 0.00424712 -0.35320071 -1.33815098] [-0.00763022 0.99993738 -0.00818656 -0.80954155] [ 0.35314382 0.01035384 0.93551175 -0.84858993] [ 0. 0. 0. 1. ]] SLAMing on 437.79463044 meters Centerline goodness : 0.089198 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.9355633 0.00427929 -0.35313313 -1.33808093] [-0.00765662 0.99993733 -0.00816755 -0.80948469] [ 0.35307605 0.01034507 0.93553743 -0.8487256 ] [ 0. 0. 0. 1. ]] SLAMing on 437.82463044 meters Centerline goodness : 0.088703 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93554298 0.00429367 -0.35318678 -1.33757167] [-0.007673 0.9999372 -0.00816854 -0.80938277] [ 0.35312953 0.01035202 0.93551717 -0.84890429] [ 0. 0. 0. 1. ]] SLAMing on 437.85463044 meters Centerline goodness : 0.091241 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93553234 0.00423328 -0.35321568 -1.33699413] [-0.00762404 0.99993724 -0.0082089 -0.80950432] [ 0.35315876 0.01037262 0.93550591 -0.84919827] [ 0. 0. 0. 1. ]] SLAMing on 437.88463044 meters Centerline goodness : 0.091295 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93545605 0.00409764 -0.35341929 -1.3362318 ] [-0.00749526 0.99993791 -0.00824546 -0.81048267] [ 0.35336356 0.01036223 0.93542868 -0.84920353] [ 0. 0. 0. 1. ]] SLAMing on 437.91463044 meters Centerline goodness : 0.089144 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93545132 0.00419427 -0.35343066 -1.33607741] [-0.00753964 0.99993886 -0.00808915 -0.81124299] [ 0.35337512 0.01023175 0.93542575 -0.84926775] [ 0. 0. 0. 1. ]] SLAMing on 437.94463044 meters Centerline goodness : 0.089773 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93545744 0.00429322 -0.35341328 -1.33602739] [-0.00759738 0.99993944 -0.00796255 -0.81166525] [ 0.35335769 0.01013364 0.9354334 -0.84930298] [ 0. 0. 0. 1. ]] SLAMing on 437.97463044 meters Centerline goodness : 0.088849 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93542771 0.00428334 -0.35349209 -1.33518978] [-0.00758826 0.9999395 -0.00796392 -0.81170232] [ 0.35343659 0.01013206 0.93540361 -0.84958967] [ 0. 0. 0. 1. ]] SLAMing on 438.00463044 meters Centerline goodness : 0.089860 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.81, Z:-0.85 [[ 0.93539066 0.00427609 -0.35359021 -1.33476208] [-0.0075893 0.99993933 -0.00798418 -0.81157343] [ 0.35353462 0.01015183 0.93536635 -0.84961055] [ 0. 0. 0. 1. ]] SLAMing on 438.03463044 meters Centerline goodness : 0.090399 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.81, Z:-0.85 [[ 0.93538886 0.00434403 -0.35359414 -1.33471078] [-0.00764474 0.99993927 -0.0079386 -0.81153272] [ 0.35353818 0.01012881 0.93536526 -0.84960923] [ 0. 0. 0. 1. ]] SLAMing on 438.06463044000003 meters Centerline goodness : 0.095319 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93542781 0.00437037 -0.35349076 -1.33500234] [-0.00766696 0.9999392 -0.00792606 -0.81146393] [ 0.35343463 0.01012445 0.93540444 -0.84965579] [ 0. 0. 0. 1. ]] SLAMing on 438.09463044 meters Centerline goodness : 0.090186 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93548679 0.00428588 -0.35333568 -1.33538422] [-0.00759832 0.99993923 -0.00798819 -0.81150925] [ 0.35327997 0.01015761 0.9354625 -0.84971013] [ 0. 0. 0. 1. ]] SLAMing on 438.12463044000003 meters Centerline goodness : 0.092300 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.81, Z:-0.85 [[ 0.93549757 0.00422394 -0.35330788 -1.33519754] [-0.00752473 0.99993993 -0.00796949 -0.81232205] [ 0.35325299 0.01011399 0.93547316 -0.84989476] [ 0. 0. 0. 1. ]] SLAMing on 438.15463044 meters Centerline goodness : 0.092162 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.81, Z:-0.85 [[ 0.93537167 0.00416822 -0.35364172 -1.33412813] [-0.00746271 0.99994053 -0.00795279 -0.81278831] [ 0.35358754 0.01007794 0.93534715 -0.849804 ] [ 0. 0. 0. 1. ]] SLAMing on 438.18463044000003 meters Centerline goodness : 0.087975 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.81, Z:-0.84 [[ 9.34751171e-01 -1.59237664e-03 -3.55299469e-01 -1.31596557e+00] [-9.75389767e-04 9.99974688e-01 -7.04780976e-03 -8.08547931e-01] [ 3.55301698e-01 6.93450389e-03 9.34725958e-01 -8.41409472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21463044 meters Centerline goodness : 0.090663 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.81, Z:-0.84 [[ 9.34670438e-01 -1.50093710e-03 -3.55512194e-01 -1.31506089e+00] [-1.00836954e-03 9.99975873e-01 -6.87288406e-03 -8.09563179e-01] [ 3.55513932e-01 6.78236922e-03 9.34646374e-01 -8.41500058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24463044000004 meters Centerline goodness : 0.091963 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.82, Z:-0.85 [[ 0.93500566 0.00557735 -0.35458893 -1.32873227] [-0.0089501 0.99992896 -0.00787231 -0.81728893] [ 0.35451983 0.01053426 0.93498915 -0.84906487] [ 0. 0. 0. 1. ]] SLAMing on 438.27463044 meters Centerline goodness : 0.092140 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.82, Z:-0.85 [[ 0.9349178 0.00557157 -0.35482062 -1.32811544] [-0.00883802 0.99993217 -0.00758591 -0.8206259 ] [ 0.35475429 0.01022811 0.93490362 -0.84890937] [ 0. 0. 0. 1. ]] SLAMing on 438.30463044000004 meters Centerline goodness : 0.093578 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.82, Z:-0.85 [[ 0.93487128 0.00568279 -0.3549414 -1.32796179] [-0.00886855 0.99993367 -0.00734921 -0.82245845] [ 0.35487609 0.01001838 0.93485967 -0.84870085] [ 0. 0. 0. 1. ]] SLAMing on 438.33463044 meters Centerline goodness : 0.087031 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.82, Z:-0.85 [[ 0.93483121 0.00578307 -0.3550453 -1.32767461] [-0.00890672 0.99993467 -0.00716413 -0.82374223] [ 0.35498068 0.00985954 0.93482164 -0.84862801] [ 0. 0. 0. 1. ]] SLAMing on 438.36463044 meters Centerline goodness : 0.093305 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.83, Z:-0.85 [[ 0.93489438 0.00611802 -0.35487332 -1.32817422] [-0.00912705 0.99993519 -0.00680581 -0.82520987] [ 0.35480868 0.00960166 0.93488962 -0.84863278] [ 0. 0. 0. 1. ]] SLAMing on 438.39463044 meters Centerline goodness : 0.091500 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.83, Z:-0.85 [[ 0.93493254 0.00623046 -0.3547708 -1.32842276] [-0.00920998 0.99993507 -0.0067104 -0.82543951] [ 0.35470596 0.00954121 0.93492922 -0.8486524 ] [ 0. 0. 0. 1. ]] SLAMing on 438.42463044 meters Centerline goodness : 0.321022 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.83, Z:-0.86 [[ 0.93507883 0.01397487 -0.35416421 -1.34356597] [-0.01785682 0.99981094 -0.00769504 -0.83032741] [ 0.35398971 0.01351971 0.93515159 -0.85588036] [ 0. 0. 0. 1. ]] SLAMing on 438.45463044 meters Centerline goodness : 0.096125 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.84, Z:-0.86 [[ 0.93519566 0.02626077 -0.3531564 -1.34355732] [-0.03188472 0.99944036 -0.01011558 -0.83821206] [ 0.35269312 0.02072034 0.93550961 -0.85732603] [ 0. 0. 0. 1. ]] SLAMing on 438.48463044 meters Centerline goodness : 0.090060 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.84, Z:-0.86 [[ 0.9353099 0.02656845 -0.35283072 -1.34357626] [-0.03217888 0.99943166 -0.01004414 -0.83711776] [ 0.35236333 0.02074808 0.93563326 -0.85786008] [ 0. 0. 0. 1. ]] SLAMing on 438.51463044 meters Centerline goodness : 0.095663 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.84, Z:-0.85 [[ 0.93509304 0.03381784 -0.35278515 -1.32758282] [-0.04015993 0.99913628 -0.0106712 -0.84272534] [ 0.35211957 0.0241464 0.9356435 -0.85128535] [ 0. 0. 0. 1. ]] SLAMing on 438.54463044 meters Centerline goodness : 0.088970 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.84, Z:-0.85 [[ 0.93509437 0.03363542 -0.35279907 -1.32760171] [-0.04003903 0.99913902 -0.01086684 -0.84220991] [ 0.3521298 0.02428725 0.935636 -0.85122872] [ 0. 0. 0. 1. ]] SLAMing on 438.57463044 meters Centerline goodness : 0.089792 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.84, Z:-0.85 [[ 0.93506079 0.03338656 -0.35291169 -1.32668582] [-0.03979221 0.99914842 -0.01090928 -0.84280299] [ 0.35224693 0.02424398 0.93559304 -0.85174228] [ 0. 0. 0. 1. ]] SLAMing on 438.60463044 meters Centerline goodness : 0.090126 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.84, Z:-0.85 [[ 0.93507216 0.03331486 -0.35288832 -1.32657249] [-0.03968655 0.99915344 -0.01083381 -0.84339882] [ 0.35222866 0.02413532 0.93560273 -0.85202051] [ 0. 0. 0. 1. ]] SLAMing on 438.63463044 meters Centerline goodness : 0.090400 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.84, Z:-0.85 [[ 0.93512163 0.03323086 -0.35276515 -1.32678865] [-0.03956902 0.99915881 -0.01076903 -0.8440173 ] [ 0.35211055 0.02402893 0.93564992 -0.85229439] [ 0. 0. 0. 1. ]] SLAMing on 438.66463044 meters Centerline goodness : 0.090378 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.85, Z:-0.85 [[ 0.93521042 0.03317705 -0.35253476 -1.32712715] [-0.03941115 0.99916771 -0.01051891 -0.84518069] [ 0.35189236 0.02373119 0.9357396 -0.85290231] [ 0. 0. 0. 1. ]] SLAMing on 438.69463044 meters Centerline goodness : 0.091032 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.85, Z:-0.85 [[ 0.93527809 0.03313959 -0.35235872 -1.32755084] [-0.03931479 0.99917294 -0.01038168 -0.84596523] [ 0.35172326 0.02356267 0.93580743 -0.85317381] [ 0. 0. 0. 1. ]] SLAMing on 438.72463044 meters Centerline goodness : 0.094404 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.84, Z:-0.87 [[ 0.93549329 0.01911947 -0.35282681 -1.3629466 ] [-0.02384377 0.99967475 -0.00904817 -0.8399556 ] [ 0.35253905 0.01687723 0.9356449 -0.86765662] [ 0. 0. 0. 1. ]] SLAMing on 438.75463044 meters Centerline goodness : 0.090553 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.84, Z:-0.86 [[ 0.93523711 0.01196561 -0.3538197 -1.34164419] [-0.01614739 0.99983029 -0.0088691 -0.83722853] [ 0.35365353 0.01400798 0.9352716 -0.85991545] [ 0. 0. 0. 1. ]] SLAMing on 438.78463044 meters Centerline goodness : 0.094790 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.84, Z:-0.87 [[ 0.9350047 0.00412646 -0.3546113 -1.35957264] [-0.00729866 0.99994442 -0.00760847 -0.83508542] [ 0.3545602 0.00970215 0.93498285 -0.86787218] [ 0. 0. 0. 1. ]] SLAMing on 438.81463044000003 meters Centerline goodness : 0.176589 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.84, Z:-0.87 [[ 0.9350582 0.0041645 -0.35446978 -1.35960003] [-0.00731132 0.99994485 -0.00753869 -0.83545235] [ 0.35441884 0.00964076 0.93503708 -0.86816467] [ 0. 0. 0. 1. ]] SLAMing on 438.84463044 meters Centerline goodness : 0.092839 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.84, Z:-0.87 [[ 0.93509622 0.00415135 -0.35436962 -1.35961818] [-0.00729583 0.99994497 -0.00753784 -0.83553454] [ 0.35431883 0.00963403 0.93507505 -0.86833093] [ 0. 0. 0. 1. ]] SLAMing on 438.87463044000003 meters Centerline goodness : 0.085348 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.83, Z:-0.87 [[ 0.93515702 0.00427425 -0.35420769 -1.35934357] [-0.00743992 0.99994362 -0.00757603 -0.83414609] [ 0.35415534 0.00972006 0.9351361 -0.86888069] [ 0. 0. 0. 1. ]] SLAMing on 438.90463044 meters Centerline goodness : 0.324122 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.84, Z:-0.88 [[ 0.93471497 0.01372238 -0.35513325 -1.37257317] [-0.0177757 0.99980876 -0.00815314 -0.83714941] [ 0.35495345 0.0139336 0.93478014 -0.87516243] [ 0. 0. 0. 1. ]] SLAMing on 438.93463044000003 meters Centerline goodness : 0.094656 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.83, Z:-0.88 [[ 0.93465985 0.01350348 -0.35528667 -1.37143021] [-0.01770155 0.9998066 -0.00856792 -0.83456392] [ 0.35510226 0.01429722 0.93471813 -0.875543 ] [ 0. 0. 0. 1. ]] SLAMing on 438.96463044 meters Centerline goodness : 0.096342 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.83, Z:-0.88 [[ 0.93463021 0.01333481 -0.35537101 -1.37059827] [-0.01767094 0.99980372 -0.00895855 -0.8318245 ] [ 0.3551818 0.01465268 0.9346824 -0.87586435] [ 0. 0. 0. 1. ]] SLAMing on 438.99463044000004 meters Centerline goodness : 0.097452 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.83, Z:-0.88 [[ 0.93472816 0.01316766 -0.35511953 -1.37090275] [-0.01764288 0.99980048 -0.0093666 -0.82895176] [ 0.35492534 0.01502056 0.93477398 -0.87621272] [ 0. 0. 0. 1. ]] SLAMing on 439.02463044 meters Centerline goodness : 0.096321 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.83, Z:-0.87 [[ 0.93471501 0.02146857 -0.35474913 -1.35388018] [-0.02670649 0.99959454 -0.00987484 -0.83025749] [ 0.3543933 0.01870426 0.93490938 -0.86900681] [ 0. 0. 0. 1. ]] SLAMing on 439.05463044000004 meters Centerline goodness : 0.080100 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.82, Z:-0.87 [[ 0.93498139 0.02448399 -0.35385071 -1.35553179] [-0.02921743 0.99954074 -0.00804015 -0.82387496] [ 0.35349135 0.017856 0.93526736 -0.86972569] [ 0. 0. 0. 1. ]] SLAMing on 439.08463044 meters Centerline goodness : 0.329328 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.82, Z:-0.87 [[ 0.93507955 0.02410836 -0.35361706 -1.35579723] [-0.02901798 0.999542 -0.00858782 -0.82069356] [ 0.35324806 0.01829155 0.93535086 -0.87005821] [ 0. 0. 0. 1. ]] SLAMing on 439.11463044 meters Centerline goodness : 0.329328 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.82, Z:-0.87 [[ 0.93507955 0.02410836 -0.35361706 -1.35579723] [-0.02901798 0.999542 -0.00858782 -0.82069356] [ 0.35324806 0.01829155 0.93535086 -0.87005821] [ 0. 0. 0. 1. ]] SLAMing on 439.14463044 meters Centerline goodness : 0.096163 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.82, Z:-0.87 [[ 0.93519598 0.02364885 -0.35334009 -1.35621931] [-0.02873109 0.99954535 -0.00914447 -0.81805497] [ 0.35296319 0.01870372 0.93545025 -0.8704171 ] [ 0. 0. 0. 1. ]] SLAMing on 439.17463044 meters Centerline goodness : 0.325776 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.82, Z:-0.87 [[ 0.9352835 0.0230735 -0.35314642 -1.3564677 ] [-0.02835886 0.99954978 -0.00979896 -0.81526019] [ 0.35276133 0.01917963 0.93551675 -0.87073756] [ 0. 0. 0. 1. ]] SLAMing on 439.20463044 meters Centerline goodness : 0.084886 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.81, Z:-0.87 [[ 0.93548503 0.02250913 -0.35264868 -1.35699496] [-0.02794402 0.99955614 -0.01032776 -0.81147118] [ 0.35225968 0.01951588 0.9356988 -0.87181342] [ 0. 0. 0. 1. ]] SLAMing on 439.23463044 meters Centerline goodness : 0.089319 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.81, Z:-0.87 [[ 0.93558745 0.02222674 -0.35239481 -1.3573674 ] [-0.02775488 0.99955811 -0.01064206 -0.80933315] [ 0.35200256 0.01973725 0.93579092 -0.87229957] [ 0. 0. 0. 1. ]] SLAMing on 439.26463044 meters Centerline goodness : 0.331860 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.81, Z:-0.87 [[ 0.93567059 0.02184892 -0.35219764 -1.35714102] [-0.02754485 0.99955817 -0.01116885 -0.80602514] [ 0.35179801 0.0201516 0.935859 -0.87287506] [ 0. 0. 0. 1. ]] SLAMing on 439.29463044 meters Centerline goodness : 0.086374 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.80, Z:-0.87 [[ 0.93568872 0.02140074 -0.35217697 -1.35667969] [-0.02729969 0.99955774 -0.01179163 -0.80269521] [ 0.35176887 0.02064762 0.93585914 -0.87320703] [ 0. 0. 0. 1. ]] SLAMing on 439.32463044 meters Centerline goodness : 0.091172 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.80, Z:-0.87 [[ 0.93569553 0.02101908 -0.35218186 -1.35589603] [-0.027119 0.99955536 -0.01239528 -0.79900442] [ 0.35176473 0.02114902 0.9358495 -0.8736923 ] [ 0. 0. 0. 1. ]] SLAMing on 439.35463044 meters Centerline goodness : 0.088732 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.79, Z:-0.87 [[ 0.93550017 0.02286566 -0.35258557 -1.35273647] [-0.02881504 0.99951706 -0.01163365 -0.78977301] [ 0.35214929 0.02104305 0.93570726 -0.87444194] [ 0. 0. 0. 1. ]] SLAMing on 439.38463044 meters Centerline goodness : 0.086670 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.79, Z:-0.87 [[ 0.93553696 0.02256674 -0.35250721 -1.35221197] [-0.02867572 0.99951532 -0.01211719 -0.78635453] [ 0.35206291 0.02144448 0.93573064 -0.87498414] [ 0. 0. 0. 1. ]] SLAMing on 439.41463044 meters Centerline goodness : 0.303804 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.78, Z:-0.88 [[ 0.93557649 0.02213461 -0.35242969 -1.35195066] [-0.02842853 0.99951524 -0.01269241 -0.78309892] [ 0.3519779 0.02189378 0.93575222 -0.87533095] [ 0. 0. 0. 1. ]] SLAMing on 439.44463044 meters Centerline goodness : 0.087855 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.77, Z:-0.88 [[ 0.93597402 0.01490647 -0.35175338 -1.36693668] [-0.02061709 0.99970937 -0.01249434 -0.77036311] [ 0.3514649 0.01894651 0.93600932 -0.88361924] [ 0. 0. 0. 1. ]] SLAMing on 439.47463044 meters Centerline goodness : 0.087322 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.77, Z:-0.88 [[ 0.93595475 0.01451877 -0.35182086 -1.36594874] [-0.02041302 0.99970646 -0.0130497 -0.76701185] [ 0.35152812 0.01939565 0.93597638 -0.88409829] [ 0. 0. 0. 1. ]] SLAMing on 439.50463044 meters Centerline goodness : 0.084825 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.76, Z:-0.88 [[ 0.9359906 0.01425269 -0.35173634 -1.36534888] [-0.02029162 0.99970311 -0.01348825 -0.76389576] [ 0.35143967 0.01976217 0.93600193 -0.88470209] [ 0. 0. 0. 1. ]] SLAMing on 439.53463044 meters Centerline goodness : 0.085866 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.76, Z:-0.89 [[ 0.93611471 0.01392893 -0.3514189 -1.36563745] [-0.02010529 0.99970079 -0.01393238 -0.76061928] [ 0.35111969 0.02010768 0.93611465 -0.88528331] [ 0. 0. 0. 1. ]] SLAMing on 439.56463044000003 meters Centerline goodness : 0.088007 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.76, Z:-0.89 [[ 0.93624371 0.0134749 -0.35109278 -1.36629198] [-0.01984698 0.99969705 -0.01455683 -0.7569336 ] [ 0.35079027 0.02059687 0.93622751 -0.88559996] [ 0. 0. 0. 1. ]] SLAMing on 439.59463044 meters Centerline goodness : 0.252174 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.75, Z:-0.89 [[ 0.93629259 0.01303464 -0.35097903 -1.36638126] [-0.01959974 0.99969298 -0.01515887 -0.75344285] [ 0.35067369 0.02107223 0.93626061 -0.88579344] [ 0. 0. 0. 1. ]] SLAMing on 439.62463044000003 meters Centerline goodness : 0.086904 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.75, Z:-0.89 [[ 0.93618308 0.01245708 -0.351292 -1.36410073] [-0.01932027 0.9996847 -0.01603838 -0.74547438] [ 0.35098145 0.02180192 0.93612857 -0.88634185] [ 0. 0. 0. 1. ]] SLAMing on 439.65463044 meters Centerline goodness : 0.089641 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.74, Z:-0.89 [[ 0.93648812 0.00521681 -0.35066049 -1.37965602] [-0.01141284 0.99981309 -0.01560527 -0.73602652] [ 0.35051354 0.01861618 0.93637263 -0.89433682] [ 0. 0. 0. 1. ]] SLAMing on 439.68463044000003 meters Centerline goodness : 0.319065 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.73, Z:-0.89 [[ 0.93651401 0.00481959 -0.35059703 -1.37971721] [-0.01121857 0.99980546 -0.01622289 -0.73234033] [ 0.35045064 0.01912616 0.93638589 -0.8943915 ] [ 0. 0. 0. 1. ]] SLAMing on 439.71463044 meters Centerline goodness : 0.093371 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.73, Z:-0.89 [[ 0.93658329 0.00446658 -0.35041659 -1.38041405] [-0.01106987 0.99979686 -0.01684333 -0.72808796] [ 0.35027017 0.01965424 0.93644248 -0.89425635] [ 0. 0. 0. 1. ]] SLAMing on 439.74463044000004 meters Centerline goodness : 0.287252 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.72, Z:-0.89 [[ 0.93667307 0.00823753 -0.35010812 -1.38182336] [-0.01424191 0.99979229 -0.01457891 -0.72023194] [ 0.34991531 0.01864188 0.93659583 -0.89386432] [ 0. 0. 0. 1. ]] SLAMing on 439.77463044 meters Centerline goodness : 0.089707 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.71, Z:-0.89 [[ 0.93672744 0.00778204 -0.34997307 -1.38163841] [-0.01403622 0.99978385 -0.01533761 -0.71498412] [ 0.34977806 0.01927946 0.93663419 -0.89426829] [ 0. 0. 0. 1. ]] SLAMing on 439.80463044000004 meters Centerline goodness : 0.287540 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.71, Z:-0.89 [[ 0.93671603 0.00751644 -0.35000939 -1.38109842] [-0.01398598 0.99977481 -0.01595998 -0.7086477 ] [ 0.34981061 0.01984519 0.93661022 -0.89437249] [ 0. 0. 0. 1. ]] SLAMing on 439.83463044 meters Centerline goodness : 0.313431 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.70, Z:-0.90 [[ 0.93726829 0.00149748 -0.34860568 -1.39817583] [-0.00710483 0.99986513 -0.01480715 -0.69784077] [ 0.34853649 0.01635506 0.93715251 -0.90320386] [ 0. 0. 0. 1. ]] SLAMing on 439.86463044 meters Centerline goodness : 0.300114 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.69, Z:-0.90 [[ 9.37264021e-01 1.29073958e-03 -3.48617971e-01 -1.39785593e+00] [-7.09218025e-03 9.99856791e-01 -1.53655035e-02 -6.91637736e-01] [ 3.48548213e-01 1.68739951e-02 9.37138950e-01 -9.03334623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89463044 meters Centerline goodness : 0.246261 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.68, Z:-0.90 [[ 0.93725513 0.00204591 -0.34863825 -1.39746856] [-0.00800417 0.99984549 -0.01565049 -0.6797347 ] [ 0.34855236 0.01745906 0.93712669 -0.90338057] [ 0. 0. 0. 1. ]] SLAMing on 439.92463044 meters Centerline goodness : 0.320579 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.68, Z:-0.90 [[ 0.93726962 0.00161599 -0.34860156 -1.39753376] [-0.00780595 0.99983582 -0.01635265 -0.67534251] [ 0.34851789 0.01804801 0.93712835 -0.9033701 ] [ 0. 0. 0. 1. ]] SLAMing on 439.95463044 meters Centerline goodness : 0.297555 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.67, Z:-0.90 [[ 9.37285080e-01 1.11964489e-03 -3.48561939e-01 -1.39732896e+00] [-7.55348947e-03 9.99825256e-01 -1.70997550e-02 -6.70861007e-01] [ 3.48481884e-01 1.86602042e-02 9.37129753e-01 -9.03554831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98463044 meters Centerline goodness : 0.299799 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.67, Z:-0.90 [[ 9.37230966e-01 6.04023946e-04 -3.48708692e-01 -1.39647966e+00] [-7.29611976e-03 9.99813553e-01 -1.78780689e-02 -6.65999742e-01] [ 3.48632878e-01 1.93001002e-02 9.37060629e-01 -9.03705806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01463044 meters Centerline goodness : 0.088749 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.66, Z:-0.90 [[ 0.93676537 0.00232969 -0.34995029 -1.39095276] [-0.00896641 0.99980935 -0.01734581 -0.65533485] [ 0.34984316 0.01938675 0.93660766 -0.90416844] [ 0. 0. 0. 1. ]] SLAMing on 440.04463044 meters Centerline goodness : 0.088058 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.65, Z:-0.90 [[ 0.93672234 0.00197994 -0.35006762 -1.39013708] [-0.00884555 0.9997986 -0.01801448 -0.65006571] [ 0.34996144 0.01997111 0.9365512 -0.90435685] [ 0. 0. 0. 1. ]] SLAMing on 440.07463044 meters Centerline goodness : 0.305883 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.64, Z:-0.90 [[ 0.93671766 0.00160803 -0.35008204 -1.38959504] [-0.00868855 0.99978821 -0.01865571 -0.6449108 ] [ 0.3499779 0.02051684 0.93653325 -0.90459817] [ 0. 0. 0. 1. ]] SLAMing on 440.10463044 meters Centerline goodness : 0.306238 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.64, Z:-0.90 [[ 9.36752418e-01 1.15737458e-03 -3.49990812e-01 -1.38974293e+00] [-8.48271613e-03 9.99775857e-01 -1.93979083e-02 -6.39909852e-01] [ 3.49889913e-01 2.11399102e-02 9.36552269e-01 -9.04642387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.13463044 meters Centerline goodness : 0.301379 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.63, Z:-0.90 [[ 9.36802672e-01 1.20635156e-03 -3.49856110e-01 -1.38961704e+00] [-8.85757076e-03 9.99755296e-01 -2.02704466e-02 -6.27370454e-01] [ 3.49746046e-01 2.20882838e-02 9.36584119e-01 -9.04858112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16463044 meters Centerline goodness : 0.306518 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.62, Z:-0.91 [[ 0.93774275 -0.00415766 -0.3473057 -1.40417118] [-0.0027502 0.99980813 -0.01939456 -0.61631176] [ 0.3473197 0.01914226 0.93755139 -0.91394917] [ 0. 0. 0. 1. ]] SLAMing on 440.19463044 meters Centerline goodness : 0.452894 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.61, Z:-0.91 [[ 0.93752846 -0.00219225 -0.34790169 -1.40127813] [-0.00446867 0.99982178 -0.01834245 -0.60960458] [ 0.3478799 0.01875123 0.93735157 -0.9141788 ] [ 0. 0. 0. 1. ]] SLAMing on 440.22463044 meters Centerline goodness : 0.322204 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.60, Z:-0.91 [[ 0.93758814 -0.001974 -0.34774212 -1.40110823] [-0.00479779 0.99981528 -0.01861145 -0.60197082] [ 0.34771462 0.01911827 0.93740548 -0.9145482 ] [ 0. 0. 0. 1. ]] SLAMing on 440.25463044 meters Centerline goodness : 0.283900 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.59, Z:-0.91 [[ 0.93768404 -0.00216029 -0.34748233 -1.40125531] [-0.00481279 0.99980402 -0.01920313 -0.59450439] [ 0.34745572 0.01967882 0.93748988 -0.91495505] [ 0. 0. 0. 1. ]] SLAMing on 440.28463044 meters Centerline goodness : 0.423297 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.59, Z:-0.92 [[ 0.93772671 -0.00260258 -0.34736414 -1.40129683] [-0.00463287 0.9997893 -0.01999745 -0.58759909] [ 0.347343 0.02036143 0.93751707 -0.91511413] [ 0. 0. 0. 1. ]] SLAMing on 440.31463044000003 meters Centerline goodness : 0.248522 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.57, Z:-0.92 [[ 9.37673938e-01 -5.57636389e-04 -3.47515864e-01 -1.39963812e+00] [-6.62696172e-03 9.99788181e-01 -1.94852905e-02 -5.73919915e-01] [ 3.47453120e-01 2.05738234e-02 9.37471625e-01 -9.15603493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34463044 meters Centerline goodness : 0.093139 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.57, Z:-0.92 [[ 9.37571377e-01 -3.89719769e-04 -3.47792698e-01 -1.39846104e+00] [-6.97226155e-03 9.99777346e-01 -1.99159612e-02 -5.65122822e-01] [ 3.47723022e-01 2.10975368e-02 9.37359906e-01 -9.15616180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.37463044000003 meters Centerline goodness : 0.091687 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.56, Z:-0.92 [[ 9.37426735e-01 2.01769509e-04 -3.48182532e-01 -1.39674992e+00] [-7.67764327e-03 9.99768666e-01 -2.00914882e-02 -5.56101966e-01] [ 3.48097932e-01 2.15075194e-02 9.37211426e-01 -9.15683631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40463044 meters Centerline goodness : 0.091449 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.54, Z:-0.92 [[ 0.93717689 0.00185544 -0.3488496 -1.39274596] [-0.00938989 0.99975772 -0.01990828 -0.54092363] [ 0.34872814 0.02193324 0.93696724 -0.91635512] [ 0. 0. 0. 1. ]] SLAMing on 440.43463044000003 meters Centerline goodness : 0.095406 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.53, Z:-0.92 [[ 0.93711506 0.00148082 -0.34901744 -1.3914123 ] [-0.00927134 0.99974374 -0.0206519 -0.53319676] [ 0.34889742 0.02258906 0.93688864 -0.91671457] [ 0. 0. 0. 1. ]] SLAMing on 440.46463044 meters Centerline goodness : 0.096051 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.52, Z:-0.92 [[ 9.37062632e-01 1.13518975e-03 -3.49159470e-01 -1.39021158e+00] [-9.18979200e-03 9.99728480e-01 -2.14129353e-02 -5.24911064e-01] [ 3.49040359e-01 2.32739644e-02 9.36818633e-01 -9.17051304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49463044000004 meters Centerline goodness : 0.096690 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.52, Z:-0.92 [[ 9.36982776e-01 7.48253880e-04 -3.49374752e-01 -1.38921935e+00] [-9.06790538e-03 9.99712914e-01 -2.21779967e-02 -5.16890445e-01] [ 3.49257856e-01 2.39484981e-02 9.36720566e-01 -9.17033384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52463044 meters Centerline goodness : 0.058683 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.51, Z:-0.93 [[ 0.9379358 -0.00432089 -0.346782 -1.40236996] [-0.00344139 0.9997572 -0.02176483 -0.50503401] [ 0.34679185 0.02160742 0.9376932 -0.92564852] [ 0. 0. 0. 1. ]] SLAMing on 440.55463044000004 meters Centerline goodness : 0.076087 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.50, Z:-0.93 [[ 0.937919 -0.00492382 -0.34681941 -1.4019486 ] [-0.00314051 0.9997377 -0.02268636 -0.4979373 ] [ 0.34684014 0.02236716 0.93765752 -0.92572625] [ 0. 0. 0. 1. ]] SLAMing on 440.58463044 meters Centerline goodness : 0.237626 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.48, Z:-0.93 [[ 0.9375728 -0.00362621 -0.34777017 -1.39758204] [-0.00452577 0.99973377 -0.02262553 -0.48365167] [ 0.34775962 0.02278701 0.93730678 -0.92602 ] [ 0. 0. 0. 1. ]] SLAMing on 440.61463044 meters Centerline goodness : 0.098711 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.48, Z:-0.93 [[ 0.93750292 -0.00410284 -0.34795322 -1.39636124] [-0.00432222 0.99971605 -0.0234335 -0.47629521] [ 0.34795057 0.02347291 0.93721898 -0.92623232] [ 0. 0. 0. 1. ]] SLAMing on 440.64463044 meters Centerline goodness : 0.188939 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.47, Z:-0.93 [[ 0.93744229 -0.00451173 -0.34811147 -1.39512534] [-0.00417451 0.99969846 -0.02419837 -0.46898424] [ 0.34811568 0.02413777 0.93714078 -0.92653284] [ 0. 0. 0. 1. ]] SLAMing on 440.67463044 meters Centerline goodness : 0.087327 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.46, Z:-0.93 [[ 0.9373591 -0.00501919 -0.34832846 -1.39411114] [-0.00396403 0.99967779 -0.02507202 -0.46154445] [ 0.34834207 0.02488227 0.93703718 -0.926542 ] [ 0. 0. 0. 1. ]] SLAMing on 440.70463044 meters Centerline goodness : 0.271181 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.45, Z:-0.93 [[ 0.93711037 -0.00351011 -0.34901552 -1.39062352] [-0.00553319 0.99967437 -0.02491057 -0.4477594 ] [ 0.34898931 0.02527512 0.9367858 -0.9268565 ] [ 0. 0. 0. 1. ]] SLAMing on 440.73463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 440.76463044 meters Centerline goodness : 0.225773 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.43, Z:-0.93 [[ 0.93697954 -0.00160439 -0.34938054 -1.38787784] [-0.00740395 0.99967372 -0.02444674 -0.43393014] [ 0.34930577 0.02549289 0.93666194 -0.92735926] [ 0. 0. 0. 1. ]] SLAMing on 440.79463044 meters Centerline goodness : 0.279567 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.43, Z:-0.93 [[ 0.93688277 -0.00199766 -0.34963793 -1.38686705] [-0.00729325 0.99965445 -0.0252544 -0.42625962] [ 0.34956756 0.0262104 0.93654447 -0.92730027] [ 0. 0. 0. 1. ]] SLAMing on 440.82463044 meters Centerline goodness : 0.097482 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.42, Z:-0.93 [[ 0.93675068 -0.00249616 -0.34998847 -1.38538708] [-0.00711113 0.99963241 -0.02616257 -0.41860519] [ 0.34992513 0.02699661 0.93638859 -0.9273239 ] [ 0. 0. 0. 1. ]] SLAMing on 440.85463044 meters Centerline goodness : 0.272708 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.40, Z:-0.93 [[ 9.36654665e-01 -2.15794256e-04 -3.50254183e-01 -1.38272723e+00] [-9.31817365e-03 9.99630508e-01 -2.55346710e-02 -4.03135467e-01] [ 3.50130277e-01 2.71808980e-02 9.36306567e-01 -9.27911295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88463044 meters Centerline goodness : 0.259851 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.39, Z:-0.93 [[ 9.36641003e-01 -1.49793354e-04 -3.50290748e-01 -1.38254458e+00] [-9.59593557e-03 9.99613645e-01 -2.60859936e-02 -3.93841941e-01] [ 3.50159319e-01 2.77945787e-02 9.36277690e-01 -9.27787639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91463044 meters Centerline goodness : 0.277378 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.38, Z:-0.93 [[ 9.36724635e-01 4.23541511e-04 -3.50066821e-01 -1.38343553e+00] [-1.02825358e-02 9.99601077e-01 -2.63050695e-02 -3.84653646e-01] [ 3.49916030e-01 2.82401812e-02 9.36355309e-01 -9.27520154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94463044 meters Centerline goodness : 0.251895 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.37, Z:-0.93 [[ 0.9368443 0.00282961 -0.34973526 -1.38385525] [-0.01255433 0.99959491 -0.02554216 -0.37020681] [ 0.34952132 0.02831972 0.93650032 -0.92757391] [ 0. 0. 0. 1. ]] SLAMing on 440.97463044 meters Centerline goodness : 0.273017 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.92 [[ 0.93602351 -0.00144803 -0.35193451 -1.36506864] [-0.0072295 0.99970142 -0.02334123 -0.35848176] [ 0.35186322 0.02439225 0.93573356 -0.91956898] [ 0. 0. 0. 1. ]] SLAMing on 441.00463044 meters Centerline goodness : 0.277145 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.35, Z:-0.93 [[ 9.35847096e-01 -7.09485235e-03 -3.52334891e-01 -1.37964705e+00] [-8.94141918e-04 9.99746296e-01 -2.25065206e-02 -3.46823947e-01] [ 3.52405183e-01 2.13776993e-02 9.35603325e-01 -9.27932443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03463044 meters Centerline goodness : 0.277145 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.35, Z:-0.93 [[ 9.35847096e-01 -7.09485235e-03 -3.52334891e-01 -1.37964705e+00] [-8.94141918e-04 9.99746296e-01 -2.25065206e-02 -3.46823947e-01] [ 3.52405183e-01 2.13776993e-02 9.35603325e-01 -9.27932443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06463044000003 meters Centerline goodness : 0.271706 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.34, Z:-0.93 [[ 0.93546263 -0.0055361 -0.35338226 -1.37468263] [-0.00238124 0.99975589 -0.02196575 -0.33877029] [ 0.3534176 0.02138963 0.93522109 -0.92844998] [ 0. 0. 0. 1. ]] SLAMing on 441.09463044 meters Centerline goodness : 0.271418 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-0.94 [[ 0.93479357 -0.00304696 -0.35517841 -1.40947805] [-0.00550496 0.99971882 -0.02306474 -0.32201271] [ 0.35514882 0.02351601 0.93451395 -0.94370504] [ 0. 0. 0. 1. ]] SLAMing on 441.12463044000003 meters Centerline goodness : 0.262332 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.31, Z:-0.94 [[ 0.93455132 -0.00186017 -0.3558235 -1.40768396] [-0.00675313 0.99971351 -0.02296302 -0.3124635 ] [ 0.35576427 0.02386304 0.93427102 -0.94322938] [ 0. 0. 0. 1. ]] SLAMing on 441.15463044 meters Centerline goodness : 0.267878 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:-0.94 [[ 9.34356546e-01 1.41730405e-05 -3.56339508e-01 -1.40568194e+00] [-8.54850326e-03 9.99713095e-01 -2.23752372e-02 -3.02629049e-01] [ 3.56236955e-01 2.39526188e-02 9.34088595e-01 -9.43151765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18463044000003 meters Centerline goodness : 0.247170 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.29, Z:-0.94 [[ 0.93416482 0.00230838 -0.35683436 -1.40336419] [-0.01069227 0.99971115 -0.02152437 -0.29219932] [ 0.3566816 0.02392268 0.93391967 -0.9430667 ] [ 0. 0. 0. 1. ]] SLAMing on 441.21463044 meters Centerline goodness : 0.257688 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.27, Z:-0.94 [[ 0.9337069 0.00681662 -0.35797341 -1.39895497] [-0.01492323 0.99969083 -0.01988812 -0.27057687] [ 0.35772717 0.02391179 0.93351995 -0.94279954] [ 0. 0. 0. 1. ]] SLAMing on 441.24463044000004 meters Centerline goodness : 0.262768 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.26, Z:-0.94 [[ 0.93328265 0.00803463 -0.35905285 -1.39508724] [-0.01628423 0.9996682 -0.01995758 -0.25882979] [ 0.35877337 0.02447297 0.93310382 -0.94254982] [ 0. 0. 0. 1. ]] SLAMing on 441.27463044 meters Centerline goodness : 0.097329 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.93 [[ 0.93230784 0.00378257 -0.36164594 -1.37704847] [-0.0112177 0.99976663 -0.01846188 -0.24281435] [ 0.36149171 0.02126899 0.9321327 -0.93469933] [ 0. 0. 0. 1. ]] SLAMing on 441.30463044000004 meters Centerline goodness : 0.098897 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.23, Z:-0.93 [[ 0.93185232 0.00518425 -0.36280074 -1.37321314] [-0.01268169 0.99975235 -0.01828688 -0.23171948] [ 0.36261609 0.0216416 0.93168729 -0.93421413] [ 0. 0. 0. 1. ]] SLAMing on 441.33463044 meters Centerline goodness : 0.100082 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.22, Z:-0.93 [[ 0.93134991 0.00670497 -0.36406371 -1.36882015] [-0.01420896 0.99973815 -0.01793725 -0.22146565] [ 0.36384811 0.02187882 0.9312013 -0.93370217] [ 0. 0. 0. 1. ]] SLAMing on 441.36463044 meters Centerline goodness : 0.253416 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.20, Z:-0.93 [[ 0.93097281 0.00755615 -0.36501031 -1.36597723] [-0.01545123 0.99970548 -0.01871386 -0.2022981 ] [ 0.3647614 0.02306195 0.93081538 -0.93282687] [ 0. 0. 0. 1. ]] SLAMing on 441.39463044 meters Centerline goodness : 0.253976 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.19, Z:-0.93 [[ 0.93093638 0.0066838 -0.36512022 -1.36661337] [-0.01504432 0.99968562 -0.02005807 -0.19300525] [ 0.36487137 0.02416577 0.93074427 -0.93202132] [ 0. 0. 0. 1. ]] SLAMing on 441.42463044 meters Centerline goodness : 0.238746 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.18, Z:-0.93 [[ 0.93083299 0.00646192 -0.36538772 -1.36687529] [-0.0151713 0.99966499 -0.02097003 -0.1826064 ] [ 0.36512981 0.025063 0.93061919 -0.93108504] [ 0. 0. 0. 1. ]] SLAMing on 441.45463044 meters Centerline goodness : 0.197634 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:-0.93 [[ 0.93044042 0.00781537 -0.36635985 -1.36410449] [-0.01656053 0.99964787 -0.02073363 -0.17213156] [ 0.3660688 0.02535852 0.93024221 -0.9302661 ] [ 0. 0. 0. 1. ]] SLAMing on 441.48463044 meters Centerline goodness : 0.226620 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.16, Z:-0.93 [[ 0.93002241 0.00954598 -0.36737881 -1.36029963] [-0.01825866 0.99962826 -0.02024757 -0.16159332] [ 0.36704896 0.02553854 0.92985098 -0.92988723] [ 0. 0. 0. 1. ]] SLAMing on 441.51463044 meters Centerline goodness : 0.237797 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-0.93 [[ 0.92953146 0.01307388 -0.36851098 -1.35691191] [-0.02173987 0.99957592 -0.01937408 -0.14091604] [ 0.36810141 0.02602019 0.92942149 -0.9287099 ] [ 0. 0. 0. 1. ]] SLAMing on 441.54463044 meters Centerline goodness : 0.229510 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-0.93 [[ 0.92920707 0.01389052 -0.36929836 -1.35543234] [-0.02279121 0.99954515 -0.01974977 -0.12938118] [ 0.36885605 0.02676839 0.929101 -0.92756616] [ 0. 0. 0. 1. ]] SLAMing on 441.57463044 meters Centerline goodness : 0.236723 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.11, Z:-0.92 [[ 0.92841538 0.00907015 -0.37143318 -1.34008312] [-0.01705075 0.99968883 -0.01820746 -0.11303013] [ 0.37115246 0.0232373 0.92828114 -0.91918024] [ 0. 0. 0. 1. ]] SLAMing on 441.60463044 meters Centerline goodness : 0.230292 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.09, Z:-0.92 [[ 0.92807053 0.01357834 -0.37215684 -1.33860127] [-0.02115047 0.99964388 -0.0162717 -0.09394931] [ 0.37180336 0.02297258 0.92802722 -0.91790333] [ 0. 0. 0. 1. ]] SLAMing on 441.63463044 meters Centerline goodness : 0.237573 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.08, Z:-0.92 [[ 0.92799576 0.01308462 -0.37236093 -1.33858743] [-0.02103346 0.99962921 -0.01729288 -0.0849716 ] [ 0.37199659 0.02387976 0.92792688 -0.91725065] [ 0. 0. 0. 1. ]] SLAMing on 441.66463044 meters Centerline goodness : 0.235050 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.07, Z:-0.91 [[ 0.92762283 0.00528563 -0.37348085 -1.32357505] [-0.01257642 0.99977491 -0.01708719 -0.07047319] [ 0.37330646 0.02054752 0.9274805 -0.90894638] [ 0. 0. 0. 1. ]] SLAMing on 441.69463044 meters Centerline goodness : 0.194929 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.06, Z:-0.91 [[ 0.92752572 0.00435922 -0.37373391 -1.32315831] [-0.01210394 0.99975784 -0.01837819 -0.06328932] [ 0.3735633 0.02156989 0.92735387 -0.90850524] [ 0. 0. 0. 1. ]] SLAMing on 441.72463044 meters Centerline goodness : 0.159165 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.06, Z:-0.91 [[ 0.92730039 0.00360672 -0.37430065 -1.32235609] [-0.01177045 0.99974004 -0.01952699 -0.05608116] [ 0.37413292 0.02251307 0.92710178 -0.90761049] [ 0. 0. 0. 1. ]] SLAMing on 441.75463044 meters Centerline goodness : 0.092266 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.04, Z:-0.91 [[ 0.92698224 0.00698452 -0.37504018 -1.3226226 ] [-0.01475349 0.99973186 -0.01784761 -0.04291375] [ 0.37481496 0.02207757 0.92683673 -0.90544711] [ 0. 0. 0. 1. ]] SLAMing on 441.78463044 meters Centerline goodness : 0.133198 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.04, Z:-0.90 [[ 0.92686226 0.0064468 -0.37534623 -1.32373734] [-0.01455838 0.99971766 -0.01877902 -0.03550996] [ 0.37511919 0.02287 0.92669442 -0.90389325] [ 0. 0. 0. 1. ]] SLAMing on 441.81463044000003 meters Centerline goodness : 0.130250 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.02, Z:-0.90 [[ 0.92697177 -0.00177604 -0.37512689 -1.30931349] [-0.00540969 0.99982152 -0.01810149 -0.02331453] [ 0.37509209 0.01880889 0.92679672 -0.89563403] [ 0. 0. 0. 1. ]] SLAMing on 441.84463044 meters Centerline goodness : 0.088399 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.89 [[ 0.9270239 -0.01063661 -0.37485137 -1.29447636] [ 0.00426161 0.99983192 -0.01783162 -0.0116688 ] [ 0.37497803 0.01493287 0.92691342 -0.88755816] [ 0. 0. 0. 1. ]] SLAMing on 441.87463044000003 meters Centerline goodness : 0.135000 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.00, Z:-0.89 [[ 9.26926896e-01 -1.13766027e-02 -3.75069464e-01 -1.29645056e+00] [ 4.58104142e-03 9.99808897e-01 -1.90048480e-02 -1.05245928e-03] [ 3.75213997e-01 1.58978960e-02 9.26801874e-01 -8.85754345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90463044 meters Centerline goodness : 0.091457 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.00, Z:-0.88 [[ 0.92685078 -0.01169765 -0.37524765 -1.29710465] [ 0.00470092 0.99979772 -0.01955572 0.00282337] [ 0.3754005 0.01636122 0.92671828 -0.88479011] [ 0. 0. 0. 1. ]] SLAMing on 441.93463044000003 meters Centerline goodness : 0.133556 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.01, Z:-0.88 [[ 0.92679088 -0.01220773 -0.37537931 -1.29808671] [ 0.00496933 0.9997827 -0.020245 0.00622908] [ 0.37554489 0.0168975 0.92665016 -0.88370599] [ 0. 0. 0. 1. ]] SLAMing on 441.96463044 meters Centerline goodness : 0.107895 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.01, Z:-0.88 [[ 0.92672124 -0.01273274 -0.37553379 -1.29862143] [ 0.00526479 0.99976759 -0.02090569 0.00895408] [ 0.37571269 0.01739664 0.92657289 -0.88281464] [ 0. 0. 0. 1. ]] SLAMing on 441.99463044000004 meters Centerline goodness : 0.193136 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.01, Z:-0.88 [[ 0.92667039 -0.0132477 -0.37564144 -1.29915409] [ 0.0055538 0.99975218 -0.02155746 0.0116718 ] [ 0.37583393 0.01789043 0.92651432 -0.88213083] [ 0. 0. 0. 1. ]] SLAMing on 442.02463044 meters Centerline goodness : 0.131463 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.01, Z:-0.88 [[ 0.92651827 -0.01347908 -0.37600826 -1.29913207] [ 0.0056154 0.99974216 -0.02200173 0.01450961] [ 0.37620787 0.01827357 0.92635507 -0.88120891] [ 0. 0. 0. 1. ]] SLAMing on 442.05463044000004 meters Centerline goodness : 0.132354 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.88 [[ 0.92642719 -0.00910367 -0.3763639 -1.29934219] [ 0.00204074 0.99981433 -0.01916068 0.02043059] [ 0.37646845 0.01698291 0.92627376 -0.88014161] [ 0. 0. 0. 1. ]] SLAMing on 442.08463044 meters Centerline goodness : 0.130099 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.88 [[ 0.92628305 -0.00934305 -0.37671264 -1.29898882] [ 0.00204936 0.9998027 -0.01975756 0.0242865 ] [ 0.37682291 0.01752907 0.92611944 -0.8795148 ] [ 0. 0. 0. 1. ]] SLAMing on 442.11463044 meters Centerline goodness : 0.128172 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.03, Z:-0.88 [[ 0.9262356 -0.00981075 -0.37681741 -1.29930679] [ 0.0022397 0.99978683 -0.02052497 0.02810596] [ 0.37693845 0.018167 0.92606013 -0.87903031] [ 0. 0. 0. 1. ]] SLAMing on 442.14463044 meters Centerline goodness : 0.136140 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.03, Z:-0.88 [[ 0.92617101 -0.0100195 -0.37697064 -1.29980929] [ 0.00222521 0.99977477 -0.02110594 0.03178968] [ 0.3770972 0.01870888 0.92598471 -0.878257 ] [ 0. 0. 0. 1. ]] SLAMing on 442.17463044 meters Centerline goodness : 0.088926 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.04, Z:-0.88 [[ 9.26298393e-01 -6.36222089e-03 -3.76737055e-01 -1.30299753e+00] [-8.32597539e-04 9.99820431e-01 -1.89318043e-02 3.86780048e-02] [ 3.76789853e-01 1.78501703e-02 9.26126761e-01 -8.76794519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20463044 meters Centerline goodness : 0.136474 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.04, Z:-0.88 [[ 9.26253728e-01 -6.66580383e-03 -3.76841609e-01 -1.30386731e+00] [-7.64125832e-04 9.99808327e-01 -1.95633932e-02 4.29887960e-02] [ 3.76899785e-01 1.84086203e-02 9.26071096e-01 -8.75949991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23463044 meters Centerline goodness : 0.132667 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.05, Z:-0.88 [[ 9.26167283e-01 -7.00568210e-03 -3.77047854e-01 -1.30393294e+00] [-6.71764430e-04 9.99795195e-01 -2.02266462e-02 4.68442441e-02] [ 3.77112334e-01 1.89865453e-02 9.25972893e-01 -8.75343450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26463044 meters Centerline goodness : 0.088563 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.05, Z:-0.88 [[ 9.26079108e-01 -7.42583283e-03 -3.77256335e-01 -1.30355530e+00] [-4.86773956e-04 9.99781987e-01 -2.08744145e-02 5.00215603e-02] [ 3.77329098e-01 1.95149977e-02 9.25873596e-01 -8.75032313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29463044 meters Centerline goodness : 0.132069 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.06, Z:-0.87 [[ 0.92574283 -0.01287586 -0.37793442 -1.28764328] [ 0.00655595 0.99981642 -0.01800409 0.06207453] [ 0.37809686 0.01418944 0.92565729 -0.86683624] [ 0. 0. 0. 1. ]] SLAMing on 442.32463044 meters Centerline goodness : 0.133300 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.07, Z:-0.87 [[ 0.92562715 -0.01296938 -0.37821446 -1.28817219] [ 0.00649394 0.99980977 -0.01839153 0.06542836] [ 0.37838104 0.0145676 0.92553529 -0.86586027] [ 0. 0. 0. 1. ]] SLAMing on 442.35463044 meters Centerline goodness : 0.131383 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.07, Z:-0.87 [[ 0.92548848 -0.01309742 -0.37854925 -1.28771751] [ 0.00645914 0.99980239 -0.01880065 0.06845134] [ 0.37872069 0.01495468 0.92539019 -0.86531473] [ 0. 0. 0. 1. ]] SLAMing on 442.38463044 meters Centerline goodness : 0.124732 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.07, Z:-0.87 [[ 0.92538582 -0.01335873 -0.37879101 -1.28724426] [ 0.00652831 0.99979222 -0.01931077 0.07133644] [ 0.37897027 0.01539705 0.92528075 -0.86504814] [ 0. 0. 0. 1. ]] SLAMing on 442.41463044 meters Centerline goodness : 0.138780 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.07, Z:-0.86 [[ 0.92527681 -0.01358463 -0.37904917 -1.28635812] [ 0.00655665 0.99978195 -0.0198258 0.07449807] [ 0.37923585 0.01585906 0.92516413 -0.86498559] [ 0. 0. 0. 1. ]] SLAMing on 442.44463044 meters Centerline goodness : 0.131965 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.08, Z:-0.87 [[ 0.92507822 -0.01140332 -0.37960538 -1.28386721] [ 0.00460023 0.99981223 -0.01882377 0.08252168] [ 0.37974876 0.01566719 0.92495698 -0.86500188] [ 0. 0. 0. 1. ]] SLAMing on 442.47463044 meters Centerline goodness : 0.132538 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.86 [[ 0.92497971 -0.01151212 -0.37984208 -1.2839349 ] [ 0.00453583 0.99980429 -0.01925621 0.0863611 ] [ 0.37998943 0.0160887 0.9248509 -0.86440325] [ 0. 0. 0. 1. ]] SLAMing on 442.50463044 meters Centerline goodness : 0.107468 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.86 [[ 0.9248802 -0.01175551 -0.38007685 -1.28395478] [ 0.00456719 0.99979335 -0.01980909 0.09011571] [ 0.38023118 0.01658515 0.92474277 -0.86379042] [ 0. 0. 0. 1. ]] SLAMing on 442.53463044 meters Centerline goodness : 0.232112 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.86 [[ 0.92479468 -0.01207343 -0.38027494 -1.28381865] [ 0.00465723 0.99978072 -0.02041629 0.09379656] [ 0.38043804 0.01710985 0.92464812 -0.86339821] [ 0. 0. 0. 1. ]] SLAMing on 442.56463044000003 meters Centerline goodness : 0.108463 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.86 [[ 0.92449232 -0.01074952 -0.38104907 -1.28067973] [ 0.0032839 0.99978982 -0.02023709 0.1034865 ] [ 0.38118652 0.01745771 0.92433331 -0.86327506] [ 0. 0. 0. 1. ]] SLAMing on 442.59463044 meters Centerline goodness : 0.087021 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.11, Z:-0.86 [[ 0.92429248 -0.0107934 -0.38153233 -1.27966264] [ 0.00314023 0.9997813 -0.02067597 0.10772294] [ 0.38167206 0.01791255 0.92412422 -0.86271667] [ 0. 0. 0. 1. ]] SLAMing on 442.62463044000003 meters Centerline goodness : 0.134607 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.11, Z:-0.86 [[ 0.9240874 -0.01093619 -0.3820247 -1.2782068 ] [ 0.00306169 0.99977026 -0.02121437 0.11208017] [ 0.38216894 0.0184343 0.92390859 -0.86247165] [ 0. 0. 0. 1. ]] SLAMing on 442.65463044 meters Centerline goodness : 0.132297 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.86 [[ 0.92374236 -0.00999065 -0.38288411 -1.27546598] [ 0.0019677 0.99977034 -0.0213399 0.12182664] [ 0.38300938 0.01895917 0.92354987 -0.86197601] [ 0. 0. 0. 1. ]] SLAMing on 442.68463044000003 meters Centerline goodness : 0.109844 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.86 [[ 0.92373416 -0.01024262 -0.38289724 -1.27616775] [ 0.00201709 0.99975862 -0.02187764 0.12541521] [ 0.3830289 0.01943678 0.92353185 -0.86140567] [ 0. 0. 0. 1. ]] SLAMing on 442.71463044 meters Centerline goodness : 0.229893 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.86 [[ 0.92371251 -0.01055741 -0.38294091 -1.27708268] [ 0.0021136 0.99974542 -0.02246395 0.12921207] [ 0.38308059 0.01994085 0.92349966 -0.86069485] [ 0. 0. 0. 1. ]] SLAMing on 442.74463044000004 meters Centerline goodness : 0.088913 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.86 [[ 0.9236973 -0.0109283 -0.38296719 -1.27751541] [ 0.00224669 0.99973042 -0.02310928 0.13304677] [ 0.3831165 0.02048558 0.92347284 -0.86031142] [ 0. 0. 0. 1. ]] SLAMing on 442.77463044 meters Centerline goodness : 0.133529 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.86 [[ 0.92365429 -0.01133603 -0.38305905 -1.27742784] [ 0.00241541 0.99971475 -0.0237608 0.1365096 ] [ 0.38321914 0.02102152 0.92341821 -0.86010278] [ 0. 0. 0. 1. ]] SLAMing on 442.80463044000004 meters Centerline goodness : 0.084514 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.15, Z:-0.85 [[ 0.92348253 -0.01783003 -0.38322591 -1.2607162 ] [ 0.01043069 0.99971706 -0.02137753 0.14517555] [ 0.38349865 0.01574446 0.92340722 -0.85346726] [ 0. 0. 0. 1. ]] SLAMing on 442.83463044 meters Centerline goodness : 0.101043 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.15, Z:-0.85 [[ 0.92343677 -0.01829519 -0.38331425 -1.2614028 ] [ 0.01063059 0.99969914 -0.02210459 0.15181259] [ 0.38360334 0.01633734 0.92335344 -0.85279637] [ 0. 0. 0. 1. ]] SLAMing on 442.86463044 meters Centerline goodness : 0.132027 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.15, Z:-0.85 [[ 0.92339579 -0.01857653 -0.38339943 -1.26158876] [ 0.01078041 0.99968932 -0.02247312 0.15382848] [ 0.38369779 0.01661838 0.92330918 -0.852344 ] [ 0. 0. 0. 1. ]] SLAMing on 442.89463044 meters Centerline goodness : 0.113820 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.16, Z:-0.85 [[ 0.92333783 -0.01900519 -0.383518 -1.26153306] [ 0.01106562 0.99967657 -0.02289786 0.15523705] [ 0.38382914 0.0168986 0.9232495 -0.8519375 ] [ 0. 0. 0. 1. ]] SLAMing on 442.92463044 meters Centerline goodness : 0.113820 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.16, Z:-0.85 [[ 0.92333783 -0.01900519 -0.383518 -1.26153306] [ 0.01106562 0.99967657 -0.02289786 0.15523705] [ 0.38382914 0.0168986 0.9232495 -0.8519375 ] [ 0. 0. 0. 1. ]] SLAMing on 442.95463044 meters Centerline goodness : 0.140870 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.16, Z:-0.85 [[ 0.92324599 -0.01984234 -0.38369665 -1.26172508] [ 0.0116622 0.99965265 -0.02363422 0.15729842] [ 0.38403233 0.01734545 0.92315671 -0.85121785] [ 0. 0. 0. 1. ]] SLAMing on 442.98463044 meters Centerline goodness : 0.112389 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.16, Z:-0.85 [[ 0.92315983 -0.01991301 -0.38390026 -1.26159366] [ 0.01168772 0.99964968 -0.02374677 0.15831496] [ 0.38423864 0.01743515 0.92306917 -0.85076094] [ 0. 0. 0. 1. ]] SLAMing on 443.01463044 meters Centerline goodness : 0.133539 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.16, Z:-0.85 [[ 0.9231058 -0.01989788 -0.38403093 -1.26163435] [ 0.01164097 0.99964865 -0.02381331 0.15928658] [ 0.38436983 0.01751171 0.92301309 -0.85028268] [ 0. 0. 0. 1. ]] SLAMing on 443.04463044 meters Centerline goodness : 0.134016 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.16, Z:-0.85 [[ 0.92313574 -0.02008111 -0.38394941 -1.26242462] [ 0.01173582 0.99964148 -0.02406607 0.16068891] [ 0.38429503 0.01771029 0.92304045 -0.8499367 ] [ 0. 0. 0. 1. ]] SLAMing on 443.07463044 meters Centerline goodness : 0.111925 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.16, Z:-0.85 [[ 0.92322711 -0.02029015 -0.38371867 -1.26383482] [ 0.01184861 0.99963326 -0.02435053 0.16210962] [ 0.38407202 0.01793454 0.92312894 -0.84949219] [ 0. 0. 0. 1. ]] SLAMing on 443.10463044 meters Centerline goodness : 0.111596 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.17, Z:-0.85 [[ 0.92349788 -0.02019455 -0.3830716 -1.26698462] [ 0.01163453 0.99962845 -0.02464965 0.16660632] [ 0.38342706 0.01830704 0.9233897 -0.84879976] [ 0. 0. 0. 1. ]] SLAMing on 443.13463044 meters Centerline goodness : 0.110424 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.17, Z:-0.85 [[ 0.92336281 -0.02014005 -0.38339993 -1.26630633] [ 0.0114636 0.99962417 -0.02490198 0.16942345] [ 0.38375736 0.01859841 0.92324666 -0.84839628] [ 0. 0. 0. 1. ]] SLAMing on 443.16463044 meters Centerline goodness : 0.110666 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.17, Z:-0.85 [[ 0.9231814 -0.02028597 -0.38382884 -1.26516659] [ 0.01142115 0.99961311 -0.0253611 0.17261772] [ 0.38419482 0.01902913 0.92305592 -0.84812875] [ 0. 0. 0. 1. ]] SLAMing on 443.19463044 meters Centerline goodness : 0.111415 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.18, Z:-0.85 [[ 0.92292219 -0.02019949 -0.38445625 -1.26304716] [ 0.01118086 0.99960771 -0.02567914 0.1759506 ] [ 0.38482414 0.0194013 0.92278598 -0.84792639] [ 0. 0. 0. 1. ]] SLAMing on 443.22463044 meters Centerline goodness : 0.088730 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.18, Z:-0.85 [[ 0.92278155 -0.02033912 -0.38478634 -1.26234708] [ 0.01112337 0.99959585 -0.02616116 0.17951204] [ 0.38516293 0.01986091 0.92263485 -0.84754793] [ 0. 0. 0. 1. ]] SLAMing on 443.25463044 meters Centerline goodness : 0.113839 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.19, Z:-0.85 [[ 0.92279736 -0.0200165 -0.38476535 -1.26390101] [ 0.01059499 0.99959025 -0.02659093 0.18860098] [ 0.38513995 0.02046146 0.92263132 -0.84656534] [ 0. 0. 0. 1. ]] SLAMing on 443.28463044 meters Centerline goodness : 0.112688 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.19, Z:-0.85 [[ 0.92280404 -0.0203679 -0.38473089 -1.26475732] [ 0.0107405 0.9995735 -0.0271562 0.19172731] [ 0.38511992 0.02092765 0.92262922 -0.84606884] [ 0. 0. 0. 1. ]] SLAMing on 443.31463044000003 meters Centerline goodness : 0.115363 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.85 [[ 0.922758 -0.02078658 -0.38481891 -1.26505683] [ 0.01095648 0.99955568 -0.02771996 0.19442375] [ 0.38522413 0.02136255 0.92257575 -0.84559025] [ 0. 0. 0. 1. ]] SLAMing on 443.34463044 meters Centerline goodness : 0.099673 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.85 [[ 0.92268217 -0.02106483 -0.38498557 -1.26478395] [ 0.01108992 0.99954326 -0.02811208 0.19653388] [ 0.38540191 0.02166906 0.92249435 -0.84527278] [ 0. 0. 0. 1. ]] SLAMing on 443.37463044000003 meters Centerline goodness : 0.088998 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.85 [[ 0.92267812 -0.02635016 -0.38466968 -1.28110559] [ 0.01682369 0.99946324 -0.02811025 0.20316834] [ 0.38520392 0.01946514 0.92262617 -0.85203105] [ 0. 0. 0. 1. ]] SLAMing on 443.40463044 meters Centerline goodness : 0.113365 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.85 [[ 0.92257984 -0.0265567 -0.38489112 -1.28089468] [ 0.01692896 0.99945379 -0.02838174 0.20460818] [ 0.38543462 0.01966862 0.9225255 -0.85156265] [ 0. 0. 0. 1. ]] SLAMing on 443.43463044000003 meters Centerline goodness : 0.089290 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.21, Z:-0.85 [[ 0.92249783 -0.0267671 -0.38507309 -1.2805562 ] [ 0.01704377 0.99944441 -0.02864234 0.2056024 ] [ 0.38562581 0.0198594 0.92244151 -0.85126047] [ 0. 0. 0. 1. ]] SLAMing on 443.46463044 meters Centerline goodness : 0.087866 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.21, Z:-0.85 [[ 0.92246797 -0.02686424 -0.38513785 -1.28079933] [ 0.01708011 0.99943916 -0.02880352 0.20665052] [ 0.38569563 0.01999213 0.92240945 -0.85084127] [ 0. 0. 0. 1. ]] SLAMing on 443.49463044000004 meters Centerline goodness : 0.088923 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.21, Z:-0.85 [[ 0.92255323 -0.02731645 -0.38490174 -1.2829855 ] [ 0.01733732 0.99941813 -0.02937362 0.20914482] [ 0.38548017 0.02042556 0.92249002 -0.84989193] [ 0. 0. 0. 1. ]] SLAMing on 443.52463044 meters Centerline goodness : 0.200404 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.21, Z:-0.85 [[ 0.92253423 -0.02756086 -0.38492984 -1.28381529] [ 0.01745146 0.99940554 -0.02973245 0.21057985] [ 0.38552047 0.02071161 0.9224668 -0.8492638 ] [ 0. 0. 0. 1. ]] SLAMing on 443.55463044000004 meters Centerline goodness : 0.089393 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.21, Z:-0.85 [[ 0.92257802 -0.02770922 -0.38481422 -1.28462009] [ 0.01750275 0.99939661 -0.03000109 0.21188908] [ 0.38541334 0.02094304 0.92250634 -0.84897761] [ 0. 0. 0. 1. ]] SLAMing on 443.58463044 meters Centerline goodness : 0.089021 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.21, Z:-0.85 [[ 0.92262763 -0.02781755 -0.38468746 -1.28568195] [ 0.01752466 0.99938912 -0.03023708 0.21315615] [ 0.38529358 0.02115605 0.92255151 -0.84851341] [ 0. 0. 0. 1. ]] SLAMing on 443.61463044 meters Centerline goodness : 0.220694 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.22, Z:-0.85 [[ 0.92281465 -0.02805855 -0.38422109 -1.28802919] [ 0.01757567 0.99937201 -0.03076833 0.21656554] [ 0.38484312 0.02164053 0.92272827 -0.84806056] [ 0. 0. 0. 1. ]] SLAMing on 443.64463044 meters Centerline goodness : 0.200056 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.22, Z:-0.85 [[ 0.92284706 -0.02819266 -0.3841334 -1.28844887] [ 0.01760727 0.99936286 -0.0310462 0.21813261] [ 0.38476393 0.02188735 0.92275547 -0.84797715] [ 0. 0. 0. 1. ]] SLAMing on 443.67463044 meters Centerline goodness : 0.211285 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.22, Z:-0.85 [[ 0.92284077 -0.02835977 -0.38413623 -1.28864741] [ 0.01765172 0.99935185 -0.03137341 0.2197396 ] [ 0.38477699 0.02217199 0.92274323 -0.84780753] [ 0. 0. 0. 1. ]] SLAMing on 443.70463044 meters Centerline goodness : 0.089431 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.22, Z:-0.85 [[ 0.92272776 -0.02825819 -0.38441509 -1.28825123] [ 0.01747946 0.99935074 -0.03150515 0.22165959] [ 0.38505578 0.0223513 0.9226226 -0.84737809] [ 0. 0. 0. 1. ]] SLAMing on 443.73463044 meters Centerline goodness : 0.199705 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.22, Z:-0.85 [[ 0.9226618 -0.02819881 -0.38457773 -1.28816623] [ 0.01733533 0.99934753 -0.03168609 0.22380325] [ 0.38522032 0.02256876 0.92254862 -0.84708327] [ 0. 0. 0. 1. ]] SLAMing on 443.76463044 meters Centerline goodness : 0.088531 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.23, Z:-0.85 [[ 0.92265416 -0.02820086 -0.38459591 -1.28850105] [ 0.01718116 0.99933828 -0.03205944 0.22710675] [ 0.38524552 0.02297197 0.92252814 -0.84673942] [ 0. 0. 0. 1. ]] SLAMing on 443.79463044 meters Centerline goodness : 0.089200 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.23, Z:-0.85 [[ 0.92267133 -0.02850099 -0.38453258 -1.2891095 ] [ 0.017332 0.99932207 -0.03248081 0.22857154] [ 0.38519763 0.02330439 0.92253981 -0.84648296] [ 0. 0. 0. 1. ]] SLAMing on 443.82463044 meters Centerline goodness : 0.088641 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.23, Z:-0.85 [[ 0.92265423 -0.0285996 -0.38456629 -1.28900903] [ 0.01735677 0.99931531 -0.03267505 0.22938444] [ 0.38523747 0.02347294 0.92251889 -0.84643084] [ 0. 0. 0. 1. ]] SLAMing on 443.85463044 meters Centerline goodness : 0.089467 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.23, Z:-0.85 [[ 0.92238527 -0.02747881 -0.38529252 -1.28497836] [ 0.01636879 0.99935105 -0.03208639 0.23270618] [ 0.38592418 0.02328924 0.92223649 -0.84696731] [ 0. 0. 0. 1. ]] SLAMing on 443.88463044 meters Centerline goodness : 0.090537 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.23, Z:-0.85 [[ 0.92228329 -0.02759133 -0.38552853 -1.28432698] [ 0.01632628 0.99933957 -0.0324636 0.23475272] [ 0.38616963 0.02364639 0.92212465 -0.84678581] [ 0. 0. 0. 1. ]] SLAMing on 443.91463044 meters Centerline goodness : 0.091462 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.24, Z:-0.85 [[ 0.92224467 -0.02771899 -0.38561177 -1.28432328] [ 0.01630748 0.9993278 -0.0328332 0.2367376 ] [ 0.38626266 0.02399189 0.92207676 -0.84655522] [ 0. 0. 0. 1. ]] SLAMing on 443.94463044 meters Centerline goodness : 0.090527 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.24, Z:-0.85 [[ 0.92274552 -0.02432097 -0.38464164 -1.28621024] [ 0.01357946 0.99943891 -0.03061794 0.23995464] [ 0.38517048 0.02302934 0.92255805 -0.84742017] [ 0. 0. 0. 1. ]] SLAMing on 443.97463044 meters Centerline goodness : 0.091588 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.24, Z:-0.85 [[ 0.92278972 -0.02457666 -0.38451934 -1.28715086] [ 0.01364994 0.99942243 -0.03112052 0.24211866] [ 0.38506209 0.02346902 0.92259221 -0.84708875] [ 0. 0. 0. 1. ]] SLAMing on 444.00463044 meters Centerline goodness : 0.090617 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.24, Z:-0.85 [[ 0.92271762 -0.02448731 -0.38469801 -1.28662525] [ 0.01346407 0.99941865 -0.03132207 0.24440994] [ 0.38524136 0.02372182 0.92251091 -0.84695461] [ 0. 0. 0. 1. ]] SLAMing on 444.03463044 meters Centerline goodness : 0.090597 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.25, Z:-0.85 [[ 0.92265829 -0.02464623 -0.38483014 -1.28608082] [ 0.01346616 0.99940607 -0.03172031 0.24662087] [ 0.38538336 0.02408482 0.92244219 -0.84695774] [ 0. 0. 0. 1. ]] SLAMing on 444.06463044000003 meters Centerline goodness : 0.091316 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.25, Z:-0.85 [[ 0.92260627 -0.02480462 -0.38494466 -1.28535194] [ 0.01347166 0.99939355 -0.0321099 0.2490294 ] [ 0.38550769 0.02443896 0.92238092 -0.84717869] [ 0. 0. 0. 1. ]] SLAMing on 444.09463044 meters Centerline goodness : 0.090200 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.25, Z:-0.85 [[ 0.9224536 -0.02467264 -0.38531885 -1.28399782] [ 0.01324868 0.9993912 -0.03227542 0.25117801] [ 0.38588059 0.02466761 0.92221889 -0.84707381] [ 0. 0. 0. 1. ]] SLAMing on 444.12463044000003 meters Centerline goodness : 0.091635 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.26, Z:-0.85 [[ 0.92235288 -0.02500259 -0.38553863 -1.28322714] [ 0.01327821 0.99936571 -0.03304348 0.25655634] [ 0.38612026 0.02535849 0.92209983 -0.84701354] [ 0. 0. 0. 1. ]] SLAMing on 444.15463044 meters Centerline goodness : 0.090239 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.26, Z:-0.85 [[ 0.92225876 -0.02508097 -0.38575864 -1.28232432] [ 0.01323107 0.99935638 -0.033343 0.25886766] [ 0.38634664 0.02564688 0.92199703 -0.84700373] [ 0. 0. 0. 1. ]] SLAMing on 444.18463044000003 meters Centerline goodness : 0.091605 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.26, Z:-0.85 [[ 0.92213277 -0.02531264 -0.38604459 -1.28175562] [ 0.01328523 0.99934059 -0.03379196 0.26112817] [ 0.38664539 0.02603198 0.92186099 -0.846666 ] [ 0. 0. 0. 1. ]] SLAMing on 444.21463044 meters Centerline goodness : 0.089669 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.26, Z:-0.85 [[ 0.92196225 -0.0253247 -0.38645085 -1.28086754] [ 0.01318467 0.99933374 -0.03403294 0.26340813] [ 0.38705525 0.02628185 0.92168189 -0.8462296 ] [ 0. 0. 0. 1. ]] SLAMing on 444.24463044000004 meters Centerline goodness : 0.090828 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.27, Z:-0.85 [[ 0.92183907 -0.02534742 -0.38674311 -1.28096212] [ 0.01302519 0.99932156 -0.03444946 0.26959746] [ 0.38735393 0.02671946 0.92154382 -0.8454848 ] [ 0. 0. 0. 1. ]] SLAMing on 444.27463044 meters Centerline goodness : 0.090131 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.27, Z:-0.85 [[ 0.92191295 -0.02553888 -0.38655436 -1.28158533] [ 0.01309323 0.99930868 -0.03479564 0.27178128] [ 0.38717577 0.02701731 0.92161 -0.84541923] [ 0. 0. 0. 1. ]] SLAMing on 444.30463044000004 meters Centerline goodness : 0.091690 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.27, Z:-0.85 [[ 0.92201058 -0.02593161 -0.38629528 -1.28261842] [ 0.01331961 0.99928835 -0.03528992 0.27393725] [ 0.38693549 0.02739238 0.92169983 -0.84536512] [ 0. 0. 0. 1. ]] SLAMing on 444.33463044 meters Centerline goodness : 0.091955 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.28, Z:-0.85 [[ 0.9219554 -0.02656438 -0.38638398 -1.2827966 ] [ 0.01365156 0.999254 -0.03612581 0.2776201 ] [ 0.3870554 0.02803164 0.92163026 -0.84500373] [ 0. 0. 0. 1. ]] SLAMing on 444.36463044 meters Centerline goodness : 0.091848 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.28, Z:-0.84 [[ 0.92184145 -0.02656292 -0.38665585 -1.28209453] [ 0.01357617 0.99924944 -0.0362801 0.27912967] [ 0.38732935 0.0281952 0.92151018 -0.84475719] [ 0. 0. 0. 1. ]] SLAMing on 444.39463044 meters Centerline goodness : 0.090865 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.28, Z:-0.84 [[ 0.92171905 -0.02650231 -0.38695171 -1.28099375] [ 0.01346781 0.99924807 -0.03635813 0.28028676] [ 0.38762433 0.02830059 0.9213829 -0.84472276] [ 0. 0. 0. 1. ]] SLAMing on 444.42463044 meters Centerline goodness : 0.091343 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.28, Z:-0.84 [[ 0.9217041 -0.02667685 -0.38697533 -1.28051435] [ 0.01353859 0.9992369 -0.03663779 0.28141256] [ 0.38765741 0.0285301 0.92136191 -0.84487901] [ 0. 0. 0. 1. ]] SLAMing on 444.45463044 meters Centerline goodness : 0.090978 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.28, Z:-0.84 [[ 0.92173917 -0.02684086 -0.38688043 -1.28107797] [ 0.01352624 0.99922011 -0.03709742 0.28445008] [ 0.38757443 0.02896111 0.92138337 -0.84470676] [ 0. 0. 0. 1. ]] SLAMing on 444.48463044 meters Centerline goodness : 0.091149 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.29, Z:-0.84 [[ 0.92170101 -0.0267968 -0.38697439 -1.2814157 ] [ 0.01338672 0.99921415 -0.03730787 0.28650561] [ 0.38767002 0.02920638 0.92133541 -0.84427293] [ 0. 0. 0. 1. ]] SLAMing on 444.51463044 meters Centerline goodness : 0.090658 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.29, Z:-0.84 [[ 0.92174295 -0.02697556 -0.38686206 -1.28216762] [ 0.01343972 0.99920054 -0.03765173 0.28825171] [ 0.38756846 0.0295059 0.9213686 -0.84398818] [ 0. 0. 0. 1. ]] SLAMing on 444.54463044 meters Centerline goodness : 0.090565 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.29, Z:-0.84 [[ 0.92190948 -0.02753623 -0.38642549 -1.28414527] [ 0.01388876 0.99917873 -0.03806538 0.28823992] [ 0.38715631 0.02972587 0.92153479 -0.84369079] [ 0. 0. 0. 1. ]] SLAMing on 444.57463044 meters Centerline goodness : 0.090964 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.29, Z:-0.84 [[ 0.92202122 -0.02789452 -0.3861331 -1.28534905] [ 0.01420418 0.99916673 -0.03826329 0.28773821] [ 0.38687869 0.02979486 0.92164915 -0.84345907] [ 0. 0. 0. 1. ]] SLAMing on 444.60463044 meters Centerline goodness : 0.092375 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.29, Z:-0.84 [[ 0.92200525 -0.02776379 -0.38618066 -1.28540927] [ 0.01419409 0.99917898 -0.03794587 0.28617852] [ 0.38691712 0.02950481 0.92164234 -0.84322714] [ 0. 0. 0. 1. ]] SLAMing on 444.63463044 meters Centerline goodness : 0.091051 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92156551 -0.03406314 -0.38672563 -1.26828543] [ 0.02269185 0.99916647 -0.03393291 0.28742097] [ 0.38755914 0.02249588 0.92157032 -0.8369013 ] [ 0. 0. 0. 1. ]] SLAMing on 444.66463044 meters Centerline goodness : 0.090262 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92152315 -0.03375139 -0.38685387 -1.26687866] [ 0.0224487 0.99917987 -0.03369932 0.28727881] [ 0.387674 0.02237034 0.92152506 -0.83743701] [ 0. 0. 0. 1. ]] SLAMing on 444.69463044 meters Centerline goodness : 0.204987 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.9216519 -0.0337937 -0.38654334 -1.26737878] [ 0.02246707 0.99917659 -0.03378422 0.28740824] [ 0.38736675 0.02245279 0.92165225 -0.83786204] [ 0. 0. 0. 1. ]] SLAMing on 444.72463044 meters Centerline goodness : 0.091332 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92178118 -0.03374341 -0.38623936 -1.26857518] [ 0.02239685 0.99917625 -0.03384073 0.28770961] [ 0.3870631 0.0225432 0.92177761 -0.83781632] [ 0. 0. 0. 1. ]] SLAMing on 444.75463044 meters Centerline goodness : 0.090789 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92227854 -0.02959261 -0.38539145 -1.27070868] [ 0.01923945 0.99934366 -0.0306936 0.28764835] [ 0.3860468 0.02089333 0.92224256 -0.83861565] [ 0. 0. 0. 1. ]] SLAMing on 444.78463044 meters Centerline goodness : 0.091751 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.9221988 -0.029491 -0.38559002 -1.26989208] [ 0.0191411 0.99934676 -0.0306539 0.28777783] [ 0.38624215 0.02088838 0.92216087 -0.83861306] [ 0. 0. 0. 1. ]] SLAMing on 444.81463044000003 meters Centerline goodness : 0.089772 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92211982 -0.02957524 -0.38577239 -1.26818094] [ 0.01921121 0.9993442 -0.03069378 0.28742277] [ 0.38642718 0.02089219 0.92208327 -0.83914872] [ 0. 0. 0. 1. ]] SLAMing on 444.84463044 meters Centerline goodness : 0.089772 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92211982 -0.02957524 -0.38577239 -1.26818094] [ 0.01921121 0.9993442 -0.03069378 0.28742277] [ 0.38642718 0.02089219 0.92208327 -0.83914872] [ 0. 0. 0. 1. ]] SLAMing on 444.87463044000003 meters Centerline goodness : 0.090998 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92196456 -0.03463771 -0.38572216 -1.26782952] [ 0.02312417 0.99913886 -0.03445023 0.28647942] [ 0.38658328 0.02284239 0.92197158 -0.83917963] [ 0. 0. 0. 1. ]] SLAMing on 444.90463044 meters Centerline goodness : 0.090058 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92193299 -0.03443272 -0.38581595 -1.26749344] [ 0.02298828 0.99914927 -0.03423855 0.28611128] [ 0.38666665 0.0226964 0.92194022 -0.83906822] [ 0. 0. 0. 1. ]] SLAMing on 444.93463044000003 meters Centerline goodness : 0.091104 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92220587 -0.03035651 -0.38550593 -1.26715954] [ 0.01994971 0.99932128 -0.03096753 0.28533984] [ 0.38618435 0.0208677 0.92218555 -0.83998541] [ 0. 0. 0. 1. ]] SLAMing on 444.96463044 meters Centerline goodness : 0.090556 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.29, Z:-0.84 [[ 0.92227895 -0.03046293 -0.38532265 -1.26733447] [ 0.02003427 0.99931698 -0.03105173 0.2852882 ] [ 0.38600539 0.0209187 0.92225932 -0.84017769] [ 0. 0. 0. 1. ]] SLAMing on 444.99463044000004 meters Centerline goodness : 0.090387 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.28, Z:-0.84 [[ 0.92235193 -0.03042654 -0.38515082 -1.26717472] [ 0.02007753 0.99932192 -0.03086416 0.28380797] [ 0.38582874 0.02073474 0.92233738 -0.84055411] [ 0. 0. 0. 1. ]] SLAMing on 445.02463044 meters Centerline goodness : 0.090228 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.28, Z:-0.84 [[ 0.92226529 -0.03010549 -0.38538345 -1.2658734 ] [ 0.01982598 0.99933444 -0.03062052 0.28353448] [ 0.3860488 0.02059964 0.92224833 -0.84077993] [ 0. 0. 0. 1. ]] SLAMing on 445.05463044000004 meters Centerline goodness : 0.091765 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92211951 -0.02971058 -0.38576273 -1.26413758] [ 0.01946517 0.9993471 -0.03043831 0.28428279] [ 0.3864152 0.02055882 0.92209578 -0.84096815] [ 0. 0. 0. 1. ]] SLAMing on 445.08463044 meters Centerline goodness : 0.090457 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.9220278 -0.02936471 -0.38600835 -1.26297214] [ 0.01915873 0.9993584 -0.03026097 0.28477214] [ 0.3866493 0.02050603 0.92199882 -0.84107 ] [ 0. 0. 0. 1. ]] SLAMing on 445.11463044 meters Centerline goodness : 0.089098 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92223857 -0.02974966 -0.38547499 -1.26418346] [ 0.01949917 0.99934532 -0.03047487 0.28414627] [ 0.38612925 0.02058866 0.92221489 -0.84143421] [ 0. 0. 0. 1. ]] SLAMing on 445.14463044 meters Centerline goodness : 0.089132 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92236125 -0.02997507 -0.38516388 -1.26489648] [ 0.0197342 0.99933949 -0.03051483 0.2831453 ] [ 0.38582416 0.02054479 0.92234355 -0.84160207] [ 0. 0. 0. 1. ]] SLAMing on 445.17463044 meters Centerline goodness : 0.089184 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.28, Z:-0.84 [[ 0.9224346 -0.03003125 -0.38498381 -1.2651839 ] [ 0.01982546 0.99933958 -0.03045252 0.28224183] [ 0.38564408 0.02045797 0.92242079 -0.84169754] [ 0. 0. 0. 1. ]] SLAMing on 445.20463044 meters Centerline goodness : 0.089469 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.28, Z:-0.84 [[ 0.92251 -0.02988031 -0.38481484 -1.26511337] [ 0.01974382 0.99934685 -0.03026628 0.2814087 ] [ 0.38546787 0.02032323 0.92249742 -0.84197848] [ 0. 0. 0. 1. ]] SLAMing on 445.23463044 meters Centerline goodness : 0.089494 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92259301 -0.02998956 -0.38460728 -1.26429818] [ 0.01984252 0.99934311 -0.03032518 0.28128424] [ 0.38526408 0.02034622 0.92258204 -0.84285537] [ 0. 0. 0. 1. ]] SLAMing on 445.26463044 meters Centerline goodness : 0.089682 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92255922 -0.02982309 -0.38470126 -1.26288131] [ 0.01971091 0.99934941 -0.03020319 0.2811859 ] [ 0.38535174 0.02028142 0.92254686 -0.84339564] [ 0. 0. 0. 1. ]] SLAMing on 445.29463044 meters Centerline goodness : 0.112854 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92253927 -0.02972353 -0.38475682 -1.26200859] [ 0.01962026 0.99935253 -0.03015887 0.28110334] [ 0.38540413 0.02027372 0.92252514 -0.84366114] [ 0. 0. 0. 1. ]] SLAMing on 445.32463044 meters Centerline goodness : 0.230197 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.9225848 -0.02977927 -0.38464333 -1.26219624] [ 0.0196925 0.99935178 -0.03013693 0.28092755] [ 0.38529145 0.02022929 0.92257318 -0.84372619] [ 0. 0. 0. 1. ]] SLAMing on 445.35463044 meters Centerline goodness : 0.090150 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92257048 -0.02960199 -0.38469134 -1.26196601] [ 0.01957299 0.99935943 -0.02996055 0.28081728] [ 0.38533181 0.02011116 0.92255891 -0.84359442] [ 0. 0. 0. 1. ]] SLAMing on 445.38463044 meters Centerline goodness : 0.212773 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.84 [[ 0.92283924 -0.03040212 -0.38398366 -1.26280254] [ 0.02035107 0.99933629 -0.0302127 0.27901494] [ 0.38464733 0.02006699 0.92284546 -0.84452427] [ 0. 0. 0. 1. ]] SLAMing on 445.41463044 meters Centerline goodness : 0.090036 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.85 [[ 0.92277892 -0.0303112 -0.38413578 -1.26088393] [ 0.02034512 0.99934336 -0.02998223 0.27772906] [ 0.38479234 0.01985168 0.92278967 -0.84517376] [ 0. 0. 0. 1. ]] SLAMing on 445.44463044 meters Centerline goodness : 0.090773 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.85 [[ 0.92277787 -0.03034991 -0.38413524 -1.25902647] [ 0.02043983 0.99934521 -0.02985567 0.27722808] [ 0.38478983 0.0196985 0.92279399 -0.84620151] [ 0. 0. 0. 1. ]] SLAMing on 445.47463044 meters Centerline goodness : 0.090923 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.85 [[ 0.92299454 -0.03060293 -0.38359424 -1.26031146] [ 0.0207627 0.99934117 -0.02976821 0.27550051] [ 0.38425251 0.01951145 0.92302184 -0.84652084] [ 0. 0. 0. 1. ]] SLAMing on 445.50463044 meters Centerline goodness : 0.089024 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.27, Z:-0.85 [[ 0.92294669 -0.03041951 -0.38372394 -1.25937728] [ 0.02065256 0.99934996 -0.02954866 0.27498673] [ 0.38437337 0.01934696 0.92297498 -0.84667789] [ 0. 0. 0. 1. ]] SLAMing on 445.53463044 meters Centerline goodness : 0.089385 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.85 [[ 0.92282616 -0.03016467 -0.38403382 -1.25777749] [ 0.02043094 0.99935886 -0.02940138 0.2755688 ] [ 0.38467448 0.01928619 0.92285079 -0.84686565] [ 0. 0. 0. 1. ]] SLAMing on 445.56463044000003 meters Centerline goodness : 0.089738 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.28, Z:-0.85 [[ 0.92296994 -0.03061256 -0.38365265 -1.25737729] [ 0.02084156 0.9993445 -0.02960064 0.27501418] [ 0.38430732 0.01932458 0.92300295 -0.8479139 ] [ 0. 0. 0. 1. ]] SLAMing on 445.59463044 meters Centerline goodness : 0.090980 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.27, Z:-0.85 [[ 0.92297059 -0.03056319 -0.38365504 -1.25618059] [ 0.0208785 0.99935014 -0.02938339 0.27365819] [ 0.38430377 0.01910986 0.9230089 -0.84853524] [ 0. 0. 0. 1. ]] SLAMing on 445.62463044000003 meters Centerline goodness : 0.090625 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.27, Z:-0.85 [[ 0.92284668 -0.03026588 -0.38397653 -1.25457556] [ 0.02065495 0.99936221 -0.02912997 0.2736767 ] [ 0.38461328 0.01895148 0.92288324 -0.84870085] [ 0. 0. 0. 1. ]] SLAMing on 445.65463044 meters Centerline goodness : 0.089669 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.27, Z:-0.85 [[ 0.92276818 -0.03014438 -0.38417471 -1.25305705] [ 0.02057204 0.99936762 -0.02900268 0.27351036] [ 0.38480603 0.01885949 0.92280477 -0.84903663] [ 0. 0. 0. 1. ]] SLAMing on 445.68463044000003 meters Centerline goodness : 0.090102 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.27, Z:-0.85 [[ 0.92302878 -0.03074093 -0.38350082 -1.25455521] [ 0.02114992 0.99934975 -0.0292019 0.27202692] [ 0.38414914 0.01884318 0.92307875 -0.84956204] [ 0. 0. 0. 1. ]] SLAMing on 445.71463044 meters Centerline goodness : 0.091877 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.27, Z:-0.85 [[ 0.9230643 -0.03088877 -0.38340343 -1.25337596] [ 0.02137024 0.99934914 -0.02906225 0.2710233 ] [ 0.38405158 0.01863291 0.92312361 -0.85040946] [ 0. 0. 0. 1. ]] SLAMing on 445.74463044000004 meters Centerline goodness : 0.088867 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.27, Z:-0.85 [[ 0.92293323 -0.0306328 -0.38373935 -1.25103876] [ 0.02122791 0.99936204 -0.02872084 0.26987823] [ 0.38437434 0.01836143 0.92299471 -0.85097229] [ 0. 0. 0. 1. ]] SLAMing on 445.77463044 meters Centerline goodness : 0.089339 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.27, Z:-0.85 [[ 0.9229658 -0.03063889 -0.38366052 -1.24993218] [ 0.02132 0.99936585 -0.02851956 0.26830237] [ 0.38429102 0.01814294 0.92303372 -0.85175299] [ 0. 0. 0. 1. ]] SLAMing on 445.80463044000004 meters Centerline goodness : 0.236766 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.27, Z:-0.85 [[ 0.92287812 -0.0304969 -0.38388269 -1.24802816] [ 0.02124367 0.99937308 -0.02832237 0.26744747] [ 0.38450577 0.01798302 0.92294741 -0.85233859] [ 0. 0. 0. 1. ]] SLAMing on 445.83463044 meters Centerline goodness : 0.089974 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.27, Z:-0.85 [[ 0.92265552 -0.03001149 -0.38445559 -1.24473274] [ 0.02090209 0.9993935 -0.02785202 0.26656284] [ 0.38505829 0.01766189 0.92272323 -0.85296785] [ 0. 0. 0. 1. ]] SLAMing on 445.86463044 meters Centerline goodness : 0.089116 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.27, Z:-0.85 [[ 0.92256615 -0.02993912 -0.38467563 -1.24331101] [ 0.02089689 0.99939878 -0.0276658 0.26536292] [ 0.38527264 0.01748501 0.92263712 -0.85324679] [ 0. 0. 0. 1. ]] SLAMing on 445.89463044 meters Centerline goodness : 0.090413 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.26, Z:-0.85 [[ 0.92249248 -0.02993759 -0.38485239 -1.24157045] [ 0.02093897 0.99940103 -0.02755242 0.26428233] [ 0.38544673 0.01735849 0.9225668 -0.85382571] [ 0. 0. 0. 1. ]] SLAMing on 445.92463044 meters Centerline goodness : 0.088644 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.26, Z:-0.85 [[ 0.92234261 -0.0297618 -0.38522506 -1.23913435] [ 0.02081699 0.99940858 -0.0273705 0.26334811] [ 0.38581182 0.01722575 0.92241667 -0.85444223] [ 0. 0. 0. 1. ]] SLAMing on 445.95463044 meters Centerline goodness : 0.088209 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.26, Z:-0.85 [[ 0.92224711 -0.02938489 -0.38548255 -1.23786599] [ 0.02050867 0.99942181 -0.02711883 0.26332047] [ 0.38605655 0.01710453 0.92231653 -0.85458886] [ 0. 0. 0. 1. ]] SLAMing on 445.98463044 meters Centerline goodness : 0.089299 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.26, Z:-0.86 [[ 0.92230546 -0.02914001 -0.38536152 -1.23724462] [ 0.02034677 0.99943165 -0.0268774 0.26269318] [ 0.38592571 0.01694831 0.92237417 -0.85523626] [ 0. 0. 0. 1. ]] SLAMing on 446.01463044 meters Centerline goodness : 0.088438 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.26, Z:-0.86 [[ 0.92236798 -0.02917446 -0.38520925 -1.23627638] [ 0.02048267 0.99943499 -0.02664892 0.26018148] [ 0.38576907 0.01668999 0.9224444 -0.85611368] [ 0. 0. 0. 1. ]] SLAMing on 446.04463044 meters Centerline goodness : 0.089392 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.26, Z:-0.86 [[ 0.9223121 -0.02888527 -0.3853648 -1.23411399] [ 0.02032649 0.99944831 -0.02626594 0.25842939] [ 0.3859109 0.01639228 0.92239041 -0.85705599] [ 0. 0. 0. 1. ]] SLAMing on 446.07463044 meters Centerline goodness : 0.090115 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.26, Z:-0.86 [[ 0.92258523 -0.02397085 -0.38504792 -1.23224709] [ 0.01664909 0.99961183 -0.02233836 0.25617216] [ 0.38543392 0.01419834 0.9226262 -0.85901643] [ 0. 0. 0. 1. ]] SLAMing on 446.10463044 meters Centerline goodness : 0.090538 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.26, Z:-0.86 [[ 0.9230763 -0.01917273 -0.38413871 -1.2343909 ] [ 0.01297576 0.99974061 -0.01871755 0.25692273] [ 0.38439794 0.01229323 0.92308564 -0.85985902] [ 0. 0. 0. 1. ]] SLAMing on 446.13463044 meters Centerline goodness : 0.077572 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.26, Z:-0.86 [[ 0.92379178 -0.01523848 -0.38259187 -1.23931 ] [ 0.00997353 0.99982636 -0.01574097 0.25803152] [ 0.3827653 0.01072559 0.92378335 -0.86044634] [ 0. 0. 0. 1. ]] SLAMing on 446.16463044 meters Centerline goodness : 0.089156 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.26, Z:-0.85 [[ 0.92499538 -0.02355505 -0.37924754 -1.22419672] [ 0.01977662 0.9997084 -0.01385611 0.25881063] [ 0.37946334 0.0053166 0.9251915 -0.85486922] [ 0. 0. 0. 1. ]] SLAMing on 446.19463044 meters Centerline goodness : 0.172808 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.26, Z:-0.86 [[ 0.92478997 -0.02333136 -0.37976197 -1.22090643] [ 0.01965567 0.99971493 -0.01355413 0.25713584] [ 0.37996994 0.00507025 0.92498494 -0.85567869] [ 0. 0. 0. 1. ]] SLAMing on 446.22463044 meters Centerline goodness : 0.095830 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.26, Z:-0.86 [[ 0.92453453 -0.02288974 -0.38041026 -1.21723863] [ 0.01937309 0.99972688 -0.01307115 0.25547646] [ 0.38060556 0.00471501 0.92472546 -0.85636411] [ 0. 0. 0. 1. ]] SLAMing on 446.25463044 meters Centerline goodness : 0.089187 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.25, Z:-0.86 [[ 0.92453288 -0.0228388 -0.38041734 -1.21544334] [ 0.01942512 0.99972924 -0.01281079 0.25344677] [ 0.38060692 0.00445434 0.92472619 -0.85742114] [ 0. 0. 0. 1. ]] SLAMing on 446.28463044 meters Centerline goodness : 0.088862 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.25, Z:-0.86 [[ 0.92440386 -0.02733537 -0.38043433 -1.21451885] [ 0.02309436 0.99960986 -0.01570888 0.2483267 ] [ 0.38071532 0.00573546 0.92467451 -0.85767634] [ 0. 0. 0. 1. ]] SLAMing on 446.31463044000003 meters Centerline goodness : 0.115092 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.25, Z:-0.86 [[ 0.9246598 -0.02726134 -0.37981716 -1.21603147] [ 0.02318274 0.99961402 -0.01530911 0.24572067] [ 0.3800879 0.00535052 0.92493489 -0.85809939] [ 0. 0. 0. 1. ]] SLAMing on 446.34463044 meters Centerline goodness : 0.142901 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.24, Z:-0.86 [[ 0.92484564 -0.02708593 -0.37937697 -1.21687918] [ 0.02316638 0.99962068 -0.01489371 0.24357037] [ 0.37963648 0.00498559 0.92512231 -0.85851382] [ 0. 0. 0. 1. ]] SLAMing on 446.37463044000003 meters Centerline goodness : 0.088820 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.24, Z:-0.86 [[ 0.92492023 -0.02680566 -0.37921501 -1.21698639] [ 0.0230509 0.99963002 -0.01443905 0.24145998] [ 0.37946176 0.00461372 0.92519592 -0.85872793] [ 0. 0. 0. 1. ]] SLAMing on 446.40463044 meters Centerline goodness : 0.089407 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.24, Z:-0.86 [[ 0.92528159 -0.02643895 -0.37835824 -1.21945002] [ 0.02284545 0.9996412 -0.01398407 0.24020119] [ 0.37859221 0.00429544 0.92555361 -0.85909378] [ 0. 0. 0. 1. ]] SLAMing on 446.43463044000003 meters Centerline goodness : 0.089595 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.24, Z:-0.86 [[ 0.92535261 -0.02628461 -0.37819528 -1.21918941] [ 0.02274659 0.99964574 -0.01382006 0.23973929] [ 0.37842456 0.00418577 0.92562267 -0.85958984] [ 0. 0. 0. 1. ]] SLAMing on 446.46463044 meters Centerline goodness : 0.089554 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.24, Z:-0.86 [[ 0.92535793 -0.02617633 -0.37818978 -1.21807064] [ 0.02264543 0.99964857 -0.01378146 0.23992097] [ 0.37841762 0.00418852 0.9256255 -0.86026521] [ 0. 0. 0. 1. ]] SLAMing on 446.49463044000004 meters Centerline goodness : 0.173759 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.24, Z:-0.86 [[ 0.92519622 -0.02567924 -0.37861924 -1.21409447] [ 0.02224143 0.99966214 -0.01345117 0.24007387] [ 0.37883674 0.00402394 0.92545477 -0.8617505 ] [ 0. 0. 0. 1. ]] SLAMing on 446.52463044 meters Centerline goodness : 0.089077 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.24, Z:-0.86 [[ 0.92498685 -0.02514806 -0.37916606 -1.21059582] [ 0.02184397 0.99967668 -0.0130142 0.2393931 ] [ 0.37937075 0.00375548 0.92523712 -0.86261222] [ 0. 0. 0. 1. ]] SLAMing on 446.55463044000004 meters Centerline goodness : 0.092192 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.24, Z:-0.86 [[ 0.92483321 -0.02487363 -0.37955873 -1.20837081] [ 0.02165049 0.99968419 -0.01275874 0.23887399] [ 0.37975622 0.00358207 0.92507966 -0.86303899] [ 0. 0. 0. 1. ]] SLAMing on 446.58463044 meters Centerline goodness : 0.088945 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.24, Z:-0.86 [[ 0.92474705 -0.02467946 -0.37978129 -1.20640117] [ 0.02152669 0.99968954 -0.01254683 0.2380775 ] [ 0.37997303 0.00342721 0.92499122 -0.86375932] [ 0. 0. 0. 1. ]] SLAMing on 446.61463044 meters Centerline goodness : 0.088726 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.24, Z:-0.86 [[ 0.92467549 -0.02442148 -0.37997214 -1.20445617] [ 0.02138132 0.99969671 -0.01222008 0.23666396] [ 0.38015533 0.0031753 0.92491721 -0.86448958] [ 0. 0. 0. 1. ]] SLAMing on 446.64463044 meters Centerline goodness : 0.088735 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.24, Z:-0.87 [[ 0.92458922 -0.02410946 -0.38020193 -1.20258763] [ 0.02119171 0.9997051 -0.01185877 0.23538306] [ 0.38037571 0.00290736 0.92482748 -0.86512273] [ 0. 0. 0. 1. ]] SLAMing on 446.67463044 meters Centerline goodness : 0.127425 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.23, Z:-0.87 [[ 0.92436759 -0.02315193 -0.38079987 -1.19845107] [ 0.02053695 0.99972935 -0.01092956 0.2334116 ] [ 0.38094985 0.00228246 0.92459288 -0.8662383 ] [ 0. 0. 0. 1. ]] SLAMing on 446.70463044 meters Centerline goodness : 0.087352 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.23, Z:-0.87 [[ 0.92426001 -0.02277287 -0.38108375 -1.19651287] [ 0.02032155 0.99973882 -0.01045577 0.23160698] [ 0.38122233 0.00191964 0.9244814 -0.86673578] [ 0. 0. 0. 1. ]] SLAMing on 446.73463044 meters Centerline goodness : 0.087352 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.23, Z:-0.87 [[ 0.92426001 -0.02277287 -0.38108375 -1.19651287] [ 0.02032155 0.99973882 -0.01045577 0.23160698] [ 0.38122233 0.00191964 0.9244814 -0.86673578] [ 0. 0. 0. 1. ]] SLAMing on 446.76463044 meters Centerline goodness : 0.087611 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.23, Z:-0.87 [[ 0.92423015 -0.02254013 -0.38117 -1.19517808] [ 0.02021647 0.99974461 -0.01009968 0.22979377] [ 0.3813003 0.00162852 0.9244498 -0.86732062] [ 0. 0. 0. 1. ]] SLAMing on 446.79463044 meters Centerline goodness : 0.214385 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.23, Z:-0.87 [[ 9.24103016e-01 -2.22753114e-02 -3.81493679e-01 -1.19259773e+00] [ 2.01579201e-02 9.99751234e-01 -9.54609599e-03 2.26785754e-01] [ 3.81611419e-01 1.13145698e-03 9.24322154e-01 -8.68128080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82463044 meters Centerline goodness : 0.348394 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.23, Z:-0.87 [[ 9.23882545e-01 -2.18010111e-02 -3.82054654e-01 -1.18974506e+00] [ 1.98599486e-02 9.99762049e-01 -9.02374471e-03 2.25061461e-01] [ 3.82160471e-01 7.49294440e-04 9.24095673e-01 -8.68552552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85463044 meters Centerline goodness : 0.215933 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.22, Z:-0.87 [[ 9.23641624e-01 -2.11382933e-02 -3.82673913e-01 -1.18636994e+00] [ 1.94119682e-02 9.99776515e-01 -8.37231719e-03 2.23476931e-01] [ 3.82765368e-01 3.04566834e-04 9.23845539e-01 -8.69145067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88463044 meters Centerline goodness : 0.215096 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.22, Z:-0.87 [[ 9.23480801e-01 -2.07109164e-02 -3.83085196e-01 -1.18386044e+00] [ 1.91271733e-02 9.99785506e-01 -7.94313310e-03 2.22263225e-01] [ 3.83167536e-01 7.99396503e-06 9.23678861e-01 -8.69690097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91463044 meters Centerline goodness : 0.217787 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.22, Z:-0.87 [[ 9.23341400e-01 -2.05251575e-02 -3.83431059e-01 -1.18116239e+00] [ 1.90938146e-02 9.99789272e-01 -7.53909388e-03 2.19813715e-01] [ 3.83505000e-01 -3.60004044e-04 9.23538730e-01 -8.70520211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94463044 meters Centerline goodness : 0.399531 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.22, Z:-0.87 [[ 9.23257917e-01 -2.05116844e-02 -3.83632754e-01 -1.17965655e+00] [ 1.91484260e-02 9.99789468e-01 -7.37275465e-03 2.18262044e-01] [ 3.83703214e-01 -5.39009280e-04 9.23456308e-01 -8.70940762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97463044 meters Centerline goodness : 0.233792 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.22, Z:-0.87 [[ 9.23254374e-01 -2.04396754e-02 -3.83645124e-01 -1.17903078e+00] [ 1.91631778e-02 9.99790806e-01 -7.14960693e-03 2.16604685e-01] [ 3.83711003e-01 -7.50953858e-04 9.23452924e-01 -8.71221387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00463044 meters Centerline goodness : 0.218066 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.22, Z:-0.87 [[ 9.23257008e-01 -2.04631908e-02 -3.83637531e-01 -1.17910612e+00] [ 1.92357613e-02 9.99790217e-01 -7.03618984e-03 2.15531363e-01] [ 3.83701034e-01 -8.83348417e-04 9.23456949e-01 -8.71146383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03463044 meters Centerline goodness : 0.208799 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92289702 -0.0285612 -0.38398612 -1.1608241 ] [ 0.02907031 0.99956733 -0.00447915 0.21657618] [ 0.38394791 -0.0070288 0.923328 -0.86432904] [ 0. 0. 0. 1. ]] SLAMing on 447.06463044000003 meters Centerline goodness : 0.345048 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92277113 -0.0282935 -0.38430836 -1.15967755] [ 0.02888991 0.99957368 -0.00422228 0.21604642] [ 0.38426398 -0.00720643 0.92319514 -0.86420633] [ 0. 0. 0. 1. ]] SLAMing on 447.09463044 meters Centerline goodness : 0.252764 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92277998 -0.02814968 -0.38429767 -1.15948932] [ 0.02877922 0.99957733 -0.00411372 0.21599734] [ 0.38425104 -0.00726373 0.92320007 -0.86428305] [ 0. 0. 0. 1. ]] SLAMing on 447.12463044000003 meters Centerline goodness : 0.146347 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.87 [[ 0.92327595 -0.02447795 -0.38335668 -1.16152475] [ 0.02599183 0.9996614 -0.0012313 0.2155091 ] [ 0.38325702 -0.00882731 0.92359955 -0.86521872] [ 0. 0. 0. 1. ]] SLAMing on 447.15463044 meters Centerline goodness : 0.196957 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.87 [[ 0.92350393 -0.02063303 -0.38303365 -1.16107214] [ 0.02306947 0.9997323 0.00176811 0.21502906] [ 0.38289463 -0.01046924 0.9237327 -0.86622172] [ 0. 0. 0. 1. ]] SLAMing on 447.18463044000003 meters Centerline goodness : 0.087067 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.87 [[ 0.9232925 -0.02041664 -0.3835546 -1.15917115] [ 0.02287115 0.99973673 0.00183935 0.21574535] [ 0.38341607 -0.01047059 0.92351637 -0.86607245] [ 0. 0. 0. 1. ]] SLAMing on 447.21463044 meters Centerline goodness : 0.087711 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.87 [[ 0.9230707 -0.0202305 -0.38409792 -1.15748896] [ 0.02269675 0.99974061 0.00188872 0.21654394] [ 0.38396008 -0.0104612 0.92329043 -0.86579039] [ 0. 0. 0. 1. ]] SLAMing on 447.24463044000004 meters Centerline goodness : 0.213239 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.87 [[ 0.92292933 -0.01994316 -0.38445251 -1.15622656] [ 0.02248454 0.99974495 0.00211618 0.21638915] [ 0.38431225 -0.01059733 0.92314235 -0.86566626] [ 0. 0. 0. 1. ]] SLAMing on 447.27463044 meters Centerline goodness : 0.212377 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.87 [[ 0.92296873 -0.02006808 -0.38435141 -1.15697067] [ 0.02255904 0.99974357 0.00197307 0.21690441] [ 0.38421325 -0.01049168 0.92318476 -0.86533832] [ 0. 0. 0. 1. ]] SLAMing on 447.30463044000004 meters Centerline goodness : 0.179516 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.87 [[ 0.92298063 -0.02004191 -0.3843242 -1.15727866] [ 0.02252218 0.99974444 0.00195342 0.21711397] [ 0.38418683 -0.01045878 0.92319613 -0.86505831] [ 0. 0. 0. 1. ]] SLAMing on 447.33463044 meters Centerline goodness : 0.108218 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92291965 -0.01985194 -0.38448044 -1.1572119 ] [ 0.02236293 0.99974779 0.00206059 0.21740483] [ 0.38434257 -0.01049987 0.92313084 -0.86467226] [ 0. 0. 0. 1. ]] SLAMing on 447.36463044 meters Centerline goodness : 0.076595 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92275793 -0.01953436 -0.38488467 -1.15629488] [ 0.02210859 0.99975301 0.00226391 0.21768271] [ 0.38474539 -0.0105983 0.9229619 -0.86422862] [ 0. 0. 0. 1. ]] SLAMing on 447.39463044 meters Centerline goodness : 0.249499 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92256574 -0.01919103 -0.38536237 -1.15546678] [ 0.02181784 0.99975897 0.00244441 0.21842282] [ 0.38522258 -0.0106629 0.92276209 -0.86351938] [ 0. 0. 0. 1. ]] SLAMing on 447.42463044 meters Centerline goodness : 0.100594 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92257156 -0.01909526 -0.38535319 -1.15541187] [ 0.02173243 0.99976073 0.0024887 0.218754 ] [ 0.38521346 -0.01067066 0.9227658 -0.86352263] [ 0. 0. 0. 1. ]] SLAMing on 447.45463044 meters Centerline goodness : 0.211403 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92265199 -0.01893395 -0.38516856 -1.15593225] [ 0.02160675 0.99976313 0.00261198 0.21864813] [ 0.38502787 -0.01073219 0.92284254 -0.86357466] [ 0. 0. 0. 1. ]] SLAMing on 447.48463044 meters Centerline goodness : 0.087484 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.92270193 -0.01886308 -0.38505237 -1.15630243] [ 0.02155891 0.99976397 0.00268489 0.2185073 ] [ 0.38491085 -0.01077866 0.92289082 -0.86351118] [ 0. 0. 0. 1. ]] SLAMing on 447.51463044 meters Centerline goodness : 0.088934 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.22, Z:-0.86 [[ 0.9226141 -0.01866647 -0.38527235 -1.15546678] [ 0.02146177 0.9997653 0.00295593 0.21748234] [ 0.38512675 -0.01099581 0.92279818 -0.86341835] [ 0. 0. 0. 1. ]] SLAMing on 447.54463044 meters Centerline goodness : 0.086500 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.22, Z:-0.86 [[ 0.92252406 -0.01839311 -0.38550104 -1.15404862] [ 0.02130625 0.9997676 0.00328583 0.21615028] [ 0.38535101 -0.01124484 0.92270155 -0.86361645] [ 0. 0. 0. 1. ]] SLAMing on 447.57463044 meters Centerline goodness : 0.092997 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.22, Z:-0.86 [[ 0.92244494 -0.01831466 -0.38569407 -1.15274182] [ 0.02127779 0.99976777 0.00341509 0.2152946 ] [ 0.38554195 -0.01135695 0.92262041 -0.86386155] [ 0. 0. 0. 1. ]] SLAMing on 447.60463044 meters Centerline goodness : 0.086815 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.21, Z:-0.86 [[ 0.92237122 -0.01826259 -0.38587279 -1.15184985] [ 0.02125392 0.99976803 0.0034873 0.21489008] [ 0.38571959 -0.01141789 0.92254541 -0.86386881] [ 0. 0. 0. 1. ]] SLAMing on 447.63463044 meters Centerline goodness : 0.099926 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.22, Z:-0.86 [[ 0.92223978 -0.0182296 -0.38618838 -1.15152204] [ 0.0211894 0.99976967 0.00340846 0.21577685] [ 0.3860373 -0.01132652 0.92241364 -0.8631855 ] [ 0. 0. 0. 1. ]] SLAMing on 447.66463044 meters Centerline goodness : 0.087389 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.22, Z:-0.86 [[ 0.92209272 -0.01802123 -0.38654916 -1.15069657] [ 0.02102625 0.99977263 0.00354682 0.21573947] [ 0.38639736 -0.01139817 0.92226198 -0.86273428] [ 0. 0. 0. 1. ]] SLAMing on 447.69463044 meters Centerline goodness : 0.104706 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.21, Z:-0.86 [[ 0.92176236 -0.01751296 -0.38735958 -1.14681126] [ 0.02068756 0.99977788 0.00402712 0.21454955] [ 0.38720301 -0.01172557 0.92191992 -0.86302721] [ 0. 0. 0. 1. ]] SLAMing on 447.72463044 meters Centerline goodness : 0.208958 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.21, Z:-0.86 [[ 0.92172814 -0.017428 -0.38744483 -1.14607608] [ 0.02067078 0.9997775 0.00420373 0.21343648] [ 0.38728536 -0.01188348 0.92188331 -0.86316693] [ 0. 0. 0. 1. ]] SLAMing on 447.75463044 meters Centerline goodness : 0.086399 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.21, Z:-0.86 [[ 0.9218376 -0.0174014 -0.38718553 -1.14641382] [ 0.0207048 0.99977612 0.00436216 0.21230678] [ 0.38702294 -0.0120378 0.92199151 -0.8633961 ] [ 0. 0. 0. 1. ]] SLAMing on 447.78463044 meters Centerline goodness : 0.093313 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.21, Z:-0.86 [[ 0.92189758 -0.01741016 -0.38704229 -1.14676921] [ 0.02078355 0.99977373 0.00453202 0.21087707] [ 0.38687581 -0.01222217 0.92205083 -0.86334905] [ 0. 0. 0. 1. ]] SLAMing on 447.81463044000003 meters Centerline goodness : 0.098959 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.21, Z:-0.86 [[ 0.92138174 -0.02612244 -0.38777996 -1.12464522] [ 0.03106775 0.99949622 0.00648814 0.21184519] [ 0.38741512 -0.01802551 0.92172914 -0.85755566] [ 0. 0. 0. 1. ]] SLAMing on 447.84463044 meters Centerline goodness : 0.098737 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.21, Z:-0.86 [[ 0.9209388 -0.02534224 -0.38888237 -1.11940202] [ 0.03054906 0.99950726 0.00721057 0.21018577] [ 0.38850802 -0.01852049 0.9212592 -0.85797473] [ 0. 0. 0. 1. ]] SLAMing on 447.87463044000003 meters Centerline goodness : 0.099271 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.21, Z:-0.86 [[ 0.92052258 -0.02450252 -0.38992025 -1.11434679] [ 0.0299953 0.999518 0.00800327 0.20830933] [ 0.38953621 -0.01906296 0.92081385 -0.85839446] [ 0. 0. 0. 1. ]] SLAMing on 447.90463044 meters Centerline goodness : 0.092252 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.21, Z:-0.86 [[ 0.92013402 -0.02390853 -0.39087309 -1.11021806] [ 0.02961191 0.99952473 0.00856992 0.20695897] [ 0.39048243 -0.01945997 0.92040468 -0.85846005] [ 0. 0. 0. 1. ]] SLAMing on 447.93463044000003 meters Centerline goodness : 0.086564 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.21, Z:-0.86 [[ 0.91982754 -0.02353494 -0.3916164 -1.107209 ] [ 0.02938513 0.99952808 0.00895114 0.20578098] [ 0.39122092 -0.01974121 0.92008504 -0.85830278] [ 0. 0. 0. 1. ]] SLAMing on 447.96463044 meters Centerline goodness : 0.086111 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.20, Z:-0.86 [[ 0.91954458 -0.02327536 -0.39229583 -1.10468236] [ 0.02924308 0.9995296 0.0092428 0.2046667 ] [ 0.39189616 -0.0199711 0.91979267 -0.85800126] [ 0. 0. 0. 1. ]] SLAMing on 447.99463044000004 meters Centerline goodness : 0.198139 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.20, Z:-0.86 [[ 0.9192012 -0.02316933 -0.39310602 -1.10231585] [ 0.02918262 0.99953059 0.00932637 0.20447557] [ 0.39270541 -0.02004467 0.91944585 -0.8572532 ] [ 0. 0. 0. 1. ]] SLAMing on 448.02463044 meters Centerline goodness : 0.199689 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.21, Z:-0.86 [[ 0.91901353 -0.02312755 -0.39354701 -1.10095299] [ 0.029128 0.99953261 0.00928044 0.20506506] [ 0.39314844 -0.01999209 0.91925765 -0.85689524] [ 0. 0. 0. 1. ]] SLAMing on 448.05463044000004 meters Centerline goodness : 0.200867 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.20, Z:-0.86 [[ 0.91911108 -0.01931222 -0.39352492 -1.09997419] [ 0.0262431 0.99958067 0.0122386 0.20424684] [ 0.39312354 -0.02157595 0.91923248 -0.85733979] [ 0. 0. 0. 1. ]] SLAMing on 448.08463044 meters Centerline goodness : 0.086490 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.20, Z:-0.85 [[ 0.91912469 -0.01426814 -0.3937083 -1.08250132] [ 0.02060693 0.9997171 0.0118774 0.20276456] [ 0.39342745 -0.01902993 0.91915869 -0.84934829] [ 0. 0. 0. 1. ]] SLAMing on 448.11463044 meters Centerline goodness : 0.202460 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.21, Z:-0.85 [[ 0.91922282 -0.01007954 -0.39360871 -1.08407609] [ 0.01728961 0.99974133 0.01477628 0.20520221] [ 0.39335796 -0.02038803 0.91915932 -0.84836076] [ 0. 0. 0. 1. ]] SLAMing on 448.14463044 meters Centerline goodness : 0.260245 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.21, Z:-0.85 [[ 0.91900964 -0.00981727 -0.39411281 -1.08434878] [ 0.01707407 0.99974304 0.01491068 0.20673797] [ 0.39386516 -0.02043217 0.91894111 -0.84684368] [ 0. 0. 0. 1. ]] SLAMing on 448.17463044 meters Centerline goodness : 0.081935 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.21, Z:-0.85 [[ 0.91893545 -0.0098773 -0.39428427 -1.08563329] [ 0.01700601 0.99974893 0.01458999 0.20894203] [ 0.39404117 -0.02011246 0.91887271 -0.84571206] [ 0. 0. 0. 1. ]] SLAMing on 448.20463044 meters Centerline goodness : 0.077743 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.21, Z:-0.84 [[ 0.92013838 -0.00315092 -0.39158068 -1.06934199] [ 0.0096381 0.99984693 0.01460222 0.21266221] [ 0.39147473 -0.01721016 0.92002791 -0.83773619] [ 0. 0. 0. 1. ]] SLAMing on 448.23463044 meters Centerline goodness : 0.178972 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.22, Z:-0.84 [[ 0.92003385 -0.00229425 -0.39183217 -1.07074191] [ 0.00869919 0.99985599 0.01457161 0.21600281] [ 0.39174231 -0.016815 0.91992131 -0.83666345] [ 0. 0. 0. 1. ]] SLAMing on 448.26463044 meters Centerline goodness : 0.082723 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.22, Z:-0.84 [[ 0.91993849 -0.00159483 -0.39205946 -1.07211298] [ 0.00784098 0.99986656 0.01433099 0.22031617] [ 0.39198429 -0.01625776 0.91982824 -0.83581621] [ 0. 0. 0. 1. ]] SLAMing on 448.29463044 meters Centerline goodness : 0.182606 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.22, Z:-0.83 [[ 0.91999522 -0.00124593 -0.3919276 -1.07492749] [ 0.00730305 0.99987582 0.01396431 0.22340149] [ 0.39186154 -0.01570936 0.91989008 -0.83468783] [ 0. 0. 0. 1. ]] SLAMing on 448.32463044 meters Centerline goodness : 0.189218 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.22, Z:-0.83 [[ 0.92025391 -0.00148434 -0.39131898 -1.08113774] [ 0.00747729 0.99987694 0.01379144 0.22425696] [ 0.39125035 -0.01561763 0.92015175 -0.83221941] [ 0. 0. 0. 1. ]] SLAMing on 448.35463044 meters Centerline goodness : 0.223153 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.23, Z:-0.83 [[ 0.92258492 -0.00556969 -0.38575386 -1.06706286] [ 0.01348619 0.99975027 0.01781929 0.22542892] [ 0.38555828 -0.02164216 0.92242963 -0.82603645] [ 0. 0. 0. 1. ]] SLAMing on 448.38463044 meters Centerline goodness : 0.088469 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.23, Z:-0.82 [[ 0.92372065 -0.01152236 -0.38289344 -1.05143687] [ 0.02141339 0.99953777 0.02158031 0.22778456] [ 0.3824678 -0.02813322 0.92354042 -0.82112754] [ 0. 0. 0. 1. ]] SLAMing on 448.41463044 meters Centerline goodness : 0.225387 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.23, Z:-0.82 [[ 0.92380983 -0.01167873 -0.38267351 -1.05330038] [ 0.02153705 0.99953711 0.0214878 0.22749295] [ 0.38224542 -0.0280923 0.92363373 -0.82020514] [ 0. 0. 0. 1. ]] SLAMing on 448.44463044 meters Centerline goodness : 0.224458 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.23, Z:-0.82 [[ 0.92378933 -0.01161315 -0.38272498 -1.05330187] [ 0.02143194 0.99954122 0.02140121 0.22854113] [ 0.38230086 -0.02797275 0.92361441 -0.81990854] [ 0. 0. 0. 1. ]] SLAMing on 448.47463044 meters Centerline goodness : 0.225850 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.23, Z:-0.81 [[ 0.92407256 -0.0064485 -0.38216269 -1.03639049] [ 0.01564344 0.99965796 0.02095803 0.22748021] [ 0.38189683 -0.02534508 0.92385737 -0.81220063] [ 0. 0. 0. 1. ]] SLAMing on 448.50463044 meters Centerline goodness : 0.292298 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.23, Z:-0.80 [[ 0.92423871 -0.0014814 -0.38181227 -1.02084425] [ 0.01006021 0.99973978 0.02047348 0.22561034] [ 0.38168258 -0.0227635 0.92401311 -0.80430824] [ 0. 0. 0. 1. ]] SLAMing on 448.53463044 meters Centerline goodness : 0.173535 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.23, Z:-0.80 [[ 9.24262231e-01 -2.92285595e-07 -3.81758206e-01 -1.02455775e+00] [ 8.93263654e-03 9.99726230e-01 2.16257470e-02 2.26504176e-01] [ 3.81653686e-01 -2.33979685e-02 9.24009199e-01 -8.02029926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56463044000003 meters Centerline goodness : 0.138781 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.23, Z:-0.80 [[ 9.24118986e-01 2.65866592e-04 -3.82104736e-01 -1.02448341e+00] [ 8.70203283e-03 9.99725755e-01 2.17414406e-02 2.27499182e-01] [ 3.82005726e-01 -2.34167660e-02 9.23863237e-01 -8.01216620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59463044 meters Centerline goodness : 0.085313 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.23, Z:-0.80 [[ 9.23815342e-01 -2.64969449e-04 -3.82838273e-01 -1.02229329e+00] [ 9.07421596e-03 9.99733973e-01 2.12047790e-02 2.28267834e-01] [ 3.82730809e-01 -2.30632573e-02 9.23571987e-01 -8.00823309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62463044000003 meters Centerline goodness : 0.075200 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.23, Z:-0.80 [[ 9.23639824e-01 -3.55930665e-04 -3.83261463e-01 -1.02073232e+00] [ 9.00693164e-03 9.99743547e-01 2.07777774e-02 2.29698753e-01] [ 3.83155778e-01 -2.26431925e-02 9.23406159e-01 -8.00986639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65463044 meters Centerline goodness : 0.075200 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.23, Z:-0.80 [[ 9.23639824e-01 -3.55930665e-04 -3.83261463e-01 -1.02073232e+00] [ 9.00693164e-03 9.99743547e-01 2.07777774e-02 2.29698753e-01] [ 3.83155778e-01 -2.26431925e-02 9.23406159e-01 -8.00986639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68463044000003 meters Centerline goodness : 0.074915 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.23, Z:-0.80 [[ 0.92397821 -0.00819368 -0.38235734 -1.00317271] [ 0.01846069 0.9995606 0.02319087 0.23239955] [ 0.38199931 -0.02848644 0.92372347 -0.79554597] [ 0. 0. 0. 1. ]] SLAMing on 448.71463044 meters Centerline goodness : 0.069476 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.23, Z:-0.80 [[ 0.92392823 -0.00800432 -0.38248211 -1.00295983] [ 0.01831805 0.99955996 0.02333119 0.23232703] [ 0.38212705 -0.02856268 0.92366828 -0.79519104] [ 0. 0. 0. 1. ]] SLAMing on 448.74463044000004 meters Centerline goodness : 0.092587 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.23, Z:-0.80 [[ 0.92345964 -0.00656959 -0.38363933 -0.99746766] [ 0.01718032 0.99955858 0.02423799 0.23297838] [ 0.38331075 -0.02897385 0.92316487 -0.79547831] [ 0. 0. 0. 1. ]] SLAMing on 448.77463044 meters Centerline goodness : 0.071574 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.23, Z:-0.80 [[ 0.92314248 -0.00581373 -0.38441406 -0.9938879 ] [ 0.01657938 0.99955749 0.02469726 0.23309549] [ 0.38410036 -0.02917244 0.92283036 -0.79569136] [ 0. 0. 0. 1. ]] SLAMing on 448.80463044000004 meters Centerline goodness : 0.110512 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.23, Z:-0.80 [[ 0.92285849 -0.00535358 -0.385102 -0.99160568] [ 0.01618204 0.99955939 0.02488305 0.23365294] [ 0.38479911 -0.02919527 0.9225385 -0.79534663] [ 0. 0. 0. 1. ]] SLAMing on 448.83463044 meters Centerline goodness : 0.216203 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.23, Z:-0.80 [[ 0.92271128 -0.00507372 -0.38545836 -0.99056949] [ 0.0159277 0.99956129 0.02497073 0.23411372] [ 0.38516256 -0.02918024 0.92238729 -0.79501694] [ 0. 0. 0. 1. ]] SLAMing on 448.86463044 meters Centerline goodness : 0.095688 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.23, Z:-0.79 [[ 0.92255148 -0.00481143 -0.38584402 -0.98945999] [ 0.01572445 0.99956045 0.02513269 0.23383076] [ 0.3855535 -0.02925338 0.92222163 -0.79460049] [ 0. 0. 0. 1. ]] SLAMing on 448.89463044 meters Centerline goodness : 0.177780 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.23, Z:-0.79 [[ 0.92225654 -0.0041848 -0.38655577 -0.98638022] [ 0.01523372 0.99955813 0.025524 0.23380914] [ 0.38627815 -0.02942836 0.92191277 -0.79468433] [ 0. 0. 0. 1. ]] SLAMing on 448.92463044 meters Centerline goodness : 0.171095 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.23, Z:-0.79 [[ 0.92197277 -0.00372243 -0.38723683 -0.98339083] [ 0.01488158 0.99955576 0.02582306 0.23320166] [ 0.38696867 -0.02957086 0.92161858 -0.79477038] [ 0. 0. 0. 1. ]] SLAMing on 448.95463044 meters Centerline goodness : 0.166178 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.23, Z:-0.79 [[ 0.92176474 -0.00334151 -0.38773521 -0.98213242] [ 0.01454769 0.99955686 0.02597009 0.23393619] [ 0.38747661 -0.02957897 0.92140488 -0.79425699] [ 0. 0. 0. 1. ]] SLAMing on 448.98463044 meters Centerline goodness : 0.172915 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.24, Z:-0.79 [[ 0.9215756 -0.00300472 -0.38818732 -0.98106424] [ 0.0141905 0.99956247 0.02595194 0.23566956] [ 0.38793949 -0.02942524 0.92121502 -0.79379959] [ 0. 0. 0. 1. ]] SLAMing on 449.01463044 meters Centerline goodness : 0.184600 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.24, Z:-0.79 [[ 0.9215783 -0.00276899 -0.38818265 -0.98189005] [ 0.01395582 0.99956447 0.02600218 0.23606026] [ 0.38794158 -0.02938046 0.92121557 -0.7930516 ] [ 0. 0. 0. 1. ]] SLAMing on 449.04463044 meters Centerline goodness : 0.100041 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.24, Z:-0.79 [[ 0.92156615 -0.00211181 -0.38821561 -0.98341742] [ 0.0133033 0.9995697 0.02614263 0.2379228 ] [ 0.38799336 -0.02925672 0.9211977 -0.79177848] [ 0. 0. 0. 1. ]] SLAMing on 449.07463044 meters Centerline goodness : 0.102411 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.24, Z:-0.79 [[ 0.92145998 -0.00184398 -0.38846892 -0.98376132] [ 0.01303207 0.99957262 0.0261677 0.23920652] [ 0.38825464 -0.02917504 0.9210902 -0.79091767] [ 0. 0. 0. 1. ]] SLAMing on 449.10463044 meters Centerline goodness : 0.107677 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.24, Z:-0.79 [[ 0.9215527 -0.00203321 -0.38824796 -0.98556414] [ 0.01314404 0.99957646 0.02596427 0.23955121] [ 0.38803073 -0.0290306 0.92118911 -0.79022802] [ 0. 0. 0. 1. ]] SLAMing on 449.13463044 meters Centerline goodness : 0.099771 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.24, Z:-0.79 [[ 0.9215359 -0.00207934 -0.38828761 -0.98654599] [ 0.01312128 0.99958131 0.02578825 0.2402949 ] [ 0.38807142 -0.02885963 0.92117734 -0.78934247] [ 0. 0. 0. 1. ]] SLAMing on 449.16463044 meters Centerline goodness : 0.100461 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.24, Z:-0.79 [[ 0.92140036 -0.00192591 -0.38860992 -0.98599532] [ 0.01290115 0.99958812 0.02563497 0.24217977] [ 0.38840049 -0.02863358 0.9210457 -0.78877128] [ 0. 0. 0. 1. ]] SLAMing on 449.19463044 meters Centerline goodness : 0.145594 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.24, Z:-0.79 [[ 0.92159422 -0.00227081 -0.3881481 -0.98900223] [ 0.01315816 0.99959092 0.02539392 0.24211453] [ 0.38793165 -0.02851021 0.92124709 -0.78784654] [ 0. 0. 0. 1. ]] SLAMing on 449.22463044 meters Centerline goodness : 0.177453 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.24, Z:-0.79 [[ 0.92175414 -0.00293934 -0.38776367 -0.99268624] [ 0.01363306 0.99959873 0.02482998 0.24297701] [ 0.38753508 -0.02817354 0.92142434 -0.7863892 ] [ 0. 0. 0. 1. ]] SLAMing on 449.25463044 meters Centerline goodness : 0.137503 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.78 [[ 0.92228464 -0.00863393 -0.38641492 -0.97673967] [ 0.02133543 0.99936341 0.02859339 0.24611842] [ 0.38592206 -0.03461557 0.92188173 -0.78083706] [ 0. 0. 0. 1. ]] SLAMing on 449.28463044 meters Centerline goodness : 0.122708 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.78 [[ 0.9222202 -0.00850023 -0.38657165 -0.97705209] [ 0.02123329 0.99936309 0.02868021 0.24641557] [ 0.38608165 -0.03465766 0.92181332 -0.77998478] [ 0. 0. 0. 1. ]] SLAMing on 449.31463044000003 meters Centerline goodness : 0.172101 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.78 [[ 0.92216754 -0.00852313 -0.38669675 -0.97698269] [ 0.02127919 0.99936102 0.02871836 0.24583455] [ 0.38620489 -0.03471173 0.92175966 -0.77955113] [ 0. 0. 0. 1. ]] SLAMing on 449.34463044 meters Centerline goodness : 0.089386 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.78 [[ 0.92208944 -0.00838398 -0.386886 -0.97615018] [ 0.02120248 0.99935809 0.0288767 0.24519766] [ 0.38639555 -0.03482984 0.9216753 -0.77944523] [ 0. 0. 0. 1. ]] SLAMing on 449.37463044000003 meters Centerline goodness : 0.072343 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92194235 -0.00817665 -0.38724081 -0.97488098] [ 0.02102501 0.99935958 0.02895467 0.24565505] [ 0.38675606 -0.03483627 0.92152384 -0.77927861] [ 0. 0. 0. 1. ]] SLAMing on 449.40463044 meters Centerline goodness : 0.089184 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.78 [[ 0.92194597 -0.0078955 -0.38723802 -0.97560026] [ 0.02068192 0.99936938 0.02886363 0.24737195] [ 0.38676593 -0.03461953 0.92152787 -0.77870689] [ 0. 0. 0. 1. ]] SLAMing on 449.43463044000003 meters Centerline goodness : 0.097295 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.78 [[ 0.92205311 -0.00811576 -0.38697829 -0.97718238] [ 0.02074794 0.9993791 0.02847699 0.24912824] [ 0.3865069 -0.0342863 0.92164899 -0.77836488] [ 0. 0. 0. 1. ]] SLAMing on 449.46463044 meters Centerline goodness : 0.089554 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.25, Z:-0.77 [[ 0.92321881 -0.0040213 -0.38425363 -0.96318274] [ 0.01577054 0.9994993 0.02743075 0.24682387] [ 0.38395093 -0.03138447 0.92281997 -0.77053105] [ 0. 0. 0. 1. ]] SLAMing on 449.49463044000004 meters Centerline goodness : 0.110712 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.25, Z:-0.77 [[ 0.92329866 -0.00410914 -0.38406081 -0.96446783] [ 0.01582707 0.99950048 0.02735512 0.24689945] [ 0.38375655 -0.03133551 0.92290248 -0.77006993] [ 0. 0. 0. 1. ]] SLAMing on 449.52463044 meters Centerline goodness : 0.090087 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.25, Z:-0.77 [[ 0.92305962 -0.00366235 -0.38463947 -0.96185492] [ 0.01543265 0.99950216 0.02751858 0.2480267 ] [ 0.3843472 -0.0313373 0.9226566 -0.77027917] [ 0. 0. 0. 1. ]] SLAMing on 449.55463044000004 meters Centerline goodness : 0.088329 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.25, Z:-0.77 [[ 0.92313474 -0.00388681 -0.38445694 -0.96209696] [ 0.01562961 0.99950169 0.02742404 0.24709627] [ 0.38415877 -0.031325 0.92273549 -0.77038993] [ 0. 0. 0. 1. ]] SLAMing on 449.58463044 meters Centerline goodness : 0.089222 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.25, Z:-0.77 [[ 0.9233281 -0.0114234 -0.38384205 -0.94455919] [ 0.02469745 0.99925456 0.02967095 0.25021017] [ 0.38321697 -0.03687595 0.92292195 -0.7651826 ] [ 0. 0. 0. 1. ]] SLAMing on 449.61463044 meters Centerline goodness : 0.073873 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92375525 -0.0057909 -0.38293955 -0.97266356] [ 0.01809424 0.99942902 0.02853465 0.24732788] [ 0.38255566 -0.03328804 0.92333259 -0.77761029] [ 0. 0. 0. 1. ]] SLAMing on 449.64463044 meters Centerline goodness : 0.170334 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92394129 -0.00598288 -0.38248751 -0.97433207] [ 0.01830914 0.99942339 0.02859477 0.24569594] [ 0.38209588 -0.03342291 0.92351808 -0.77734406] [ 0. 0. 0. 1. ]] SLAMing on 449.67463044 meters Centerline goodness : 0.089757 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92376713 -0.00570503 -0.38291219 -0.97230866] [ 0.01810499 0.99942158 0.02878745 0.24547374] [ 0.38252647 -0.03352552 0.92333609 -0.77754769] [ 0. 0. 0. 1. ]] SLAMing on 449.70463044 meters Centerline goodness : 0.091064 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.24, Z:-0.78 [[ 0.9235891 -0.00551418 -0.3833442 -0.97071446] [ 0.01798862 0.99941858 0.02896386 0.24485521] [ 0.3829616 -0.03364654 0.9231513 -0.77747043] [ 0. 0. 0. 1. ]] SLAMing on 449.73463044 meters Centerline goodness : 0.092549 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92332327 -0.00489405 -0.38399244 -0.96821352] [ 0.01746545 0.99941928 0.0292585 0.24517255] [ 0.38362625 -0.03372165 0.92287255 -0.77752281] [ 0. 0. 0. 1. ]] SLAMing on 449.76463044 meters Centerline goodness : 0.089437 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92338088 -0.00486578 -0.38385423 -0.96859937] [ 0.01737921 0.99942431 0.02913776 0.24579226] [ 0.38349147 -0.03357634 0.92293387 -0.77743136] [ 0. 0. 0. 1. ]] SLAMing on 449.79463044 meters Centerline goodness : 0.080404 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92351236 -0.00511315 -0.38353458 -0.9701306 ] [ 0.01751706 0.9994301 0.02885525 0.24640739] [ 0.38316846 -0.03336658 0.92307562 -0.77723178] [ 0. 0. 0. 1. ]] SLAMing on 449.82463044 meters Centerline goodness : 0.078391 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92342095 -0.00504606 -0.38375551 -0.9694039 ] [ 0.01737741 0.99943778 0.02867306 0.24801858] [ 0.38339507 -0.03314599 0.92298947 -0.77720511] [ 0. 0. 0. 1. ]] SLAMing on 449.85463044 meters Centerline goodness : 0.071957 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92373957 -0.00580878 -0.38297712 -0.97324474] [ 0.01794598 0.99944326 0.02812665 0.24801008] [ 0.38260052 -0.0328546 0.92332953 -0.77647673] [ 0. 0. 0. 1. ]] SLAMing on 449.88463044 meters Centerline goodness : 0.077951 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92373677 -0.00576895 -0.38298447 -0.97424856] [ 0.01792223 0.99944239 0.02817266 0.24794682] [ 0.38260839 -0.03288805 0.92332508 -0.77569718] [ 0. 0. 0. 1. ]] SLAMing on 449.91463044 meters Centerline goodness : 0.073146 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.9236634 -0.00562412 -0.38316353 -0.97405123] [ 0.01776012 0.99944612 0.02814299 0.24905695] [ 0.38279302 -0.03279968 0.92325169 -0.77544565] [ 0. 0. 0. 1. ]] SLAMing on 449.94463044 meters Centerline goodness : 0.091344 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92367529 -0.00563552 -0.3831347 -0.97414219] [ 0.0177473 0.99944798 0.02808498 0.24909391] [ 0.38276493 -0.032741 0.92326542 -0.77536527] [ 0. 0. 0. 1. ]] SLAMing on 449.97463044 meters Centerline goodness : 0.091388 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.78 [[ 0.92365653 -0.00572418 -0.38317861 -0.9739409 ] [ 0.0178465 0.99944611 0.02808878 0.2481661 ] [ 0.38280559 -0.03278278 0.92324708 -0.77526023] [ 0. 0. 0. 1. ]] SLAMing on 450.00463044 meters Centerline goodness : 0.075825 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.25, Z:-0.78 [[ 0.92328563 -0.00982463 -0.38398844 -0.987656 ] [ 0.02284952 0.99930733 0.02937276 0.24898325] [ 0.38343388 -0.0358934 0.92287059 -0.78278389] [ 0. 0. 0. 1. ]] SLAMing on 450.03463044 meters Centerline goodness : 0.091266 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.25, Z:-0.78 [[ 0.92303082 -0.00933755 -0.38461269 -0.98580947] [ 0.02243401 0.99931068 0.02957824 0.24984374] [ 0.38407138 -0.03593003 0.92260404 -0.78242892] [ 0. 0. 0. 1. ]] SLAMing on 450.06463044000003 meters Centerline goodness : 0.091044 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.25, Z:-0.78 [[ 0.92310116 -0.00948966 -0.3844401 -0.98735116] [ 0.02253693 0.99931223 0.02944732 0.2497123 ] [ 0.38389625 -0.03584695 0.92268015 -0.78170884] [ 0. 0. 0. 1. ]] SLAMing on 450.09463044 meters Centerline goodness : 0.096228 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.25, Z:-0.78 [[ 0.92325001 -0.00992865 -0.38407141 -0.98951028] [ 0.02286457 0.9993141 0.02912965 0.24980061] [ 0.38351876 -0.03567558 0.92284377 -0.7810701 ] [ 0. 0. 0. 1. ]] SLAMing on 450.12463044000003 meters Centerline goodness : 0.090901 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.77 [[ 0.92484554 -0.00980802 -0.38021643 -0.97193829] [ 0.02146507 0.99942016 0.0264311 0.25314631] [ 0.37973672 -0.03260606 0.9245198 -0.77307061] [ 0. 0. 0. 1. ]] SLAMing on 450.15463044 meters Centerline goodness : 0.074227 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.77 [[ 0.92476436 -0.00975508 -0.38041518 -0.97200036] [ 0.02144144 0.99941899 0.02649438 0.2529787 ] [ 0.3799357 -0.03265771 0.92443623 -0.77248127] [ 0. 0. 0. 1. ]] SLAMing on 450.18463044000003 meters Centerline goodness : 0.075404 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.77 [[ 0.92465161 -0.00962643 -0.38069243 -0.97141375] [ 0.02131517 0.99942155 0.02649975 0.25368629] [ 0.38021712 -0.03261756 0.92432193 -0.77226807] [ 0. 0. 0. 1. ]] SLAMing on 450.21463044 meters Centerline goodness : 0.075224 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.77 [[ 0.9248621 -0.009897 -0.38017383 -0.97254809] [ 0.0215467 0.99941923 0.02639971 0.2528764 ] [ 0.37969176 -0.03260758 0.92453822 -0.7723347 ] [ 0. 0. 0. 1. ]] SLAMing on 450.24463044000004 meters Centerline goodness : 0.073872 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.77 [[ 0.92494814 -0.01001674 -0.37996131 -0.97372784] [ 0.02166184 0.99941714 0.02638473 0.25219726] [ 0.37947556 -0.03263516 0.924626 -0.77196104] [ 0. 0. 0. 1. ]] SLAMing on 450.27463044 meters Centerline goodness : 0.076103 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.25, Z:-0.77 [[ 0.92498163 -0.01000381 -0.37988013 -0.97431872] [ 0.02160456 0.99942096 0.02628671 0.25293465] [ 0.37939719 -0.03252186 0.92466215 -0.77174718] [ 0. 0. 0. 1. ]] SLAMing on 450.30463044000004 meters Centerline goodness : 0.075930 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.77 [[ 0.92503791 -0.01005822 -0.37974163 -0.97534846] [ 0.02159268 0.9994254 0.02612725 0.25383892] [ 0.37926063 -0.03236834 0.92472356 -0.77141255] [ 0. 0. 0. 1. ]] SLAMing on 450.33463044 meters Centerline goodness : 0.076598 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92509739 -0.0101163 -0.37959515 -0.97615204] [ 0.02150397 0.99943655 0.02577133 0.25539755] [ 0.37912056 -0.03200379 0.92479369 -0.77119654] [ 0. 0. 0. 1. ]] SLAMing on 450.36463044 meters Centerline goodness : 0.074127 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.25, Z:-0.77 [[ 0.92521051 -0.01003118 -0.37932162 -0.97685622] [ 0.02145676 0.9994341 0.0259055 0.2542183 ] [ 0.3788471 -0.03210705 0.92490216 -0.77114621] [ 0. 0. 0. 1. ]] SLAMing on 450.39463044 meters Centerline goodness : 0.090355 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92509927 -0.00972923 -0.37960068 -0.97667547] [ 0.02112972 0.99944178 0.02587795 0.25549843] [ 0.37913701 -0.03196053 0.92478844 -0.77064921] [ 0. 0. 0. 1. ]] SLAMing on 450.42463044 meters Centerline goodness : 0.091068 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92511704 -0.00963629 -0.37955974 -0.97682681] [ 0.02093187 0.99945197 0.02564397 0.25712956] [ 0.37910462 -0.03166857 0.92481176 -0.77065623] [ 0. 0. 0. 1. ]] SLAMing on 450.45463044 meters Centerline goodness : 0.079664 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92541024 -0.00994356 -0.3788364 -0.97926077] [ 0.0211049 0.99945657 0.02532104 0.25741365] [ 0.37837874 -0.03142765 0.9251172 -0.77073038] [ 0. 0. 0. 1. ]] SLAMing on 450.48463044 meters Centerline goodness : 0.090127 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.9257602 -0.00983763 -0.37798317 -0.98227802] [ 0.02097831 0.99945805 0.02536777 0.25694024] [ 0.37752876 -0.03141392 0.92546485 -0.77065836] [ 0. 0. 0. 1. ]] SLAMing on 450.51463044 meters Centerline goodness : 0.091611 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92559585 -0.0093591 -0.37839757 -0.98136565] [ 0.02052123 0.99946477 0.02547658 0.25814659] [ 0.3779566 -0.0313462 0.92529251 -0.77035847] [ 0. 0. 0. 1. ]] SLAMing on 450.54463044 meters Centerline goodness : 0.091611 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92559585 -0.0093591 -0.37839757 -0.98136565] [ 0.02052123 0.99946477 0.02547658 0.25814659] [ 0.3779566 -0.0313462 0.92529251 -0.77035847] [ 0. 0. 0. 1. ]] SLAMing on 450.57463044 meters Centerline goodness : 0.091069 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92557689 -0.00912625 -0.37844964 -0.98092746] [ 0.0203046 0.99946714 0.0255571 0.25841047] [ 0.37801474 -0.03133933 0.92526899 -0.77055456] [ 0. 0. 0. 1. ]] SLAMing on 450.60463044 meters Centerline goodness : 0.091799 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92564372 -0.00924546 -0.37828326 -0.98082115] [ 0.02042453 0.99946486 0.02555049 0.25715578] [ 0.3778446 -0.03137691 0.92533721 -0.77092327] [ 0. 0. 0. 1. ]] SLAMing on 450.63463044 meters Centerline goodness : 0.091375 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92558981 -0.00862376 -0.37842983 -0.97917689] [ 0.01979668 0.99947511 0.02564378 0.25869798] [ 0.37801005 -0.03122727 0.9252747 -0.77179344] [ 0. 0. 0. 1. ]] SLAMing on 450.66463044 meters Centerline goodness : 0.092554 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.925785 -0.00874823 -0.3779492 -0.9809429 ] [ 0.01985013 0.99947802 0.02548832 0.25900578] [ 0.37752894 -0.03109904 0.92547542 -0.77179258] [ 0. 0. 0. 1. ]] SLAMing on 450.69463044 meters Centerline goodness : 0.074727 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92616467 -0.00950626 -0.37699951 -0.98494338] [ 0.02046287 0.99947629 0.02506822 0.25800591] [ 0.37656377 -0.03093179 0.92587416 -0.77137002] [ 0. 0. 0. 1. ]] SLAMing on 450.72463044 meters Centerline goodness : 0.092563 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92615356 -0.00941467 -0.37702911 -0.9848172 ] [ 0.02038094 0.99947699 0.02510719 0.25775012] [ 0.37659554 -0.03093732 0.92586105 -0.77133058] [ 0. 0. 0. 1. ]] SLAMing on 450.75463044 meters Centerline goodness : 0.091735 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92549411 -0.00795194 -0.37867852 -0.97735607] [ 0.01914389 0.99948382 0.02579951 0.25975055] [ 0.3782779 -0.03112668 0.92516861 -0.77231869] [ 0. 0. 0. 1. ]] SLAMing on 450.78463044 meters Centerline goodness : 0.076685 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.9255258 -0.00824498 -0.37859479 -0.97737128] [ 0.01940513 0.99948206 0.02567187 0.25856263] [ 0.37818704 -0.03110666 0.92520643 -0.77234672] [ 0. 0. 0. 1. ]] SLAMing on 450.81463044000003 meters Centerline goodness : 0.092142 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.9256785 -0.00850668 -0.37821547 -0.97874157] [ 0.01961375 0.99948177 0.02552448 0.25812732] [ 0.37780234 -0.03104569 0.92536563 -0.77223549] [ 0. 0. 0. 1. ]] SLAMing on 450.84463044 meters Centerline goodness : 0.091473 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92606627 -0.00949031 -0.37724157 -0.98448003] [ 0.02046329 0.99947573 0.02509012 0.25698523] [ 0.37680568 -0.03095472 0.92577496 -0.77072032] [ 0. 0. 0. 1. ]] SLAMing on 450.87463044000003 meters Centerline goodness : 0.091916 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.26, Z:-0.77 [[ 0.92579833 -0.00933787 -0.37790245 -0.98276193] [ 0.02037468 0.99947433 0.02521783 0.25684056] [ 0.37746832 -0.03104627 0.92550192 -0.77022863] [ 0. 0. 0. 1. ]] SLAMing on 450.90463044 meters Centerline goodness : 0.078393 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92468871 -0.00714517 -0.38065697 -1.01392072] [ 0.01712458 0.99959255 0.02283591 0.25330842] [ 0.38033871 -0.0276347 0.92443431 -0.78240075] [ 0. 0. 0. 1. ]] SLAMing on 450.93463044000003 meters Centerline goodness : 0.075522 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92443838 -0.00721726 -0.38126314 -1.01117117] [ 0.01726918 0.99958745 0.02295005 0.25171458] [ 0.38094022 -0.02780001 0.92418164 -0.78260697] [ 0. 0. 0. 1. ]] SLAMing on 450.96463044 meters Centerline goodness : 0.091523 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92437831 -0.00749797 -0.38140337 -1.01136041] [ 0.01760779 0.99957984 0.02302403 0.24966676] [ 0.38107048 -0.02799859 0.92412194 -0.78198076] [ 0. 0. 0. 1. ]] SLAMing on 450.99463044000004 meters Centerline goodness : 0.075896 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92424748 -0.00721595 -0.38172572 -1.0108944 ] [ 0.01732924 0.99958382 0.02306252 0.25094791] [ 0.38140044 -0.02793049 0.92398787 -0.7816466 ] [ 0. 0. 0. 1. ]] SLAMing on 451.02463044 meters Centerline goodness : 0.076458 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92423114 -0.00724084 -0.38176482 -1.01132615] [ 0.01735168 0.99958375 0.0230486 0.25072987] [ 0.38143902 -0.02792649 0.92397207 -0.78120685] [ 0. 0. 0. 1. ]] SLAMing on 451.05463044000004 meters Centerline goodness : 0.073444 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92434857 -0.00735913 -0.38147813 -1.01230346] [ 0.01751787 0.99957819 0.02316409 0.24919021] [ 0.38114675 -0.02809437 0.92408758 -0.78101818] [ 0. 0. 0. 1. ]] SLAMing on 451.08463044 meters Centerline goodness : 0.091036 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92423987 -0.00739089 -0.3817408 -1.01177489] [ 0.01744202 0.99958614 0.0228762 0.25067127] [ 0.38141374 -0.02780143 0.92398628 -0.78076942] [ 0. 0. 0. 1. ]] SLAMing on 451.11463044 meters Centerline goodness : 0.076369 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92421659 -0.00761571 -0.38179275 -1.0115418 ] [ 0.01759103 0.99958882 0.02264406 0.25100967] [ 0.38146331 -0.02764414 0.92397053 -0.78082962] [ 0. 0. 0. 1. ]] SLAMing on 451.14463044 meters Centerline goodness : 0.091655 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92436778 -0.00816728 -0.38141514 -1.01301207] [ 0.01812487 0.99958204 0.02252188 0.24873135] [ 0.38107178 -0.02773161 0.92412946 -0.78055183] [ 0. 0. 0. 1. ]] SLAMing on 451.17463044 meters Centerline goodness : 0.075841 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92429398 -0.00827689 -0.38159157 -1.01288312] [ 0.01827142 0.99957815 0.02257588 0.24759402] [ 0.38124374 -0.02783897 0.9240553 -0.78007508] [ 0. 0. 0. 1. ]] SLAMing on 451.20463044 meters Centerline goodness : 0.091156 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.25, Z:-0.78 [[ 0.92420796 -0.008224 -0.38180101 -1.01255863] [ 0.01820598 0.99958017 0.02253941 0.24821531] [ 0.38145536 -0.02778217 0.92396968 -0.77975955] [ 0. 0. 0. 1. ]] SLAMing on 451.23463044 meters Centerline goodness : 0.094255 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.25, Z:-0.78 [[ 0.92451269 -0.00958129 -0.38103081 -1.01724115] [ 0.01930412 0.99957807 0.02170338 0.24721171] [ 0.38066209 -0.02742052 0.92430757 -0.778636 ] [ 0. 0. 0. 1. ]] SLAMing on 451.26463044 meters Centerline goodness : 0.074516 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.25, Z:-0.78 [[ 0.92453605 -0.00968158 -0.3809716 -1.01753186] [ 0.01934593 0.99958066 0.0215462 0.24726952] [ 0.38060325 -0.02729049 0.92433565 -0.77849934] [ 0. 0. 0. 1. ]] SLAMing on 451.29463044 meters Centerline goodness : 0.092508 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.25, Z:-0.78 [[ 0.92437775 -0.00952016 -0.3813596 -1.01617733] [ 0.01906498 0.99959223 0.02125807 0.2491962 ] [ 0.38100171 -0.0269211 0.92418232 -0.77849475] [ 0. 0. 0. 1. ]] SLAMing on 451.32463044 meters Centerline goodness : 0.075385 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.25, Z:-0.78 [[ 0.92462882 -0.00993754 -0.38073978 -1.01857714] [ 0.01931431 0.99959677 0.02081483 0.24984557] [ 0.38037941 -0.02659972 0.92444792 -0.77843862] [ 0. 0. 0. 1. ]] SLAMing on 451.35463044 meters Centerline goodness : 0.119771 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.25, Z:-0.78 [[ 0.92485449 -0.01013442 -0.3801861 -1.02195127] [ 0.01929096 0.99960818 0.02028185 0.25218533] [ 0.37983159 -0.02609191 0.92468761 -0.77771927] [ 0. 0. 0. 1. ]] SLAMing on 451.38463044 meters Centerline goodness : 0.073303 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92520862 -0.0109185 -0.37930173 -1.0261901 ] [ 0.01992367 0.99960495 0.01982422 0.25123692] [ 0.37893544 -0.02589862 0.92506064 -0.77707422] [ 0. 0. 0. 1. ]] SLAMing on 451.41463044 meters Centerline goodness : 0.073413 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92548889 -0.01132399 -0.37860543 -1.02890232] [ 0.02034968 0.99959592 0.01984648 0.24909918] [ 0.37822771 -0.02607219 0.92534536 -0.77675346] [ 0. 0. 0. 1. ]] SLAMing on 451.44463044 meters Centerline goodness : 0.077324 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92539278 -0.01096808 -0.37885077 -1.02774648] [ 0.02006417 0.99959723 0.02007011 0.24900303] [ 0.37847805 -0.02617406 0.92524012 -0.77686189] [ 0. 0. 0. 1. ]] SLAMing on 451.47463044 meters Centerline goodness : 0.132618 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92523936 -0.01022422 -0.37924609 -1.02523891] [ 0.01935932 0.99960685 0.02028182 0.25056783] [ 0.37888962 -0.02610749 0.92507354 -0.77765259] [ 0. 0. 0. 1. ]] SLAMing on 451.50463044 meters Centerline goodness : 0.125574 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.9253566 -0.01032552 -0.37895718 -1.02648405] [ 0.01939111 0.99960964 0.02011363 0.25031218] [ 0.37860156 -0.02596068 0.9251956 -0.77744248] [ 0. 0. 0. 1. ]] SLAMing on 451.53463044 meters Centerline goodness : 0.076925 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92522738 -0.00999661 -0.37928138 -1.02604781] [ 0.01901665 0.99961825 0.02004298 0.25189105] [ 0.37893623 -0.02575697 0.92506427 -0.7771187 ] [ 0. 0. 0. 1. ]] SLAMing on 451.56463044000003 meters Centerline goodness : 0.078441 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92556656 -0.00603653 -0.37853679 -1.03007537] [ 0.0159379 0.99960774 0.02302928 0.2521663 ] [ 0.37824929 -0.02734822 0.92529971 -0.77646151] [ 0. 0. 0. 1. ]] SLAMing on 451.59463044 meters Centerline goodness : 0.092632 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92571698 -0.00639922 -0.37816282 -1.03171002] [ 0.01621708 0.99960889 0.02278309 0.25152951] [ 0.37786912 -0.02722339 0.9254587 -0.77617434] [ 0. 0. 0. 1. ]] SLAMing on 451.62463044000003 meters Centerline goodness : 0.092535 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92576751 -0.0067497 -0.37803302 -1.03171236] [ 0.01651824 0.99960803 0.02260384 0.25080102] [ 0.37773227 -0.02717033 0.92551613 -0.77640112] [ 0. 0. 0. 1. ]] SLAMing on 451.65463044 meters Centerline goodness : 0.105053 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92557945 -0.00667311 -0.37849459 -1.029634 ] [ 0.01643075 0.99961054 0.02255634 0.25103913] [ 0.37819666 -0.02709664 0.92532862 -0.77665278] [ 0. 0. 0. 1. ]] SLAMing on 451.68463044000003 meters Centerline goodness : 0.091217 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92554188 -0.00702351 -0.37858011 -1.02879318] [ 0.01671004 0.99961151 0.02230721 0.25049699] [ 0.37827635 -0.02697235 0.92529968 -0.77691064] [ 0. 0. 0. 1. ]] SLAMing on 451.71463044 meters Centerline goodness : 0.074960 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92552362 -0.00695685 -0.37862597 -1.02907562] [ 0.01663646 0.9996129 0.02229979 0.25078639] [ 0.37832427 -0.02693798 0.92528109 -0.77657285] [ 0. 0. 0. 1. ]] SLAMing on 451.74463044000004 meters Centerline goodness : 0.076055 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92554105 -0.00706496 -0.37858138 -1.02958666] [ 0.01671951 0.99961327 0.02222074 0.25105533] [ 0.37827798 -0.0268959 0.92530124 -0.77632859] [ 0. 0. 0. 1. ]] SLAMing on 451.77463044 meters Centerline goodness : 0.091799 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92567135 -0.00781743 -0.37824785 -1.0309326 ] [ 0.01737099 0.9996103 0.02185193 0.24950218] [ 0.37792962 -0.02679824 0.92544641 -0.77606722] [ 0. 0. 0. 1. ]] SLAMing on 451.80463044000004 meters Centerline goodness : 0.077734 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.78 [[ 0.92513482 -0.00799244 -0.37955459 -1.02635751] [ 0.01773607 0.99959663 0.02218138 0.24630806] [ 0.37922421 -0.02725257 0.9249034 -0.77576602] [ 0. 0. 0. 1. ]] SLAMing on 451.83463044 meters Centerline goodness : 0.093696 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.25, Z:-0.78 [[ 0.92485057 -0.00762417 -0.38025425 -1.02356127] [ 0.01748951 0.99959395 0.02249577 0.24587166] [ 0.37992833 -0.02745568 0.92460838 -0.77586205] [ 0. 0. 0. 1. ]] SLAMing on 451.86463044 meters Centerline goodness : 0.075348 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.24, Z:-0.78 [[ 0.92482064 -0.00772396 -0.38032503 -1.0230574 ] [ 0.01762518 0.99959016 0.02255791 0.2444901 ] [ 0.37999493 -0.02756532 0.92457775 -0.77583267] [ 0. 0. 0. 1. ]] SLAMing on 451.89463044 meters Centerline goodness : 0.114326 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.24, Z:-0.78 [[ 0.92481594 -0.00786136 -0.38033365 -1.0231995 ] [ 0.01774427 0.99958968 0.02248565 0.24403073] [ 0.38000082 -0.02754383 0.92457596 -0.77564849] [ 0. 0. 0. 1. ]] SLAMing on 451.92463044 meters Centerline goodness : 0.091433 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.24, Z:-0.78 [[ 0.92469624 -0.00769064 -0.38062806 -1.02299645] [ 0.01756598 0.99959301 0.02247782 0.24493371] [ 0.38030028 -0.02747127 0.92445499 -0.77515593] [ 0. 0. 0. 1. ]] SLAMing on 451.95463044 meters Centerline goodness : 0.077773 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.77 [[ 0.92485552 -0.00802181 -0.38023404 -1.02593646] [ 0.01781088 0.99959414 0.0222335 0.24556204] [ 0.37990137 -0.02733508 0.92462303 -0.77416 ] [ 0. 0. 0. 1. ]] SLAMing on 451.98463044 meters Centerline goodness : 0.091579 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.77 [[ 0.92497365 -0.0084361 -0.37993759 -1.02753689] [ 0.01807381 0.99959883 0.02180644 0.24611548] [ 0.37960121 -0.0270373 0.92475505 -0.77375908] [ 0. 0. 0. 1. ]] SLAMing on 452.01463044 meters Centerline goodness : 0.076652 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.77 [[ 0.92520943 -0.00926462 -0.37934374 -1.03035575] [ 0.01869336 0.99960091 0.02117961 0.246151 ] [ 0.37899612 -0.02668678 0.92501338 -0.77329097] [ 0. 0. 0. 1. ]] SLAMing on 452.04463044 meters Centerline goodness : 0.076179 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.77 [[ 0.92553359 -0.01027967 -0.37852597 -1.03458962] [ 0.01952066 0.99959755 0.02058377 0.24500881] [ 0.37816203 -0.02644005 0.92536177 -0.77247472] [ 0. 0. 0. 1. ]] SLAMing on 452.07463044 meters Centerline goodness : 0.091381 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.25, Z:-0.77 [[ 0.92524478 -0.00982375 -0.37924343 -1.03247377] [ 0.01916599 0.99959855 0.02086634 0.24556017] [ 0.3788862 -0.02657505 0.92506163 -0.7721251 ] [ 0. 0. 0. 1. ]] SLAMing on 452.10463044 meters Centerline goodness : 0.077027 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.24, Z:-0.77 [[ 0.92519317 -0.00993541 -0.37936642 -1.03160251] [ 0.01935783 0.99959141 0.02103079 0.24301772] [ 0.37900246 -0.02680125 0.92500747 -0.77211694] [ 0. 0. 0. 1. ]] SLAMing on 452.13463044 meters Centerline goodness : 0.076168 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.24, Z:-0.77 [[ 0.92507115 -0.00995301 -0.37966341 -1.03010886] [ 0.01941401 0.99958889 0.02109874 0.24158827] [ 0.37929733 -0.02688863 0.92488407 -0.77222754] [ 0. 0. 0. 1. ]] SLAMing on 452.16463044 meters Centerline goodness : 0.092719 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.24, Z:-0.77 [[ 0.92498713 -0.00952779 -0.37987897 -1.02982531] [ 0.01895801 0.9995978 0.02109082 0.243047 ] [ 0.37952524 -0.02671049 0.92479573 -0.77203322] [ 0. 0. 0. 1. ]] SLAMing on 452.19463044 meters Centerline goodness : 0.067637 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.24, Z:-0.77 [[ 0.92522942 -0.00982038 -0.379281 -1.03242649] [ 0.01924808 0.99959264 0.02107278 0.24144672] [ 0.37891955 -0.02679758 0.92504155 -0.77158003] [ 0. 0. 0. 1. ]] SLAMing on 452.22463044 meters Centerline goodness : 0.092297 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.24, Z:-0.77 [[ 0.92523198 -0.00983528 -0.37927439 -1.03315492] [ 0.01918971 0.99959757 0.02089152 0.24208653] [ 0.37891628 -0.02660767 0.92504837 -0.77107735] [ 0. 0. 0. 1. ]] SLAMing on 452.25463044 meters Centerline goodness : 0.090862 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.24, Z:-0.77 [[ 0.92516665 -0.00964192 -0.37943867 -1.03272958] [ 0.01891578 0.99960635 0.0207204 0.24356882] [ 0.37908952 -0.0263472 0.92498484 -0.771031 ] [ 0. 0. 0. 1. ]] SLAMing on 452.28463044 meters Centerline goodness : 0.092392 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.25454089e-01 -7.15262777e-04 -3.78859101e-01 -1.05102390e+00] [ 8.51535573e-03 9.99784865e-01 1.89132632e-02 2.40256189e-01] [ 3.78764067e-01 -2.07294768e-02 9.25261082e-01 -7.77084850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.31463044000003 meters Centerline goodness : 0.091023 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.25632281e-01 -8.29453173e-04 -3.78423298e-01 -1.05287247e+00] [ 8.55867149e-03 9.99787696e-01 1.87433109e-02 2.40338472e-01] [ 3.78327411e-01 -2.05882143e-02 9.25442865e-01 -7.76905519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34463044 meters Centerline goodness : 0.075602 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.25721542e-01 -9.38899112e-04 -3.78204635e-01 -1.05381411e+00] [ 8.60260880e-03 9.99790472e-01 1.85743834e-02 2.40890811e-01] [ 3.78107951e-01 -2.04482534e-02 9.25535654e-01 -7.76871302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.37463044000003 meters Centerline goodness : 0.074766 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.25836690e-01 -1.02530122e-03 -3.77922441e-01 -1.05499620e+00] [ 8.67797431e-03 9.99790330e-01 1.85469292e-02 2.40288154e-01] [ 3.77824186e-01 -2.04510288e-02 9.25651468e-01 -7.76668464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40463044 meters Centerline goodness : 0.118940 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.24, Z:-0.78 [[ 0.92589472 -0.00124647 -0.37777958 -1.05520865] [ 0.00891556 0.99978814 0.01855224 0.23875176] [ 0.37767642 -0.02054554 0.92570968 -0.77671732] [ 0. 0. 0. 1. ]] SLAMing on 452.43463044000003 meters Centerline goodness : 0.075280 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.25251411e-01 -5.53376189e-04 -3.79354082e-01 -1.04855921e+00] [ 8.48833683e-03 9.99778769e-01 1.92447958e-02 2.36739029e-01] [ 3.79259508e-01 -2.10263597e-02 9.25051414e-01 -7.77230946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46463044 meters Centerline goodness : 0.075280 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.25245588e-01 -5.72587452e-04 -3.79368256e-01 -1.04859408e+00] [ 8.49935640e-03 9.99779148e-01 1.92201928e-02 2.36720376e-01] [ 3.79273467e-01 -2.10077846e-02 9.25046113e-01 -7.77190357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49463044000004 meters Centerline goodness : 0.076021 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.24919118e-01 -7.78464538e-05 -3.80163937e-01 -1.04517517e+00] [ 8.05862764e-03 9.99779296e-01 1.94014970e-02 2.37684356e-01] [ 3.80078523e-01 -2.10084151e-02 9.24715612e-01 -7.77509579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52463044 meters Centerline goodness : 0.074333 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 9.25131377e-01 -4.58561205e-04 -3.79646841e-01 -1.04668078e+00] [ 8.38197109e-03 9.99780186e-01 1.92177657e-02 2.36853816e-01] [ 3.79554577e-01 -2.09611469e-02 9.24931864e-01 -7.77589048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55463044000004 meters Centerline goodness : 0.090492 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 0.92550616 -0.00165225 -0.37872895 -1.05116439] [ 0.0093299 0.99978647 0.01843794 0.23592037] [ 0.37861762 -0.02059793 0.92532396 -0.77691223] [ 0. 0. 0. 1. ]] SLAMing on 452.58463044 meters Centerline goodness : 0.090430 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.24, Z:-0.78 [[ 0.92538027 -0.00162533 -0.37903656 -1.05092247] [ 0.00925399 0.99978961 0.01830555 0.23764885] [ 0.37892706 -0.0204472 0.92520062 -0.77641667] [ 0. 0. 0. 1. ]] SLAMing on 452.61463044 meters Centerline goodness : 0.092171 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.23, Z:-0.78 [[ 0.92543825 -0.00425286 -0.37887459 -1.05256634] [ 0.01143147 0.9997952 0.01669979 0.23360441] [ 0.37872598 -0.01978572 0.92529734 -0.77560422] [ 0. 0. 0. 1. ]] SLAMing on 452.64463044 meters Centerline goodness : 0.092856 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.23, Z:-0.78 [[ 0.925466 -0.00463719 -0.37880229 -1.05234265] [ 0.0118229 0.99979155 0.01664581 0.23194198] [ 0.37864614 -0.01988367 0.92532791 -0.77573579] [ 0. 0. 0. 1. ]] SLAMing on 452.67463044 meters Centerline goodness : 0.149112 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.24, Z:-0.77 [[ 0.92576198 -0.01310952 -0.37787947 -1.03406637] [ 0.02157549 0.99960193 0.018179 0.23583048] [ 0.37749073 -0.02498236 0.92567631 -0.7707563 ] [ 0. 0. 0. 1. ]] SLAMing on 452.70463044 meters Centerline goodness : 0.090276 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92579903 -0.01319623 -0.37778567 -1.03469148] [ 0.02167618 0.99959932 0.01820303 0.23484434] [ 0.37739409 -0.0250413 0.92571412 -0.77044899] [ 0. 0. 0. 1. ]] SLAMing on 452.73463044 meters Centerline goodness : 0.090911 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92567003 -0.0129628 -0.37810973 -1.0338981 ] [ 0.0214939 0.99960055 0.01835085 0.23497303] [ 0.37772082 -0.02511388 0.92557889 -0.77019164] [ 0. 0. 0. 1. ]] SLAMing on 452.76463044 meters Centerline goodness : 0.078553 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92550649 -0.01269781 -0.37851883 -1.03218705] [ 0.02130142 0.99960098 0.0185509 0.23456474] [ 0.37813224 -0.02523197 0.92540767 -0.77031153] [ 0. 0. 0. 1. ]] SLAMing on 452.79463044 meters Centerline goodness : 0.112801 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92563419 -0.01280439 -0.37820284 -1.03256071] [ 0.0214639 0.99959491 0.01868975 0.23253265] [ 0.37781033 -0.02541758 0.92553406 -0.77040153] [ 0. 0. 0. 1. ]] SLAMing on 452.82463044 meters Centerline goodness : 0.092981 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92531747 -0.01212108 -0.37899955 -1.03015583] [ 0.02091839 0.99959867 0.01910275 0.23280987] [ 0.3786159 -0.02560417 0.92519967 -0.7701996 ] [ 0. 0. 0. 1. ]] SLAMing on 452.85463044 meters Centerline goodness : 0.076283 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92525014 -0.01165499 -0.37917851 -1.02910473] [ 0.02058909 0.99959754 0.01951524 0.23171239] [ 0.37879846 -0.02586342 0.92511773 -0.77024058] [ 0. 0. 0. 1. ]] SLAMing on 452.88463044 meters Centerline goodness : 0.090116 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92522367 -0.01141017 -0.37925053 -1.02893366] [ 0.0203379 0.99960215 0.01954243 0.23247162] [ 0.37887666 -0.02579428 0.92508764 -0.77021846] [ 0. 0. 0. 1. ]] SLAMing on 452.91463044 meters Centerline goodness : 0.090777 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92526845 -0.01107973 -0.37915108 -1.02956929] [ 0.0200312 0.99960579 0.01967257 0.23268482] [ 0.37878365 -0.02579725 0.92512564 -0.77011947] [ 0. 0. 0. 1. ]] SLAMing on 452.94463044 meters Centerline goodness : 0.090430 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92533628 -0.01111648 -0.37898443 -1.03039493] [ 0.02009501 0.99960311 0.01974377 0.23153317] [ 0.37861454 -0.02588532 0.9251924 -0.76985577] [ 0. 0. 0. 1. ]] SLAMing on 452.97463044 meters Centerline goodness : 0.091151 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92532389 -0.01108842 -0.37901551 -1.03065844] [ 0.02007172 0.99960328 0.01975861 0.23128987] [ 0.37864605 -0.02589061 0.92517936 -0.76960655] [ 0. 0. 0. 1. ]] SLAMing on 453.00463044 meters Centerline goodness : 0.078748 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92525317 -0.01099984 -0.37919069 -1.03046442] [ 0.01993617 0.99960817 0.01964836 0.23198594] [ 0.37882598 -0.02573931 0.92510992 -0.76933004] [ 0. 0. 0. 1. ]] SLAMing on 453.03463044 meters Centerline goodness : 0.090518 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92534604 -0.01105792 -0.3789623 -1.03117598] [ 0.01999453 0.99960688 0.01965441 0.23118296] [ 0.37859599 -0.02576431 0.92520337 -0.76924816] [ 0. 0. 0. 1. ]] SLAMing on 453.06463044000003 meters Centerline goodness : 0.090650 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92534712 -0.01141848 -0.37894897 -1.03159584] [ 0.02032321 0.99960315 0.01950678 0.23016065] [ 0.37857585 -0.025752 0.92521196 -0.76889545] [ 0. 0. 0. 1. ]] SLAMing on 453.09463044 meters Centerline goodness : 0.089732 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92535883 -0.01145068 -0.3789194 -1.03182295] [ 0.02035912 0.99960232 0.01951172 0.22986296] [ 0.37854529 -0.02576981 0.92522396 -0.76878929] [ 0. 0. 0. 1. ]] SLAMing on 453.12463044000003 meters Centerline goodness : 0.101829 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92537227 -0.01154396 -0.37888376 -1.03210557] [ 0.02043967 0.99960159 0.01946492 0.22965612] [ 0.3785081 -0.02575655 0.92523954 -0.76863731] [ 0. 0. 0. 1. ]] SLAMing on 453.15463044 meters Centerline goodness : 0.090343 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.23, Z:-0.77 [[ 0.92543955 -0.01152479 -0.37871996 -1.03318013] [ 0.02042833 0.99960114 0.01949987 0.22945839] [ 0.37834418 -0.02578256 0.92530587 -0.76825398] [ 0. 0. 0. 1. ]] SLAMing on 453.18463044000003 meters Centerline goodness : 0.090970 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.23, Z:-0.77 [[ 0.92581008 -0.0120003 -0.37779847 -1.03749073] [ 0.02080979 0.99959823 0.0192442 0.22875462] [ 0.37741575 -0.02567838 0.92568784 -0.76752263] [ 0. 0. 0. 1. ]] SLAMing on 453.21463044 meters Centerline goodness : 0.090153 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.23, Z:-0.77 [[ 0.92581275 -0.01190711 -0.37779489 -1.03771692] [ 0.02071873 0.99959966 0.01926791 0.22887334] [ 0.37741422 -0.02566591 0.92568881 -0.76732864] [ 0. 0. 0. 1. ]] SLAMing on 453.24463044000004 meters Centerline goodness : 0.063709 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.23, Z:-0.78 [[ 0.92634556 -0.0065208 -0.37661835 -1.0649608 ] [ 0.01426367 0.99974028 0.01777391 0.22592885] [ 0.37640464 -0.02183674 0.92619798 -0.77963572] [ 0. 0. 0. 1. ]] SLAMing on 453.27463044 meters Centerline goodness : 0.091617 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.23, Z:-0.78 [[ 0.92637157 -0.00664236 -0.37655223 -1.06568703] [ 0.01433812 0.99974162 0.01763842 0.22596047] [ 0.37633778 -0.02173878 0.92622746 -0.7793092 ] [ 0. 0. 0. 1. ]] SLAMing on 453.30463044000004 meters Centerline goodness : 0.099459 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.23, Z:-0.78 [[ 0.92635146 -0.00640281 -0.37660586 -1.06619682] [ 0.01416588 0.99974037 0.01784738 0.22565692] [ 0.37639381 -0.0218679 0.92620165 -0.77874673] [ 0. 0. 0. 1. ]] SLAMing on 453.33463044 meters Centerline goodness : 0.091436 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.23, Z:-0.78 [[ 0.92625872 -0.00627871 -0.37683598 -1.06499838] [ 0.01396913 0.99974613 0.01767855 0.2273586 ] [ 0.37662932 -0.02163898 0.92611128 -0.77905282] [ 0. 0. 0. 1. ]] SLAMing on 453.36463044 meters Centerline goodness : 0.091466 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.23, Z:-0.78 [[ 0.92645295 -0.00673803 -0.37635028 -1.06661482] [ 0.01430839 0.99974755 0.01732356 0.22722759] [ 0.37613855 -0.02143443 0.92631548 -0.77909157] [ 0. 0. 0. 1. ]] SLAMing on 453.39463044 meters Centerline goodness : 0.090921 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.23, Z:-0.78 [[ 0.92658566 -0.00697638 -0.37601908 -1.06728154] [ 0.01440664 0.99975251 0.01695215 0.22862907] [ 0.37580776 -0.02112479 0.92645684 -0.77946546] [ 0. 0. 0. 1. ]] SLAMing on 453.42463044 meters Centerline goodness : 0.091878 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.23, Z:-0.78 [[ 0.9268413 -0.00750755 -0.37537826 -1.06975913] [ 0.01484893 0.99975081 0.01666832 0.22811079] [ 0.37515958 -0.02102285 0.92672182 -0.77928092] [ 0. 0. 0. 1. ]] SLAMing on 453.45463044 meters Centerline goodness : 0.089961 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.23, Z:-0.78 [[ 0.92694384 -0.00771625 -0.37512074 -1.07078646] [ 0.0151192 0.99974463 0.01679557 0.22634345] [ 0.37489534 -0.02124007 0.92682379 -0.77897633] [ 0. 0. 0. 1. ]] SLAMing on 453.48463044 meters Centerline goodness : 0.091546 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.23, Z:-0.79 [[ 0.92590472 -0.01231273 -0.37755642 -1.08169663] [ 0.0207842 0.99961518 0.01837131 0.22554402] [ 0.37718493 -0.02485729 0.92580432 -0.78700039] [ 0. 0. 0. 1. ]] SLAMing on 453.51463044 meters Centerline goodness : 0.091955 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.22, Z:-0.79 [[ 0.92571494 -0.01214962 -0.37802676 -1.07896712] [ 0.02076227 0.99960925 0.01871579 0.22375531] [ 0.37765165 -0.02517418 0.92560547 -0.78743947] [ 0. 0. 0. 1. ]] SLAMing on 453.54463044 meters Centerline goodness : 0.090676 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.22, Z:-0.79 [[ 0.92576268 -0.01225535 -0.37790641 -1.07834551] [ 0.02096615 0.99960068 0.01894443 0.22130026] [ 0.37752334 -0.02546129 0.92564996 -0.78782579] [ 0. 0. 0. 1. ]] SLAMing on 453.57463044 meters Centerline goodness : 0.091507 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.22, Z:-0.79 [[ 0.92566886 -0.01212256 -0.37814045 -1.07707836] [ 0.02091789 0.99959758 0.01916048 0.22023252] [ 0.377756 -0.02564616 0.92554993 -0.78796848] [ 0. 0. 0. 1. ]] SLAMing on 453.60463044 meters Centerline goodness : 0.095254 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.22, Z:-0.79 [[ 0.92552615 -0.01186876 -0.37849766 -1.0760096 ] [ 0.02076517 0.99959553 0.01943143 0.21950613] [ 0.37811395 -0.02584386 0.92539826 -0.78774387] [ 0. 0. 0. 1. ]] SLAMing on 453.63463044 meters Centerline goodness : 0.091020 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.22, Z:-0.79 [[ 0.92522129 -0.01148946 -0.37925394 -1.07214535] [ 0.02058438 0.99958936 0.01993485 0.21699449] [ 0.37886917 -0.02625085 0.92507786 -0.78815076] [ 0. 0. 0. 1. ]] SLAMing on 453.66463044 meters Centerline goodness : 0.090899 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.22, Z:-0.79 [[ 0.9251916 -0.01124264 -0.37933377 -1.07085653] [ 0.02043979 0.99958646 0.02022686 0.21546991] [ 0.3789495 -0.02646722 0.92503879 -0.78867627] [ 0. 0. 0. 1. ]] SLAMing on 453.69463044 meters Centerline goodness : 0.089860 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.21, Z:-0.79 [[ 0.92519449 -0.01098052 -0.3793344 -1.07028231] [ 0.02028787 0.99958302 0.02054727 0.21402013] [ 0.37895061 -0.02670611 0.92503147 -0.78892737] [ 0. 0. 0. 1. ]] SLAMing on 453.72463044 meters Centerline goodness : 0.091889 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.21, Z:-0.79 [[ 0.92528128 -0.01079396 -0.37912801 -1.07053517] [ 0.02018921 0.99957949 0.02081428 0.21261714] [ 0.37874391 -0.02691336 0.92511011 -0.78921381] [ 0. 0. 0. 1. ]] SLAMing on 453.75463044 meters Centerline goodness : 0.091090 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.21, Z:-0.79 [[ 0.92536776 -0.01053371 -0.3789242 -1.07047207] [ 0.02005965 0.99957399 0.02120036 0.21012065] [ 0.37853945 -0.02721922 0.92518485 -0.78958893] [ 0. 0. 0. 1. ]] SLAMing on 453.78463044 meters Centerline goodness : 0.091655 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.21, Z:-0.79 [[ 0.92532893 -0.01034709 -0.37902416 -1.06961038] [ 0.01996286 0.99957063 0.02144866 0.20859612] [ 0.37863948 -0.02741347 0.92513817 -0.78982753] [ 0. 0. 0. 1. ]] SLAMing on 453.81463044000003 meters Centerline goodness : 0.091156 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.21, Z:-0.79 [[ 0.92522726 -0.01006664 -0.37927982 -1.06838974] [ 0.01981546 0.99956577 0.02180852 0.20684531] [ 0.37889559 -0.02769344 0.92502498 -0.78987688] [ 0. 0. 0. 1. ]] SLAMing on 453.84463044 meters Centerline goodness : 0.090167 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.9251361 -0.0097949 -0.37950923 -1.0672199 ] [ 0.01967874 0.99956045 0.02217314 0.20482911] [ 0.37912523 -0.02798143 0.92492221 -0.78993089] [ 0. 0. 0. 1. ]] SLAMing on 453.87463044000003 meters Centerline goodness : 0.203952 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.92502341 -0.00940519 -0.37979368 -1.06590088] [ 0.0195037 0.99955091 0.0227503 0.20122124] [ 0.37940915 -0.02845194 0.92479143 -0.78992259] [ 0. 0. 0. 1. ]] SLAMing on 453.90463044 meters Centerline goodness : 0.093944 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.92506438 -0.00914479 -0.37970023 -1.0657109 ] [ 0.01934411 0.99954704 0.02305477 0.19973755] [ 0.37931741 -0.02867211 0.92482226 -0.79012511] [ 0. 0. 0. 1. ]] SLAMing on 453.93463044000003 meters Centerline goodness : 0.203490 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.92512705 -0.00904097 -0.37955 -1.06615542] [ 0.01928563 0.99954485 0.02319801 0.19847944] [ 0.37916752 -0.02878097 0.92488034 -0.79010006] [ 0. 0. 0. 1. ]] SLAMing on 453.96463044 meters Centerline goodness : 0.206583 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.92516457 -0.00873818 -0.37946563 -1.06598351] [ 0.01913431 0.99953755 0.02363387 0.19554459] [ 0.37908363 -0.02912603 0.92490393 -0.7902565 ] [ 0. 0. 0. 1. ]] SLAMing on 453.99463044000004 meters Centerline goodness : 0.091861 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.19, Z:-0.79 [[ 0.92515417 -0.00862187 -0.37949365 -1.06594682] [ 0.0190828 0.9995343 0.02381248 0.19439069] [ 0.37911161 -0.02927201 0.92488785 -0.79016061] [ 0. 0. 0. 1. ]] SLAMing on 454.02463044 meters Centerline goodness : 0.205252 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.19, Z:-0.79 [[ 0.92505804 -0.00825961 -0.37973597 -1.06503898] [ 0.01880796 0.99953318 0.02407647 0.19403086] [ 0.37935984 -0.02941419 0.92478155 -0.79013806] [ 0. 0. 0. 1. ]] SLAMing on 454.05463044000004 meters Centerline goodness : 0.206153 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.20, Z:-0.79 [[ 0.92491519 -0.00782251 -0.38009303 -1.06419103] [ 0.01835586 0.99954112 0.02409591 0.1962088 ] [ 0.37973012 -0.0292636 0.92463435 -0.7899474 ] [ 0. 0. 0. 1. ]] SLAMing on 454.08463044 meters Centerline goodness : 0.207593 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.92523577 -0.0034524 -0.37937692 -1.0657246 ] [ 0.01462212 0.99954015 0.02656486 0.20309785] [ 0.37911075 -0.03012605 0.92486078 -0.79084473] [ 0. 0. 0. 1. ]] SLAMing on 454.11463044 meters Centerline goodness : 0.090950 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.92559128 -0.00433229 -0.37849968 -1.07002958] [ 0.01526847 0.99954801 0.02589706 0.20347341] [ 0.37821641 -0.0297492 0.92523907 -0.79021735] [ 0. 0. 0. 1. ]] SLAMing on 454.14463044 meters Centerline goodness : 0.091980 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.79 [[ 0.92571827 -0.00454066 -0.37818654 -1.0718032 ] [ 0.01538588 0.99955231 0.02566026 0.20456188] [ 0.37790072 -0.0295729 0.9253737 -0.78982999] [ 0. 0. 0. 1. ]] SLAMing on 454.17463044 meters Centerline goodness : 0.091435 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.21, Z:-0.79 [[ 0.92568748 -0.00455121 -0.37826178 -1.07190643] [ 0.01529052 0.99956061 0.02539255 0.20692443] [ 0.37798001 -0.02928939 0.92535034 -0.78969331] [ 0. 0. 0. 1. ]] SLAMing on 454.20463044 meters Centerline goodness : 0.093453 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.80 [[ 0.92635196 -0.01189136 -0.37647129 -1.09189111] [ 0.02279331 0.99943953 0.02451695 0.20307661] [ 0.37596875 -0.03129235 0.92610382 -0.79740088] [ 0. 0. 0. 1. ]] SLAMing on 454.23463044 meters Centerline goodness : 0.094047 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.80 [[ 0.92622298 -0.01180368 -0.37679126 -1.09057359] [ 0.02278303 0.99943537 0.02469576 0.20223987] [ 0.37628701 -0.03145823 0.92596893 -0.79734492] [ 0. 0. 0. 1. ]] SLAMing on 454.26463044 meters Centerline goodness : 0.094335 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.81 [[ 0.92644319 -0.00735782 -0.37636269 -1.11922706] [ 0.01754154 0.99956667 0.02363839 0.19814474] [ 0.37602567 -0.0285016 0.9261708 -0.81099003] [ 0. 0. 0. 1. ]] SLAMing on 454.29463044 meters Centerline goodness : 0.091594 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.81 [[ 0.92616128 -0.0066641 -0.37706879 -1.11525981] [ 0.01694083 0.99956974 0.02394447 0.19979272] [ 0.37674699 -0.0285643 0.92587569 -0.81174655] [ 0. 0. 0. 1. ]] SLAMing on 454.32463044 meters Centerline goodness : 0.195472 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.81 [[ 0.92626351 -0.00697285 -0.376812 -1.11608487] [ 0.01716611 0.99957172 0.02370008 0.1998991 ] [ 0.37648537 -0.02842092 0.92598651 -0.81177417] [ 0. 0. 0. 1. ]] SLAMing on 454.35463044 meters Centerline goodness : 0.195472 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.81 [[ 0.92626351 -0.00697285 -0.376812 -1.11608487] [ 0.01716611 0.99957172 0.02370008 0.1998991 ] [ 0.37648537 -0.02842092 0.92598651 -0.81177417] [ 0. 0. 0. 1. ]] SLAMing on 454.38463044 meters Centerline goodness : 0.094604 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.81 [[ 0.92629468 -0.00729785 -0.37672922 -1.11631548] [ 0.01741684 0.99957303 0.02346088 0.19993712] [ 0.37639715 -0.02829312 0.92602629 -0.81172604] [ 0. 0. 0. 1. ]] SLAMing on 454.41463044 meters Centerline goodness : 0.103763 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.81 [[ 0.9262568 -0.00743001 -0.37681978 -1.11611237] [ 0.01751281 0.99957421 0.02333878 0.20029403] [ 0.37648592 -0.02821687 0.92599253 -0.81160265] [ 0. 0. 0. 1. ]] SLAMing on 454.44463044 meters Centerline goodness : 0.197231 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.81 [[ 0.92627933 -0.00777052 -0.3767575 -1.11625496] [ 0.01781476 0.99957251 0.02318268 0.19971995] [ 0.3764163 -0.02818548 0.92602179 -0.81153156] [ 0. 0. 0. 1. ]] SLAMing on 454.47463044 meters Centerline goodness : 0.207936 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92632692 -0.0133822 -0.37648288 -1.13252773] [ 0.02398419 0.99943639 0.02348725 0.1993384 ] [ 0.37595638 -0.03078651 0.9261258 -0.81934865] [ 0. 0. 0. 1. ]] SLAMing on 454.50463044 meters Centerline goodness : 0.193060 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92619995 -0.01320009 -0.37680157 -1.13078654] [ 0.02379557 0.99944111 0.02347853 0.20031733] [ 0.37628106 -0.03071202 0.9259964 -0.81971741] [ 0. 0. 0. 1. ]] SLAMing on 454.53463044 meters Centerline goodness : 0.198459 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92630744 -0.01341884 -0.37652949 -1.13155343] [ 0.02392187 0.99944385 0.02323224 0.20070149] [ 0.37600834 -0.03052749 0.92611328 -0.81979218] [ 0. 0. 0. 1. ]] SLAMing on 454.56463044000003 meters Centerline goodness : 0.092226 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92614971 -0.01323257 -0.37692388 -1.13042821] [ 0.02365425 0.99945481 0.02303388 0.20292253] [ 0.37641359 -0.03024867 0.92595779 -0.81973713] [ 0. 0. 0. 1. ]] SLAMing on 454.59463044 meters Centerline goodness : 0.101070 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92635915 -0.01368633 -0.37639262 -1.13194107] [ 0.02398455 0.99945486 0.02268758 0.2027858 ] [ 0.37587693 -0.03004446 0.92618242 -0.81972791] [ 0. 0. 0. 1. ]] SLAMing on 454.62463044000003 meters Centerline goodness : 0.093155 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92627485 -0.01361484 -0.37660264 -1.13161777] [ 0.0239388 0.99945461 0.02274679 0.2027045 ] [ 0.37608755 -0.03008519 0.92609559 -0.81940809] [ 0. 0. 0. 1. ]] SLAMing on 454.65463044 meters Centerline goodness : 0.093515 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92608656 -0.01332463 -0.37707576 -1.1299321 ] [ 0.02366977 0.99945947 0.0228146 0.20379591] [ 0.37656794 -0.03005359 0.92590138 -0.81942539] [ 0. 0. 0. 1. ]] SLAMing on 454.68463044000003 meters Centerline goodness : 0.095600 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92600904 -0.01332593 -0.37726605 -1.12940879] [ 0.0236414 0.99946218 0.02272505 0.20434214] [ 0.37676032 -0.0299627 0.92582606 -0.81930803] [ 0. 0. 0. 1. ]] SLAMing on 454.71463044 meters Centerline goodness : 0.163572 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.20, Z:-0.82 [[ 0.92587695 -0.01319174 -0.37759481 -1.12838596] [ 0.02350837 0.9994653 0.02272586 0.20492536] [ 0.37709312 -0.02991799 0.92569201 -0.81915894] [ 0. 0. 0. 1. ]] SLAMing on 454.74463044000004 meters Centerline goodness : 0.180668 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.20, Z:-0.83 [[ 0.9268202 -0.00659468 -0.3754475 -1.15629516] [ 0.01613702 0.99962159 0.02227724 0.20018817] [ 0.37515852 -0.02670559 0.9265759 -0.83136975] [ 0. 0. 0. 1. ]] SLAMing on 454.77463044 meters Centerline goodness : 0.129454 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.20, Z:-0.83 [[ 0.92667453 -0.00611654 -0.37581498 -1.15600547] [ 0.01572052 0.99962337 0.02249397 0.20139446] [ 0.37553585 -0.02675259 0.92642168 -0.83068473] [ 0. 0. 0. 1. ]] SLAMing on 454.80463044000004 meters Centerline goodness : 0.121469 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.20, Z:-0.84 [[ 0.92680925 -0.00127786 -0.37553026 -1.1889062 ] [ 0.01010185 0.99971718 0.02152953 0.19896159] [ 0.37539654 -0.02374732 0.92656004 -0.84402255] [ 0. 0. 0. 1. ]] SLAMing on 454.83463044 meters Centerline goodness : 0.122621 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.20, Z:-0.84 [[ 0.92890821 0.00153665 -0.37030687 -1.17863174] [ 0.00583584 0.99980646 0.01878796 0.20054063] [ 0.37026407 -0.01961334 0.92871946 -0.83715536] [ 0. 0. 0. 1. ]] SLAMing on 454.86463044 meters Centerline goodness : 0.120646 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.20, Z:-0.84 [[ 0.92899181 0.00182031 -0.3700958 -1.18043217] [ 0.00547311 0.99981098 0.01865584 0.20315447] [ 0.37005981 -0.0193567 0.92880625 -0.83657303] [ 0. 0. 0. 1. ]] SLAMing on 454.89463044 meters Centerline goodness : 0.108507 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.20, Z:-0.84 [[ 0.92927355 0.0014988 -0.36938924 -1.1837568 ] [ 0.00571438 0.99981378 0.01843243 0.20318183] [ 0.36934808 -0.0192396 0.92909194 -0.83596681] [ 0. 0. 0. 1. ]] SLAMing on 454.92463044 meters Centerline goodness : 0.167558 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.20, Z:-0.84 [[ 0.93020862 -0.00376575 -0.36701192 -1.20199508] [ 0.01147477 0.99975694 0.01882525 0.20119299] [ 0.36685182 -0.02172279 0.93002573 -0.8435153 ] [ 0. 0. 0. 1. ]] SLAMing on 454.95463044 meters Centerline goodness : 0.094932 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.92937907 -0.00707583 -0.36905892 -1.20944485] [ 0.0158814 0.99965695 0.02082712 0.20347448] [ 0.36878494 -0.02521746 0.92917261 -0.85190046] [ 0. 0. 0. 1. ]] SLAMing on 454.98463044 meters Centerline goodness : 0.162079 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.92927152 -0.00702599 -0.36933057 -1.2081589 ] [ 0.01578821 0.99966091 0.02070754 0.20450211] [ 0.36905984 -0.025074 0.92906734 -0.85211208] [ 0. 0. 0. 1. ]] SLAMing on 455.01463044 meters Centerline goodness : 0.147010 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.21, Z:-0.85 [[ 0.9293975 -0.00723805 -0.36900935 -1.2091061 ] [ 0.01587101 0.99966664 0.02036491 0.20584145] [ 0.36873894 -0.02478364 0.92920254 -0.85229229] [ 0. 0. 0. 1. ]] SLAMing on 455.04463044 meters Centerline goodness : 0.200434 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.21, Z:-0.85 [[ 0.93006704 -0.00861164 -0.36728891 -1.21697991] [ 0.01684315 0.99967355 0.01921221 0.20712543] [ 0.36700356 -0.02405494 0.92990846 -0.85098822] [ 0. 0. 0. 1. ]] SLAMing on 455.07463044 meters Centerline goodness : 0.120656 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.21, Z:-0.85 [[ 0.93032435 -0.00985149 -0.36660544 -1.22108688] [ 0.01789081 0.99966808 0.01853775 0.20512251] [ 0.36630114 -0.02380498 0.93019181 -0.84989167] [ 0. 0. 0. 1. ]] SLAMing on 455.10463044 meters Centerline goodness : 0.226807 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.20, Z:-0.85 [[ 0.93014917 -0.00963515 -0.36705543 -1.21927527] [ 0.01777201 0.9996654 0.01879468 0.20468888] [ 0.36675152 -0.02400517 0.93000918 -0.84990925] [ 0. 0. 0. 1. ]] SLAMing on 455.13463044 meters Centerline goodness : 0.243227 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.21, Z:-0.85 [[ 0.92999534 -0.00954496 -0.36744737 -1.21658374] [ 0.01764371 0.99966968 0.01868773 0.20619377] [ 0.36714762 -0.02386263 0.92985655 -0.85075363] [ 0. 0. 0. 1. ]] SLAMing on 455.16463044 meters Centerline goodness : 0.106051 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.21, Z:-0.85 [[ 0.93004793 -0.00954844 -0.36731413 -1.21640515] [ 0.01757462 0.99967416 0.01851253 0.20750107] [ 0.36701768 -0.02367294 0.92991269 -0.85118815] [ 0. 0. 0. 1. ]] SLAMing on 455.19463044 meters Centerline goodness : 0.221235 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.21, Z:-0.85 [[ 0.93046004 -0.01003465 -0.36625594 -1.21918595] [ 0.01793231 0.99967414 0.0181674 0.2073682 ] [ 0.36595429 -0.02347185 0.93033678 -0.85160539] [ 0. 0. 0. 1. ]] SLAMing on 455.22463044 meters Centerline goodness : 0.212360 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.21, Z:-0.85 [[ 0.93083272 -0.0108603 -0.36528413 -1.22270903] [ 0.01862036 0.99966945 0.01772792 0.20612646] [ 0.36497085 -0.02330345 0.93072726 -0.85140822] [ 0. 0. 0. 1. ]] SLAMing on 455.25463044 meters Centerline goodness : 0.174802 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.21, Z:-0.85 [[ 0.93011107 -0.00913731 -0.36716467 -1.21469981] [ 0.01729729 0.99967099 0.01894 0.20734528] [ 0.36687081 -0.02396726 0.92996311 -0.85216935] [ 0. 0. 0. 1. ]] SLAMing on 455.28463044 meters Centerline goodness : 0.062234 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.21, Z:-0.85 [[ 0.92976412 -0.00887789 -0.36804872 -1.21043425] [ 0.01717102 0.99966697 0.01926392 0.20582344] [ 0.36775512 -0.02423068 0.92960693 -0.85276056] [ 0. 0. 0. 1. ]] SLAMing on 455.31463044000003 meters Centerline goodness : 0.150636 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.9296506 -0.0091342 -0.36832909 -1.20829481] [ 0.01744359 0.99966278 0.01923639 0.20400995] [ 0.36802918 -0.0243081 0.92949644 -0.85333536] [ 0. 0. 0. 1. ]] SLAMing on 455.34463044 meters Centerline goodness : 0.102615 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.92947379 -0.00881998 -0.36878271 -1.20634569] [ 0.01718001 0.99966435 0.01939178 0.20440018] [ 0.3684879 -0.02435984 0.92931333 -0.85353 ] [ 0. 0. 0. 1. ]] SLAMing on 455.37463044000003 meters Centerline goodness : 0.102493 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.93005299 -0.00939811 -0.36730521 -1.21227641] [ 0.01759667 0.99966503 0.01897842 0.20469494] [ 0.36700381 -0.02411429 0.92990683 -0.85287556] [ 0. 0. 0. 1. ]] SLAMing on 455.40463044 meters Centerline goodness : 0.101245 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.93019419 -0.00967165 -0.36694035 -1.21374165] [ 0.01779006 0.99966594 0.01874906 0.20451936] [ 0.36663644 -0.02396816 0.93005551 -0.85263077] [ 0. 0. 0. 1. ]] SLAMing on 455.43463044000003 meters Centerline goodness : 0.086787 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.93011589 -0.00941174 -0.36714555 -1.21246128] [ 0.01755369 0.99966834 0.01884363 0.20477241] [ 0.36684643 -0.02397152 0.92997261 -0.85295045] [ 0. 0. 0. 1. ]] SLAMing on 455.46463044 meters Centerline goodness : 0.226283 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.20, Z:-0.85 [[ 0.92967753 -0.00869122 -0.36827185 -1.20648403] [ 0.01700924 0.99966814 0.0193465 0.2035575 ] [ 0.36798149 -0.02425003 0.92951684 -0.85412344] [ 0. 0. 0. 1. ]] SLAMing on 455.49463044000004 meters Centerline goodness : 0.093718 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.20, Z:-0.85 [[ 0.92946497 -0.00837745 -0.36881524 -1.20405858] [ 0.01676433 0.99966849 0.01954144 0.20321802] [ 0.36852927 -0.02434603 0.92929729 -0.8544309 ] [ 0. 0. 0. 1. ]] SLAMing on 455.52463044 meters Centerline goodness : 0.111230 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.20, Z:-0.85 [[ 0.92943944 -0.00822734 -0.36888297 -1.20423084] [ 0.01658045 0.99967275 0.01948012 0.20417352] [ 0.36860199 -0.02422184 0.92927169 -0.85416817] [ 0. 0. 0. 1. ]] SLAMing on 455.55463044000004 meters Centerline goodness : 0.096897 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.21, Z:-0.85 [[ 0.92931636 -0.00775299 -0.36920318 -1.20301204] [ 0.01611424 0.99967865 0.01956843 0.20578702] [ 0.36893282 -0.02413469 0.92914266 -0.85423521] [ 0. 0. 0. 1. ]] SLAMing on 455.58463044 meters Centerline goodness : 0.116393 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.21, Z:-0.87 [[ 0.93051095 -0.00276509 -0.36625363 -1.23425449] [ 0.00988127 0.99979705 0.01755643 0.20518601] [ 0.36613076 -0.0199555 0.93034942 -0.86666592] [ 0. 0. 0. 1. ]] SLAMing on 455.61463044 meters Centerline goodness : 0.092656 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.20, Z:-0.87 [[ 0.93080616 -0.00333588 -0.36549797 -1.23727218] [ 0.01032517 0.99979927 0.01716978 0.20489167] [ 0.36536733 -0.01975556 0.93065377 -0.8663145 ] [ 0. 0. 0. 1. ]] SLAMing on 455.64463044 meters Centerline goodness : 0.116786 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.21, Z:-0.87 [[ 0.9307654 -0.00328326 -0.36560222 -1.23731154] [ 0.01027755 0.99979948 0.01718639 0.20505338] [ 0.36547248 -0.01975399 0.93061251 -0.86604673] [ 0. 0. 0. 1. ]] SLAMing on 455.67463044 meters Centerline goodness : 0.093365 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.20, Z:-0.87 [[ 0.93072428 -0.00326424 -0.36570707 -1.23669543] [ 0.01027249 0.99979896 0.01721943 0.20466155] [ 0.36557734 -0.01978327 0.9305707 -0.86606588] [ 0. 0. 0. 1. ]] SLAMing on 455.70463044 meters Centerline goodness : 0.092239 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.20, Z:-0.87 [[ 0.9309978 -0.00401395 -0.36500272 -1.23959659] [ 0.01097781 0.99979512 0.01700586 0.20227087] [ 0.36485968 -0.01983935 0.93085112 -0.86560588] [ 0. 0. 0. 1. ]] SLAMing on 455.73463044 meters Centerline goodness : 0.094519 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.21, Z:-0.87 [[ 0.93071989 -0.00759241 -0.36565398 -1.25188818] [ 0.0154134 0.99971051 0.01847471 0.20672661] [ 0.36540786 -0.02283075 0.93056749 -0.87340294] [ 0. 0. 0. 1. ]] SLAMing on 455.76463044 meters Centerline goodness : 0.120132 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.21, Z:-0.87 [[ 0.93068866 -0.00748858 -0.36573563 -1.25152344] [ 0.01528351 0.99971347 0.01842248 0.20740491] [ 0.36549287 -0.02273532 0.93053644 -0.87335793] [ 0. 0. 0. 1. ]] SLAMing on 455.79463044 meters Centerline goodness : 0.092900 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.87 [[ 0.93111419 -0.0091757 -0.36461236 -1.25653908] [ 0.01666031 0.99971002 0.01738725 0.20428946] [ 0.36434708 -0.02226407 0.93099705 -0.87260014] [ 0. 0. 0. 1. ]] SLAMing on 455.82463044 meters Centerline goodness : 0.102011 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.87 [[ 0.93121332 -0.00937429 -0.36435406 -1.25799464] [ 0.01682611 0.99970905 0.01728301 0.20361577] [ 0.36408603 -0.02222483 0.93110011 -0.87207088] [ 0. 0. 0. 1. ]] SLAMing on 455.85463044 meters Centerline goodness : 0.094002 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.87 [[ 0.93144126 -0.00961567 -0.36376466 -1.25997941] [ 0.01694407 0.99971258 0.01696016 0.20485577] [ 0.36349702 -0.02196105 0.93133647 -0.87212096] [ 0. 0. 0. 1. ]] SLAMing on 455.88463044 meters Centerline goodness : 0.092141 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.21, Z:-0.87 [[ 0.93155273 -0.0098151 -0.36347375 -1.26079348] [ 0.01706665 0.99971413 0.01674453 0.20500502] [ 0.3632055 -0.02180169 0.93145395 -0.87214987] [ 0. 0. 0. 1. ]] SLAMing on 455.91463044 meters Centerline goodness : 0.168732 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.21, Z:-0.87 [[ 0.93145201 -0.00958048 -0.36373804 -1.25956037] [ 0.01680928 0.99971902 0.01671326 0.20662268] [ 0.36347572 -0.02168177 0.93135133 -0.87244396] [ 0. 0. 0. 1. ]] SLAMing on 455.94463044 meters Centerline goodness : 0.091915 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.87 [[ 0.93186588 -0.01116242 -0.36263119 -1.26421466] [ 0.01814727 0.99970951 0.01586088 0.20286066] [ 0.3623488 -0.02136098 0.93179775 -0.87192244] [ 0. 0. 0. 1. ]] SLAMing on 455.97463044 meters Centerline goodness : 0.106460 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.87 [[ 0.93156886 -0.01070019 -0.36340745 -1.26138051] [ 0.0177921 0.99971089 0.01617323 0.20249413] [ 0.36312933 -0.02153226 0.93148991 -0.87193278] [ 0. 0. 0. 1. ]] SLAMing on 456.00463044 meters Centerline goodness : 0.140428 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.87 [[ 0.93110179 -0.00964165 -0.36463201 -1.25529721] [ 0.01694773 0.99971452 0.01684209 0.20273597] [ 0.36436553 -0.02186139 0.93099938 -0.87296255] [ 0. 0. 0. 1. ]] SLAMing on 456.03463044 meters Centerline goodness : 0.167901 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.20, Z:-0.87 [[ 0.93111368 -0.00978619 -0.36459779 -1.25396095] [ 0.01707295 0.99971364 0.0167677 0.20184541] [ 0.36432929 -0.0218374 0.93101412 -0.87384249] [ 0. 0. 0. 1. ]] SLAMing on 456.06463044000003 meters Centerline goodness : 0.146041 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.20, Z:-0.87 [[ 0.93120229 -0.00946971 -0.36437977 -1.25428826] [ 0.01669424 0.99972147 0.01668216 0.20344578] [ 0.3641203 -0.02161751 0.93110101 -0.87421226] [ 0. 0. 0. 1. ]] SLAMing on 456.09463044 meters Centerline goodness : 0.093023 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.21, Z:-0.87 [[ 0.9312628 -0.00928422 -0.36422986 -1.25522233] [ 0.01642373 0.99972882 0.01650912 0.20578972] [ 0.36397781 -0.02135634 0.93116274 -0.87405216] [ 0. 0. 0. 1. ]] SLAMing on 456.12463044000003 meters Centerline goodness : 0.159317 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.21, Z:-0.87 [[ 0.93152907 -0.00976233 -0.36353582 -1.25771346] [ 0.01675263 0.99973035 0.01608058 0.20628701] [ 0.36328081 -0.02106971 0.93144142 -0.87390309] [ 0. 0. 0. 1. ]] SLAMing on 456.15463044 meters Centerline goodness : 0.091733 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.21, Z:-0.87 [[ 0.93165545 -0.01011705 -0.3632021 -1.25909862] [ 0.01701358 0.99973051 0.01579415 0.20624769] [ 0.36294442 -0.02089407 0.9315765 -0.87370987] [ 0. 0. 0. 1. ]] SLAMing on 456.18463044000003 meters Centerline goodness : 0.137524 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.93202721 -0.01393974 -0.36212011 -1.27127147] [ 0.02160595 0.99961981 0.01712937 0.20594605] [ 0.36174365 -0.02378898 0.93197404 -0.88152697] [ 0. 0. 0. 1. ]] SLAMing on 456.21463044 meters Centerline goodness : 0.092445 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.93198183 -0.01379003 -0.36224259 -1.2696781 ] [ 0.02149228 0.99962033 0.01724154 0.20582278] [ 0.3618673 -0.02385422 0.93192437 -0.88225228] [ 0. 0. 0. 1. ]] SLAMing on 456.24463044000004 meters Centerline goodness : 0.083157 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.9320669 -0.01384801 -0.36202145 -1.26976027] [ 0.02152991 0.99962034 0.01719391 0.20546031] [ 0.36164591 -0.02382017 0.93201118 -0.8826523 ] [ 0. 0. 0. 1. ]] SLAMing on 456.27463044 meters Centerline goodness : 0.083157 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.9320669 -0.01384801 -0.36202145 -1.26976027] [ 0.02152991 0.99962034 0.01719391 0.20546031] [ 0.36164591 -0.02382017 0.93201118 -0.8826523 ] [ 0. 0. 0. 1. ]] SLAMing on 456.30463044000004 meters Centerline goodness : 0.092592 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.93207588 -0.01355096 -0.36200955 -1.26905941] [ 0.02118709 0.99962873 0.01713227 0.2065736 ] [ 0.36164299 -0.0236385 0.93201694 -0.88320346] [ 0. 0. 0. 1. ]] SLAMing on 456.33463044 meters Centerline goodness : 0.093058 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.93218339 -0.01365997 -0.36172853 -1.27009452] [ 0.02126764 0.99962828 0.01705823 0.2062005 ] [ 0.36136106 -0.02359451 0.9321274 -0.88312644] [ 0. 0. 0. 1. ]] SLAMing on 456.36463044 meters Centerline goodness : 0.092839 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.93197374 -0.01338929 -0.36227844 -1.26870691] [ 0.02099345 0.99963403 0.01706135 0.20744164] [ 0.36191742 -0.0235062 0.93191375 -0.88291548] [ 0. 0. 0. 1. ]] SLAMing on 456.39463044 meters Centerline goodness : 0.091718 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.93196543 -0.01334598 -0.36230143 -1.26886751] [ 0.02096408 0.99963392 0.01710373 0.20730602] [ 0.36194053 -0.0235354 0.93190404 -0.88270847] [ 0. 0. 0. 1. ]] SLAMing on 456.42463044 meters Centerline goodness : 0.091807 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.93222854 -0.01435026 -0.36158542 -1.27178037] [ 0.02189002 0.99961982 0.01676422 0.20384475] [ 0.36120738 -0.02354319 0.93218826 -0.88221193] [ 0. 0. 0. 1. ]] SLAMing on 456.45463044 meters Centerline goodness : 0.108771 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.93220271 -0.01422841 -0.36165683 -1.27120553] [ 0.02182151 0.9996187 0.01691957 0.20345834] [ 0.36127819 -0.02366437 0.93215775 -0.88234691] [ 0. 0. 0. 1. ]] SLAMing on 456.48463044 meters Centerline goodness : 0.093324 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.93217516 -0.0141451 -0.36173109 -1.27044867] [ 0.02175137 0.99961948 0.01696391 0.20364465] [ 0.36135348 -0.02368149 0.93212813 -0.88267998] [ 0. 0. 0. 1. ]] SLAMing on 456.51463044 meters Centerline goodness : 0.092733 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.21, Z:-0.88 [[ 0.93207467 -0.01407094 -0.36199283 -1.26826475] [ 0.02158345 0.99962727 0.01671774 0.20532833] [ 0.36162267 -0.02339523 0.93203096 -0.88364811] [ 0. 0. 0. 1. ]] SLAMing on 456.54463044 meters Centerline goodness : 0.092017 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.93225684 -0.01435999 -0.36151207 -1.26934305] [ 0.02183646 0.99962366 0.01660415 0.20447715] [ 0.36113758 -0.02337348 0.93221957 -0.883931 ] [ 0. 0. 0. 1. ]] SLAMing on 456.57463044 meters Centerline goodness : 0.092426 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.93223997 -0.01437566 -0.36155496 -1.26939969] [ 0.02190598 0.99961992 0.01673723 0.20324746] [ 0.36117693 -0.02352333 0.93220056 -0.88367498] [ 0. 0. 0. 1. ]] SLAMing on 456.60463044 meters Centerline goodness : 0.093038 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.93200041 -0.014126 -0.36218186 -1.26751528] [ 0.02179231 0.99961643 0.01709046 0.201988 ] [ 0.36180152 -0.0238211 0.93195076 -0.88334256] [ 0. 0. 0. 1. ]] SLAMing on 456.63463044 meters Centerline goodness : 0.208527 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.88 [[ 0.93141635 -0.01335052 -0.36371052 -1.26040188] [ 0.02123069 0.99961832 0.01767665 0.20167317] [ 0.3633357 -0.02418615 0.9313443 -0.8844388 ] [ 0. 0. 0. 1. ]] SLAMing on 456.66463044 meters Centerline goodness : 0.095361 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.88 [[ 0.93158902 -0.01383145 -0.36325004 -1.26119567] [ 0.0216416 0.99961367 0.01743971 0.20035234] [ 0.36286849 -0.02410795 0.93152846 -0.88480505] [ 0. 0. 0. 1. ]] SLAMing on 456.69463044 meters Centerline goodness : 0.090824 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.88 [[ 0.93174025 -0.01398424 -0.36285609 -1.26249701] [ 0.02182776 0.99960814 0.01752495 0.19884391] [ 0.36246883 -0.02424903 0.93168038 -0.88476737] [ 0. 0. 0. 1. ]] SLAMing on 456.72463044 meters Centerline goodness : 0.092334 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.88 [[ 0.93148325 -0.01293701 -0.36355412 -1.26052061] [ 0.02086831 0.99962204 0.01789654 0.20147584] [ 0.36318518 -0.02425708 0.93140116 -0.88455411] [ 0. 0. 0. 1. ]] SLAMing on 456.75463044 meters Centerline goodness : 0.091381 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.89 [[ 0.93164595 -0.01342191 -0.36311938 -1.26075972] [ 0.02118588 0.999624 0.01740716 0.20172646] [ 0.36274921 -0.02391031 0.93158001 -0.88526597] [ 0. 0. 0. 1. ]] SLAMing on 456.78463044 meters Centerline goodness : 0.103203 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.93203213 -0.01569306 -0.36203567 -1.26542573] [ 0.02299345 0.99960973 0.01586502 0.19850063] [ 0.36164541 -0.02311115 0.93202922 -0.88462887] [ 0. 0. 0. 1. ]] SLAMing on 456.81463044000003 meters Centerline goodness : 0.091835 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.88 [[ 0.9320394 -0.01579391 -0.36201258 -1.26601333] [ 0.02304051 0.9996111 0.0157091 0.19895772] [ 0.36162369 -0.02298245 0.93204083 -0.88432047] [ 0. 0. 0. 1. ]] SLAMing on 456.84463044 meters Centerline goodness : 0.091898 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.89 [[ 0.93243621 -0.01954531 -0.36080561 -1.2818722 ] [ 0.02747357 0.99948038 0.01685728 0.20154537] [ 0.36028865 -0.02563095 0.93248868 -0.89101446] [ 0. 0. 0. 1. ]] SLAMing on 456.87463044000003 meters Centerline goodness : 0.092710 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.89 [[ 0.93250793 -0.01967828 -0.36061299 -1.28237482] [ 0.0276095 0.99947668 0.01685491 0.20038847] [ 0.3600926 -0.02567368 0.93256323 -0.89092078] [ 0. 0. 0. 1. ]] SLAMing on 456.90463044 meters Centerline goodness : 0.090882 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.89 [[ 0.93244985 -0.01955108 -0.36077005 -1.28135429] [ 0.02747482 0.99948052 0.01684721 0.20069945] [ 0.36025325 -0.02562127 0.93250263 -0.89122435] [ 0. 0. 0. 1. ]] SLAMing on 456.93463044000003 meters Centerline goodness : 0.090504 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.89 [[ 0.93253136 -0.01950635 -0.36056174 -1.28174623] [ 0.02736483 0.99948597 0.01670237 0.20168014] [ 0.3600506 -0.02544219 0.93258579 -0.89156397] [ 0. 0. 0. 1. ]] SLAMing on 456.96463044 meters Centerline goodness : 0.090939 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.20, Z:-0.89 [[ 0.93295034 -0.01609667 -0.35964505 -1.2853103 ] [ 0.02475591 0.99950363 0.01948408 0.19900151] [ 0.35915291 -0.02708102 0.93288574 -0.89143902] [ 0. 0. 0. 1. ]] SLAMing on 456.99463044000004 meters Centerline goodness : 0.098132 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.20, Z:-0.89 [[ 0.93292604 -0.01559441 -0.3597302 -1.2852794 ] [ 0.0242321 0.99951588 0.01951432 0.20115956] [ 0.35925173 -0.02692243 0.93285228 -0.89137997] [ 0. 0. 0. 1. ]] SLAMing on 457.02463044 meters Centerline goodness : 0.091178 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.89 [[ 0.93290872 -0.01546516 -0.35978069 -1.28483765] [ 0.02398393 0.99952746 0.01922553 0.20355617] [ 0.35931335 -0.02656462 0.9328388 -0.89176213] [ 0. 0. 0. 1. ]] SLAMing on 457.05463044000004 meters Centerline goodness : 0.090272 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.20, Z:-0.89 [[ 0.93301088 -0.01570557 -0.35950526 -1.28545083] [ 0.02409235 0.99953182 0.01885982 0.20447218] [ 0.35904074 -0.02625774 0.93295245 -0.89207568] [ 0. 0. 0. 1. ]] SLAMing on 457.08463044 meters Centerline goodness : 0.090760 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.21, Z:-0.89 [[ 0.93303396 -0.01578173 -0.35944203 -1.2853327 ] [ 0.02407955 0.99953664 0.01861948 0.20561614] [ 0.35898163 -0.02602781 0.93298164 -0.89243961] [ 0. 0. 0. 1. ]] SLAMing on 457.11463044 meters Centerline goodness : 0.089509 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.20, Z:-0.89 [[ 0.9332247 -0.01600322 -0.3589367 -1.28716051] [ 0.02430625 0.99953093 0.01863136 0.20438922] [ 0.35847017 -0.02611165 0.93317593 -0.89218269] [ 0. 0. 0. 1. ]] SLAMing on 457.14463044 meters Centerline goodness : 0.090966 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.89 [[ 0.93298552 -0.01603936 -0.35955634 -1.28498839] [ 0.02438182 0.9995282 0.01867883 0.20381935] [ 0.3590871 -0.02619371 0.93293641 -0.89209426] [ 0. 0. 0. 1. ]] SLAMing on 457.17463044 meters Centerline goodness : 0.090047 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.20, Z:-0.89 [[ 0.93254205 -0.01586081 -0.36071284 -1.28010116] [ 0.02435347 0.99952264 0.01901067 0.20191624] [ 0.36023913 -0.02651285 0.93248316 -0.89242135] [ 0. 0. 0. 1. ]] SLAMing on 457.20463044 meters Centerline goodness : 0.091720 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.9318066 -0.01955226 -0.36242817 -1.27247547] [ 0.02733326 0.9994926 0.01635352 0.1999559 ] [ 0.36192452 -0.02514466 0.93186822 -0.89312563] [ 0. 0. 0. 1. ]] SLAMing on 457.23463044 meters Centerline goodness : 0.090602 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93178331 -0.01920645 -0.36250653 -1.27193452] [ 0.02716435 0.99948866 0.01686773 0.19793072] [ 0.3619972 -0.02556432 0.93182858 -0.8930583 ] [ 0. 0. 0. 1. ]] SLAMing on 457.26463044 meters Centerline goodness : 0.091372 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.9317253 -0.01876778 -0.36267856 -1.27242928] [ 0.02680803 0.9994935 0.01714865 0.19838445] [ 0.36217302 -0.02570053 0.93175651 -0.89236675] [ 0. 0. 0. 1. ]] SLAMing on 457.29463044 meters Centerline goodness : 0.089248 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93171707 -0.01832728 -0.36272221 -1.27333256] [ 0.02639779 0.99950171 0.0173056 0.19973374] [ 0.36222431 -0.02569899 0.93173661 -0.89170239] [ 0. 0. 0. 1. ]] SLAMing on 457.32463044 meters Centerline goodness : 0.089332 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93162153 -0.01828095 -0.36296987 -1.27331279] [ 0.0262052 0.99951339 0.01691952 0.20213265] [ 0.36248394 -0.02527429 0.93164725 -0.89132354] [ 0. 0. 0. 1. ]] SLAMing on 457.35463044 meters Centerline goodness : 0.089161 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93147024 -0.01835119 -0.36335441 -1.27131916] [ 0.02617101 0.99951949 0.01660952 0.20355506] [ 0.36287501 -0.02498063 0.93150292 -0.89181327] [ 0. 0. 0. 1. ]] SLAMing on 457.38463044 meters Centerline goodness : 0.090834 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93142692 -0.01862457 -0.36345153 -1.27035298] [ 0.02635537 0.99951937 0.01632263 0.2039803 ] [ 0.36297284 -0.02478224 0.93147011 -0.89218328] [ 0. 0. 0. 1. ]] SLAMing on 457.41463044 meters Centerline goodness : 0.128599 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.20, Z:-0.89 [[ 0.93228594 -0.02934524 -0.36052986 -1.25739822] [ 0.03800609 0.99913366 0.01695485 0.20430527] [ 0.35971997 -0.0295091 0.93259356 -0.88600801] [ 0. 0. 0. 1. ]] SLAMing on 457.44463044 meters Centerline goodness : 0.089563 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93225455 -0.02173554 -0.36114959 -1.2731518 ] [ 0.02892066 0.99947651 0.01450161 0.19839767] [ 0.36064533 -0.02396388 0.93239513 -0.89044715] [ 0. 0. 0. 1. ]] SLAMing on 457.47463044 meters Centerline goodness : 0.089849 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.9321911 -0.02184909 -0.36130648 -1.2729481 ] [ 0.02909711 0.99946949 0.01463179 0.19691132] [ 0.36079512 -0.0241526 0.93233231 -0.89000985] [ 0. 0. 0. 1. ]] SLAMing on 457.50463044 meters Centerline goodness : 0.090809 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93209333 -0.0220076 -0.36154901 -1.27201732] [ 0.02928796 0.99946338 0.01466833 0.19560978] [ 0.36103219 -0.02426129 0.93223771 -0.88987193] [ 0. 0. 0. 1. ]] SLAMing on 457.53463044 meters Centerline goodness : 0.089676 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.9316026 -0.02017962 -0.36291786 -1.26605498] [ 0.02771894 0.99949436 0.01557823 0.20016746] [ 0.36242 -0.02457241 0.93169091 -0.89057408] [ 0. 0. 0. 1. ]] SLAMing on 457.56463044000003 meters Centerline goodness : 0.090927 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93180026 -0.02049694 -0.36239226 -1.26872967] [ 0.02793392 0.99949277 0.01529363 0.2007599 ] [ 0.36189497 -0.02437364 0.93190019 -0.89002418] [ 0. 0. 0. 1. ]] SLAMing on 457.59463044 meters Centerline goodness : 0.091447 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.9322271 -0.02149463 -0.36123485 -1.27377651] [ 0.02873866 0.99947897 0.01469274 0.2002334 ] [ 0.36073082 -0.02407837 0.93235911 -0.88923641] [ 0. 0. 0. 1. ]] SLAMing on 457.62463044000003 meters Centerline goodness : 0.092046 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93213929 -0.02157569 -0.36145655 -1.27388863] [ 0.02880512 0.99947807 0.01462403 0.20035932] [ 0.36095237 -0.02404343 0.93227426 -0.88858352] [ 0. 0. 0. 1. ]] SLAMing on 457.65463044 meters Centerline goodness : 0.092036 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93182016 -0.02195519 -0.36225564 -1.27125107] [ 0.0292521 0.99946441 0.01466992 0.19848045] [ 0.36173954 -0.02426647 0.93196333 -0.88819962] [ 0. 0. 0. 1. ]] SLAMing on 457.68463044000003 meters Centerline goodness : 0.090667 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93154078 -0.02162395 -0.36299335 -1.26803827] [ 0.02907248 0.99946372 0.01506873 0.19717867] [ 0.36247284 -0.02459025 0.93166988 -0.88839425] [ 0. 0. 0. 1. ]] SLAMing on 457.71463044 meters Centerline goodness : 0.092889 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.20, Z:-0.89 [[ 0.93134846 -0.02140565 -0.36349945 -1.26647783] [ 0.02899645 0.99946029 0.01543797 0.19580488] [ 0.3629728 -0.02491832 0.93146649 -0.88805463] [ 0. 0. 0. 1. ]] SLAMing on 457.74463044000004 meters Centerline goodness : 0.091190 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.89 [[ 0.93130209 -0.02132903 -0.36362273 -1.26560673] [ 0.0290387 0.99945422 0.01574822 0.19415258] [ 0.36308837 -0.02522548 0.93141318 -0.88811879] [ 0. 0. 0. 1. ]] SLAMing on 457.77463044 meters Centerline goodness : 0.090714 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.89 [[ 0.93136647 -0.02171274 -0.36343507 -1.26608987] [ 0.02946008 0.99944128 0.01578693 0.19235554] [ 0.36288924 -0.02541025 0.93148576 -0.88792759] [ 0. 0. 0. 1. ]] SLAMing on 457.80463044000004 meters Centerline goodness : 0.091665 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.89 [[ 0.93133483 -0.02170526 -0.36351661 -1.26619685] [ 0.02950064 0.99943821 0.01590546 0.19179232] [ 0.36296715 -0.02553728 0.93145193 -0.88747775] [ 0. 0. 0. 1. ]] SLAMing on 457.83463044 meters Centerline goodness : 0.091655 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.89 [[ 0.9312473 -0.02160553 -0.3637467 -1.26563164] [ 0.02941992 0.99943979 0.01595561 0.19213383] [ 0.36319819 -0.02556002 0.93136124 -0.88720958] [ 0. 0. 0. 1. ]] SLAMing on 457.86463044 meters Centerline goodness : 0.091700 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.89 [[ 0.93131091 -0.0222609 -0.36354427 -1.26576451] [ 0.02996044 0.99943007 0.01555318 0.19192324] [ 0.36299084 -0.02537679 0.93144708 -0.88737756] [ 0. 0. 0. 1. ]] SLAMing on 457.89463044 meters Centerline goodness : 0.091379 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.89 [[ 0.93133897 -0.02243677 -0.36346157 -1.2655695 ] [ 0.03016599 0.99942312 0.01560259 0.19065831] [ 0.36290182 -0.02549548 0.93147853 -0.88750339] [ 0. 0. 0. 1. ]] SLAMing on 457.92463044 meters Centerline goodness : 0.090889 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:-0.89 [[ 0.93134203 -0.02246044 -0.36345226 -1.26551853] [ 0.03028055 0.99941605 0.01583211 0.1889635 ] [ 0.36288443 -0.02575065 0.93147829 -0.8873277 ] [ 0. 0. 0. 1. ]] SLAMing on 457.95463044 meters Centerline goodness : 0.092142 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.19, Z:-0.89 [[ 0.93115791 -0.02218588 -0.36394057 -1.26419124] [ 0.03011451 0.99941639 0.01612469 0.18847867] [ 0.36337043 -0.02597452 0.93128259 -0.88692903] [ 0. 0. 0. 1. ]] SLAMing on 457.98463044 meters Centerline goodness : 0.090986 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.19, Z:-0.89 [[ 0.93086348 -0.02205237 -0.36470108 -1.26199564] [ 0.03004992 0.99941601 0.01626778 0.18839782] [ 0.36412935 -0.02610232 0.93098254 -0.88645426] [ 0. 0. 0. 1. ]] SLAMing on 458.01463044 meters Centerline goodness : 0.091277 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.19, Z:-0.89 [[ 0.93076812 -0.02209461 -0.36494181 -1.26077281] [ 0.03012184 0.99941304 0.01631714 0.18766683] [ 0.36436709 -0.0261802 0.93088733 -0.88653097] [ 0. 0. 0. 1. ]] SLAMing on 458.04463044 meters Centerline goodness : 0.091096 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.19, Z:-0.89 [[ 0.93072602 -0.02210077 -0.36504881 -1.26019028] [ 0.03015024 0.99941141 0.01636454 0.18728802] [ 0.36447228 -0.02623721 0.93084455 -0.88651114] [ 0. 0. 0. 1. ]] SLAMing on 458.07463044 meters Centerline goodness : 0.091004 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.19, Z:-0.89 [[ 0.93070511 -0.02207382 -0.36510373 -1.25992288] [ 0.0302168 0.99940545 0.01660414 0.18572806] [ 0.36452014 -0.02648582 0.93081876 -0.8863894 ] [ 0. 0. 0. 1. ]] SLAMing on 458.10463044 meters Centerline goodness : 0.090686 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.18, Z:-0.89 [[ 0.93033861 -0.02166792 -0.36606088 -1.25641008] [ 0.03009833 0.99939656 0.01733807 0.18304277] [ 0.3654643 -0.0271481 0.93042938 -0.88611397] [ 0. 0. 0. 1. ]] SLAMing on 458.13463044 meters Centerline goodness : 0.089521 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.89 [[ 0.93020624 -0.0215219 -0.36640574 -1.25455597] [ 0.03004178 0.99939428 0.01756575 0.18188857] [ 0.36580575 -0.02734726 0.93028935 -0.88633939] [ 0. 0. 0. 1. ]] SLAMing on 458.16463044 meters Centerline goodness : 0.089521 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.89 [[ 0.93020624 -0.0215219 -0.36640574 -1.25455597] [ 0.03004178 0.99939428 0.01756575 0.18188857] [ 0.36580575 -0.02734726 0.93028935 -0.88633939] [ 0. 0. 0. 1. ]] SLAMing on 458.19463044 meters Centerline goodness : 0.091051 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.89 [[ 0.93002287 -0.02180635 -0.36685411 -1.25282719] [ 0.03023539 0.99939403 0.0172452 0.18252976] [ 0.36625576 -0.02713041 0.93011863 -0.88628549] [ 0. 0. 0. 1. ]] SLAMing on 458.22463044 meters Centerline goodness : 0.105762 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.89 [[ 0.93017275 -0.02209086 -0.36645689 -1.25492949] [ 0.03045993 0.99939021 0.01707051 0.18233337] [ 0.36585633 -0.02704078 0.93027842 -0.88570821] [ 0. 0. 0. 1. ]] SLAMing on 458.25463044 meters Centerline goodness : 0.080686 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.18, Z:-0.89 [[ 0.93016374 -0.02199075 -0.36648576 -1.25564041] [ 0.0304177 0.99938868 0.01723433 0.18170594] [ 0.36588273 -0.02717841 0.93026403 -0.88505703] [ 0. 0. 0. 1. ]] SLAMing on 458.28463044 meters Centerline goodness : 0.091246 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.88 [[ 0.9300863 -0.02185038 -0.36669064 -1.25478998] [ 0.03037574 0.99938544 0.01749462 0.1805103 ] [ 0.36608302 -0.02741001 0.93017843 -0.88496797] [ 0. 0. 0. 1. ]] SLAMing on 458.31463044000003 meters Centerline goodness : 0.085866 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.89 [[ 0.92958691 -0.02118331 -0.36799381 -1.24894107] [ 0.03000948 0.99938248 0.018278 0.17776296] [ 0.36737938 -0.02803429 0.92964857 -0.88547581] [ 0. 0. 0. 1. ]] SLAMing on 458.34463044 meters Centerline goodness : 0.113209 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.89 [[ 0.92928214 -0.02062221 -0.36879457 -1.24544433] [ 0.02959953 0.99938689 0.01870078 0.17718233] [ 0.3681828 -0.02829444 0.92932279 -0.88578078] [ 0. 0. 0. 1. ]] SLAMing on 458.37463044000003 meters Centerline goodness : 0.078446 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.18, Z:-0.89 [[ 0.92920295 -0.02044307 -0.369004 -1.24467374] [ 0.02946322 0.99938857 0.01882565 0.17706133] [ 0.36839352 -0.02836489 0.92923713 -0.88575453] [ 0. 0. 0. 1. ]] SLAMing on 458.40463044 meters Centerline goodness : 0.105837 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.18, Z:-0.89 [[ 0.92928503 -0.02047013 -0.36879576 -1.24609466] [ 0.02944422 0.99939109 0.01872151 0.17777993] [ 0.36818796 -0.02825652 0.9293219 -0.88527501] [ 0. 0. 0. 1. ]] SLAMing on 458.43463044000003 meters Centerline goodness : 0.107505 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93071106 -0.01568031 -0.36541901 -1.23300528] [ 0.0238437 0.99955655 0.0178377 0.17739106] [ 0.36497727 -0.02531469 0.93067221 -0.87766622] [ 0. 0. 0. 1. ]] SLAMing on 458.46463044 meters Centerline goodness : 0.090363 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93070233 -0.01566994 -0.36544169 -1.23259084] [ 0.02387045 0.99955421 0.01793263 0.17647524] [ 0.36499777 -0.02541319 0.93066148 -0.87777618] [ 0. 0. 0. 1. ]] SLAMing on 458.49463044000004 meters Centerline goodness : 0.091006 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93059759 -0.0155571 -0.36571315 -1.23140917] [ 0.02378424 0.99955503 0.01800148 0.17642363] [ 0.36527036 -0.02545034 0.93055351 -0.87783578] [ 0. 0. 0. 1. ]] SLAMing on 458.52463044 meters Centerline goodness : 0.118576 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93068645 -0.01556241 -0.36548672 -1.23219299] [ 0.02384099 0.99955102 0.01814857 0.17530729] [ 0.36504018 -0.0256042 0.93063961 -0.87768141] [ 0. 0. 0. 1. ]] SLAMing on 458.55463044000004 meters Centerline goodness : 0.118579 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93072147 -0.01556632 -0.36539736 -1.2335188 ] [ 0.02386145 0.99954965 0.01819676 0.17526841] [ 0.36494955 -0.02565502 0.93067376 -0.87693078] [ 0. 0. 0. 1. ]] SLAMing on 458.58463044 meters Centerline goodness : 0.101364 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93069122 -0.01532629 -0.36548455 -1.2340031 ] [ 0.0236854 0.99955015 0.0183986 0.17530232] [ 0.36503815 -0.02578006 0.93063555 -0.87630531] [ 0. 0. 0. 1. ]] SLAMing on 458.61463044 meters Centerline goodness : 0.111936 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93063019 -0.01522902 -0.365644 -1.23362778] [ 0.02360114 0.99955141 0.01843799 0.17568404] [ 0.36519918 -0.02578857 0.93057214 -0.87613825] [ 0. 0. 0. 1. ]] SLAMing on 458.64463044 meters Centerline goodness : 0.097572 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.9305786 -0.01525419 -0.36577422 -1.23281901] [ 0.02360869 0.99955233 0.01837849 0.17596431] [ 0.36533012 -0.02573808 0.93052214 -0.876272 ] [ 0. 0. 0. 1. ]] SLAMing on 458.67463044 meters Centerline goodness : 0.089662 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93045983 -0.01550941 -0.36606551 -1.23115924] [ 0.02381361 0.99955109 0.01818024 0.17569688] [ 0.36561922 -0.02563333 0.93041148 -0.87653539] [ 0. 0. 0. 1. ]] SLAMing on 458.70463044 meters Centerline goodness : 0.105433 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.18, Z:-0.88 [[ 0.93033722 -0.01547348 -0.36637852 -1.23050808] [ 0.0237907 0.99955134 0.01819658 0.17588912] [ 0.36593258 -0.02564536 0.93028795 -0.87616885] [ 0. 0. 0. 1. ]] SLAMing on 458.73463044 meters Centerline goodness : 0.085772 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.88 [[ 0.92997374 -0.01539663 -0.36730341 -1.22801167] [ 0.02390961 0.99954037 0.01863787 0.17279801] [ 0.36684762 -0.02611481 0.92991442 -0.87537489] [ 0. 0. 0. 1. ]] SLAMing on 458.76463044 meters Centerline goodness : 0.081304 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.88 [[ 0.92989406 -0.01517603 -0.36751425 -1.22731813] [ 0.02377591 0.99953895 0.01888376 0.17218793] [ 0.36705823 -0.02629788 0.92982615 -0.87525359] [ 0. 0. 0. 1. ]] SLAMing on 458.79463044 meters Centerline goodness : 0.092484 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.88 [[ 0.92981004 -0.01502858 -0.36773283 -1.22631035] [ 0.02370895 0.99953646 0.01909867 0.17110572] [ 0.36727534 -0.02647669 0.92973534 -0.8752482 ] [ 0. 0. 0. 1. ]] SLAMing on 458.82463044 meters Centerline goodness : 0.090356 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.88 [[ 0.92986617 -0.01504896 -0.36759003 -1.22591049] [ 0.02375301 0.99953412 0.01916583 0.17019306] [ 0.36713036 -0.02655303 0.92979043 -0.87569744] [ 0. 0. 0. 1. ]] SLAMing on 458.85463044 meters Centerline goodness : 0.089477 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.17, Z:-0.88 [[ 0.92977836 -0.01491414 -0.36781757 -1.22470053] [ 0.023819 0.99952252 0.01968197 0.16604171] [ 0.3673484 -0.02706091 0.92968966 -0.87573107] [ 0. 0. 0. 1. ]] SLAMing on 458.88463044 meters Centerline goodness : 0.086269 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.92974881 -0.01464248 -0.36790318 -1.22553711] [ 0.02365649 0.99952001 0.02000291 0.16509284] [ 0.3674337 -0.02730098 0.92964893 -0.87483516] [ 0. 0. 0. 1. ]] SLAMing on 458.91463044 meters Centerline goodness : 0.090905 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.93001993 -0.01196527 -0.36731426 -1.22859687] [ 0.02167098 0.99951619 0.0223105 0.16186601] [ 0.3668696 -0.02870927 0.92982927 -0.87414244] [ 0. 0. 0. 1. ]] SLAMing on 458.94463044 meters Centerline goodness : 0.119163 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.93006417 -0.01212259 -0.36719707 -1.22939002] [ 0.02183024 0.99951306 0.02229549 0.16098693] [ 0.36674799 -0.02875224 0.92987592 -0.87379471] [ 0. 0. 0. 1. ]] SLAMing on 458.97463044 meters Centerline goodness : 0.117694 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.93015598 -0.01238257 -0.36695576 -1.2299634 ] [ 0.02203455 0.99951235 0.02212539 0.16017944] [ 0.36650285 -0.02866576 0.92997523 -0.87388466] [ 0. 0. 0. 1. ]] SLAMing on 459.00463044 meters Centerline goodness : 0.090119 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.93022544 -0.01214307 -0.36678765 -1.23131591] [ 0.02181668 0.9995146 0.0222397 0.1609428 ] [ 0.36633955 -0.02869002 0.93003883 -0.873309 ] [ 0. 0. 0. 1. ]] SLAMing on 459.03463044 meters Centerline goodness : 0.089981 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.93028288 -0.01201846 -0.36664605 -1.23310486] [ 0.0216662 0.99951854 0.02220948 0.16238909] [ 0.3662026 -0.02860493 0.93009538 -0.87245786] [ 0. 0. 0. 1. ]] SLAMing on 459.06463044000003 meters Centerline goodness : 0.225333 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.93017837 -0.01209643 -0.36690855 -1.23198166] [ 0.02165946 0.99952425 0.02195774 0.16357882] [ 0.36646838 -0.02837165 0.92999784 -0.87258816] [ 0. 0. 0. 1. ]] SLAMing on 459.09463044 meters Centerline goodness : 0.091398 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.93012308 -0.01202507 -0.36705101 -1.23193301] [ 0.02157775 0.99952656 0.02193315 0.16410124] [ 0.36661349 -0.02832066 0.9299422 -0.87227954] [ 0. 0. 0. 1. ]] SLAMing on 459.12463044000003 meters Centerline goodness : 0.090752 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.93012735 -0.0118811 -0.36704488 -1.23268277] [ 0.02140384 0.99953135 0.02188497 0.16571584] [ 0.36661285 -0.02821198 0.92994575 -0.87183126] [ 0. 0. 0. 1. ]] SLAMing on 459.15463044 meters Centerline goodness : 0.091306 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.9300659 -0.01173318 -0.36720532 -1.23312163] [ 0.0212192 0.999537 0.02180664 0.16765634] [ 0.36677944 -0.02807342 0.92988425 -0.87115907] [ 0. 0. 0. 1. ]] SLAMing on 459.18463044000003 meters Centerline goodness : 0.299619 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.92978968 -0.01169749 -0.3679053 -1.23124859] [ 0.02108762 0.99954614 0.02151333 0.17019032] [ 0.36748667 -0.02776112 0.92961436 -0.87078785] [ 0. 0. 0. 1. ]] SLAMing on 459.21463044 meters Centerline goodness : 0.090377 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.92969999 -0.01163658 -0.36813384 -1.23013804] [ 0.0210233 0.99954783 0.02149774 0.17055623] [ 0.36771722 -0.02772584 0.92952425 -0.87094869] [ 0. 0. 0. 1. ]] SLAMing on 459.24463044000004 meters Centerline goodness : 0.091304 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.9296498 -0.01163745 -0.36826053 -1.22941639] [ 0.02102635 0.99954787 0.02149281 0.17048891] [ 0.36784391 -0.02772397 0.92947417 -0.87107767] [ 0. 0. 0. 1. ]] SLAMing on 459.27463044 meters Centerline goodness : 0.091166 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.92963592 -0.01149789 -0.36829995 -1.22895085] [ 0.02094856 0.99954563 0.0216722 0.16983717] [ 0.36788342 -0.02786261 0.92945439 -0.87122111] [ 0. 0. 0. 1. ]] SLAMing on 459.30463044000004 meters Centerline goodness : 0.091026 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.17, Z:-0.87 [[ 0.92972412 -0.0114568 -0.36807853 -1.22977978] [ 0.02094726 0.99954291 0.02179863 0.16911925] [ 0.36766054 -0.02797695 0.92953914 -0.87106634] [ 0. 0. 0. 1. ]] SLAMing on 459.33463044 meters Centerline goodness : 0.223075 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.16, Z:-0.87 [[ 0.92903663 -0.02050436 -0.36941916 -1.22503324] [ 0.02816373 0.99948543 0.01535203 0.16418459] [ 0.36891429 -0.02466682 0.92913605 -0.87067992] [ 0. 0. 0. 1. ]] SLAMing on 459.36463044 meters Centerline goodness : 0.101979 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.15, Z:-0.87 [[ 0.92780744 -0.02869154 -0.3719545 -1.21692589] [ 0.03498454 0.99933601 0.01017982 0.15458784] [ 0.37141545 -0.02245757 0.92819514 -0.87026396] [ 0. 0. 0. 1. ]] SLAMing on 459.39463044 meters Centerline goodness : 0.085091 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.87 [[ 0.92659813 -0.04645322 -0.3731729 -1.2172939 ] [ 0.05541738 0.99837438 0.01332341 0.12691667] [ 0.37194734 -0.03302572 0.92766614 -0.87330781] [ 0. 0. 0. 1. ]] SLAMing on 459.42463044 meters Centerline goodness : 0.133770 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.11, Z:-0.87 [[ 0.92626604 -0.05207856 -0.37325466 -1.21646891] [ 0.06042366 0.99811564 0.01068429 0.11110482] [ 0.37199489 -0.03244991 0.9276674 -0.87283969] [ 0. 0. 0. 1. ]] SLAMing on 459.45463044 meters Centerline goodness : 0.132430 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.87 [[ 0.92620704 -0.05853668 -0.37244326 -1.21883007] [ 0.06600715 0.99779225 0.00732688 0.09598083] [ 0.37119211 -0.03137013 0.92802604 -0.87215778] [ 0. 0. 0. 1. ]] SLAMing on 459.48463044 meters Centerline goodness : 0.089382 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.87 [[ 0.92630785 -0.06568298 -0.370998 -1.22379072] [ 0.07213282 0.99738883 0.00351952 0.08000318] [ 0.36979808 -0.03002129 0.928627 -0.87107011] [ 0. 0. 0. 1. ]] SLAMing on 459.51463044 meters Centerline goodness : 0.172406 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.06, Z:-0.87 [[ 9.26257782e-01 -7.25664995e-02 -3.69838647e-01 -1.22741928e+00] [ 7.80663832e-02 9.96948158e-01 -9.58340002e-05 6.36001140e-02] [ 3.68716912e-01 -2.87831985e-02 9.29095994e-01 -8.70245540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54463044 meters Centerline goodness : 0.088157 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.92737152 -0.07376485 -0.36679805 -1.23511541] [ 0.08054207 0.99674613 0.00318321 0.03589761] [ 0.36536973 -0.03249469 0.93029515 -0.87243152] [ 0. 0. 0. 1. ]] SLAMing on 459.57463044 meters Centerline goodness : 0.223580 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.03, Z:-0.88 [[ 0.92910944 -0.06288443 -0.36441899 -1.25206587] [ 0.06911358 0.99760053 0.00406272 0.02633381] [ 0.36328909 -0.02896101 0.93122623 -0.88005426] [ 0. 0. 0. 1. ]] SLAMing on 459.60463044 meters Centerline goodness : 0.097339 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.88 [[ 9.30150774e-01 -5.04929062e-02 -3.63689434e-01 -1.25332749e+00] [ 5.46084495e-02 9.98507309e-01 1.03537706e-03 1.77487621e-02] [ 3.63094278e-01 -2.08235728e-02 9.31519685e-01 -8.80085073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.63463044 meters Centerline goodness : 0.081474 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.88 [[ 0.93084222 -0.0395251 -0.36327748 -1.25193079] [ 0.04088629 0.99915602 -0.00394481 0.01167025] [ 0.3631268 -0.01118107 0.93167264 -0.87937309] [ 0. 0. 0. 1. ]] SLAMing on 459.66463044 meters Centerline goodness : 0.098732 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.01, Z:-0.87 [[ 0.93065644 -0.01602819 -0.36554299 -1.2424133 ] [ 0.01613019 0.99986605 -0.002775 0.01071899] [ 0.36553851 -0.00331371 0.93079032 -0.8715466 ] [ 0. 0. 0. 1. ]] SLAMing on 459.69463044 meters Centerline goodness : 0.087831 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.02, Z:-0.87 [[ 0.93090027 -0.00598434 -0.36522441 -1.24199378] [ 0.00800047 0.99995997 0.00400723 0.01646467] [ 0.3651858 -0.0066523 0.93091089 -0.87230339] [ 0. 0. 0. 1. ]] SLAMing on 459.72463044 meters Centerline goodness : 0.089208 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.87 [[ 0.93129386 0.00189567 -0.36426384 -1.24262675] [ 0.00131829 0.99996237 0.00857433 0.02659008] [ 0.36426639 -0.00846543 0.93125632 -0.87342892] [ 0. 0. 0. 1. ]] SLAMing on 459.75463044 meters Centerline goodness : 0.088295 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.03, Z:-0.87 [[ 0.93229837 0.01329295 -0.36144578 -1.22542151] [-0.010159 0.99989253 0.01056949 0.03434403] [ 0.36154743 -0.00618199 0.93233322 -0.86821246] [ 0. 0. 0. 1. ]] SLAMing on 459.78463044 meters Centerline goodness : 0.197450 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.05, Z:-0.86 [[ 0.93249704 0.04137443 -0.35879998 -1.20292391] [-0.04023946 0.99913348 0.01063379 0.05133016] [ 0.35892904 0.00452194 0.9333539 -0.8568438 ] [ 0. 0. 0. 1. ]] SLAMing on 459.81463044000003 meters Centerline goodness : 0.088467 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.06, Z:-0.86 [[ 0.93257659 0.05065737 -0.35739996 -1.20674738] [-0.04859297 0.9987096 0.01476031 0.06124908] [ 0.35768649 0.00360201 0.93383478 -0.85860666] [ 0. 0. 0. 1. ]] SLAMing on 459.84463044 meters Centerline goodness : 0.116323 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.07, Z:-0.86 [[ 0.93233466 0.05926953 -0.35670604 -1.20769037] [-0.05615383 0.99823953 0.01909423 0.07046864] [ 0.35720977 0.0022282 0.93402153 -0.86017526] [ 0. 0. 0. 1. ]] SLAMing on 459.87463044000003 meters Centerline goodness : 0.090841 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.08, Z:-0.86 [[ 0.93214125 0.06348338 -0.3564864 -1.20719691] [-0.06032772 0.99797872 0.0199758 0.0799568 ] [ 0.35703397 0.00288575 0.93408694 -0.86192654] [ 0. 0. 0. 1. ]] SLAMing on 459.90463044 meters Centerline goodness : 0.083478 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.86 [[ 0.93150969 0.06931949 -0.35704972 -1.20395993] [-0.06630117 0.99758486 0.02070269 0.09746868] [ 0.35762249 0.00438805 0.93385593 -0.86370744] [ 0. 0. 0. 1. ]] SLAMing on 459.93463044000003 meters Centerline goodness : 0.092418 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.86 [[ 0.93110586 0.07228525 -0.35751465 -1.20147145] [-0.06905605 0.99737437 0.02180879 0.10607463] [ 0.3581524 0.00438226 0.93365286 -0.86408632] [ 0. 0. 0. 1. ]] SLAMing on 459.96463044 meters Centerline goodness : 0.089960 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.86 [[ 0.92987927 0.077287 -0.35965436 -1.19250125] [-0.07350518 0.99700113 0.02420178 0.12427672] [ 0.36044629 0.00393172 0.93277168 -0.86352828] [ 0. 0. 0. 1. ]] SLAMing on 459.99463044000004 meters Centerline goodness : 0.108442 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.86 [[ 0.92960523 0.07530673 -0.36078112 -1.18907017] [-0.07230652 0.99714357 0.02182794 0.13327723] [ 0.36139436 0.00579546 0.93239505 -0.86320862] [ 0. 0. 0. 1. ]] SLAMing on 460.02463044 meters Centerline goodness : 0.077048 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.14, Z:-0.86 [[ 0.92946617 0.07294625 -0.3616234 -1.18655776] [-0.07080712 0.99730556 0.01918262 0.14121023] [ 0.36204832 0.00777591 0.93212689 -0.86304748] [ 0. 0. 0. 1. ]] SLAMing on 460.05463044000004 meters Centerline goodness : 0.078629 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.15, Z:-0.86 [[ 0.92931111 0.07054991 -0.3624963 -1.18504499] [-0.06891004 0.99746991 0.01746928 0.14666206] [ 0.36281161 0.00874524 0.93182147 -0.86146947] [ 0. 0. 0. 1. ]] SLAMing on 460.08463044 meters Centerline goodness : 0.078629 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.15, Z:-0.86 [[ 0.92931111 0.07054991 -0.3624963 -1.18504499] [-0.06891004 0.99746991 0.01746928 0.14666206] [ 0.36281161 0.00874524 0.93182147 -0.86146947] [ 0. 0. 0. 1. ]] SLAMing on 460.11463044 meters Centerline goodness : 0.081524 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.15, Z:-0.85 [[ 0.93087633 0.05576344 -0.3610536 -1.17428382] [-0.0536226 0.99843382 0.01595356 0.14978202] [ 0.36137776 0.00450984 0.93240859 -0.85295534] [ 0. 0. 0. 1. ]] SLAMing on 460.14463044 meters Centerline goodness : 0.079994 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.15, Z:-0.85 [[ 0.93258396 0.02683015 -0.35995457 -1.17074819] [-0.02100877 0.99957771 0.02007581 0.15324679] [ 0.3603412 -0.01116018 0.93275381 -0.85254115] [ 0. 0. 0. 1. ]] SLAMing on 460.17463044 meters Centerline goodness : 0.092678 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.16, Z:-0.85 [[ 0.93138993 0.01347565 -0.36377357 -1.17420346] [-0.0065032 0.99977105 0.02038507 0.15616608] [ 0.36396498 -0.01662076 0.93126432 -0.85400165] [ 0. 0. 0. 1. ]] SLAMing on 460.20463044 meters Centerline goodness : 0.215051 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.16, Z:-0.85 [[ 9.31230727e-01 1.14561937e-03 -3.64428349e-01 -1.15716407e+00] [ 6.48166131e-03 9.99784815e-01 1.97056432e-02 1.57988487e-01] [ 3.64372504e-01 -2.07126016e-02 9.31022914e-01 -8.48166305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23463044 meters Centerline goodness : 0.090842 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.16, Z:-0.84 [[ 0.93111128 -0.00927408 -0.36461731 -1.14172092] [ 0.01808977 0.99962062 0.0207698 0.15914999] [ 0.36428636 -0.02593484 0.93092579 -0.84133522] [ 0. 0. 0. 1. ]] SLAMing on 460.26463044 meters Centerline goodness : 0.097760 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.16, Z:-0.84 [[ 0.93142653 -0.00624301 -0.36387586 -1.14535976] [ 0.01575195 0.99960742 0.02317062 0.15793346] [ 0.36358835 -0.02731348 0.93115921 -0.84072599] [ 0. 0. 0. 1. ]] SLAMing on 460.29463044 meters Centerline goodness : 0.091187 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.16, Z:-0.84 [[ 0.93228272 -0.01100315 -0.36156309 -1.12831443] [ 0.02252503 0.99936336 0.0276675 0.15912135] [ 0.36102847 -0.03393815 0.93193704 -0.83645392] [ 0. 0. 0. 1. ]] SLAMing on 460.32463044 meters Centerline goodness : 0.091450 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.16, Z:-0.84 [[ 0.93246747 -0.01095042 -0.36108796 -1.12842673] [ 0.02237481 0.9993721 0.02747319 0.15941392] [ 0.36056039 -0.03369712 0.93212698 -0.83750741] [ 0. 0. 0. 1. ]] SLAMing on 460.35463044 meters Centerline goodness : 0.065941 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.16, Z:-0.84 [[ 0.93253481 -0.01076889 -0.36091947 -1.12852951] [ 0.02227632 0.99936697 0.02773851 0.15780847] [ 0.36039228 -0.03390708 0.93218438 -0.83776497] [ 0. 0. 0. 1. ]] SLAMing on 460.38463044 meters Centerline goodness : 0.078217 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.16, Z:-0.84 [[ 0.93237987 -0.01030021 -0.3613332 -1.12742145] [ 0.02190706 0.9993667 0.02804063 0.15759613] [ 0.36081554 -0.03406027 0.93201505 -0.83757395] [ 0. 0. 0. 1. ]] SLAMing on 460.41463044 meters Centerline goodness : 0.101241 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.16, Z:-0.84 [[ 0.93212201 -0.00934566 -0.36202377 -1.12471368] [ 0.02111507 0.99936883 0.02856735 0.15799305] [ 0.36152829 -0.03427241 0.93173102 -0.83775294] [ 0. 0. 0. 1. ]] SLAMing on 460.44463044 meters Centerline goodness : 0.091980 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.16, Z:-0.84 [[ 0.93191138 -0.00808787 -0.36259586 -1.1217154 ] [ 0.02002478 0.99937373 0.02917441 0.15935314] [ 0.36213282 -0.03444887 0.93148972 -0.83840561] [ 0. 0. 0. 1. ]] SLAMing on 460.47463044 meters Centerline goodness : 0.095565 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.16, Z:-0.83 [[ 0.93285083 0.00211809 -0.36025663 -1.10644774] [ 0.00971915 0.99947079 0.03104311 0.16315463] [ 0.36013173 -0.03245998 0.93233657 -0.83236352] [ 0. 0. 0. 1. ]] SLAMing on 460.50463044 meters Centerline goodness : 0.133448 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.17, Z:-0.83 [[ 0.93310217 0.00674081 -0.3595482 -1.10859225] [ 0.00587089 0.99940551 0.03397302 0.1672149 ] [ 0.35956346 -0.03381116 0.93250787 -0.83265025] [ 0. 0. 0. 1. ]] SLAMing on 460.53463044 meters Centerline goodness : 0.060032 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.17, Z:-0.83 [[ 0.93347781 0.01161148 -0.35844713 -1.11229332] [ 0.00169005 0.99932221 0.03677316 0.17302388] [ 0.35863117 -0.03493272 0.93282549 -0.83272588] [ 0. 0. 0. 1. ]] SLAMing on 460.56463044000003 meters Centerline goodness : 0.096778 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.17, Z:-0.83 [[ 0.93343004 0.00726621 -0.35868588 -1.11213206] [ 0.00502615 0.99943189 0.03332621 0.17289263] [ 0.35872426 -0.03291049 0.93286323 -0.83247018] [ 0. 0. 0. 1. ]] SLAMing on 460.59463044 meters Centerline goodness : 0.115949 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.17, Z:-0.83 [[ 0.93335878 0.00724606 -0.35887169 -1.1110213 ] [ 0.00499766 0.99943697 0.03317783 0.17329487] [ 0.35891004 -0.03276034 0.93279705 -0.83285294] [ 0. 0. 0. 1. ]] SLAMing on 460.62463044000003 meters Centerline goodness : 0.091844 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.18, Z:-0.83 [[ 0.93308672 0.00769989 -0.35956903 -1.10857099] [ 0.00453932 0.99943902 0.03318181 0.17536371] [ 0.35962282 -0.0325937 0.93252833 -0.83308203] [ 0. 0. 0. 1. ]] SLAMing on 460.65463044 meters Centerline goodness : 0.078326 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.18, Z:-0.83 [[ 0.93345942 0.00761582 -0.35860215 -1.11336182] [ 0.00439731 0.99945644 0.03267238 0.17876996] [ 0.35865606 -0.03207522 0.93291855 -0.83234558] [ 0. 0. 0. 1. ]] SLAMing on 460.68463044000003 meters Centerline goodness : 0.242343 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.18, Z:-0.83 [[ 0.93368259 0.00709424 -0.35803141 -1.11649671] [ 0.00473551 0.99947173 0.03215347 0.17967331] [ 0.35807037 -0.03171659 0.93315576 -0.83167429] [ 0. 0. 0. 1. ]] SLAMing on 460.71463044 meters Centerline goodness : 0.101671 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.18, Z:-0.83 [[ 0.93361831 0.00721606 -0.35819656 -1.11634118] [ 0.00455381 0.99947736 0.03200424 0.1814074 ] [ 0.35824029 -0.0315109 0.93309751 -0.83154146] [ 0. 0. 0. 1. ]] SLAMing on 460.74463044000004 meters Centerline goodness : 0.111391 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.18, Z:-0.83 [[ 0.93343794 0.00744548 -0.35866165 -1.11511589] [ 0.00426723 0.99948342 0.03185404 0.18382517] [ 0.35871354 -0.03126426 0.93292397 -0.83146072] [ 0. 0. 0. 1. ]] SLAMing on 460.77463044 meters Centerline goodness : 0.092060 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.19, Z:-0.83 [[ 0.93457671 -0.00527421 -0.35572259 -1.10361633] [ 0.01734986 0.99937605 0.03076516 0.18618418] [ 0.35533838 -0.03492414 0.93408508 -0.8259885 ] [ 0. 0. 0. 1. ]] SLAMing on 460.80463044 meters Centerline goodness : 0.045131 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.19, Z:-0.83 [[ 0.93450353 -0.00530023 -0.3559144 -1.10339292] [ 0.01743635 0.99937041 0.03089912 0.185387 ] [ 0.35552655 -0.03508118 0.93400759 -0.82558954] [ 0. 0. 0. 1. ]] SLAMing on 460.83463044 meters Centerline goodness : 0.100424 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.18, Z:-0.83 [[ 0.93421099 -0.00494603 -0.35668664 -1.10144072] [ 0.01724951 0.99936052 0.03132109 0.18452035] [ 0.35630363 -0.03541318 0.9336989 -0.82500036] [ 0. 0. 0. 1. ]] SLAMing on 460.86463044 meters Centerline goodness : 0.100611 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.18, Z:-0.83 [[ 0.93351468 -0.00429415 -0.35851346 -1.09372645] [ 0.01693631 0.9993402 0.03212984 0.18185254] [ 0.35813894 -0.03606558 0.93297147 -0.82570949] [ 0. 0. 0. 1. ]] SLAMing on 460.89463044 meters Centerline goodness : 0.091715 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.18, Z:-0.83 [[ 0.93337485 -0.00419211 -0.35887856 -1.0917791 ] [ 0.01682754 0.99934326 0.03209174 0.18251686] [ 0.35850833 -0.03599266 0.93283241 -0.82622406] [ 0. 0. 0. 1. ]] SLAMing on 460.92463044 meters Centerline goodness : 0.156482 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.18, Z:-0.83 [[ 0.93339882 -0.00417433 -0.35881641 -1.09207597] [ 0.01672655 0.99935157 0.03188516 0.18416825] [ 0.35845064 -0.03576333 0.9328634 -0.82633483] [ 0. 0. 0. 1. ]] SLAMing on 460.95463044 meters Centerline goodness : 0.096805 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.19, Z:-0.83 [[ 0.93351838 -0.00413925 -0.35850566 -1.0937348 ] [ 0.01656034 0.99936393 0.03158323 0.18660564] [ 0.35814689 -0.0354205 0.93299314 -0.82614472] [ 0. 0. 0. 1. ]] SLAMing on 460.98463044 meters Centerline goodness : 0.094816 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.19, Z:-0.83 [[ 0.933934 -0.00468392 -0.35741482 -1.09752732] [ 0.01686546 0.99937792 0.03097305 0.18813584] [ 0.3570474 -0.03495475 0.93343201 -0.82609866] [ 0. 0. 0. 1. ]] SLAMing on 461.01463044 meters Centerline goodness : 0.091304 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.19, Z:-0.82 [[ 0.93525916 -0.00120946 -0.35396163 -1.08566645] [ 0.01234846 0.99949694 0.02921265 0.18596775] [ 0.35374823 -0.03169228 0.93480361 -0.81868087] [ 0. 0. 0. 1. ]] SLAMing on 461.04463044 meters Centerline goodness : 0.094979 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 0.93504326 -0.00130227 -0.35453126 -1.08444392] [ 0.01244834 0.99949724 0.02915999 0.18595994] [ 0.35431504 -0.03167918 0.93458937 -0.81823365] [ 0. 0. 0. 1. ]] SLAMing on 461.07463044 meters Centerline goodness : 0.094274 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.18, Z:-0.82 [[ 0.93485786 -0.00114547 -0.35502038 -1.08269837] [ 0.01241995 0.99948821 0.02948002 0.18425237] [ 0.35480492 -0.03196896 0.93439363 -0.81807192] [ 0. 0. 0. 1. ]] SLAMing on 461.10463044 meters Centerline goodness : 0.094327 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.18, Z:-0.82 [[ 9.34642768e-01 -8.89591167e-04 -3.55586987e-01 -1.08050407e+00] [ 1.22152347e-02 9.99486985e-01 2.96066684e-02 1.84690168e-01] [ 3.55378228e-01 -3.20152370e-02 9.34174149e-01 -8.18260575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.13463044 meters Centerline goodness : 0.130316 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34638234e-01 -5.93727313e-04 -3.55599521e-01 -1.08033886e+00] [ 1.18209475e-02 9.99497805e-01 2.94007154e-02 1.87100975e-01] [ 3.55403485e-01 -3.16825560e-02 9.34175882e-01 -8.18463559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16463044 meters Centerline goodness : 0.092193 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34851603e-01 -8.26941168e-04 -3.55037740e-01 -1.08286062e+00] [ 1.19892320e-02 9.99500489e-01 2.92409046e-02 1.86711542e-01] [ 3.54836214e-01 -3.15925364e-02 9.34394549e-01 -8.18047632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.19463044 meters Centerline goodness : 0.091989 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34875141e-01 -5.52608525e-04 -3.54976289e-01 -1.08377673e+00] [ 1.17084908e-02 9.99502678e-01 2.92798240e-02 1.87415383e-01] [ 3.54783572e-01 -3.15292162e-02 9.34416677e-01 -8.17650869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22463044 meters Centerline goodness : 0.092448 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34651335e-01 -1.45933720e-04 -3.55565551e-01 -1.08204252e+00] [ 1.12684918e-02 9.99509764e-01 2.92105034e-02 1.89550154e-01] [ 3.55386977e-01 -3.13083235e-02 9.34194779e-01 -8.17673330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.25463044 meters Centerline goodness : 0.093163 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34501052e-01 2.99592703e-04 -3.55960243e-01 -1.08113902e+00] [ 1.07936182e-02 9.99515963e-01 2.91776834e-02 1.90951152e-01] [ 3.55796686e-01 -3.11086748e-02 9.34045485e-01 -8.17517711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28463044 meters Centerline goodness : 0.092585 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34483588e-01 3.59441321e-04 -3.56006033e-01 -1.08130288e+00] [ 1.06834001e-02 9.99520805e-01 2.90521234e-02 1.91915955e-01] [ 3.55845879e-01 -3.09520874e-02 9.34031947e-01 -8.17387337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.31463044000003 meters Centerline goodness : 0.091869 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34584612e-01 2.77081583e-04 -3.55740812e-01 -1.08257768e+00] [ 1.07594041e-02 9.99520194e-01 2.90450851e-02 1.91103355e-01] [ 3.55578173e-01 -3.09726488e-02 9.34133212e-01 -8.17036108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34463044 meters Centerline goodness : 0.092544 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34541310e-01 3.02436707e-04 -3.55854533e-01 -1.08221581e+00] [ 1.07100480e-02 9.99522727e-01 2.89760947e-02 1.91611894e-01] [ 3.55693457e-01 -3.08905766e-02 9.34092039e-01 -8.17066570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.37463044000003 meters Centerline goodness : 0.091943 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34504873e-01 2.33059448e-04 -3.55950261e-01 -1.08222795e+00] [ 1.07032775e-02 9.99529195e-01 2.87546206e-02 1.92615891e-01] [ 3.55789380e-01 -3.06811675e-02 9.34062409e-01 -8.16908896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40463044 meters Centerline goodness : 0.093143 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.19, Z:-0.82 [[ 9.34359292e-01 4.77399165e-04 -3.56331988e-01 -1.08166924e+00] [ 1.04283002e-02 9.99534137e-01 2.86838012e-02 1.94509656e-01] [ 3.56179680e-01 -3.05169131e-02 9.33919030e-01 -8.16543166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.43463044000003 meters Centerline goodness : 0.093030 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.20, Z:-0.82 [[ 9.34324973e-01 5.57378186e-04 -3.56421848e-01 -1.08179702e+00] [ 1.02909858e-02 9.99539679e-01 2.85399076e-02 1.95972244e-01] [ 3.56273687e-01 -3.03334805e-02 9.33889147e-01 -8.16368584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46463044 meters Centerline goodness : 0.093153 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.20, Z:-0.82 [[ 9.34401305e-01 4.39713486e-04 -3.56221852e-01 -1.08284633e+00] [ 1.03362348e-02 9.99544711e-01 2.83466737e-02 1.96617559e-01] [ 3.56072132e-01 -3.01691616e-02 9.33971337e-01 -8.16112275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49463044000004 meters Centerline goodness : 0.093142 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.20, Z:-0.82 [[ 9.34478463e-01 3.65898279e-04 -3.56019478e-01 -1.08394763e+00] [ 1.03874383e-02 9.99545723e-01 2.82921863e-02 1.96450039e-01] [ 3.55868098e-01 -3.01365691e-02 9.34050151e-01 -8.15806232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52463044 meters Centerline goodness : 0.092936 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.82 [[ 9.34505803e-01 4.64787397e-04 -3.55947591e-01 -1.08506186e+00] [ 1.02586102e-02 9.99548581e-01 2.82381694e-02 1.97219537e-01] [ 3.55800034e-01 -3.00402607e-02 9.34079182e-01 -8.15230254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55463044 meters Centerline goodness : 0.092726 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.20, Z:-0.82 [[ 9.34460834e-01 6.55196802e-04 -3.56065332e-01 -1.08498552e+00] [ 1.00051392e-02 9.99555133e-01 2.80968550e-02 1.99235430e-01] [ 3.55925340e-01 -2.98178938e-02 9.34038568e-01 -8.15145556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58463044 meters Centerline goodness : 0.093005 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 9.34527251e-01 6.31461158e-04 -3.55891019e-01 -1.08618510e+00] [ 9.87012846e-03 9.99567792e-01 2.76913204e-02 2.02019726e-01] [ 3.55754687e-01 -2.93909836e-02 9.34117109e-01 -8.14919629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61463044 meters Centerline goodness : 0.092721 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.21, Z:-0.81 [[ 9.34996662e-01 -4.04238981e-04 -3.54656282e-01 -1.09140466e+00] [ 1.04516562e-02 9.99596428e-01 2.64148368e-02 2.05567501e-01] [ 3.54502475e-01 -2.84045298e-02 9.34623549e-01 -8.14438073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64463044 meters Centerline goodness : 0.093265 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.20, Z:-0.81 [[ 0.93532931 -0.00240648 -0.3537701 -1.09604255] [ 0.01216501 0.99960428 0.02536327 0.20074302] [ 0.35356907 -0.02802663 0.93498846 -0.81324045] [ 0. 0. 0. 1. ]] SLAMing on 461.67463044 meters Centerline goodness : 0.092958 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93517664 -0.0022748 -0.35417437 -1.09477573] [ 0.01219893 0.99959294 0.02579036 0.19845093] [ 0.35397153 -0.02843909 0.93482371 -0.81295739] [ 0. 0. 0. 1. ]] SLAMing on 461.70463044 meters Centerline goodness : 0.091740 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93481372 -0.00185647 -0.35513359 -1.09134909] [ 0.01195835 0.99958382 0.02625247 0.19740546] [ 0.35493705 -0.02878798 0.93444686 -0.81289708] [ 0. 0. 0. 1. ]] SLAMing on 461.73463044 meters Centerline goodness : 0.092455 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93460266 -0.00175414 -0.35568918 -1.08913515] [ 0.01194603 0.9995785 0.02645958 0.19617024] [ 0.35549284 -0.02897827 0.93422968 -0.81299005] [ 0. 0. 0. 1. ]] SLAMing on 461.76463044 meters Centerline goodness : 0.079305 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93430086 -0.00151666 -0.35648225 -1.08605682] [ 0.01172309 0.99958081 0.02647219 0.19672756] [ 0.35629267 -0.02891207 0.93392699 -0.81328735] [ 0. 0. 0. 1. ]] SLAMing on 461.79463044 meters Centerline goodness : 0.093980 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.9343434 -0.0015532 -0.3563706 -1.08687075] [ 0.01170898 0.9995844 0.02634241 0.19734101] [ 0.35618158 -0.02878559 0.93397327 -0.81310815] [ 0. 0. 0. 1. ]] SLAMing on 461.82463044 meters Centerline goodness : 0.091814 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93419204 -0.00114331 -0.35676873 -1.08594816] [ 0.01131078 0.9995871 0.02641375 0.19869171] [ 0.35659122 -0.02871084 0.93381925 -0.81286854] [ 0. 0. 0. 1. ]] SLAMing on 461.85463044 meters Centerline goodness : 0.076315 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.20, Z:-0.81 [[ 9.34029518e-01 -9.55855946e-04 -3.57194548e-01 -1.08491596e+00] [ 1.10512236e-02 9.99595031e-01 2.62229652e-02 2.00980431e-01] [ 3.57024830e-01 -2.84404604e-02 9.33661829e-01 -8.12782108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88463044 meters Centerline goodness : 0.073751 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.20, Z:-0.81 [[ 0.93396871 -0.00109327 -0.35735313 -1.08420263] [ 0.01110036 0.99960152 0.02595349 0.2018845 ] [ 0.35718236 -0.02820649 0.93360867 -0.81295905] [ 0. 0. 0. 1. ]] SLAMing on 461.91463044 meters Centerline goodness : 0.092423 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93412454 -0.00323406 -0.35693261 -1.08764996] [ 0.01291398 0.99961051 0.02473986 0.1972171 ] [ 0.35671357 -0.02771953 0.93380247 -0.81156051] [ 0. 0. 0. 1. ]] SLAMing on 461.94463044 meters Centerline goodness : 0.093419 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93408337 -0.00319397 -0.35704069 -1.08795267] [ 0.01285878 0.99961224 0.02469872 0.19795676] [ 0.35682336 -0.02766177 0.93376224 -0.81114695] [ 0. 0. 0. 1. ]] SLAMing on 461.97463044 meters Centerline goodness : 0.093419 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93408337 -0.00319397 -0.35704069 -1.08795267] [ 0.01285878 0.99961224 0.02469872 0.19795676] [ 0.35682336 -0.02766177 0.93376224 -0.81114695] [ 0. 0. 0. 1. ]] SLAMing on 462.00463044 meters Centerline goodness : 0.116648 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93405334 -0.00285443 -0.35712211 -1.08732509] [ 0.01256029 0.99961199 0.02486168 0.19852671] [ 0.35691258 -0.0277077 0.93372678 -0.81133971] [ 0. 0. 0. 1. ]] SLAMing on 462.03463044 meters Centerline goodness : 0.107061 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93406902 -0.00290908 -0.35708066 -1.08716455] [ 0.01255305 0.99961626 0.02469318 0.19932448] [ 0.3568718 -0.02754758 0.9337471 -0.81160047] [ 0. 0. 0. 1. ]] SLAMing on 462.06463044000003 meters Centerline goodness : 0.262773 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93419701 -0.00295075 -0.35674534 -1.08800704] [ 0.0125888 0.9996157 0.02469777 0.19816935] [ 0.35653536 -0.02756358 0.93387514 -0.81168393] [ 0. 0. 0. 1. ]] SLAMing on 462.09463044 meters Centerline goodness : 0.092078 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93405783 -0.00276453 -0.35711109 -1.08786862] [ 0.01245703 0.99961372 0.02484415 0.19824415] [ 0.35690447 -0.02765441 0.93373146 -0.8110031 ] [ 0. 0. 0. 1. ]] SLAMing on 462.12463044000003 meters Centerline goodness : 0.094367 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.20, Z:-0.81 [[ 0.93400584 -0.00876054 -0.35715031 -1.07231358] [ 0.02030055 0.99938548 0.0285753 0.2032857 ] [ 0.3566805 -0.03393984 0.93360972 -0.80597185] [ 0. 0. 0. 1. ]] SLAMing on 462.15463044 meters Centerline goodness : 0.092454 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93455403 -0.01424129 -0.35553614 -1.09018364] [ 0.02613217 0.99924744 0.02866474 0.20285403] [ 0.35486035 -0.03607968 0.93422288 -0.81322933] [ 0. 0. 0. 1. ]] SLAMing on 462.18463044000003 meters Centerline goodness : 0.091786 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93456919 -0.01425986 -0.35549555 -1.08979427] [ 0.02610751 0.99925131 0.02855195 0.20351308] [ 0.35482224 -0.03596487 0.93424178 -0.81359499] [ 0. 0. 0. 1. ]] SLAMing on 462.21463044 meters Centerline goodness : 0.091840 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93456276 -0.01430288 -0.35551072 -1.09000605] [ 0.02609421 0.99925616 0.02839417 0.20453622] [ 0.35484016 -0.0358129 0.93424081 -0.81344336] [ 0. 0. 0. 1. ]] SLAMing on 462.24463044000004 meters Centerline goodness : 0.092350 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93461727 -0.01444707 -0.35536157 -1.09087493] [ 0.02619525 0.99925702 0.02827034 0.20464514] [ 0.35468912 -0.03573074 0.93430131 -0.81318986] [ 0. 0. 0. 1. ]] SLAMing on 462.27463044 meters Centerline goodness : 0.089459 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93474848 -0.01474189 -0.35500418 -1.09279279] [ 0.02650247 0.99924842 0.02828795 0.2031079 ] [ 0.35432035 -0.0358506 0.93443664 -0.81250457] [ 0. 0. 0. 1. ]] SLAMing on 462.30463044 meters Centerline goodness : 0.103389 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93474289 -0.01484412 -0.35501462 -1.09262942] [ 0.02663554 0.99924314 0.02834953 0.20215131] [ 0.3543251 -0.03595553 0.9344308 -0.8124202 ] [ 0. 0. 0. 1. ]] SLAMing on 462.33463044 meters Centerline goodness : 0.103773 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93449298 -0.01569243 -0.35563552 -1.08946031] [ 0.02734606 0.99924036 0.02776492 0.20195738] [ 0.35492967 -0.03567135 0.93421223 -0.81288923] [ 0. 0. 0. 1. ]] SLAMing on 462.36463044 meters Centerline goodness : 0.087214 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.9346605 -0.01784045 -0.35509361 -1.09181067] [ 0.02917773 0.9992203 0.02659785 0.1971786 ] [ 0.35434223 -0.03522079 0.93445229 -0.81218283] [ 0. 0. 0. 1. ]] SLAMing on 462.39463044 meters Centerline goodness : 0.092193 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93464716 -0.01805945 -0.35511765 -1.09173738] [ 0.02947433 0.99920727 0.02676005 0.19530897] [ 0.35435286 -0.03547806 0.93443852 -0.81192503] [ 0. 0. 0. 1. ]] SLAMing on 462.42463044 meters Centerline goodness : 0.117339 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93444761 -0.0177781 -0.35565658 -1.09043122] [ 0.02930277 0.9992047 0.02704279 0.19522527] [ 0.35489296 -0.03569179 0.93422539 -0.81148143] [ 0. 0. 0. 1. ]] SLAMing on 462.45463044 meters Centerline goodness : 0.091893 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93422445 -0.0175939 -0.3562515 -1.08845569] [ 0.02911465 0.9992113 0.02700226 0.19680058] [ 0.35549545 -0.03559831 0.93399987 -0.81140381] [ 0. 0. 0. 1. ]] SLAMing on 462.48463044 meters Centerline goodness : 0.093015 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93432413 -0.01792779 -0.35597334 -1.08951246] [ 0.02932071 0.99921513 0.02663493 0.19745187] [ 0.35521644 -0.03532305 0.93411646 -0.8113242 ] [ 0. 0. 0. 1. ]] SLAMing on 462.51463044 meters Centerline goodness : 0.091948 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93440943 -0.01812368 -0.35573943 -1.09069082] [ 0.02940475 0.99922075 0.0263297 0.19871185] [ 0.35498503 -0.03506315 0.93421422 -0.81112371] [ 0. 0. 0. 1. ]] SLAMing on 462.54463044 meters Centerline goodness : 0.092747 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.20, Z:-0.81 [[ 0.93442525 -0.01820864 -0.35569355 -1.09125048] [ 0.02938066 0.99922926 0.02603204 0.20072887] [ 0.3549454 -0.0347755 0.93424003 -0.81099315] [ 0. 0. 0. 1. ]] SLAMing on 462.57463044 meters Centerline goodness : 0.092201 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.20, Z:-0.81 [[ 0.93478096 -0.01906209 -0.35471283 -1.09547383] [ 0.02996172 0.99923181 0.02526043 0.20257461] [ 0.35395882 -0.03424078 0.934634 -0.81044598] [ 0. 0. 0. 1. ]] SLAMing on 462.60463044 meters Centerline goodness : 0.092061 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.20, Z:-0.81 [[ 0.93485459 -0.01929168 -0.35450631 -1.09649346] [ 0.03020571 0.99922402 0.02527807 0.2012273 ] [ 0.35374356 -0.03433944 0.93471188 -0.8100527 ] [ 0. 0. 0. 1. ]] SLAMing on 462.63463044 meters Centerline goodness : 0.092604 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.20, Z:-0.81 [[ 0.93476506 -0.01932266 -0.35474063 -1.09582948] [ 0.03040568 0.99920733 0.02569434 0.19807912] [ 0.35396296 -0.03480431 0.93461162 -0.80964541] [ 0. 0. 0. 1. ]] SLAMing on 462.66463044 meters Centerline goodness : 0.092896 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.19, Z:-0.81 [[ 0.93448919 -0.01904121 -0.35548191 -1.0930829 ] [ 0.03037836 0.99919142 0.02633731 0.19484552] [ 0.35469298 -0.03541089 0.93431202 -0.80948635] [ 0. 0. 0. 1. ]] SLAMing on 462.69463044 meters Centerline goodness : 0.092352 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.19, Z:-0.81 [[ 0.93406753 -0.01845795 -0.35661905 -1.08842489] [ 0.03001743 0.99918717 0.02690647 0.19308869] [ 0.35583254 -0.03583725 0.93386235 -0.80978073] [ 0. 0. 0. 1. ]] SLAMing on 462.72463044 meters Centerline goodness : 0.092004 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.19, Z:-0.81 [[ 0.93396689 -0.0183335 -0.35688897 -1.08515196] [ 0.02997772 0.99918252 0.0271224 0.19085469] [ 0.35609997 -0.03603014 0.93375299 -0.81101754] [ 0. 0. 0. 1. ]] SLAMing on 462.75463044 meters Centerline goodness : 0.092603 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.19, Z:-0.81 [[ 0.93412879 -0.01826156 -0.35646869 -1.0868402 ] [ 0.02990949 0.99918271 0.02719085 0.19058134] [ 0.3556808 -0.03606155 0.93391152 -0.81076794] [ 0. 0. 0. 1. ]] SLAMing on 462.78463044 meters Centerline goodness : 0.093681 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.82 [[ 0.93422843 -0.00829337 -0.35657883 -1.10533181] [ 0.01888416 0.99947755 0.02623004 0.1872877 ] [ 0.356175 -0.03123854 0.93389696 -0.81518397] [ 0. 0. 0. 1. ]] SLAMing on 462.81463044000003 meters Centerline goodness : 0.091888 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.19, Z:-0.81 [[ 0.93407753 -0.00767954 -0.35698767 -1.10485675] [ 0.01826246 0.99948769 0.02628366 0.19020381] [ 0.35660294 -0.03107045 0.93373924 -0.81477382] [ 0. 0. 0. 1. ]] SLAMing on 462.84463044 meters Centerline goodness : 0.092524 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.19, Z:-0.82 [[ 0.93405667 -0.00807107 -0.3570336 -1.10459483] [ 0.01830629 0.99951234 0.02529729 0.19423475] [ 0.35665532 -0.03016507 0.93374892 -0.81509847] [ 0. 0. 0. 1. ]] SLAMing on 462.87463044000003 meters Centerline goodness : 0.092275 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93446235 -0.01023666 -0.35591477 -1.10974143] [ 0.0200718 0.99951161 0.02395147 0.19048696] [ 0.35549576 -0.02952559 0.93421143 -0.81412066] [ 0. 0. 0. 1. ]] SLAMing on 462.90463044 meters Centerline goodness : 0.093189 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.934507 -0.0102581 -0.3557969 -1.11066041] [ 0.02020561 0.99950163 0.02425343 0.18840684] [ 0.35537078 -0.02985409 0.93424854 -0.81357076] [ 0. 0. 0. 1. ]] SLAMing on 462.93463044000003 meters Centerline goodness : 0.092647 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93435201 -0.00488624 -0.35631791 -1.1080608 ] [ 0.01603867 0.99946934 0.02835141 0.18959883] [ 0.35599029 -0.03220506 0.93393455 -0.81408468] [ 0. 0. 0. 1. ]] SLAMing on 462.96463044 meters Centerline goodness : 0.108656 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93447156 -0.00531764 -0.35599806 -1.10852871] [ 0.01629757 0.99947923 0.02785057 0.19060906] [ 0.35566457 -0.03182747 0.93407159 -0.81451165] [ 0. 0. 0. 1. ]] SLAMing on 462.99463044000004 meters Centerline goodness : 0.095799 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93476357 -0.00696507 -0.35520214 -1.11292661] [ 0.01756802 0.99949087 0.02663391 0.1895803 ] [ 0.35483579 -0.03113661 0.93441001 -0.81356338] [ 0. 0. 0. 1. ]] SLAMing on 463.02463044 meters Centerline goodness : 0.091009 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93482217 -0.00691685 -0.35504882 -1.11443237] [ 0.01756692 0.99948695 0.02678124 0.18853479] [ 0.35468142 -0.03127281 0.93446407 -0.81274035] [ 0. 0. 0. 1. ]] SLAMing on 463.05463044 meters Centerline goodness : 0.091650 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93456651 -0.00160551 -0.35578486 -1.11272103] [ 0.01345255 0.99943421 0.03082676 0.18958034] [ 0.35553407 -0.03359587 0.93405934 -0.81220296] [ 0. 0. 0. 1. ]] SLAMing on 463.08463044 meters Centerline goodness : 0.076247 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93448655 -0.00183044 -0.35599374 -1.11122285] [ 0.01356144 0.99944398 0.03045998 0.1908635 ] [ 0.35574005 -0.03329222 0.93399178 -0.81274458] [ 0. 0. 0. 1. ]] SLAMing on 463.11463044 meters Centerline goodness : 0.089359 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93461443 -0.00693878 -0.35559488 -1.11270998] [ 0.0174858 0.99949707 0.0264548 0.19107315] [ 0.35523247 -0.0309429 0.93426572 -0.81270826] [ 0. 0. 0. 1. ]] SLAMing on 463.14463044 meters Centerline goodness : 0.110286 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93463408 -0.00732564 -0.35553547 -1.11285034] [ 0.01782051 0.99949649 0.02625253 0.18992394] [ 0.35516414 -0.03087233 0.93429403 -0.81263148] [ 0. 0. 0. 1. ]] SLAMing on 463.17463044 meters Centerline goodness : 0.094878 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.9345196 -0.00717459 -0.35583934 -1.11239582] [ 0.01769348 0.9994971 0.02631505 0.19050698] [ 0.35547159 -0.03088796 0.93417658 -0.81230698] [ 0. 0. 0. 1. ]] SLAMing on 463.20463044 meters Centerline goodness : 0.160596 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93441281 -0.00677125 -0.35612757 -1.11228359] [ 0.01745896 0.9994882 0.02680526 0.18907746] [ 0.3557638 -0.03126479 0.9340528 -0.81145482] [ 0. 0. 0. 1. ]] SLAMing on 463.23463044 meters Centerline goodness : 0.097804 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93423713 -0.00666737 -0.35659014 -1.11151316] [ 0.01749647 0.9994782 0.0271515 0.18691588] [ 0.35622304 -0.031605 0.9338663 -0.81066629] [ 0. 0. 0. 1. ]] SLAMing on 463.26463044 meters Centerline goodness : 0.097937 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93405909 -0.00646407 -0.35705999 -1.10942856] [ 0.01730141 0.99948121 0.0271658 0.18750491] [ 0.35669915 -0.03155211 0.93368634 -0.81105099] [ 0. 0. 0. 1. ]] SLAMing on 463.29463044 meters Centerline goodness : 0.094725 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93399423 -0.0063436 -0.35723178 -1.10834059] [ 0.01714886 0.99948595 0.02708773 0.18829233] [ 0.35687631 -0.03142591 0.9336229 -0.81146537] [ 0. 0. 0. 1. ]] SLAMing on 463.32463044 meters Centerline goodness : 0.093055 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93435814 -0.00681453 -0.35627017 -1.1116914 ] [ 0.01744679 0.99949287 0.02663842 0.18847124] [ 0.35590797 -0.0311056 0.93400319 -0.81143839] [ 0. 0. 0. 1. ]] SLAMing on 463.35463044 meters Centerline goodness : 0.092923 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93457269 -0.00724518 -0.35569845 -1.1146964 ] [ 0.01786467 0.99948705 0.02657974 0.18664716] [ 0.35532342 -0.03119514 0.93422274 -0.8106403 ] [ 0. 0. 0. 1. ]] SLAMing on 463.38463044 meters Centerline goodness : 0.093857 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93438211 -0.00699126 -0.35620388 -1.1139111 ] [ 0.01769129 0.99948452 0.0267902 0.18640565] [ 0.35583296 -0.03133399 0.93402413 -0.8100163 ] [ 0. 0. 0. 1. ]] SLAMing on 463.41463044 meters Centerline goodness : 0.093651 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93410717 -0.00659611 -0.35693177 -1.11158588] [ 0.01734762 0.99948681 0.02692898 0.18726641] [ 0.35657097 -0.03134646 0.93374222 -0.8099968 ] [ 0. 0. 0. 1. ]] SLAMing on 463.44463044 meters Centerline goodness : 0.097319 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.19, Z:-0.81 [[ 0.93405283 -0.00648705 -0.35707593 -1.11080528] [ 0.01719015 0.99949277 0.02680873 0.18831242] [ 0.3567209 -0.03117896 0.93369056 -0.81027138] [ 0. 0. 0. 1. ]] SLAMing on 463.47463044 meters Centerline goodness : 0.093255 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93461617 -0.00653383 -0.35559799 -1.1161094 ] [ 0.0170423 0.99950546 0.02642705 0.19036281] [ 0.35524946 -0.03075935 0.93426532 -0.8101662 ] [ 0. 0. 0. 1. ]] SLAMing on 463.50463044 meters Centerline goodness : 0.093845 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93482214 -0.00658419 -0.35505522 -1.11943248] [ 0.01698833 0.99951253 0.02619338 0.1921234 ] [ 0.35470968 -0.03051795 0.9344783 -0.80937468] [ 0. 0. 0. 1. ]] SLAMing on 463.53463044 meters Centerline goodness : 0.093800 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93504065 -0.0068525 -0.3544743 -1.12329912] [ 0.01720408 0.99951235 0.0260593 0.19207189] [ 0.35412287 -0.03046491 0.93470257 -0.80817111] [ 0. 0. 0. 1. ]] SLAMing on 463.56463044000003 meters Centerline goodness : 0.093053 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.9349952 -0.0069228 -0.35459278 -1.12366963] [ 0.01728692 0.99951067 0.02606869 0.19168104] [ 0.3542388 -0.03050391 0.93465736 -0.80758833] [ 0. 0. 0. 1. ]] SLAMing on 463.59463044 meters Centerline goodness : 0.092569 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93479289 -0.007153 -0.35512122 -1.12181934] [ 0.01753408 0.99950756 0.02602282 0.19086481] [ 0.3547602 -0.03055267 0.93445799 -0.80748365] [ 0. 0. 0. 1. ]] SLAMing on 463.62463044000003 meters Centerline goodness : 0.094604 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93472993 -0.00714998 -0.35528697 -1.12143658] [ 0.01756918 0.99950471 0.02610848 0.19029628] [ 0.35492433 -0.03064648 0.93439259 -0.80726874] [ 0. 0. 0. 1. ]] SLAMing on 463.65463044 meters Centerline goodness : 0.094407 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93468671 -0.00714799 -0.35540071 -1.12173039] [ 0.01757651 0.99950421 0.02612285 0.19035764] [ 0.35503778 -0.03066338 0.93434894 -0.80679029] [ 0. 0. 0. 1. ]] SLAMing on 463.68463044000003 meters Centerline goodness : 0.093677 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93476945 -0.00724339 -0.35518109 -1.12307215] [ 0.01767359 0.99950231 0.02613018 0.18977241] [ 0.35481504 -0.03070302 0.93443224 -0.80628707] [ 0. 0. 0. 1. ]] SLAMing on 463.71463044 meters Centerline goodness : 0.092479 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93485126 -0.0074094 -0.35496228 -1.12400344] [ 0.0177836 0.99950446 0.02597259 0.18968152] [ 0.35459394 -0.03059302 0.93451977 -0.80611799] [ 0. 0. 0. 1. ]] SLAMing on 463.74463044000004 meters Centerline goodness : 0.093662 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93487225 -0.0076637 -0.3549016 -1.12450867] [ 0.01793751 0.9995096 0.02566721 0.19024011] [ 0.35453085 -0.03036161 0.93455126 -0.80596569] [ 0. 0. 0. 1. ]] SLAMing on 463.77463044 meters Centerline goodness : 0.092512 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.19, Z:-0.81 [[ 0.93498653 -0.00793494 -0.35459445 -1.12559616] [ 0.01811064 0.99951363 0.02538708 0.19042665] [ 0.35422054 -0.03015851 0.93467549 -0.80598664] [ 0. 0. 0. 1. ]] SLAMing on 463.80463044 meters Centerline goodness : 0.092134 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.19, Z:-0.81 [[ 0.93500231 -0.00796274 -0.35455222 -1.12612341] [ 0.01818454 0.99950922 0.02550754 0.18937894] [ 0.35417511 -0.03029698 0.93468823 -0.80560236] [ 0. 0. 0. 1. ]] SLAMing on 463.83463044 meters Centerline goodness : 0.091769 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.19, Z:-0.81 [[ 0.93481871 -0.00775285 -0.35504065 -1.12501729] [ 0.01799845 0.99951115 0.02556392 0.19019354] [ 0.3546689 -0.03028782 0.93450127 -0.80527069] [ 0. 0. 0. 1. ]] SLAMing on 463.86463044 meters Centerline goodness : 0.091769 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.19, Z:-0.81 [[ 0.93481871 -0.00775285 -0.35504065 -1.12501729] [ 0.01799845 0.99951115 0.02556392 0.19019354] [ 0.3546689 -0.03028782 0.93450127 -0.80527069] [ 0. 0. 0. 1. ]] SLAMing on 463.89463044 meters Centerline goodness : 0.093768 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93472473 -0.00780923 -0.35528677 -1.12394425] [ 0.01803022 0.99951307 0.02546635 0.19031437] [ 0.3549149 -0.03020992 0.93441039 -0.80539756] [ 0. 0. 0. 1. ]] SLAMing on 463.92463044 meters Centerline goodness : 0.101202 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.81 [[ 0.93455187 -0.00819645 -0.35573252 -1.12227928] [ 0.01844982 0.99950608 0.02544023 0.1878149 ] [ 0.3553483 -0.03033841 0.93424149 -0.8052345 ] [ 0. 0. 0. 1. ]] SLAMing on 463.95463044 meters Centerline goodness : 0.092201 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.80 [[ 0.93440028 -0.00780307 -0.35613933 -1.12151162] [ 0.01811061 0.99950776 0.02561729 0.18878732] [ 0.35576413 -0.03038671 0.93408165 -0.80489622] [ 0. 0. 0. 1. ]] SLAMing on 463.98463044 meters Centerline goodness : 0.098126 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.80 [[ 0.93435091 -0.00741762 -0.35627709 -1.12165541] [ 0.01772529 0.99951317 0.02567562 0.19074718] [ 0.35591319 -0.03030515 0.93402752 -0.80468398] [ 0. 0. 0. 1. ]] SLAMing on 464.01463044 meters Centerline goodness : 0.102972 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.80 [[ 0.93446901 -0.00741682 -0.35596721 -1.12309633] [ 0.0175986 0.99952313 0.02537331 0.19316312] [ 0.35560927 -0.02997509 0.93415392 -0.8046055 ] [ 0. 0. 0. 1. ]] SLAMing on 464.04463044 meters Centerline goodness : 0.134268 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.19, Z:-0.81 [[ 0.93534008 -0.00331634 -0.35373426 -1.146314 ] [ 0.01118827 0.99973313 0.02021118 0.18903646] [ 0.35357284 -0.022862 0.93512757 -0.80942899] [ 0. 0. 0. 1. ]] SLAMing on 464.07463044 meters Centerline goodness : 0.227416 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.19, Z:-0.81 [[ 0.9352179 -0.00290317 -0.3540608 -1.14548977] [ 0.01085646 0.99973134 0.02047885 0.1893671 ] [ 0.35390622 -0.02299603 0.93499816 -0.809253 ] [ 0. 0. 0. 1. ]] SLAMing on 464.10463044 meters Centerline goodness : 0.077998 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.19, Z:-0.81 [[ 0.93513559 -0.00281727 -0.35427882 -1.14468935] [ 0.01083098 0.99972833 0.02063893 0.18866159] [ 0.35412443 -0.02313738 0.93491206 -0.80917308] [ 0. 0. 0. 1. ]] SLAMing on 464.13463044 meters Centerline goodness : 0.084606 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.18, Z:-0.81 [[ 0.93519926 -0.00478743 -0.35408958 -1.14687631] [ 0.01250273 0.99973159 0.01950466 0.18477813] [ 0.35390116 -0.02266783 0.9350081 -0.80810856] [ 0. 0. 0. 1. ]] SLAMing on 464.16463044 meters Centerline goodness : 0.152150 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.18, Z:-0.82 [[ 0.93498468 -0.01043054 -0.35453471 -1.16272158] [ 0.01870103 0.99962688 0.01990926 0.18278814] [ 0.35419476 -0.02524501 0.93483087 -0.81548968] [ 0. 0. 0. 1. ]] SLAMing on 464.19463044 meters Centerline goodness : 0.110290 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.18, Z:-0.82 [[ 0.93463349 -0.0091619 -0.35549443 -1.15757032] [ 0.01783922 0.99961738 0.02113882 0.18031575] [ 0.35516474 -0.02609879 0.93443933 -0.81632626] [ 0. 0. 0. 1. ]] SLAMing on 464.22463044 meters Centerline goodness : 0.109473 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.18, Z:-0.82 [[ 0.93472009 -0.0091094 -0.35526803 -1.1578279 ] [ 0.01786767 0.99961176 0.02137937 0.17861464] [ 0.35493535 -0.02633154 0.93451996 -0.81649642] [ 0. 0. 0. 1. ]] SLAMing on 464.25463044 meters Centerline goodness : 0.081328 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.18, Z:-0.82 [[ 0.93495155 -0.00936843 -0.3546517 -1.15987788] [ 0.01816882 0.99960391 0.02149221 0.17628498] [ 0.35430988 -0.02653778 0.93475144 -0.81628267] [ 0. 0. 0. 1. ]] SLAMing on 464.28463044 meters Centerline goodness : 0.145140 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.17, Z:-0.82 [[ 0.93535438 -0.01087212 -0.35354488 -1.16527727] [ 0.01944359 0.99959662 0.02070151 0.17299333] [ 0.3531772 -0.02623743 0.93518846 -0.81529132] [ 0. 0. 0. 1. ]] SLAMing on 464.31463044000003 meters Centerline goodness : 0.181031 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.17, Z:-0.82 [[ 0.93540678 -0.01098763 -0.35340266 -1.1654495 ] [ 0.01951139 0.9995981 0.02056543 0.17312101] [ 0.35303466 -0.02613242 0.93524522 -0.81552974] [ 0. 0. 0. 1. ]] SLAMing on 464.34463044 meters Centerline goodness : 0.094324 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.17, Z:-0.82 [[ 0.93539993 -0.01091554 -0.35342299 -1.16484878] [ 0.0194101 0.99960143 0.02049957 0.17386044] [ 0.35305837 -0.02603527 0.93523898 -0.81593738] [ 0. 0. 0. 1. ]] SLAMing on 464.37463044000003 meters Centerline goodness : 0.087997 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.18, Z:-0.82 [[ 0.93541414 -0.01095848 -0.35338406 -1.16453003] [ 0.01936081 0.99960746 0.02025048 0.1753455 ] [ 0.35302343 -0.02578438 0.93525912 -0.8163587 ] [ 0. 0. 0. 1. ]] SLAMing on 464.40463044 meters Centerline goodness : 0.098233 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93560492 -0.00248648 -0.35304001 -1.18208357] [ 0.0094429 0.99979369 0.0179834 0.17276946] [ 0.35292246 -0.02015908 0.93543538 -0.82221419] [ 0. 0. 0. 1. ]] SLAMing on 464.43463044000003 meters Centerline goodness : 0.095530 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93569982 -0.00251453 -0.35278822 -1.18342582] [ 0.00937277 0.99979882 0.01773323 0.17451127] [ 0.35267265 -0.01989959 0.93553514 -0.82203253] [ 0. 0. 0. 1. ]] SLAMing on 464.46463044 meters Centerline goodness : 0.093775 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.18, Z:-0.82 [[ 0.93571553 -0.00238055 -0.35274746 -1.18405606] [ 0.00918903 0.99980239 0.01762801 0.17620589] [ 0.35263579 -0.01973621 0.9355525 -0.82185197] [ 0. 0. 0. 1. ]] SLAMing on 464.49463044000004 meters Centerline goodness : 0.078841 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.18, Z:-0.82 [[ 0.93578282 -0.00236725 -0.35256901 -1.18460126] [ 0.00913573 0.99980451 0.01753492 0.17720189] [ 0.35245857 -0.01962986 0.93562152 -0.82195633] [ 0. 0. 0. 1. ]] SLAMing on 464.52463044 meters Centerline goodness : 0.096865 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.18, Z:-0.82 [[ 0.93602835 -0.00281722 -0.35191332 -1.18645073] [ 0.00956384 0.99980227 0.0174343 0.17575957] [ 0.35179462 -0.01968464 0.93587021 -0.82201054] [ 0. 0. 0. 1. ]] SLAMing on 464.55463044 meters Centerline goodness : 0.093789 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.17, Z:-0.82 [[ 0.93622225 -0.00478527 -0.35137586 -1.18913495] [ 0.01124695 0.99980306 0.01635094 0.17143392] [ 0.35122842 -0.01926002 0.93609169 -0.82136471] [ 0. 0. 0. 1. ]] SLAMing on 464.58463044 meters Centerline goodness : 0.083769 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93579184 -0.00453108 -0.3525239 -1.18364613] [ 0.01124874 0.99979205 0.01700975 0.1672725 ] [ 0.35237352 -0.01988304 0.93564821 -0.82203971] [ 0. 0. 0. 1. ]] SLAMing on 464.61463044 meters Centerline goodness : 0.142080 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.9356118 -0.00442922 -0.35300274 -1.18090695] [ 0.01120151 0.99979028 0.01714426 0.1661988 ] [ 0.35285277 -0.01999454 0.9354652 -0.82265056] [ 0. 0. 0. 1. ]] SLAMing on 464.64463044 meters Centerline goodness : 0.092934 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93556055 -0.00446058 -0.35313816 -1.17978535] [ 0.0112398 0.99978977 0.01714873 0.16540654] [ 0.35298743 -0.02001288 0.93541401 -0.82301497] [ 0. 0. 0. 1. ]] SLAMing on 464.67463044 meters Centerline goodness : 0.151915 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93563349 -0.00451632 -0.35294416 -1.18028876] [ 0.0112769 0.99979017 0.01710091 0.16510876] [ 0.35279287 -0.01998029 0.93548809 -0.82314816] [ 0. 0. 0. 1. ]] SLAMing on 464.70463044 meters Centerline goodness : 0.098766 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93581728 -0.00393994 -0.35246347 -1.18209544] [ 0.01072057 0.99979308 0.01728796 0.16660611] [ 0.35232242 -0.01995698 0.93566588 -0.82320779] [ 0. 0. 0. 1. ]] SLAMing on 464.73463044 meters Centerline goodness : 0.124647 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93579798 -0.00366942 -0.35251762 -1.18189149] [ 0.01043774 0.99979584 0.01730109 0.16790725] [ 0.35238217 -0.01986982 0.93564523 -0.82333941] [ 0. 0. 0. 1. ]] SLAMing on 464.76463044 meters Centerline goodness : 0.137493 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93576953 -0.00357476 -0.35259412 -1.18122117] [ 0.01028115 0.99980008 0.0171493 0.16931206] [ 0.35246233 -0.01967286 0.9356192 -0.82372463] [ 0. 0. 0. 1. ]] SLAMing on 464.79463044 meters Centerline goodness : 0.133173 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.9357955 -0.0036957 -0.35252393 -1.18075823] [ 0.01028745 0.99980549 0.01682712 0.17068533] [ 0.35239318 -0.01937331 0.9356515 -0.82428651] [ 0. 0. 0. 1. ]] SLAMing on 464.82463044 meters Centerline goodness : 0.129414 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93580935 -0.00380545 -0.35248599 -1.18079182] [ 0.01039655 0.99980469 0.01680771 0.17003938] [ 0.35235318 -0.01939345 0.93566614 -0.82427109] [ 0. 0. 0. 1. ]] SLAMing on 464.85463044 meters Centerline goodness : 0.096392 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93570282 -0.00381657 -0.35276858 -1.17999905] [ 0.01043721 0.99980326 0.01686743 0.16950575] [ 0.3526348 -0.01946482 0.93555856 -0.82409322] [ 0. 0. 0. 1. ]] SLAMing on 464.88463044 meters Centerline goodness : 0.166642 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93552838 -0.00367591 -0.35323241 -1.17824374] [ 0.01035234 0.99980166 0.01701352 0.16900596] [ 0.35309981 -0.01957341 0.93538089 -0.8240918 ] [ 0. 0. 0. 1. ]] SLAMing on 464.91463044 meters Centerline goodness : 0.123840 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93542828 -0.00359701 -0.35349821 -1.17702598] [ 0.0103585 0.99979777 0.01723728 0.1675883 ] [ 0.35336472 -0.01978595 0.93527637 -0.82416451] [ 0. 0. 0. 1. ]] SLAMing on 464.94463044 meters Centerline goodness : 0.189758 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.82 [[ 0.93535113 -0.00357522 -0.35370254 -1.17600675] [ 0.01042036 0.99979343 0.01745029 0.16591031] [ 0.35356709 -0.02000786 0.93519517 -0.82414872] [ 0. 0. 0. 1. ]] SLAMing on 464.97463044 meters Centerline goodness : 0.094484 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.93611359 -0.00884495 -0.35158656 -1.19380771] [ 0.01616969 0.99970898 0.01790252 0.16474424] [ 0.35132589 -0.02244383 0.93598418 -0.83209777] [ 0. 0. 0. 1. ]] SLAMing on 465.00463044 meters Centerline goodness : 0.242039 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.93617232 -0.0085777 -0.35143677 -1.19386711] [ 0.01596361 0.9997083 0.01812413 0.16443336] [ 0.3511788 -0.02257751 0.93603617 -0.832221 ] [ 0. 0. 0. 1. ]] SLAMing on 465.03463044 meters Centerline goodness : 0.242551 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.9362524 -0.00870212 -0.35122033 -1.1942934 ] [ 0.01608493 0.99970664 0.01810825 0.16366537] [ 0.35095971 -0.02260324 0.93611771 -0.83234968] [ 0. 0. 0. 1. ]] SLAMing on 465.06463044000003 meters Centerline goodness : 0.057930 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.93622196 -0.0087531 -0.35130018 -1.19384959] [ 0.01617036 0.99970386 0.01818541 0.1624165 ] [ 0.35103697 -0.02270623 0.93608625 -0.83237279] [ 0. 0. 0. 1. ]] SLAMing on 465.09463044 meters Centerline goodness : 0.121295 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.93602578 -0.00862908 -0.35182564 -1.19226342] [ 0.01610466 0.99970234 0.01832688 0.16205518] [ 0.35156277 -0.02282046 0.93588613 -0.83214721] [ 0. 0. 0. 1. ]] SLAMing on 465.12463044000003 meters Centerline goodness : 0.092709 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.93603845 -0.00860411 -0.35179254 -1.19240146] [ 0.01606923 0.99970329 0.01830585 0.16240696] [ 0.35153066 -0.02278801 0.93589898 -0.83211437] [ 0. 0. 0. 1. ]] SLAMing on 465.15463044 meters Centerline goodness : 0.242017 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.93613585 -0.00874517 -0.35152978 -1.19349146] [ 0.01614477 0.99970539 0.01812393 0.16303723] [ 0.35126772 -0.02264183 0.93600125 -0.83199234] [ 0. 0. 0. 1. ]] SLAMing on 465.18463044000003 meters Centerline goodness : 0.242860 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.16, Z:-0.83 [[ 0.93628535 -0.00897694 -0.35112556 -1.19480854] [ 0.01627871 0.99970817 0.01784887 0.16380918] [ 0.35086286 -0.02242751 0.93615825 -0.83201741] [ 0. 0. 0. 1. ]] SLAMing on 465.21463044 meters Centerline goodness : 0.161142 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.16, Z:-0.83 [[ 0.93649591 -0.00949328 -0.35054997 -1.19646044] [ 0.01674766 0.99970363 0.01766837 0.16304886] [ 0.35027835 -0.02241725 0.93637735 -0.83204344] [ 0. 0. 0. 1. ]] SLAMing on 465.24463044000004 meters Centerline goodness : 0.134008 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.16, Z:-0.83 [[ 0.93649997 -0.01119517 -0.35048892 -1.19756114] [ 0.01830244 0.99968843 0.01697218 0.15766041] [ 0.35018971 -0.02230925 0.93641308 -0.83111768] [ 0. 0. 0. 1. ]] SLAMing on 465.27463044 meters Centerline goodness : 0.098307 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93654943 -0.01291762 -0.35029745 -1.19858164] [ 0.01983206 0.99967274 0.01615859 0.15299796] [ 0.34997408 -0.02208044 0.93649912 -0.83050921] [ 0. 0. 0. 1. ]] SLAMing on 465.30463044 meters Centerline goodness : 0.104487 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93662382 -0.01343363 -0.35007906 -1.19920289] [ 0.02035459 0.99966322 0.01609776 0.15115544] [ 0.34974491 -0.02220326 0.93658182 -0.8303001 ] [ 0. 0. 0. 1. ]] SLAMing on 465.33463044 meters Centerline goodness : 0.138654 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93666969 -0.01360455 -0.34994972 -1.19908776] [ 0.02057833 0.99965671 0.01621722 0.14953206] [ 0.34960895 -0.02239156 0.9366281 -0.83033376] [ 0. 0. 0. 1. ]] SLAMing on 465.36463044 meters Centerline goodness : 0.111111 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93666057 -0.01404426 -0.34995677 -1.19855256] [ 0.0210562 0.99964639 0.01623978 0.14745701] [ 0.34960495 -0.02257992 0.93662507 -0.83032054] [ 0. 0. 0. 1. ]] SLAMing on 465.39463044 meters Centerline goodness : 0.095488 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93657548 -0.01409562 -0.35018236 -1.1974122 ] [ 0.02111093 0.99964549 0.01622398 0.14707862] [ 0.34982953 -0.02258765 0.93654103 -0.83042177] [ 0. 0. 0. 1. ]] SLAMing on 465.42463044 meters Centerline goodness : 0.134535 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93646615 -0.01422692 -0.35046933 -1.19616312] [ 0.02119531 0.99964643 0.01605503 0.14745367] [ 0.350117 -0.0224633 0.93643659 -0.83056408] [ 0. 0. 0. 1. ]] SLAMing on 465.45463044 meters Centerline goodness : 0.090680 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.15, Z:-0.83 [[ 0.93629145 -0.01421102 -0.35093643 -1.19385254] [ 0.02106546 0.99965448 0.01572165 0.14961062] [ 0.35059175 -0.02211269 0.9362673 -0.83105721] [ 0. 0. 0. 1. ]] SLAMing on 465.48463044 meters Centerline goodness : 0.135376 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.15, Z:-0.83 [[ 0.93630785 -0.01420645 -0.35089286 -1.19375734] [ 0.02095601 0.99966109 0.01544529 0.15164821] [ 0.35055451 -0.02181486 0.93628823 -0.83132252] [ 0. 0. 0. 1. ]] SLAMing on 465.51463044 meters Centerline goodness : 0.243295 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.15, Z:-0.83 [[ 0.93636894 -0.01413517 -0.35073267 -1.19382444] [ 0.02079508 0.99966776 0.01522924 0.15359526] [ 0.35040088 -0.0215537 0.93635178 -0.83166998] [ 0. 0. 0. 1. ]] SLAMing on 465.54463044 meters Centerline goodness : 0.135000 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93661064 -0.0145867 -0.3500682 -1.19625428] [ 0.02115604 0.99966442 0.014949 0.15322774] [ 0.34973267 -0.02140745 0.93660492 -0.83146458] [ 0. 0. 0. 1. ]] SLAMing on 465.57463044 meters Centerline goodness : 0.091248 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93686004 -0.01602388 -0.34933724 -1.20053592] [ 0.02246683 0.99964389 0.01439898 0.1488351 ] [ 0.34898211 -0.02133833 0.93688642 -0.83012768] [ 0. 0. 0. 1. ]] SLAMing on 465.60463044 meters Centerline goodness : 0.098796 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93666663 -0.0155866 -0.34987523 -1.19849116] [ 0.02212698 0.99964704 0.01470381 0.14898203] [ 0.34952256 -0.02151425 0.93668091 -0.83018511] [ 0. 0. 0. 1. ]] SLAMing on 465.63463044 meters Centerline goodness : 0.100240 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93655564 -0.01532155 -0.35018392 -1.19656032] [ 0.02184377 0.99965357 0.01468273 0.1501155 ] [ 0.34983764 -0.02140053 0.93656588 -0.83077286] [ 0. 0. 0. 1. ]] SLAMing on 465.66463044 meters Centerline goodness : 0.088982 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.9366893 -0.01548119 -0.34981923 -1.19631507] [ 0.02191416 0.99965559 0.0144386 0.15046694] [ 0.34947523 -0.02119048 0.93670595 -0.83173872] [ 0. 0. 0. 1. ]] SLAMing on 465.69463044 meters Centerline goodness : 0.110099 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.83 [[ 0.93720678 -0.01678756 -0.34836997 -1.20193128] [ 0.02306543 0.99963759 0.01388065 0.14575733] [ 0.34801069 -0.02104434 0.93725434 -0.83123884] [ 0. 0. 0. 1. ]] SLAMing on 465.72463044 meters Centerline goodness : 0.092144 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.14, Z:-0.83 [[ 0.93719284 -0.01622157 -0.34843426 -1.20202778] [ 0.02266437 0.9996391 0.01442215 0.14479296] [ 0.34807456 -0.02141339 0.93722226 -0.83093506] [ 0. 0. 0. 1. ]] SLAMing on 465.75463044 meters Centerline goodness : 0.091194 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.14, Z:-0.83 [[ 0.9371029 -0.01552541 -0.34870779 -1.20083241] [ 0.02220554 0.99963836 0.01516766 0.14291973] [ 0.3483462 -0.0219569 0.93710876 -0.83093495] [ 0. 0. 0. 1. ]] SLAMing on 465.78463044 meters Centerline goodness : 0.091194 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.14, Z:-0.83 [[ 0.9371029 -0.01552541 -0.34870779 -1.20083241] [ 0.02220554 0.99963836 0.01516766 0.14291973] [ 0.3483462 -0.0219569 0.93710876 -0.83093495] [ 0. 0. 0. 1. ]] SLAMing on 465.81463044000003 meters Centerline goodness : 0.093761 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.14, Z:-0.84 [[ 0.93744599 -0.01039636 -0.34797549 -1.22700222] [ 0.01639659 0.99976326 0.01430279 0.13679218] [ 0.34774441 -0.0191137 0.93739452 -0.84385992] [ 0. 0. 0. 1. ]] SLAMing on 465.84463044 meters Centerline goodness : 0.114039 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.14, Z:-0.84 [[ 0.93743348 -0.01026592 -0.34801304 -1.22577744] [ 0.01630813 0.99976278 0.01443712 0.13572028] [ 0.34778228 -0.01920929 0.93737852 -0.84445759] [ 0. 0. 0. 1. ]] SLAMing on 465.87463044000003 meters Centerline goodness : 0.077261 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.14, Z:-0.85 [[ 0.93779009 -0.00974887 -0.34706585 -1.22766983] [ 0.01581364 0.99976768 0.01464642 0.1355808 ] [ 0.34684243 -0.01922364 0.93772639 -0.8453222 ] [ 0. 0. 0. 1. ]] SLAMing on 465.90463044 meters Centerline goodness : 0.091081 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.14, Z:-0.85 [[ 0.93797305 -0.00926989 -0.34658422 -1.22920105] [ 0.01535449 0.99977237 0.01481405 0.13684114] [ 0.346368 -0.0192168 0.93790187 -0.84552629] [ 0. 0. 0. 1. ]] SLAMing on 465.93463044000003 meters Centerline goodness : 0.097959 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.14, Z:-0.85 [[ 0.93812803 -0.00918185 -0.34616686 -1.23040351] [ 0.01520904 0.99977629 0.01469878 0.13796073] [ 0.34595445 -0.0190542 0.93805781 -0.84576574] [ 0. 0. 0. 1. ]] SLAMing on 465.96463044 meters Centerline goodness : 0.146095 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.14, Z:-0.85 [[ 0.93792128 -0.00948903 -0.34671839 -1.22709803] [ 0.015422 0.999778 0.01435658 0.13693024] [ 0.34650519 -0.01881243 0.9378594 -0.84666658] [ 0. 0. 0. 1. ]] SLAMing on 465.99463044000004 meters Centerline goodness : 0.121998 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.14, Z:-0.85 [[ 0.93769034 -0.00954797 -0.34734086 -1.22408999] [ 0.01551343 0.99977599 0.01439786 0.13564148] [ 0.34712558 -0.01888918 0.93762841 -0.84713302] [ 0. 0. 0. 1. ]] SLAMing on 466.02463044 meters Centerline goodness : 0.074502 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.14, Z:-0.85 [[ 0.93750334 -0.00917373 -0.34785534 -1.22170026] [ 0.01523783 0.99977582 0.01470107 0.13531964] [ 0.34764249 -0.01908287 0.93743295 -0.84753147] [ 0. 0. 0. 1. ]] SLAMing on 466.05463044 meters Centerline goodness : 0.103056 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.14, Z:-0.85 [[ 0.93738847 -0.00888527 -0.34817225 -1.22030289] [ 0.01498652 0.99977765 0.01483431 0.13587776] [ 0.34796303 -0.0191234 0.9373132 -0.84776215] [ 0. 0. 0. 1. ]] SLAMing on 466.08463044 meters Centerline goodness : 0.149923 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.14, Z:-0.85 [[ 0.93743778 -0.00887153 -0.34803982 -1.22059608] [ 0.01494841 0.99977904 0.01477886 0.13640994] [ 0.3478318 -0.0190569 0.93736325 -0.84789491] [ 0. 0. 0. 1. ]] SLAMing on 466.11463044 meters Centerline goodness : 0.139515 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.14, Z:-0.85 [[ 0.93782644 -0.00947129 -0.3469753 -1.22307932] [ 0.01541539 0.99977784 0.01437499 0.13551165] [ 0.34676206 -0.01883 0.9377641 -0.84828472] [ 0. 0. 0. 1. ]] SLAMing on 466.14463044 meters Centerline goodness : 0.124900 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.85 [[ 0.93792726 -0.00966996 -0.34669719 -1.22382595] [ 0.01570987 0.99976977 0.01461502 0.13267695] [ 0.34647605 -0.01915439 0.93786324 -0.84815986] [ 0. 0. 0. 1. ]] SLAMing on 466.17463044 meters Centerline goodness : 0.143832 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.85 [[ 0.93783748 -0.00957015 -0.34694276 -1.22251181] [ 0.01583451 0.9997587 0.01522544 0.12893174] [ 0.34671334 -0.01977265 0.93776271 -0.84812718] [ 0. 0. 0. 1. ]] SLAMing on 466.20463044 meters Centerline goodness : 0.091209 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.12, Z:-0.85 [[ 0.93747824 -0.00943863 -0.3479159 -1.21693362] [ 0.01599007 0.9997447 0.01596396 0.12309484] [ 0.34767639 -0.02052906 0.93738982 -0.84898087] [ 0. 0. 0. 1. ]] SLAMing on 466.23463044 meters Centerline goodness : 0.098231 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.12, Z:-0.85 [[ 0.93744134 -0.00951972 -0.34801308 -1.2156261 ] [ 0.01610864 0.99974151 0.01604435 0.12143008] [ 0.34777039 -0.02064666 0.93735237 -0.8494805 ] [ 0. 0. 0. 1. ]] SLAMing on 466.26463044 meters Centerline goodness : 0.091328 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.85 [[ 0.93742761 -0.0092429 -0.34805753 -1.2149786 ] [ 0.01593841 0.99973882 0.01637839 0.11987529] [ 0.34781524 -0.02090104 0.9373301 -0.84959824] [ 0. 0. 0. 1. ]] SLAMing on 466.29463044 meters Centerline goodness : 0.090783 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.12, Z:-0.85 [[ 0.9374529 -0.00897183 -0.34799651 -1.21554316] [ 0.01572307 0.99973889 0.01658104 0.11995136] [ 0.34775688 -0.02101552 0.93734919 -0.84939642] [ 0. 0. 0. 1. ]] SLAMing on 466.32463044 meters Centerline goodness : 0.080036 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.12, Z:-0.85 [[ 0.93742244 -0.00844596 -0.34809169 -1.21567984] [ 0.01525706 0.99974195 0.01683043 0.12096915] [ 0.34785972 -0.02108808 0.9373094 -0.84911705] [ 0. 0. 0. 1. ]] SLAMing on 466.35463044 meters Centerline goodness : 0.115201 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.12, Z:-0.85 [[ 0.9373624 -0.00808065 -0.34826203 -1.21532993] [ 0.0148968 0.99974623 0.01689849 0.12232375] [ 0.3480371 -0.021028 0.9372449 -0.84904486] [ 0. 0. 0. 1. ]] SLAMing on 466.38463044 meters Centerline goodness : 0.207727 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.85 [[ 0.93741793 -0.00786445 -0.34811748 -1.21435979] [ 0.01460417 0.9997532 0.01674061 0.12395491] [ 0.34789991 -0.02077692 0.93730143 -0.85022424] [ 0. 0. 0. 1. ]] SLAMing on 466.41463044 meters Centerline goodness : 0.097163 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.85 [[ 0.93741166 -0.00757122 -0.34814085 -1.21342946] [ 0.01440171 0.99975115 0.01703619 0.12294397] [ 0.34792523 -0.02098375 0.93728742 -0.85067439] [ 0. 0. 0. 1. ]] SLAMing on 466.44463044 meters Centerline goodness : 0.153198 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.85 [[ 0.93741356 -0.00728315 -0.34814187 -1.21308098] [ 0.01425779 0.99974562 0.01747606 0.12093649] [ 0.34792603 -0.02134603 0.93727895 -0.85071653] [ 0. 0. 0. 1. ]] SLAMing on 466.47463044 meters Centerline goodness : 0.094169 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.11, Z:-0.85 [[ 0.93745805 -0.00831607 -0.34799892 -1.21327468] [ 0.0153291 0.99973102 0.01740395 0.11320203] [ 0.34776059 -0.02164998 0.93733337 -0.85053659] [ 0. 0. 0. 1. ]] SLAMing on 466.50463044 meters Centerline goodness : 0.155561 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.11, Z:-0.85 [[ 0.93746612 -0.00845345 -0.34797386 -1.21221218] [ 0.01556412 0.99972318 0.01764421 0.10936179] [ 0.34772838 -0.02195675 0.93733819 -0.85091901] [ 0. 0. 0. 1. ]] SLAMing on 466.53463044 meters Centerline goodness : 0.095430 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.11, Z:-0.85 [[ 0.93751235 -0.00864235 -0.34784464 -1.21167898] [ 0.01582335 0.99971619 0.01780878 0.10593657] [ 0.34759201 -0.02220002 0.93738303 -0.85126759] [ 0. 0. 0. 1. ]] SLAMing on 466.56463044000003 meters Centerline goodness : 0.096158 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.10, Z:-0.85 [[ 0.93755888 -0.00841145 -0.34772489 -1.21126423] [ 0.01574289 0.99970925 0.01826409 0.10323621] [ 0.34747016 -0.02259786 0.9374187 -0.85153185] [ 0. 0. 0. 1. ]] SLAMing on 466.59463044 meters Centerline goodness : 0.140989 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.10, Z:-0.85 [[ 0.93773038 -0.00815474 -0.34726826 -1.21213219] [ 0.01561777 0.99970321 0.01869719 0.101105 ] [ 0.34701272 -0.02295648 0.93757942 -0.85180105] [ 0. 0. 0. 1. ]] SLAMing on 466.62463044000003 meters Centerline goodness : 0.184694 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.10, Z:-0.85 [[ 0.93803958 -0.00788029 -0.34643851 -1.21417717] [ 0.01550572 0.99969456 0.01924466 0.09822306] [ 0.34618104 -0.02342403 0.93787526 -0.85209895] [ 0. 0. 0. 1. ]] SLAMing on 466.65463044 meters Centerline goodness : 0.147953 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.10, Z:-0.85 [[ 0.93805619 -0.00790552 -0.34639296 -1.21326175] [ 0.01558556 0.99969048 0.01939143 0.09620357] [ 0.34613245 -0.02358898 0.93788906 -0.8526019 ] [ 0. 0. 0. 1. ]] SLAMing on 466.68463044000003 meters Centerline goodness : 0.095219 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.85 [[ 0.93800071 -0.00794854 -0.34654218 -1.21149246] [ 0.0157115 0.99968449 0.0195975 0.09355227] [ 0.34627707 -0.02382717 0.93782965 -0.85320205] [ 0. 0. 0. 1. ]] SLAMing on 466.71463044 meters Centerline goodness : 0.242826 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.85 [[ 0.93795813 -0.00896792 -0.34663254 -1.20968641] [ 0.01667289 0.99967563 0.01925228 0.08765572] [ 0.34634745 -0.0238372 0.93780341 -0.85376041] [ 0. 0. 0. 1. ]] SLAMing on 466.74463044000004 meters Centerline goodness : 0.143511 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.85 [[ 0.93803042 -0.00878619 -0.34644154 -1.21007651] [ 0.01661023 0.9996695 0.01962126 0.08565917] [ 0.34615464 -0.02415981 0.93786634 -0.85376536] [ 0. 0. 0. 1. ]] SLAMing on 466.77463044 meters Centerline goodness : 0.157349 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.08, Z:-0.85 [[ 0.93807536 -0.00841891 -0.34632894 -1.2102218 ] [ 0.01638431 0.99966416 0.02007813 0.08377296] [ 0.34604359 -0.02450916 0.93789825 -0.85368558] [ 0. 0. 0. 1. ]] SLAMing on 466.80463044 meters Centerline goodness : 0.120488 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.08, Z:-0.85 [[ 0.93806604 -0.00817037 -0.34636014 -1.20975773] [ 0.01626578 0.9996581 0.02047234 0.08170133] [ 0.34607445 -0.02483822 0.93787821 -0.85375146] [ 0. 0. 0. 1. ]] SLAMing on 466.83463044 meters Centerline goodness : 0.241206 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.08, Z:-0.85 [[ 0.93795837 -0.00758274 -0.34666497 -1.20627875] [ 0.015907 0.99964927 0.02117325 0.077668 ] [ 0.34638283 -0.02537403 0.93775002 -0.85494948] [ 0. 0. 0. 1. ]] SLAMing on 466.86463044 meters Centerline goodness : 0.127465 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.08, Z:-0.86 [[ 0.93792994 -0.00740866 -0.34674565 -1.2047786 ] [ 0.01578223 0.99964788 0.02133141 0.07653038] [ 0.34646551 -0.02547979 0.9377166 -0.85570519] [ 0. 0. 0. 1. ]] SLAMing on 466.89463044 meters Centerline goodness : 0.127311 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.08, Z:-0.86 [[ 0.93787895 -0.00723725 -0.34688716 -1.2035345 ] [ 0.01560402 0.99965066 0.02133248 0.07659595] [ 0.34661159 -0.02542012 0.93766424 -0.85621188] [ 0. 0. 0. 1. ]] SLAMing on 466.92463044 meters Centerline goodness : 0.240153 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.08, Z:-0.86 [[ 0.93776578 -0.00681737 -0.34720148 -1.20204442] [ 0.01517227 0.99965692 0.02135074 0.07781347] [ 0.34693681 -0.02528983 0.93754748 -0.85658731] [ 0. 0. 0. 1. ]] SLAMing on 466.95463044 meters Centerline goodness : 0.094783 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.08, Z:-0.86 [[ 0.93763036 -0.00630577 -0.34757667 -1.20024324] [ 0.01463465 0.9996651 0.02134274 0.07983221] [ 0.34732569 -0.02509827 0.93740863 -0.85708828] [ 0. 0. 0. 1. ]] SLAMing on 466.98463044 meters Centerline goodness : 0.236774 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.09, Z:-0.86 [[ 0.93755936 -0.00292959 -0.34781298 -1.1965613 ] [ 0.01162547 0.99966977 0.02291734 0.08608882] [ 0.34763098 -0.02552985 0.9372838 -0.85880062] [ 0. 0. 0. 1. ]] SLAMing on 467.01463044 meters Centerline goodness : 0.102460 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.09, Z:-0.86 [[ 0.93744115 -0.00258612 -0.34813418 -1.19570743] [ 0.01118839 0.99967968 0.02270149 0.08901228] [ 0.34796396 -0.02517637 0.9371698 -0.8587964 ] [ 0. 0. 0. 1. ]] SLAMing on 467.04463044 meters Centerline goodness : 0.125218 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.09, Z:-0.86 [[ 0.9373637 -0.002369 -0.34834419 -1.19547261] [ 0.01086391 0.99968927 0.0224352 0.0919782 ] [ 0.3481828 -0.02481432 0.93709817 -0.85861514] [ 0. 0. 0. 1. ]] SLAMing on 467.07463044 meters Centerline goodness : 0.236746 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.09, Z:-0.86 [[ 0.93734805 -0.00217204 -0.3483876 -1.19621873] [ 0.01059044 0.99969609 0.02226127 0.09448077] [ 0.34823337 -0.02455613 0.93708618 -0.85811419] [ 0. 0. 0. 1. ]] SLAMing on 467.10463044 meters Centerline goodness : 0.237629 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:-0.85 [[ 0.93874939 0.00327607 -0.34458504 -1.18172759] [ 0.00441743 0.99975824 0.02153935 0.09959031] [ 0.3445723 -0.02174223 0.93850797 -0.85110135] [ 0. 0. 0. 1. ]] SLAMing on 467.13463044 meters Centerline goodness : 0.093896 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:-0.85 [[ 0.93878459 0.00323929 -0.34448948 -1.18217819] [ 0.00439232 0.99976197 0.02137062 0.10070266] [ 0.34447671 -0.02157551 0.9385469 -0.85096666] [ 0. 0. 0. 1. ]] SLAMing on 467.16463044 meters Centerline goodness : 0.236327 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:-0.85 [[ 0.93872254 0.00333126 -0.34465765 -1.1814005 ] [ 0.00428901 0.99976297 0.02134481 0.1014321 ] [ 0.34464706 -0.0215151 0.93848575 -0.85096947] [ 0. 0. 0. 1. ]] SLAMing on 467.19463044 meters Centerline goodness : 0.113247 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:-0.85 [[ 0.93846011 0.00343323 -0.34537057 -1.17926994] [ 0.00413234 0.99976741 0.02116703 0.10353862] [ 0.34536291 -0.02129161 0.93822765 -0.85064829] [ 0. 0. 0. 1. ]] SLAMing on 467.22463044 meters Centerline goodness : 0.122666 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:-0.85 [[ 0.93838099 0.00340008 -0.34558581 -1.17895962] [ 0.00410376 0.99977149 0.02097944 0.10481633] [ 0.34557817 -0.02110491 0.9381526 -0.85024245] [ 0. 0. 0. 1. ]] SLAMing on 467.25463044 meters Centerline goodness : 0.237333 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.85 [[ 0.93833176 0.00357246 -0.34571773 -1.17873552] [ 0.00392278 0.99977224 0.02097813 0.10578485] [ 0.34571393 -0.02104062 0.93810403 -0.84992005] [ 0. 0. 0. 1. ]] SLAMing on 467.28463044 meters Centerline goodness : 0.207166 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.85 [[ 0.93828523 0.00352053 -0.34584452 -1.17890101] [ 0.0039055 0.99977659 0.02077299 0.10732485] [ 0.34584038 -0.02084169 0.93806186 -0.84947322] [ 0. 0. 0. 1. ]] SLAMing on 467.31463044000003 meters Centerline goodness : 0.146770 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.85 [[ 0.93819866 0.00349883 -0.34607952 -1.17846835] [ 0.00386765 0.99978047 0.02059264 0.10872785] [ 0.34607559 -0.0206585 0.93797916 -0.84915171] [ 0. 0. 0. 1. ]] SLAMing on 467.34463044 meters Centerline goodness : 0.133240 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.85 [[ 0.93813587 0.00341651 -0.3462505 -1.17802783] [ 0.00388824 0.99978434 0.02039989 0.10994551] [ 0.34624552 -0.02048417 0.93792027 -0.84898227] [ 0. 0. 0. 1. ]] SLAMing on 467.37463044000003 meters Centerline goodness : 0.142536 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.85 [[ 0.93799421 0.00322366 -0.34663593 -1.17730843] [ 0.00394947 0.99979248 0.01998515 0.11242016] [ 0.34662842 -0.02011498 0.93778682 -0.84851591] [ 0. 0. 0. 1. ]] SLAMing on 467.40463044 meters Centerline goodness : 0.114518 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93797086 -0.00375843 -0.34669374 -1.16224463] [ 0.01239787 0.99966533 0.02270497 0.11833563] [ 0.34649237 -0.02559487 0.93770354 -0.84325006] [ 0. 0. 0. 1. ]] SLAMing on 467.43463044000003 meters Centerline goodness : 0.151196 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93794417 -0.00414182 -0.34676157 -1.1621683 ] [ 0.01270209 0.99966801 0.02241713 0.11805229] [ 0.3465536 -0.02543061 0.93768539 -0.84290027] [ 0. 0. 0. 1. ]] SLAMing on 467.46463044 meters Centerline goodness : 0.141478 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93784103 -0.00455931 -0.34703517 -1.1618868 ] [ 0.01309421 0.99966662 0.02225278 0.11691648] [ 0.34681802 -0.02541372 0.93758808 -0.84203083] [ 0. 0. 0. 1. ]] SLAMing on 467.49463044000004 meters Centerline goodness : 0.236715 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93772075 -0.00431434 -0.34736319 -1.1611199 ] [ 0.01289287 0.9996662 0.0223887 0.11755413] [ 0.34715065 -0.02547286 0.93746336 -0.84170937] [ 0. 0. 0. 1. ]] SLAMing on 467.52463044 meters Centerline goodness : 0.237577 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93770768 -0.00431878 -0.3473984 -1.16103248] [ 0.01283939 0.99967046 0.02222876 0.11887836] [ 0.34718792 -0.02530446 0.93745412 -0.84156865] [ 0. 0. 0. 1. ]] SLAMing on 467.55463044 meters Centerline goodness : 0.236612 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93783218 -0.00461486 -0.34705837 -1.16198263] [ 0.01303972 0.99967417 0.0219436 0.1190399 ] [ 0.34684402 -0.02510496 0.93758678 -0.84145271] [ 0. 0. 0. 1. ]] SLAMing on 467.58463044 meters Centerline goodness : 0.236714 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.12, Z:-0.84 [[ 0.93819421 -0.00647203 -0.34604876 -1.16743712] [ 0.01450778 0.99968178 0.02063623 0.11726351] [ 0.34580508 -0.02438119 0.93798955 -0.83993138] [ 0. 0. 0. 1. ]] SLAMing on 467.61463044 meters Centerline goodness : 0.148485 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.12, Z:-0.84 [[ 0.93798934 -0.00590829 -0.34661375 -1.16544612] [ 0.01403353 0.99968231 0.02093653 0.11800891] [ 0.34637994 -0.02450245 0.93777426 -0.83981154] [ 0. 0. 0. 1. ]] SLAMing on 467.64463044 meters Centerline goodness : 0.191453 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93774897 -0.00564124 -0.34726797 -1.16266674] [ 0.01378536 0.99968473 0.02098594 0.11885345] [ 0.3470401 -0.02446675 0.93753109 -0.84004983] [ 0. 0. 0. 1. ]] SLAMing on 467.67463044 meters Centerline goodness : 0.191453 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93774897 -0.00564124 -0.34726797 -1.16266674] [ 0.01378536 0.99968473 0.02098594 0.11885345] [ 0.3470401 -0.02446675 0.93753109 -0.84004983] [ 0. 0. 0. 1. ]] SLAMing on 467.70463044 meters Centerline goodness : 0.236793 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93767734 -0.0057839 -0.34745899 -1.1610624 ] [ 0.0139001 0.99968555 0.02087075 0.1182419 ] [ 0.34722902 -0.02439975 0.93746288 -0.84049179] [ 0. 0. 0. 1. ]] SLAMing on 467.73463044 meters Centerline goodness : 0.109647 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93745318 -0.00568489 -0.34806497 -1.159318 ] [ 0.0138359 0.99968506 0.02093694 0.1179133 ] [ 0.34783632 -0.0244432 0.93723659 -0.83998451] [ 0. 0. 0. 1. ]] SLAMing on 467.76463044 meters Centerline goodness : 0.236185 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93749787 -0.00564176 -0.34794528 -1.16081389] [ 0.01384971 0.99968129 0.02110708 0.11710016] [ 0.34771531 -0.02460678 0.93727721 -0.83898371] [ 0. 0. 0. 1. ]] SLAMing on 467.79463044 meters Centerline goodness : 0.144505 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93740224 -0.00554571 -0.34820438 -1.16072942] [ 0.01376784 0.99968166 0.02114291 0.11759899] [ 0.34797628 -0.02461343 0.93718018 -0.83830488] [ 0. 0. 0. 1. ]] SLAMing on 467.82463044 meters Centerline goodness : 0.055928 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93712697 -0.00556694 -0.34894419 -1.15611837] [ 0.01362504 0.99969407 0.02064271 0.12031387] [ 0.34872252 -0.02409922 0.93691613 -0.83940327] [ 0. 0. 0. 1. ]] SLAMing on 467.85463044 meters Centerline goodness : 0.088264 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93734207 -0.00638376 -0.34835195 -1.15791243] [ 0.01429497 0.99969487 0.02014476 0.11896921] [ 0.34811706 -0.02386221 0.93714732 -0.83927362] [ 0. 0. 0. 1. ]] SLAMing on 467.88463044 meters Centerline goodness : 0.140752 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93757937 -0.00747829 -0.34769096 -1.16225499] [ 0.01523282 0.99969235 0.01957482 0.11628146] [ 0.3474376 -0.02364926 0.93740483 -0.83768616] [ 0. 0. 0. 1. ]] SLAMing on 467.91463044 meters Centerline goodness : 0.236668 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93740215 -0.0066228 -0.3481858 -1.16167773] [ 0.01461408 0.99968651 0.0203298 0.11583625] [ 0.34794201 -0.02414561 0.93720507 -0.8367201 ] [ 0. 0. 0. 1. ]] SLAMing on 467.94463044 meters Centerline goodness : 0.234326 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93689167 -0.00576107 -0.34957233 -1.15563495] [ 0.01389519 0.99968781 0.0207654 0.11727655] [ 0.34934357 -0.0243123 0.93667923 -0.83720928] [ 0. 0. 0. 1. ]] SLAMing on 467.97463044 meters Centerline goodness : 0.234794 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.84 [[ 0.93687933 -0.01057908 -0.34949278 -1.1558981 ] [ 0.0176901 0.99969624 0.01716092 0.1152888 ] [ 0.34920507 -0.02226027 0.93678188 -0.8367877 ] [ 0. 0. 0. 1. ]] SLAMing on 468.00463044 meters Centerline goodness : 0.131880 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.84 [[ 0.936948 -0.01085979 -0.34930002 -1.15636167] [ 0.01797367 0.99969169 0.01713125 0.11335265] [ 0.34900629 -0.0223293 0.93685432 -0.83664447] [ 0. 0. 0. 1. ]] SLAMing on 468.03463044 meters Centerline goodness : 0.236129 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.84 [[ 0.93678995 -0.01010757 -0.34974623 -1.15526273] [ 0.01739717 0.99969185 0.01770724 0.11334834] [ 0.34945948 -0.02267256 0.93667712 -0.83617745] [ 0. 0. 0. 1. ]] SLAMing on 468.06463044000003 meters Centerline goodness : 0.235273 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.84 [[ 0.93655392 -0.009085 -0.35040578 -1.15329772] [ 0.01648322 0.99969964 0.01813655 0.11616324] [ 0.35013576 -0.02276167 0.93642237 -0.83577636] [ 0. 0. 0. 1. ]] SLAMing on 468.09463044 meters Centerline goodness : 0.234336 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.84 [[ 0.93675995 -0.00970743 -0.3498379 -1.15420359] [ 0.01695971 0.99969997 0.01767293 0.11508632] [ 0.34956138 -0.02248845 0.93664354 -0.83599299] [ 0. 0. 0. 1. ]] SLAMing on 468.12463044000003 meters Centerline goodness : 0.094502 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.84 [[ 0.93686888 -0.01009529 -0.3495351 -1.15504333] [ 0.01724272 0.99970091 0.01734272 0.11470219] [ 0.34925548 -0.02227479 0.93676275 -0.83588196] [ 0. 0. 0. 1. ]] SLAMing on 468.15463044 meters Centerline goodness : 0.235608 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.84 [[ 0.93678129 -0.00983895 -0.34977709 -1.15487355] [ 0.01700015 0.99970391 0.01740932 0.11570375] [ 0.34950224 -0.02225499 0.93667118 -0.8354276 ] [ 0. 0. 0. 1. ]] SLAMing on 468.18463044000003 meters Centerline goodness : 0.232986 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.84 [[ 0.93651726 -0.00753457 -0.35054051 -1.15089555] [ 0.01510699 0.99970776 0.01887255 0.11874535] [ 0.35029588 -0.02297008 0.9363574 -0.83596342] [ 0. 0. 0. 1. ]] SLAMing on 468.21463044 meters Centerline goodness : 0.234227 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.84 [[ 0.93641458 -0.00779768 -0.35080898 -1.14952636] [ 0.01520819 0.99971552 0.01837384 0.12052573] [ 0.3505659 -0.0225407 0.93626677 -0.83605415] [ 0. 0. 0. 1. ]] SLAMing on 468.24463044000004 meters Centerline goodness : 0.234782 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.84 [[ 0.93651747 -0.00943366 -0.35049399 -1.15113717] [ 0.01656425 0.99971223 0.01735199 0.1168174 ] [ 0.35022944 -0.02205612 0.93640422 -0.83541938] [ 0. 0. 0. 1. ]] SLAMing on 468.27463044 meters Centerline goodness : 0.121246 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.9363541 -0.00932218 -0.35093318 -1.15004629] [ 0.01652601 0.99970961 0.01753814 0.11567499] [ 0.35066777 -0.02222144 0.93623625 -0.83493531] [ 0. 0. 0. 1. ]] SLAMing on 468.30463044 meters Centerline goodness : 0.234279 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93599483 -0.0085579 -0.35190971 -1.14641541] [ 0.01593626 0.99970962 0.0180752 0.11559749] [ 0.35165284 -0.02252642 0.93585941 -0.83492215] [ 0. 0. 0. 1. ]] SLAMing on 468.33463044 meters Centerline goodness : 0.233557 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.84 [[ 0.93568038 -0.00722479 -0.35277475 -1.14082494] [ 0.01487667 0.9997091 0.0189841 0.11557334] [ 0.35253497 -0.02301117 0.93551568 -0.83601894] [ 0. 0. 0. 1. ]] SLAMing on 468.36463044 meters Centerline goodness : 0.233667 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.84 [[ 0.9356932 -0.0075071 -0.35273484 -1.14108824] [ 0.01508372 0.99971068 0.01873591 0.11536033] [ 0.35249214 -0.02285161 0.93553573 -0.83575626] [ 0. 0. 0. 1. ]] SLAMing on 468.39463044 meters Centerline goodness : 0.232593 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.11, Z:-0.84 [[ 0.93570115 -0.00750894 -0.35271374 -1.14157736] [ 0.01508278 0.99971081 0.01872963 0.11489897] [ 0.3524711 -0.02284524 0.93554381 -0.83515885] [ 0. 0. 0. 1. ]] SLAMing on 468.42463044 meters Centerline goodness : 0.094359 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93584231 -0.0037687 -0.35239889 -1.14460861] [ 0.01214708 0.99969361 0.02156707 0.11555696] [ 0.35220964 -0.02446399 0.93560135 -0.83380135] [ 0. 0. 0. 1. ]] SLAMing on 468.45463044 meters Centerline goodness : 0.233355 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93581821 -0.00375335 -0.35246304 -1.14494868] [ 0.01205456 0.99969917 0.02136013 0.11726585] [ 0.35227684 -0.02423799 0.93558193 -0.83333169] [ 0. 0. 0. 1. ]] SLAMing on 468.48463044 meters Centerline goodness : 0.097237 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.9357827 -0.00394565 -0.35255519 -1.14453873] [ 0.01210496 0.99970741 0.02094173 0.1191181 ] [ 0.35236941 -0.02386458 0.93555667 -0.83340402] [ 0. 0. 0. 1. ]] SLAMing on 468.51463044 meters Centerline goodness : 0.234292 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93564449 -0.00419101 -0.35291901 -1.14277258] [ 0.01217622 0.99971756 0.02040917 0.12064778] [ 0.35273379 -0.02339295 0.93543126 -0.83343734] [ 0. 0. 0. 1. ]] SLAMing on 468.54463044 meters Centerline goodness : 0.096264 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93564842 -0.00433312 -0.35290687 -1.14361088] [ 0.01231098 0.99971682 0.02036472 0.11993388] [ 0.35271869 -0.02339884 0.93543681 -0.83268881] [ 0. 0. 0. 1. ]] SLAMing on 468.57463044 meters Centerline goodness : 0.045651 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93547408 -0.00389757 -0.35337381 -1.14313633] [ 0.01199257 0.99971337 0.02072109 0.11992155] [ 0.35319176 -0.0236219 0.93525269 -0.83184009] [ 0. 0. 0. 1. ]] SLAMing on 468.60463044 meters Centerline goodness : 0.094352 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93528571 -0.00358454 -0.3538754 -1.14234284] [ 0.01173119 0.99971319 0.02087883 0.12076115] [ 0.35369907 -0.02367905 0.9350595 -0.83110963] [ 0. 0. 0. 1. ]] SLAMing on 468.63463044 meters Centerline goodness : 0.234865 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93530898 -0.00407969 -0.35380851 -1.14252609] [ 0.012134 0.99971521 0.02054929 0.120508 ] [ 0.35362391 -0.02351305 0.93509212 -0.83063519] [ 0. 0. 0. 1. ]] SLAMing on 468.66463044 meters Centerline goodness : 0.095218 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93547806 -0.00451806 -0.35335589 -1.1440269 ] [ 0.01246057 0.99971819 0.02020569 0.12057967] [ 0.35316502 -0.023305 0.93527073 -0.83045305] [ 0. 0. 0. 1. ]] SLAMing on 468.69463044 meters Centerline goodness : 0.236500 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93560078 -0.00474759 -0.35302782 -1.14580901] [ 0.01264297 0.99971879 0.02006222 0.12058091] [ 0.3528333 -0.02323355 0.9353977 -0.82977242] [ 0. 0. 0. 1. ]] SLAMing on 468.72463044 meters Centerline goodness : 0.093944 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93563667 -0.00464922 -0.35293401 -1.14618723] [ 0.0126025 0.99971571 0.02024023 0.11980433] [ 0.35273957 -0.02338535 0.93542927 -0.82948805] [ 0. 0. 0. 1. ]] SLAMing on 468.75463044 meters Centerline goodness : 0.237576 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.93542044 -0.00494537 -0.35350268 -1.14435225] [ 0.0129667 0.99970931 0.02032626 0.11735646] [ 0.3532994 -0.02359736 0.93521265 -0.82898653] [ 0. 0. 0. 1. ]] SLAMing on 468.78463044 meters Centerline goodness : 0.238282 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 0.9353091 -0.00516555 -0.35379401 -1.14262733] [ 0.01322094 0.99970539 0.02035547 0.1152858 ] [ 0.35358463 -0.02371615 0.93510184 -0.82910875] [ 0. 0. 0. 1. ]] SLAMing on 468.81463044000003 meters Centerline goodness : 0.106250 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.11, Z:-0.83 [[ 0.93515122 -0.00529798 -0.35420915 -1.14117094] [ 0.01342295 0.99970004 0.02048534 0.11307686] [ 0.35399437 -0.02391142 0.93494183 -0.82882587] [ 0. 0. 0. 1. ]] SLAMing on 468.84463044 meters Centerline goodness : 0.238581 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.11, Z:-0.83 [[ 0.93508275 -0.00524661 -0.35439065 -1.14040952] [ 0.01347216 0.99969398 0.02074711 0.11094827] [ 0.35417335 -0.02417468 0.93486728 -0.82856311] [ 0. 0. 0. 1. ]] SLAMing on 468.87463044000003 meters Centerline goodness : 0.238130 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.11, Z:-0.83 [[ 0.9351647 -0.0051699 -0.35417546 -1.14019859] [ 0.01355068 0.9996837 0.02118681 0.10723559] [ 0.3539539 -0.02461247 0.93493896 -0.8285482 ] [ 0. 0. 0. 1. ]] SLAMing on 468.90463044 meters Centerline goodness : 0.237190 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.11, Z:-0.83 [[ 0.93523891 -0.00534831 -0.35397681 -1.14011552] [ 0.0137458 0.99968047 0.02121326 0.10534606] [ 0.35375025 -0.02470516 0.93501359 -0.82877087] [ 0. 0. 0. 1. ]] SLAMing on 468.93463044000003 meters Centerline goodness : 0.236038 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-0.83 [[ 0.93519331 -0.00539918 -0.35409648 -1.13887602] [ 0.01382713 0.99967803 0.02127556 0.10372003] [ 0.3538676 -0.0247929 0.93496686 -0.82907098] [ 0. 0. 0. 1. ]] SLAMing on 468.96463044 meters Centerline goodness : 0.079075 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-0.83 [[ 0.93507317 -0.00531005 -0.35441498 -1.13756526] [ 0.0137774 0.99967666 0.02137195 0.10241226] [ 0.35418689 -0.02486726 0.93484398 -0.82902143] [ 0. 0. 0. 1. ]] SLAMing on 468.99463044000004 meters Centerline goodness : 0.096374 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.10, Z:-0.83 [[ 0.93482906 -0.00455843 -0.35506879 -1.13494995] [ 0.01311005 0.99967895 0.02168224 0.10282295] [ 0.35485596 -0.02492416 0.9345887 -0.82904886] [ 0. 0. 0. 1. ]] SLAMing on 469.02463044 meters Centerline goodness : 0.093229 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.10, Z:-0.83 [[ 0.93472346 -0.00428321 -0.35535012 -1.13405041] [ 0.01277974 0.99968573 0.02156649 0.10440699] [ 0.35514607 -0.02469999 0.93448445 -0.82902751] [ 0. 0. 0. 1. ]] SLAMing on 469.05463044 meters Centerline goodness : 0.100443 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.11, Z:-0.83 [[ 0.93469311 -0.00402398 -0.35543297 -1.13373605] [ 0.01240147 0.99969632 0.02129463 0.10663087] [ 0.35523935 -0.02431184 0.93445917 -0.8289544 ] [ 0. 0. 0. 1. ]] SLAMing on 469.08463044 meters Centerline goodness : 0.098911 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.11, Z:-0.83 [[ 9.34811852e-01 2.94559850e-04 -3.55143230e-01 -1.13415382e+00] [ 8.72917565e-03 9.99678482e-01 2.38061753e-02 1.10550888e-01] [ 3.55036058e-01 -2.53544025e-02 9.34508722e-01 -8.29152582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11463044 meters Centerline goodness : 0.234719 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.11, Z:-0.83 [[ 9.34745410e-01 6.71229447e-04 -3.55317558e-01 -1.13436459e+00] [ 8.26166584e-03 9.99686807e-01 2.36227376e-02 1.13254456e-01] [ 3.55222132e-01 -2.50167605e-02 9.34447109e-01 -8.28693032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14463044 meters Centerline goodness : 0.117313 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 9.34707823e-01 8.86137532e-04 -3.55415954e-01 -1.13510745e+00] [ 7.90220100e-03 9.99697881e-01 2.32744727e-02 1.16529739e-01] [ 3.55329201e-01 -2.45634000e-02 9.34418428e-01 -8.28012377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17463044 meters Centerline goodness : 0.109738 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.83 [[ 9.34710603e-01 1.01213871e-03 -3.55408307e-01 -1.13619677e+00] [ 7.63173501e-03 9.99708215e-01 2.29181672e-02 1.19586138e-01] [ 3.55327801e-01 -2.41342359e-02 9.34430143e-01 -8.27421174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20463044 meters Centerline goodness : 0.233706 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.13, Z:-0.83 [[ 0.93483428 0.00185732 -0.35507946 -1.13892471] [ 0.00673474 0.9997137 0.02296008 0.12550486] [ 0.35502044 -0.02385523 0.93455412 -0.82643514] [ 0. 0. 0. 1. ]] SLAMing on 469.23463044 meters Centerline goodness : 0.232083 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.13, Z:-0.83 [[ 0.93485809 0.00176214 -0.35501725 -1.13949926] [ 0.00672432 0.99972041 0.02266913 0.12723658] [ 0.35495794 -0.02357967 0.93458486 -0.82608652] [ 0. 0. 0. 1. ]] SLAMing on 469.26463044 meters Centerline goodness : 0.232917 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.13, Z:-0.83 [[ 0.93478202 0.00157963 -0.35521834 -1.13920901] [ 0.00682673 0.99972554 0.02241073 0.12823748] [ 0.35515625 -0.02337413 0.93451468 -0.82570836] [ 0. 0. 0. 1. ]] SLAMing on 469.29463044 meters Centerline goodness : 0.095538 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.13, Z:-0.83 [[ 0.93446437 -0.00415463 -0.35603242 -1.15460661] [ 0.0130313 0.99966107 0.02253746 0.13026384] [ 0.35581811 -0.02570002 0.93420179 -0.83217783] [ 0. 0. 0. 1. ]] SLAMing on 469.32463044 meters Centerline goodness : 0.093671 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.13, Z:-0.83 [[ 0.93430894 -0.00412589 -0.35644043 -1.1541305 ] [ 0.01301904 0.99966084 0.02255445 0.13042072] [ 0.35622648 -0.02571334 0.93404578 -0.83139279] [ 0. 0. 0. 1. ]] SLAMing on 469.35463044 meters Centerline goodness : 0.232652 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.13, Z:-0.83 [[ 0.93425368 -0.00414028 -0.35658509 -1.15455333] [ 0.01304943 0.99965981 0.02258256 0.13028538] [ 0.35637029 -0.02575107 0.93398988 -0.83054117] [ 0. 0. 0. 1. ]] SLAMing on 469.38463044 meters Centerline goodness : 0.119410 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.13, Z:-0.83 [[ 0.93430319 -0.00440639 -0.35645215 -1.1555684 ] [ 0.01327653 0.99965999 0.02244176 0.13016958] [ 0.35623206 -0.02569985 0.93404402 -0.82997143] [ 0. 0. 0. 1. ]] SLAMing on 469.41463044 meters Centerline goodness : 0.100987 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.13, Z:-0.83 [[ 0.93459463 -0.00695411 -0.35564663 -1.15988656] [ 0.01534477 0.99966637 0.02077722 0.12765326] [ 0.35538348 -0.0248756 0.93438952 -0.82863109] [ 0. 0. 0. 1. ]] SLAMing on 469.44463044 meters Centerline goodness : 0.090112 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.13, Z:-0.83 [[ 0.934532 -0.00717443 -0.35580678 -1.15926394] [ 0.01555336 0.99966487 0.02069407 0.12694592] [ 0.35553907 -0.02487327 0.9343304 -0.82849959] [ 0. 0. 0. 1. ]] SLAMing on 469.47463044 meters Centerline goodness : 0.235502 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.13, Z:-0.83 [[ 0.93440966 -0.0072626 -0.35612615 -1.15751331] [ 0.0156523 0.99966357 0.02068228 0.12637407] [ 0.35585613 -0.02489991 0.93420897 -0.82872815] [ 0. 0. 0. 1. ]] SLAMing on 469.50463044 meters Centerline goodness : 0.086406 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.83 [[ 0.93426749 -0.00735323 -0.3564971 -1.15628518] [ 0.01580431 0.99965876 0.02079884 0.12476506] [ 0.3562225 -0.02506587 0.9340649 -0.82845311] [ 0. 0. 0. 1. ]] SLAMing on 469.53463044 meters Centerline goodness : 0.237376 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.83 [[ 0.93407134 -0.00771134 -0.35700319 -1.15502364] [ 0.01626143 0.99964818 0.0209542 0.12126024] [ 0.356716 -0.0253781 0.93386811 -0.82759572] [ 0. 0. 0. 1. ]] SLAMing on 469.56463044000003 meters Centerline goodness : 0.116559 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93389667 -0.00760013 -0.35746224 -1.15377739] [ 0.01623716 0.99964409 0.021167 0.11983397] [ 0.35717415 -0.02557197 0.93368769 -0.82708009] [ 0. 0. 0. 1. ]] SLAMing on 469.59463044 meters Centerline goodness : 0.116559 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93389667 -0.00760013 -0.35746224 -1.15377739] [ 0.01623716 0.99964409 0.021167 0.11983397] [ 0.35717415 -0.02557197 0.93368769 -0.82708009] [ 0. 0. 0. 1. ]] SLAMing on 469.62463044000003 meters Centerline goodness : 0.236221 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93374035 -0.00745191 -0.35787348 -1.1520032 ] [ 0.01614845 0.99964232 0.0213182 0.11924316] [ 0.35758661 -0.02568476 0.9335267 -0.82715675] [ 0. 0. 0. 1. ]] SLAMing on 469.65463044 meters Centerline goodness : 0.123853 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.9337562 -0.00769416 -0.35782699 -1.15147551] [ 0.01636782 0.99964089 0.02121741 0.11796229] [ 0.35753525 -0.02566873 0.93354682 -0.82733557] [ 0. 0. 0. 1. ]] SLAMing on 469.68463044000003 meters Centerline goodness : 0.116298 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93421805 -0.00850618 -0.356601 -1.15484926] [ 0.01706517 0.99963671 0.02086226 0.11597026] [ 0.35629399 -0.02557536 0.93402382 -0.82742682] [ 0. 0. 0. 1. ]] SLAMing on 469.71463044 meters Centerline goodness : 0.215396 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93425407 -0.00822902 -0.35651313 -1.15490841] [ 0.01683313 0.99963695 0.02103817 0.11603058] [ 0.35621057 -0.02565623 0.93405342 -0.82747804] [ 0. 0. 0. 1. ]] SLAMing on 469.74463044000004 meters Centerline goodness : 0.237130 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93418537 -0.00803529 -0.35669753 -1.1540693 ] [ 0.01664829 0.99963911 0.02108286 0.11637412] [ 0.35639939 -0.0256337 0.93398201 -0.82751626] [ 0. 0. 0. 1. ]] SLAMing on 469.77463044 meters Centerline goodness : 0.087894 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93403877 -0.00786735 -0.35708497 -1.15179668] [ 0.01647577 0.9996422 0.02107193 0.11660011] [ 0.35679142 -0.02556525 0.93383419 -0.82799756] [ 0. 0. 0. 1. ]] SLAMing on 469.80463044 meters Centerline goodness : 0.075939 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93389853 -0.00805218 -0.35744748 -1.14927869] [ 0.01654479 0.99964868 0.02070736 0.11677484] [ 0.35715516 -0.02525247 0.93370365 -0.82863126] [ 0. 0. 0. 1. ]] SLAMing on 469.83463044 meters Centerline goodness : 0.111766 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93386361 -0.0077626 -0.35754511 -1.14870473] [ 0.0163087 0.99964869 0.02089313 0.11656327] [ 0.35725731 -0.02534243 0.93366213 -0.82855151] [ 0. 0. 0. 1. ]] SLAMing on 469.86463044 meters Centerline goodness : 0.101950 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93385968 -0.00759518 -0.35755895 -1.14881236] [ 0.01618755 0.9996475 0.02104378 0.1161332 ] [ 0.35727308 -0.02543994 0.93365345 -0.82821762] [ 0. 0. 0. 1. ]] SLAMing on 469.89463044 meters Centerline goodness : 0.113702 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.11, Z:-0.83 [[ 0.93398493 -0.00786599 -0.35722581 -1.150523 ] [ 0.0164965 0.99964086 0.02111918 0.11413994] [ 0.35693139 -0.02561797 0.93377926 -0.82745549] [ 0. 0. 0. 1. ]] SLAMing on 469.92463044 meters Centerline goodness : 0.204987 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.11, Z:-0.83 [[ 0.93385722 -0.00782134 -0.35756051 -1.14962857] [ 0.01644723 0.99964229 0.02108963 0.11411799] [ 0.35726766 -0.02557558 0.93365181 -0.82714561] [ 0. 0. 0. 1. ]] SLAMing on 469.95463044 meters Centerline goodness : 0.095696 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.11, Z:-0.83 [[ 0.93378742 -0.00776344 -0.35774403 -1.14892528] [ 0.01634332 0.9996466 0.02096608 0.11474122] [ 0.35745483 -0.02542458 0.93358429 -0.82708003] [ 0. 0. 0. 1. ]] SLAMing on 469.98463044 meters Centerline goodness : 0.236408 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93377717 -0.00763706 -0.35777349 -1.14867516] [ 0.01615637 0.9996525 0.02082895 0.11565601] [ 0.35749009 -0.02522992 0.93357607 -0.82706156] [ 0. 0. 0. 1. ]] SLAMing on 470.01463044 meters Centerline goodness : 0.235545 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93391999 -0.00732923 -0.35740695 -1.14991102] [ 0.01570448 0.99966575 0.02053667 0.1191719 ] [ 0.35713697 -0.0247925 0.93372293 -0.82704574] [ 0. 0. 0. 1. ]] SLAMing on 470.04463044 meters Centerline goodness : 0.235895 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93395404 -0.00738389 -0.35731684 -1.15038318] [ 0.01561864 0.99967465 0.02016585 0.12151534] [ 0.35705169 -0.02441478 0.9337655 -0.82691514] [ 0. 0. 0. 1. ]] SLAMing on 470.07463044 meters Centerline goodness : 0.094341 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.83 [[ 0.93398708 -0.00777724 -0.35722213 -1.15082988] [ 0.01582861 0.99968219 0.01962068 0.12313681] [ 0.35695601 -0.02397979 0.93381335 -0.82669283] [ 0. 0. 0. 1. ]] SLAMing on 470.10463044 meters Centerline goodness : 0.095060 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.83 [[ 0.93426031 -0.01025687 -0.35644419 -1.15530165] [ 0.01792329 0.99967349 0.01821183 0.11859875] [ 0.35614101 -0.02340324 0.93413911 -0.82522833] [ 0. 0. 0. 1. ]] SLAMing on 470.13463044 meters Centerline goodness : 0.241172 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.83 [[ 0.93419858 -0.01698969 -0.35634865 -1.17284531] [ 0.02521883 0.99951151 0.01845946 0.11387907] [ 0.35586095 -0.02623149 0.9341707 -0.83186044] [ 0. 0. 0. 1. ]] SLAMing on 470.16463044 meters Centerline goodness : 0.238899 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.83 [[ 0.93399777 -0.01635876 -0.35690413 -1.16941726] [ 0.02473797 0.99951482 0.01892492 0.11371171] [ 0.35642138 -0.02650491 0.9339493 -0.83258911] [ 0. 0. 0. 1. ]] SLAMing on 470.19463044 meters Centerline goodness : 0.239827 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.83 [[ 0.93397605 -0.01646027 -0.3569563 -1.16814152] [ 0.02477782 0.99951731 0.01874056 0.11423526] [ 0.35647552 -0.02634784 0.93393308 -0.8331683 ] [ 0. 0. 0. 1. ]] SLAMing on 470.22463044 meters Centerline goodness : 0.238742 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.84 [[ 0.93438082 -0.01013474 -0.35613168 -1.18332256] [ 0.01654714 0.99975111 0.01496387 0.11076902] [ 0.35589139 -0.01987491 0.93431596 -0.83886507] [ 0. 0. 0. 1. ]] SLAMing on 470.25463044 meters Centerline goodness : 0.238028 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.84 [[ 0.93433269 -0.00991463 -0.35626412 -1.18348797] [ 0.01628389 0.99975663 0.01488319 0.11204105] [ 0.35602985 -0.01970722 0.93426676 -0.83836154] [ 0. 0. 0. 1. ]] SLAMing on 470.28463044 meters Centerline goodness : 0.241044 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.84 [[ 0.93431009 -0.00996706 -0.35632192 -1.18374489] [ 0.01628542 0.99975878 0.01473659 0.11245064] [ 0.35608909 -0.0195714 0.93424703 -0.83790143] [ 0. 0. 0. 1. ]] SLAMing on 470.31463044000003 meters Centerline goodness : 0.239667 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.84 [[ 0.93407066 -0.01050876 -0.35693355 -1.18098259] [ 0.01682546 0.99975189 0.0145966 0.10959152] [ 0.3566916 -0.01963983 0.93401573 -0.83789553] [ 0. 0. 0. 1. ]] SLAMing on 470.34463044 meters Centerline goodness : 0.238991 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.84 [[ 0.93358965 -0.00942247 -0.35822001 -1.17447347] [ 0.01595292 0.999756 0.01527919 0.11009551] [ 0.35798864 -0.01997914 0.93351217 -0.83895169] [ 0. 0. 0. 1. ]] SLAMing on 470.37463044000003 meters Centerline goodness : 0.239003 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.84 [[ 0.93335389 -0.00913856 -0.35884119 -1.17206705] [ 0.01570758 0.9997581 0.01539506 0.11025321] [ 0.3586137 -0.02000557 0.93327166 -0.83903208] [ 0. 0. 0. 1. ]] SLAMing on 470.40463044 meters Centerline goodness : 0.239475 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.84 [[ 0.93326627 -0.00895518 -0.35907363 -1.17130336] [ 0.01550934 0.99976148 0.01537652 0.11095744] [ 0.35885028 -0.01991938 0.93318256 -0.83891242] [ 0. 0. 0. 1. ]] SLAMing on 470.43463044000003 meters Centerline goodness : 0.239358 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.84 [[ 0.93337779 -0.00866718 -0.35879071 -1.17319648] [ 0.01510789 0.99977107 0.01515139 0.11363642] [ 0.35857725 -0.01956254 0.93329505 -0.83822296] [ 0. 0. 0. 1. ]] SLAMing on 470.46463044 meters Centerline goodness : 0.239771 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.84 [[ 0.93343824 -0.00894038 -0.35862671 -1.17459531] [ 0.01532484 0.99977059 0.01496392 0.11309341] [ 0.35841066 -0.01946379 0.93336111 -0.83754735] [ 0. 0. 0. 1. ]] SLAMing on 470.49463044000004 meters Centerline goodness : 0.240008 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.84 [[ 0.9332587 -0.00889668 -0.35909476 -1.17328196] [ 0.01523915 0.99977381 0.01483564 0.11369961] [ 0.35888155 -0.01931779 0.93318319 -0.83724853] [ 0. 0. 0. 1. ]] SLAMing on 470.52463044 meters Centerline goodness : 0.239126 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.84 [[ 0.93304534 -0.00899331 -0.35964637 -1.17118787] [ 0.01527862 0.99977613 0.01463757 0.11463376] [ 0.35943422 -0.01915241 0.93297386 -0.83722125] [ 0. 0. 0. 1. ]] SLAMing on 470.55463044 meters Centerline goodness : 0.122080 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.84 [[ 0.93340078 -0.01136417 -0.35865559 -1.17646466] [ 0.01731843 0.99976032 0.01339332 0.10956334] [ 0.35841742 -0.01871268 0.93337387 -0.83568619] [ 0. 0. 0. 1. ]] SLAMing on 470.58463044 meters Centerline goodness : 0.242626 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93346634 -0.01164237 -0.35847601 -1.17810993] [ 0.01766878 0.99975221 0.01353989 0.10731339] [ 0.35822954 -0.01897287 0.93344074 -0.83468222] [ 0. 0. 0. 1. ]] SLAMing on 470.61463044 meters Centerline goodness : 0.240974 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93332368 -0.01153535 -0.35885072 -1.17719707] [ 0.01761508 0.99975129 0.01367723 0.10661094] [ 0.3586037 -0.01908647 0.93329475 -0.83422314] [ 0. 0. 0. 1. ]] SLAMing on 470.64463044 meters Centerline goodness : 0.242623 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93325084 -0.01160884 -0.35903776 -1.17606252] [ 0.01769624 0.99974992 0.01367293 0.10583828] [ 0.35878924 -0.01911389 0.93322288 -0.83432748] [ 0. 0. 0. 1. ]] SLAMing on 470.67463044 meters Centerline goodness : 0.240074 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93353014 -0.01195963 -0.35829938 -1.17826228] [ 0.01788267 0.99975267 0.01322174 0.10617671] [ 0.35805263 -0.01875024 0.93351312 -0.83432958] [ 0. 0. 0. 1. ]] SLAMing on 470.70463044 meters Centerline goodness : 0.240618 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93368639 -0.01140695 -0.35791005 -1.18026663] [ 0.01738341 0.99975795 0.01348513 0.10685272] [ 0.3576696 -0.01881258 0.93365869 -0.83380469] [ 0. 0. 0. 1. ]] SLAMing on 470.73463044 meters Centerline goodness : 0.242151 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93378655 -0.01083404 -0.35766647 -1.18172264] [ 0.01689283 0.9997618 0.0138197 0.10745456] [ 0.35743155 -0.01894665 0.93374714 -0.83332612] [ 0. 0. 0. 1. ]] SLAMing on 470.76463044 meters Centerline goodness : 0.241532 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93375424 -0.01063549 -0.35775677 -1.1817335 ] [ 0.01665762 0.99976663 0.01375546 0.10854153] [ 0.35752698 -0.01880359 0.93371349 -0.83307276] [ 0. 0. 0. 1. ]] SLAMing on 470.79463044 meters Centerline goodness : 0.239597 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93346942 -0.01060717 -0.35850011 -1.1790213 ] [ 0.01644615 0.99977707 0.01324176 0.11131117] [ 0.35827973 -0.01825673 0.93343576 -0.83331098] [ 0. 0. 0. 1. ]] SLAMing on 470.82463044 meters Centerline goodness : 0.239229 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93332423 -0.01048382 -0.35888155 -1.17772635] [ 0.01627802 0.99978133 0.01312729 0.11221331] [ 0.35866545 -0.0180939 0.9332908 -0.83328331] [ 0. 0. 0. 1. ]] SLAMing on 470.85463044 meters Centerline goodness : 0.239828 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93333797 -0.01058652 -0.3588428 -1.17820976] [ 0.01632837 0.9997825 0.01297413 0.11201004] [ 0.3586274 -0.01796856 0.93330784 -0.83288066] [ 0. 0. 0. 1. ]] SLAMing on 470.88463044 meters Centerline goodness : 0.239077 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.83 [[ 0.93356902 -0.01079033 -0.35823518 -1.18055805] [ 0.01659376 0.9997761 0.01312965 0.10975006] [ 0.3580133 -0.01820191 0.93353905 -0.83237423] [ 0. 0. 0. 1. ]] SLAMing on 470.91463044 meters Centerline goodness : 0.242384 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93394248 -0.01617795 -0.35705702 -1.19830779] [ 0.022541 0.99965251 0.01366637 0.10640318] [ 0.35671185 -0.02081202 0.93398261 -0.83974093] [ 0. 0. 0. 1. ]] SLAMing on 470.94463044 meters Centerline goodness : 0.100026 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93384411 -0.0158581 -0.35732855 -1.19619205] [ 0.02229699 0.99965466 0.01390676 0.10570888] [ 0.35698462 -0.0209541 0.93387521 -0.84039268] [ 0. 0. 0. 1. ]] SLAMing on 470.97463044 meters Centerline goodness : 0.240748 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.84 [[ 0.93374693 -0.01577754 -0.35758598 -1.19489483] [ 0.02223032 0.99965566 0.01394179 0.10531604] [ 0.35724288 -0.02096735 0.93377615 -0.84062039] [ 0. 0. 0. 1. ]] SLAMing on 471.00463044 meters Centerline goodness : 0.240464 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.84 [[ 0.93373123 -0.01540917 -0.35764304 -1.19418303] [ 0.0219423 0.99965816 0.01421616 0.10466512] [ 0.35730172 -0.02112159 0.93375016 -0.84080624] [ 0. 0. 0. 1. ]] SLAMing on 471.03463044 meters Centerline goodness : 0.241785 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.84 [[ 0.93388057 -0.01501158 -0.35726984 -1.19657329] [ 0.02159002 0.99966274 0.01443161 0.10448949] [ 0.35693271 -0.02119087 0.93388971 -0.83992007] [ 0. 0. 0. 1. ]] SLAMing on 471.06463044000003 meters Centerline goodness : 0.242073 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.84 [[ 0.93390472 -0.01484251 -0.35721375 -1.19651761] [ 0.02141123 0.99966645 0.01444088 0.10473103] [ 0.35688027 -0.02113479 0.93391102 -0.83996452] [ 0. 0. 0. 1. ]] SLAMing on 471.09463044 meters Centerline goodness : 0.182214 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93393092 -0.0149656 -0.35714013 -1.19628803] [ 0.02145509 0.99966874 0.0142155 0.10531376] [ 0.35680909 -0.02093877 0.93394263 -0.84033089] [ 0. 0. 0. 1. ]] SLAMing on 471.12463044000003 meters Centerline goodness : 0.241436 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93393837 -0.01488579 -0.35712399 -1.1959151 ] [ 0.021338 0.99967241 0.01413363 0.10590003] [ 0.35679661 -0.02082025 0.93395005 -0.84062543] [ 0. 0. 0. 1. ]] SLAMing on 471.15463044 meters Centerline goodness : 0.239241 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93386246 -0.01408739 -0.35735481 -1.19534778] [ 0.02061086 0.9996831 0.01445282 0.10733564] [ 0.35703796 -0.02086233 0.93385687 -0.84039883] [ 0. 0. 0. 1. ]] SLAMing on 471.18463044000003 meters Centerline goodness : 0.241539 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93389969 -0.01383086 -0.35726751 -1.19577217] [ 0.02037454 0.99968642 0.01455842 0.10778151] [ 0.35695412 -0.02087526 0.93388863 -0.84028288] [ 0. 0. 0. 1. ]] SLAMing on 471.21463044 meters Centerline goodness : 0.166834 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.9339588 -0.01375984 -0.35711571 -1.19622639] [ 0.02028348 0.9996887 0.01452855 0.10818745] [ 0.35680463 -0.02081262 0.93394716 -0.84029253] [ 0. 0. 0. 1. ]] SLAMing on 471.24463044000004 meters Centerline goodness : 0.094393 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93397308 -0.0135885 -0.35708491 -1.19687694] [ 0.02014886 0.99968953 0.01465817 0.10775773] [ 0.35677486 -0.02088519 0.93395691 -0.83984026] [ 0. 0. 0. 1. ]] SLAMing on 471.27463044 meters Centerline goodness : 0.240117 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93392271 -0.01339487 -0.35722395 -1.19645807] [ 0.02001375 0.99968959 0.01483825 0.10749369] [ 0.3569143 -0.02100717 0.93390089 -0.83972223] [ 0. 0. 0. 1. ]] SLAMing on 471.30463044 meters Centerline goodness : 0.241399 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93384233 -0.01330511 -0.35743738 -1.19610753] [ 0.01996343 0.99968901 0.01494449 0.10718991] [ 0.35712738 -0.02109147 0.93381753 -0.83935891] [ 0. 0. 0. 1. ]] SLAMing on 471.33463044 meters Centerline goodness : 0.240042 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93380729 -0.0132049 -0.35753263 -1.19534228] [ 0.01990224 0.99968852 0.01505898 0.10668111] [ 0.35722241 -0.02117788 0.93377923 -0.83938806] [ 0. 0. 0. 1. ]] SLAMing on 471.36463044 meters Centerline goodness : 0.240848 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93386523 -0.01336224 -0.3573754 -1.19592254] [ 0.02005573 0.99968589 0.01502987 0.10589524] [ 0.35706231 -0.0212033 0.93383988 -0.83923004] [ 0. 0. 0. 1. ]] SLAMing on 471.39463044 meters Centerline goodness : 0.240732 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.84 [[ 0.93394786 -0.01361608 -0.35714982 -1.19702073] [ 0.0202909 0.99968236 0.01494859 0.10527522] [ 0.35683284 -0.02120809 0.93392748 -0.83884963] [ 0. 0. 0. 1. ]] SLAMing on 471.42463044 meters Centerline goodness : 0.238626 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.84 [[ 0.93397715 -0.01353092 -0.35707646 -1.19789687] [ 0.0203419 0.99967562 0.01532539 0.10332867] [ 0.35675327 -0.02157718 0.93394943 -0.83808767] [ 0. 0. 0. 1. ]] SLAMing on 471.45463044 meters Centerline goodness : 0.239934 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.84 [[ 0.93391498 -0.01355158 -0.35723825 -1.19713566] [ 0.02037084 0.99967491 0.01533279 0.10302143] [ 0.35691434 -0.02159676 0.93388743 -0.83805793] [ 0. 0. 0. 1. ]] SLAMing on 471.48463044 meters Centerline goodness : 0.239934 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.84 [[ 0.93391498 -0.01355158 -0.35723825 -1.19713566] [ 0.02037084 0.99967491 0.01533279 0.10302143] [ 0.35691434 -0.02159676 0.93388743 -0.83805793] [ 0. 0. 0. 1. ]] SLAMing on 471.51463044 meters Centerline goodness : 0.241768 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.84 [[ 0.93384739 -0.01356699 -0.3574143 -1.19603234] [ 0.02038328 0.999675 0.01531079 0.10298232] [ 0.35709042 -0.02158322 0.93382043 -0.83824686] [ 0. 0. 0. 1. ]] SLAMing on 471.54463044 meters Centerline goodness : 0.239706 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.84 [[ 0.93391831 -0.01372628 -0.35722286 -1.19686496] [ 0.02042339 0.99967916 0.01498197 0.10489699] [ 0.3569026 -0.02128764 0.93389901 -0.83805346] [ 0. 0. 0. 1. ]] SLAMing on 471.57463044 meters Centerline goodness : 0.095621 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.85 [[ 0.93457119 -0.00887756 -0.35566542 -1.22674208] [ 0.0147383 0.99979654 0.01377204 0.10179399] [ 0.35547079 -0.01811286 0.93451187 -0.85022048] [ 0. 0. 0. 1. ]] SLAMing on 471.60463044 meters Centerline goodness : 0.091268 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.85 [[ 0.9345365 -0.00896818 -0.35575428 -1.22700487] [ 0.01473117 0.99980044 0.01349367 0.10371785] [ 0.35556227 -0.01785101 0.93448211 -0.84985263] [ 0. 0. 0. 1. ]] SLAMing on 471.63463044 meters Centerline goodness : 0.239600 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.85 [[ 0.93445971 -0.0089394 -0.35595664 -1.22600614] [ 0.01463934 0.99980408 0.01332248 0.10526066] [ 0.35576781 -0.01766029 0.9344075 -0.8499861 ] [ 0. 0. 0. 1. ]] SLAMing on 471.66463044 meters Centerline goodness : 0.242097 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.85 [[ 0.93431434 -0.01388973 -0.35617943 -1.22610066] [ 0.01864467 0.99977696 0.00992013 0.10278467] [ 0.3559622 -0.01590937 0.93436492 -0.84906284] [ 0. 0. 0. 1. ]] SLAMing on 471.69463044 meters Centerline goodness : 0.242127 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.85 [[ 0.93416828 -0.01415055 -0.35655208 -1.22448391] [ 0.01903532 0.99976684 0.0101947 0.09966162] [ 0.35632468 -0.01631064 0.93421983 -0.84893953] [ 0. 0. 0. 1. ]] SLAMing on 471.72463044 meters Centerline goodness : 0.243104 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93415255 -0.01905578 -0.35636483 -1.23823573] [ 0.02466649 0.99963293 0.01120616 0.09875517] [ 0.35602048 -0.01925853 0.93427968 -0.8569412 ] [ 0. 0. 0. 1. ]] SLAMing on 471.75463044 meters Centerline goodness : 0.243461 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93398526 -0.01897949 -0.35680711 -1.23611109] [ 0.02464562 0.99963193 0.01133986 0.09800054] [ 0.35646056 -0.019385 0.93410925 -0.85710128] [ 0. 0. 0. 1. ]] SLAMing on 471.78463044 meters Centerline goodness : 0.138386 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93401973 -0.01934926 -0.356697 -1.23576648] [ 0.02494312 0.99962737 0.01108873 0.09719833] [ 0.35634952 -0.01925422 0.93415432 -0.85726634] [ 0. 0. 0. 1. ]] SLAMing on 471.81463044000003 meters Centerline goodness : 0.081736 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93407496 -0.01946802 -0.35654589 -1.23645767] [ 0.02500316 0.99962771 0.01092161 0.09759856] [ 0.35620053 -0.01911638 0.93421397 -0.85712777] [ 0. 0. 0. 1. ]] SLAMing on 471.84463044 meters Centerline goodness : 0.105486 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93400049 -0.01925676 -0.35675239 -1.23613347] [ 0.02477912 0.99963336 0.01091516 0.09865477] [ 0.3564114 -0.01903478 0.93413521 -0.85679565] [ 0. 0. 0. 1. ]] SLAMing on 471.87463044000003 meters Centerline goodness : 0.243491 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93391022 -0.01895919 -0.35700456 -1.2353741 ] [ 0.02447781 0.99964045 0.0109458 0.09961578] [ 0.35666867 -0.01896109 0.93403851 -0.85659743] [ 0. 0. 0. 1. ]] SLAMing on 471.90463044 meters Centerline goodness : 0.174558 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93391614 -0.01892865 -0.35699068 -1.23506084] [ 0.02450841 0.99963786 0.01111235 0.09837909] [ 0.35665106 -0.01912728 0.93404185 -0.85665633] [ 0. 0. 0. 1. ]] SLAMing on 471.93463044000003 meters Centerline goodness : 0.242933 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.86 [[ 0.93381113 -0.01862279 -0.35728136 -1.2336884 ] [ 0.02430678 0.99963926 0.01142481 0.09739186] [ 0.35693971 -0.01935297 0.93392693 -0.85675989] [ 0. 0. 0. 1. ]] SLAMing on 471.96463044 meters Centerline goodness : 0.091291 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.86 [[ 0.9336195 -0.01818269 -0.35780443 -1.2311952 ] [ 0.02400616 0.99964169 0.0118401 0.09643339] [ 0.35746094 -0.01964366 0.93372148 -0.8570522 ] [ 0. 0. 0. 1. ]] SLAMing on 471.99463044000004 meters Centerline goodness : 0.242378 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.09, Z:-0.86 [[ 0.9334102 -0.01736565 -0.35839062 -1.22849541] [ 0.02343705 0.99964587 0.01260324 0.09434068] [ 0.35804484 -0.02016361 0.93348665 -0.85718098] [ 0. 0. 0. 1. ]] SLAMing on 472.02463044 meters Centerline goodness : 0.163068 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.09, Z:-0.86 [[ 0.93344395 -0.01711792 -0.35831463 -1.22893028] [ 0.02328933 0.99964535 0.01291447 0.09294084] [ 0.35796649 -0.02039984 0.93351156 -0.85687598] [ 0. 0. 0. 1. ]] SLAMing on 472.05463044 meters Centerline goodness : 0.241956 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.09, Z:-0.86 [[ 0.93357651 -0.01685061 -0.35798177 -1.2299603 ] [ 0.02313819 0.99964397 0.01328743 0.09125265] [ 0.35763042 -0.02068789 0.93363403 -0.85679819] [ 0. 0. 0. 1. ]] SLAMing on 472.08463044 meters Centerline goodness : 0.082580 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.09, Z:-0.86 [[ 0.93363446 -0.01665538 -0.35783975 -1.23089817] [ 0.02304651 0.99964185 0.01360274 0.08953115] [ 0.35748503 -0.02094695 0.93368393 -0.85635974] [ 0. 0. 0. 1. ]] SLAMing on 472.11463044 meters Centerline goodness : 0.243101 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.86 [[ 0.93371339 -0.01677348 -0.35762824 -1.23111855] [ 0.02330858 0.9996307 0.01397051 0.08455937] [ 0.35726183 -0.02138026 0.93375953 -0.85631953] [ 0. 0. 0. 1. ]] SLAMing on 472.14463044 meters Centerline goodness : 0.244753 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.86 [[ 0.93369273 -0.01670518 -0.35768536 -1.23046473] [ 0.0233689 0.99962441 0.01431557 0.08176353] [ 0.35731187 -0.02172506 0.93373243 -0.8563527 ] [ 0. 0. 0. 1. ]] SLAMing on 472.17463044 meters Centerline goodness : 0.243607 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.86 [[ 0.93370037 -0.0166344 -0.35766871 -1.23008496] [ 0.02341672 0.9996186 0.01463965 0.07915094] [ 0.35728877 -0.02204448 0.93373378 -0.85641577] [ 0. 0. 0. 1. ]] SLAMing on 472.20463044 meters Centerline goodness : 0.243818 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.07, Z:-0.86 [[ 0.93391271 -0.01689282 -0.35710179 -1.23111937] [ 0.02381489 0.99960392 0.01499544 0.0732918 ] [ 0.35670703 -0.02250877 0.9339451 -0.85656297] [ 0. 0. 0. 1. ]] SLAMing on 472.23463044 meters Centerline goodness : 0.095455 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.07, Z:-0.86 [[ 0.93399846 -0.01682901 -0.35688045 -1.23149483] [ 0.02385234 0.9995986 0.01528746 0.07110244] [ 0.35647993 -0.0227909 0.93402497 -0.85658014] [ 0. 0. 0. 1. ]] SLAMing on 472.26463044 meters Centerline goodness : 0.244275 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.07, Z:-0.86 [[ 0.93403498 -0.01661979 -0.35679467 -1.23099897] [ 0.02378275 0.9995939 0.01569775 0.068518 ] [ 0.35638888 -0.0231478 0.93405093 -0.85677833] [ 0. 0. 0. 1. ]] SLAMing on 472.29463044 meters Centerline goodness : 0.247124 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.07, Z:-0.86 [[ 0.93398867 -0.01654479 -0.35691938 -1.23014885] [ 0.02380669 0.99958914 0.01596212 0.06658741] [ 0.35650864 -0.02340551 0.93399881 -0.85682495] [ 0. 0. 0. 1. ]] SLAMing on 472.32463044 meters Centerline goodness : 0.160025 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.06, Z:-0.86 [[ 0.933871 -0.01674955 -0.3572176 -1.2276306 ] [ 0.02413301 0.99957714 0.01622163 0.06120547] [ 0.35679484 -0.02376965 0.93388032 -0.85716701] [ 0. 0. 0. 1. ]] SLAMing on 472.35463044 meters Centerline goodness : 0.245253 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.06, Z:-0.86 [[ 0.93396503 -0.01666606 -0.35697558 -1.22704771] [ 0.02416648 0.99957077 0.01656064 0.05842602] [ 0.35654636 -0.0240939 0.9339669 -0.8577545 ] [ 0. 0. 0. 1. ]] SLAMing on 472.38463044 meters Centerline goodness : 0.243943 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.06, Z:-0.86 [[ 0.93406296 -0.01665404 -0.35671981 -1.22689076] [ 0.0242545 0.99956391 0.0168436 0.05594634] [ 0.35628373 -0.02438505 0.93405956 -0.85817201] [ 0. 0. 0. 1. ]] SLAMing on 472.41463044 meters Centerline goodness : 0.245446 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.05, Z:-0.86 [[ 0.93403403 -0.01651935 -0.35680181 -1.22593542] [ 0.02423712 0.99955878 0.01716985 0.05357807] [ 0.35636075 -0.02468507 0.9340223 -0.85828216] [ 0. 0. 0. 1. ]] SLAMing on 472.44463044 meters Centerline goodness : 0.244109 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.05, Z:-0.86 [[ 0.93391765 -0.01618661 -0.35712158 -1.22426815] [ 0.02406094 0.99955525 0.01761733 0.05143641] [ 0.35667759 -0.02504581 0.93389175 -0.85842099] [ 0. 0. 0. 1. ]] SLAMing on 472.47463044 meters Centerline goodness : 0.244620 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.05, Z:-0.86 [[ 0.93365696 -0.01568326 -0.35782497 -1.22075839] [ 0.02386687 0.9995446 0.01846532 0.04685144] [ 0.35737242 -0.02578043 0.93360608 -0.85863686] [ 0. 0. 0. 1. ]] SLAMing on 472.50463044 meters Centerline goodness : 0.245399 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93363831 -0.01534982 -0.35788811 -1.21973779] [ 0.0237396 0.99953646 0.0190604 0.04377478] [ 0.35742964 -0.02629164 0.93356992 -0.85884827] [ 0. 0. 0. 1. ]] SLAMing on 472.53463044 meters Centerline goodness : 0.245502 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93374656 -0.01518152 -0.35761275 -1.21980053] [ 0.02372549 0.999528 0.01951621 0.04097815] [ 0.35714767 -0.02670773 0.93366602 -0.85911983] [ 0. 0. 0. 1. ]] SLAMing on 472.56463044000003 meters Centerline goodness : 0.247465 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93385761 -0.01505559 -0.35732799 -1.22040976] [ 0.02371814 0.99952115 0.01987246 0.03856339] [ 0.35685769 -0.0270332 0.93376753 -0.85907953] [ 0. 0. 0. 1. ]] SLAMing on 472.59463044 meters Centerline goodness : 0.090864 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93400941 -0.01490958 -0.35693713 -1.22137902] [ 0.02364981 0.99951753 0.02013451 0.03640647] [ 0.35646473 -0.02724731 0.93391139 -0.8590851 ] [ 0. 0. 0. 1. ]] SLAMing on 472.62463044000003 meters Centerline goodness : 0.249076 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93400411 -0.01471142 -0.35695924 -1.22082887] [ 0.02346974 0.99952012 0.0202165 0.03640502] [ 0.35649053 -0.02726004 0.93390117 -0.8593372 ] [ 0. 0. 0. 1. ]] SLAMing on 472.65463044 meters Centerline goodness : 0.128659 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93396733 -0.01453555 -0.35706267 -1.21998778] [ 0.02329635 0.99952356 0.02024688 0.03674737] [ 0.35659825 -0.02722818 0.93386097 -0.85956503] [ 0. 0. 0. 1. ]] SLAMing on 472.68463044000003 meters Centerline goodness : 0.142323 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93401217 -0.01436859 -0.3569521 -1.21982638] [ 0.02310802 0.99952826 0.02023061 0.03753509] [ 0.35649303 -0.02714409 0.93390359 -0.85992008] [ 0. 0. 0. 1. ]] SLAMing on 472.71463044 meters Centerline goodness : 0.110744 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93396875 -0.01417053 -0.35707362 -1.21907122] [ 0.0229564 0.99952874 0.02037873 0.03729772] [ 0.35661656 -0.02723023 0.93385392 -0.86000546] [ 0. 0. 0. 1. ]] SLAMing on 472.74463044000004 meters Centerline goodness : 0.246541 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93390069 -0.01397275 -0.35725939 -1.21813864] [ 0.02282334 0.99952789 0.0205693 0.03685696] [ 0.35680331 -0.02736353 0.93377869 -0.86002339] [ 0. 0. 0. 1. ]] SLAMing on 472.77463044 meters Centerline goodness : 0.246820 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.86 [[ 0.93382159 -0.01373344 -0.35747537 -1.21712239] [ 0.02268102 0.99952533 0.02084928 0.03600592] [ 0.35701935 -0.02757742 0.93368981 -0.86001577] [ 0. 0. 0. 1. ]] SLAMing on 472.80463044 meters Centerline goodness : 0.247977 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.86 [[ 0.93368422 -0.01353092 -0.35784172 -1.21493939] [ 0.02258213 0.99952173 0.02112701 0.03492537] [ 0.35738471 -0.02780679 0.93354323 -0.86035688] [ 0. 0. 0. 1. ]] SLAMing on 472.83463044 meters Centerline goodness : 0.245892 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.86 [[ 0.93362318 -0.01339985 -0.35800586 -1.2136315 ] [ 0.02248159 0.99952209 0.0212172 0.03475178] [ 0.35755046 -0.02785741 0.93347824 -0.86069327] [ 0. 0. 0. 1. ]] SLAMing on 472.86463044 meters Centerline goodness : 0.247469 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.04, Z:-0.86 [[ 0.93360307 -0.01319738 -0.35806584 -1.21305277] [ 0.02229892 0.99952439 0.02130124 0.03524981] [ 0.35761442 -0.02787138 0.93345333 -0.86093563] [ 0. 0. 0. 1. ]] SLAMing on 472.89463044 meters Centerline goodness : 0.194049 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.04, Z:-0.86 [[ 0.93386711 -0.00869654 -0.35751447 -1.2148506 ] [ 0.01869614 0.99952443 0.02452293 0.03731846] [ 0.35713118 -0.0295853 0.93358558 -0.86102895] [ 0. 0. 0. 1. ]] SLAMing on 472.92463044 meters Centerline goodness : 0.247596 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.04, Z:-0.86 [[ 0.93380151 -0.00839006 -0.35769308 -1.21489491] [ 0.01835828 0.99953171 0.0244815 0.0393347 ] [ 0.35732017 -0.02942749 0.93351825 -0.86062585] [ 0. 0. 0. 1. ]] SLAMing on 472.95463044 meters Centerline goodness : 0.244616 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.04, Z:-0.86 [[ 0.93369945 -0.0082268 -0.35796322 -1.21403532] [ 0.01812939 0.99953991 0.02431645 0.0411653 ] [ 0.35759847 -0.02919391 0.93341901 -0.8605416 ] [ 0. 0. 0. 1. ]] SLAMing on 472.98463044 meters Centerline goodness : 0.174570 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.93396844 -0.00279839 -0.35734454 -1.24035627] [ 0.0117155 0.99967159 0.02279156 0.03843233] [ 0.35716341 -0.02547307 0.9336945 -0.8724289 ] [ 0. 0. 0. 1. ]] SLAMing on 473.01463044 meters Centerline goodness : 0.245793 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.93402343 -0.00280597 -0.35720072 -1.24025112] [ 0.01164424 0.99967689 0.02259495 0.03992676] [ 0.3570219 -0.02526355 0.93375431 -0.87268418] [ 0. 0. 0. 1. ]] SLAMing on 473.04463044 meters Centerline goodness : 0.244891 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.9340911 -0.00280466 -0.35702375 -1.24140623] [ 0.0116386 0.9996769 0.02259727 0.04016267] [ 0.35684502 -0.02526316 0.93382193 -0.87216658] [ 0. 0. 0. 1. ]] SLAMing on 473.07463044 meters Centerline goodness : 0.246991 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.9340987 -0.00289642 -0.35700312 -1.24232236] [ 0.01171225 0.99967746 0.02253456 0.04059624] [ 0.35682271 -0.02523082 0.93383134 -0.87147031] [ 0. 0. 0. 1. ]] SLAMing on 473.10463044 meters Centerline goodness : 0.245968 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.93402693 -0.00306425 -0.35718944 -1.24257799] [ 0.01183509 0.99967966 0.02237196 0.04116347] [ 0.35700647 -0.02512338 0.933764 -0.87074768] [ 0. 0. 0. 1. ]] SLAMing on 473.13463044 meters Centerline goodness : 0.244617 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.93391336 -0.00324327 -0.3574847 -1.2418873 ] [ 0.01192573 0.99968495 0.02208585 0.04230232] [ 0.35730045 -0.02488954 0.93365781 -0.87031936] [ 0. 0. 0. 1. ]] SLAMing on 473.16463044 meters Centerline goodness : 0.243582 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.93391899 -0.00333842 -0.35746913 -1.24196539] [ 0.01194466 0.99968946 0.0218703 0.04325337] [ 0.35728511 -0.02469493 0.93366884 -0.87022737] [ 0. 0. 0. 1. ]] SLAMing on 473.19463044 meters Centerline goodness : 0.125826 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.87 [[ 0.93392244 -0.00339964 -0.35745955 -1.24227215] [ 0.01192499 0.99969453 0.02164836 0.04456831] [ 0.35727675 -0.02448059 0.93367769 -0.87004865] [ 0. 0. 0. 1. ]] SLAMing on 473.22463044 meters Centerline goodness : 0.146544 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.87 [[ 0.93364666 -0.00269523 -0.35818522 -1.23988863] [ 0.01120129 0.99970232 0.02167488 0.04824089] [ 0.35802018 -0.02424881 0.93339892 -0.87002474] [ 0. 0. 0. 1. ]] SLAMing on 473.25463044 meters Centerline goodness : 0.242503 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.87 [[ 0.93340139 -0.00237923 -0.35882612 -1.23790701] [ 0.01080795 0.99971074 0.02148566 0.05111705] [ 0.3586712 -0.02393292 0.93315711 -0.86992893] [ 0. 0. 0. 1. ]] SLAMing on 473.28463044 meters Centerline goodness : 0.140960 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.05, Z:-0.88 [[ 0.93332306 0.00384365 -0.35901711 -1.26597489] [ 0.00386997 0.99977691 0.02076427 0.0510008 ] [ 0.35901683 -0.02076916 0.93309997 -0.88192169] [ 0. 0. 0. 1. ]] SLAMing on 473.31463044000003 meters Centerline goodness : 0.241110 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.88 [[ 9.33234713e-01 8.42125957e-03 -3.59168558e-01 -1.26493892e+00] [-1.36668614e-04 9.99733492e-01 2.30851815e-02 5.95925552e-02] [ 3.59267243e-01 -2.14948057e-02 9.32987150e-01 -8.82378974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34463044 meters Centerline goodness : 0.124725 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:-0.88 [[ 0.93318908 0.01012419 -0.35924314 -1.26514075] [-0.00174837 0.99971919 0.02363242 0.06635254] [ 0.35938152 -0.02142543 0.93294473 -0.88216729] [ 0. 0. 0. 1. ]] SLAMing on 473.37463044000003 meters Centerline goodness : 0.175739 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.88 [[ 0.93319421 0.01232352 -0.35916109 -1.26474759] [-0.00373956 0.99969075 0.024585 0.07298167] [ 0.35935299 -0.02159948 0.93295171 -0.88247948] [ 0. 0. 0. 1. ]] SLAMing on 473.40463044 meters Centerline goodness : 0.175739 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.88 [[ 0.93319421 0.01232352 -0.35916109 -1.26474759] [-0.00373956 0.99969075 0.024585 0.07298167] [ 0.35935299 -0.02159948 0.93295171 -0.88247948] [ 0. 0. 0. 1. ]] SLAMing on 473.43463044000003 meters Centerline goodness : 0.098802 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.08, Z:-0.88 [[ 0.93308133 0.01274048 -0.35943973 -1.26492511] [-0.00430006 0.99969615 0.02427194 0.0790809 ] [ 0.35963975 -0.02110208 0.93285259 -0.88197773] [ 0. 0. 0. 1. ]] SLAMing on 473.46463044 meters Centerline goodness : 0.101616 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.88 [[ 0.93291865 0.0134129 -0.35983729 -1.26440107] [-0.00524352 0.99970609 0.02366953 0.08963905] [ 0.36004901 -0.02019493 0.93271479 -0.88156021] [ 0. 0. 0. 1. ]] SLAMing on 473.49463044000004 meters Centerline goodness : 0.117124 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.88 [[ 0.93353541 0.00301559 -0.35847253 -1.25124782] [ 0.0060593 0.99968903 0.02418937 0.09515457] [ 0.358434 -0.02475373 0.93322683 -0.87516762] [ 0. 0. 0. 1. ]] SLAMing on 473.52463044 meters Centerline goodness : 0.057152 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.87 [[ 0.93373687 0.0022302 -0.35795319 -1.2538005 ] [ 0.0067609 0.99969234 0.02386462 0.09422518] [ 0.35789629 -0.02470336 0.93343451 -0.87443769] [ 0. 0. 0. 1. ]] SLAMing on 473.55463044 meters Centerline goodness : 0.098061 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.87 [[ 0.93365621 -0.00711326 -0.35809981 -1.23939961] [ 0.01736903 0.99952568 0.02543096 0.0988014 ] [ 0.35774906 -0.02996362 0.93333691 -0.8676593 ] [ 0. 0. 0. 1. ]] SLAMing on 473.58463044 meters Centerline goodness : 0.138943 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.932971 -0.00683326 -0.35988667 -1.23246602] [ 0.01726558 0.9995185 0.02578122 0.09857526] [ 0.35953721 -0.03026678 0.93263976 -0.86790154] [ 0. 0. 0. 1. ]] SLAMing on 473.61463044 meters Centerline goodness : 0.127120 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93303253 -0.00719523 -0.35972006 -1.23245588] [ 0.01756969 0.99951839 0.02557912 0.09771793] [ 0.35936276 -0.03018632 0.9327096 -0.86803462] [ 0. 0. 0. 1. ]] SLAMing on 473.64463044 meters Centerline goodness : 0.140286 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93324484 -0.00764575 -0.35915959 -1.23440959] [ 0.01790141 0.99952119 0.02523757 0.0974655 ] [ 0.35879466 -0.0299823 0.93293486 -0.86785617] [ 0. 0. 0. 1. ]] SLAMing on 473.67463044 meters Centerline goodness : 0.100194 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.87 [[ 0.9334547 -0.0076362 -0.35861402 -1.2367166 ] [ 0.01783294 0.999525 0.02513474 0.09839081] [ 0.35825174 -0.02985729 0.93314749 -0.86750609] [ 0. 0. 0. 1. ]] SLAMing on 473.70463044 meters Centerline goodness : 0.241387 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.87 [[ 0.9337111 -0.00756006 -0.35794753 -1.2389811 ] [ 0.01755527 0.99954119 0.02468227 0.10182832] [ 0.3575967 -0.02932997 0.93341542 -0.86750096] [ 0. 0. 0. 1. ]] SLAMing on 473.73463044 meters Centerline goodness : 0.133867 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.87 [[ 0.93379517 -0.00789979 -0.3577208 -1.23921443] [ 0.0177902 0.9995448 0.02436595 0.10171127] [ 0.35736548 -0.02911673 0.93351065 -0.86776857] [ 0. 0. 0. 1. ]] SLAMing on 473.76463044 meters Centerline goodness : 0.146313 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.87 [[ 0.9334586 -0.0076104 -0.35860442 -1.23619301] [ 0.01751156 0.99954961 0.02437042 0.10258762] [ 0.35825744 -0.0290285 0.93317145 -0.86785773] [ 0. 0. 0. 1. ]] SLAMing on 473.79463044 meters Centerline goodness : 0.141746 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93297584 -0.00649714 -0.35988036 -1.23056683] [ 0.01659449 0.99955033 0.02497508 0.1035566 ] [ 0.35955627 -0.02927318 0.93266412 -0.86851645] [ 0. 0. 0. 1. ]] SLAMing on 473.82463044 meters Centerline goodness : 0.107744 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93306552 -0.00726232 -0.35963315 -1.230984 ] [ 0.01738653 0.99953812 0.02492487 0.09702481] [ 0.35928603 -0.02950931 0.93276082 -0.86826508] [ 0. 0. 0. 1. ]] SLAMing on 473.85463044 meters Centerline goodness : 0.241359 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93287003 -0.00681542 -0.36014865 -1.22932814] [ 0.01704008 0.99953662 0.02522269 0.09706051] [ 0.35980986 -0.02966646 0.93255389 -0.86814794] [ 0. 0. 0. 1. ]] SLAMing on 473.88463044 meters Centerline goodness : 0.138679 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93251023 -0.00564833 -0.36109939 -1.22511213] [ 0.01608398 0.99953512 0.02590082 0.09786871] [ 0.36078522 -0.0299607 0.93216757 -0.86864858] [ 0. 0. 0. 1. ]] SLAMing on 473.91463044 meters Centerline goodness : 0.105964 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.87 [[ 0.93227529 -0.00526804 -0.36171126 -1.22322946] [ 0.01568623 0.99954218 0.02587217 0.09956225] [ 0.36140936 -0.02979387 0.93193111 -0.8685951 ] [ 0. 0. 0. 1. ]] SLAMing on 473.94463044 meters Centerline goodness : 0.127973 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93249611 -0.00498253 -0.36114565 -1.22558511] [ 0.01519287 0.99956094 0.02543834 0.10276448] [ 0.36086034 -0.02920799 0.93216238 -0.86838001] [ 0. 0. 0. 1. ]] SLAMing on 473.97463044 meters Centerline goodness : 0.126409 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.10, Z:-0.87 [[ 0.93253421 -0.00487836 -0.36104868 -1.22701629] [ 0.01498757 0.99956995 0.02520481 0.10461447] [ 0.36077046 -0.02891559 0.93220629 -0.8677624 ] [ 0. 0. 0. 1. ]] SLAMing on 474.00463044 meters Centerline goodness : 0.162159 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.87 [[ 0.93246203 -0.00442809 -0.36124086 -1.22687191] [ 0.01451103 0.999577 0.02520413 0.10649396] [ 0.36097645 -0.02874387 0.93213185 -0.86744971] [ 0. 0. 0. 1. ]] SLAMing on 474.03463044 meters Centerline goodness : 0.063352 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.87 [[ 0.93240787 -0.00453904 -0.36137926 -1.22590717] [ 0.01447901 0.99958751 0.0248027 0.10836948] [ 0.36111761 -0.02835864 0.93208897 -0.86783787] [ 0. 0. 0. 1. ]] SLAMing on 474.06463044000003 meters Centerline goodness : 0.170452 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.87 [[ 0.93222396 -0.00906023 -0.36176845 -1.22567342] [ 0.01799555 0.99961036 0.02133736 0.10709978] [ 0.36143417 -0.02640142 0.93202377 -0.86703249] [ 0. 0. 0. 1. ]] SLAMing on 474.09463044 meters Centerline goodness : 0.150862 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.87 [[ 0.93205347 -0.00853406 -0.36222025 -1.2251045 ] [ 0.01758215 0.99961012 0.02169059 0.10736616] [ 0.36189391 -0.0265854 0.93184012 -0.86633227] [ 0. 0. 0. 1. ]] SLAMing on 474.12463044000003 meters Centerline goodness : 0.050584 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.87 [[ 0.93199149 -0.00777093 -0.36239684 -1.22537716] [ 0.01696401 0.99960979 0.02219227 0.10815107] [ 0.36208297 -0.02683071 0.93175964 -0.86567257] [ 0. 0. 0. 1. ]] SLAMing on 474.15463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 474.18463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 474.21463044 meters Centerline goodness : 0.098532 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93305715 -0.00941366 -0.35960497 -1.23611068] [ 0.01825448 0.99960866 0.02119686 0.10488973] [ 0.3592647 -0.02634229 0.93286385 -0.86348569] [ 0. 0. 0. 1. ]] SLAMing on 474.24463044000004 meters Centerline goodness : 0.161287 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.9324537 -0.00775248 -0.36120631 -1.22961943] [ 0.01697173 0.99960596 0.02235821 0.10579934] [ 0.36089064 -0.02697829 0.93221785 -0.86388036] [ 0. 0. 0. 1. ]] SLAMing on 474.27463044 meters Centerline goodness : 0.139061 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93235518 -0.00791298 -0.36145706 -1.22849652] [ 0.01705723 0.99960992 0.02211469 0.10647249] [ 0.36114107 -0.0267842 0.93212646 -0.86397505] [ 0. 0. 0. 1. ]] SLAMing on 474.30463044 meters Centerline goodness : 0.082631 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93246278 -0.00835011 -0.36116954 -1.22893871] [ 0.01735178 0.9996142 0.02168788 0.10674608] [ 0.3608491 -0.02649007 0.93224793 -0.86421481] [ 0. 0. 0. 1. ]] SLAMing on 474.33463044 meters Centerline goodness : 0.146227 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93252411 -0.00849574 -0.36100775 -1.22981729] [ 0.01744534 0.99961579 0.02153895 0.10646788] [ 0.36068606 -0.02638349 0.93231404 -0.86382551] [ 0. 0. 0. 1. ]] SLAMing on 474.36463044 meters Centerline goodness : 0.118716 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93238781 -0.00788405 -0.36137352 -1.2301364 ] [ 0.01693208 0.99961725 0.0218783 0.10735502] [ 0.36106272 -0.02651787 0.93216443 -0.86281943] [ 0. 0. 0. 1. ]] SLAMing on 474.39463044 meters Centerline goodness : 0.241599 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93223714 -0.00764485 -0.36176716 -1.228415 ] [ 0.01669247 0.999621 0.02189083 0.10826733] [ 0.3614627 -0.02644623 0.93201143 -0.86300403] [ 0. 0. 0. 1. ]] SLAMing on 474.42463044 meters Centerline goodness : 0.123488 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93214848 -0.00769129 -0.36199456 -1.22726428] [ 0.01666541 0.99962616 0.02167496 0.10932801] [ 0.36169253 -0.02623707 0.93192818 -0.86325289] [ 0. 0. 0. 1. ]] SLAMing on 474.45463044 meters Centerline goodness : 0.056203 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93230312 -0.00761614 -0.36159769 -1.22869573] [ 0.01649906 0.99963303 0.0214846 0.1108198 ] [ 0.36130137 -0.02599618 0.93208665 -0.86312367] [ 0. 0. 0. 1. ]] SLAMing on 474.48463044 meters Centerline goodness : 0.140534 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93238521 -0.00751183 -0.36138816 -1.2303581 ] [ 0.01637344 0.99963551 0.02146518 0.11170926] [ 0.36109519 -0.02593098 0.93216836 -0.86245357] [ 0. 0. 0. 1. ]] SLAMing on 474.51463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 474.54463044 meters Centerline goodness : 0.155362 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93239271 -0.0077282 -0.36136423 -1.23135912] [ 0.01647571 0.99964093 0.02113215 0.11272963] [ 0.36107116 -0.02565719 0.93218524 -0.86179364] [ 0. 0. 0. 1. ]] SLAMing on 474.57463044 meters Centerline goodness : 0.147041 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93214795 -0.00778872 -0.36199384 -1.22949405] [ 0.01648255 0.99964497 0.02093467 0.11343971] [ 0.36170227 -0.02548079 0.93194538 -0.8615873 ] [ 0. 0. 0. 1. ]] SLAMing on 474.60463044 meters Centerline goodness : 0.127313 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.9321499 -0.00767414 -0.36199125 -1.2297147 ] [ 0.01636904 0.99964632 0.020959 0.11412001] [ 0.36170238 -0.02546238 0.93194584 -0.86141137] [ 0. 0. 0. 1. ]] SLAMing on 474.63463044 meters Centerline goodness : 0.170371 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93221127 -0.00777445 -0.36183104 -1.23108045] [ 0.0164587 0.99964557 0.02092492 0.11395933] [ 0.36154011 -0.02546171 0.93200882 -0.86074093] [ 0. 0. 0. 1. ]] SLAMing on 474.66463044 meters Centerline goodness : 0.068587 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93235882 -0.00816409 -0.36144207 -1.23249204] [ 0.01680403 0.99964311 0.0207674 0.11312214] [ 0.36114353 -0.02543635 0.93216326 -0.86049812] [ 0. 0. 0. 1. ]] SLAMing on 474.69463044 meters Centerline goodness : 0.105702 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93209602 -0.00819513 -0.36211856 -1.23024555] [ 0.01686479 0.99964167 0.02078716 0.11262766] [ 0.36181845 -0.02548268 0.93190023 -0.86025915] [ 0. 0. 0. 1. ]] SLAMing on 474.72463044 meters Centerline goodness : 0.144035 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.9318733 -0.00814054 -0.36269254 -1.22829689] [ 0.01679705 0.9996442 0.02072026 0.11329457] [ 0.36239482 -0.02540082 0.93167848 -0.86021777] [ 0. 0. 0. 1. ]] SLAMing on 474.75463044 meters Centerline goodness : 0.053030 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93169262 -0.00811729 -0.36315695 -1.22691275] [ 0.01674585 0.99964718 0.02061796 0.11412309] [ 0.36286145 -0.02529097 0.93149983 -0.86008392] [ 0. 0. 0. 1. ]] SLAMing on 474.78463044 meters Centerline goodness : 0.099402 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93160688 -0.00817211 -0.3633756 -1.22630696] [ 0.01674235 0.99965085 0.02044175 0.11510775] [ 0.36308168 -0.02512743 0.93141844 -0.85996726] [ 0. 0. 0. 1. ]] SLAMing on 474.81463044000003 meters Centerline goodness : 0.113616 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93149191 -0.0084926 -0.36366288 -1.22547841] [ 0.01691457 0.99965728 0.01998031 0.11688819] [ 0.36336856 -0.0247627 0.93131632 -0.85981499] [ 0. 0. 0. 1. ]] SLAMing on 474.84463044 meters Centerline goodness : 0.172646 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93172227 -0.010096 -0.36303125 -1.22921013] [ 0.01826576 0.99965112 0.01907865 0.11379469] [ 0.36271198 -0.02440705 0.93158162 -0.85868447] [ 0. 0. 0. 1. ]] SLAMing on 474.87463044000003 meters Centerline goodness : 0.124395 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93178713 -0.01048163 -0.36285381 -1.23014501] [ 0.01872384 0.99964022 0.01920546 0.11084186] [ 0.36252196 -0.02468942 0.93164814 -0.858089 ] [ 0. 0. 0. 1. ]] SLAMing on 474.90463044 meters Centerline goodness : 0.106187 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93142177 -0.00999263 -0.36380438 -1.2271917 ] [ 0.01848893 0.99963143 0.01987892 0.10892046] [ 0.36347165 -0.02524201 0.93126323 -0.85753124] [ 0. 0. 0. 1. ]] SLAMing on 474.93463044000003 meters Centerline goodness : 0.159972 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93143896 -0.01007493 -0.36375811 -1.22674887] [ 0.01855379 0.99963135 0.01982226 0.10856642] [ 0.3634243 -0.02521232 0.93128251 -0.85782516] [ 0. 0. 0. 1. ]] SLAMing on 474.96463044 meters Centerline goodness : 0.172713 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93159939 -0.01031208 -0.36334038 -1.22765386] [ 0.01871029 0.99963278 0.01960202 0.10830088] [ 0.36300481 -0.02505944 0.93145023 -0.85807464] [ 0. 0. 0. 1. ]] SLAMing on 474.99463044000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 475.02463044 meters Centerline goodness : 0.162186 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93194236 -0.01018031 -0.36246352 -1.23093731] [ 0.01850389 0.99963862 0.01949968 0.10836099] [ 0.36213402 -0.02487956 0.93179395 -0.85774482] [ 0. 0. 0. 1. ]] SLAMing on 475.05463044 meters Centerline goodness : 0.164352 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93202929 -0.00547457 -0.36234159 -1.23036125] [ 0.01474231 0.99963095 0.02281746 0.10980913] [ 0.36208295 -0.02660829 0.93176603 -0.8584399 ] [ 0. 0. 0. 1. ]] SLAMing on 475.08463044 meters Centerline goodness : 0.148273 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93201721 -0.00528176 -0.36237553 -1.23050173] [ 0.0144906 0.99963732 0.02269923 0.11148528] [ 0.36212421 -0.02640712 0.93175572 -0.85839337] [ 0. 0. 0. 1. ]] SLAMing on 475.11463044 meters Centerline goodness : 0.152147 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93239378 -0.00480905 -0.3614121 -1.23381537] [ 0.01393918 0.99964606 0.02265962 0.1139997 ] [ 0.36117521 -0.02616548 0.9321308 -0.85844844] [ 0. 0. 0. 1. ]] SLAMing on 475.14463044 meters Centerline goodness : 0.097982 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.12, Z:-0.86 [[ 0.9324838 -0.00493319 -0.36117811 -1.23513436] [ 0.01396346 0.99965164 0.02239677 0.11515957] [ 0.36094181 -0.02592792 0.93222784 -0.85819074] [ 0. 0. 0. 1. ]] SLAMing on 475.17463044 meters Centerline goodness : 0.131323 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93247465 -0.00492185 -0.3612019 -1.23496718] [ 0.01390225 0.99965537 0.02226827 0.11572406] [ 0.36096781 -0.02578612 0.93222171 -0.85821175] [ 0. 0. 0. 1. ]] SLAMing on 475.20463044 meters Centerline goodness : 0.313324 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93237031 -0.00502881 -0.36146966 -1.23373825] [ 0.01395727 0.99965847 0.02209385 0.11602279] [ 0.3612351 -0.02564478 0.93212207 -0.85839799] [ 0. 0. 0. 1. ]] SLAMing on 475.23463044 meters Centerline goodness : 0.173878 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93216549 -0.00497476 -0.36199828 -1.23235161] [ 0.01391745 0.99965888 0.02210038 0.11638627] [ 0.36176485 -0.02563931 0.93191674 -0.85813286] [ 0. 0. 0. 1. ]] SLAMing on 475.26463044 meters Centerline goodness : 0.173124 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93220239 -0.00494844 -0.36190361 -1.23314977] [ 0.01389528 0.99965868 0.02212319 0.11661643] [ 0.36167061 -0.02565205 0.93195297 -0.85776141] [ 0. 0. 0. 1. ]] SLAMing on 475.29463044 meters Centerline goodness : 0.173124 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93220239 -0.00494844 -0.36190361 -1.23314977] [ 0.01389528 0.99965868 0.02212319 0.11661643] [ 0.36167061 -0.02565205 0.93195297 -0.85776141] [ 0. 0. 0. 1. ]] SLAMing on 475.32463044 meters Centerline goodness : 0.129298 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93227454 -0.00487385 -0.36171872 -1.23376555] [ 0.01383624 0.99965799 0.02219125 0.11644485] [ 0.36148686 -0.02569317 0.93202313 -0.85754647] [ 0. 0. 0. 1. ]] SLAMing on 475.35463044 meters Centerline goodness : 0.134077 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93233991 -0.0051023 -0.36154704 -1.23411338] [ 0.01400782 0.9996595 0.0220151 0.11633741] [ 0.36131161 -0.02559004 0.93209392 -0.8576096 ] [ 0. 0. 0. 1. ]] SLAMing on 475.38463044 meters Centerline goodness : 0.313160 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93211812 -0.00545926 -0.36211325 -1.23181443] [ 0.01429555 0.99966172 0.02172726 0.11630219] [ 0.36187214 -0.02542898 0.93188085 -0.85774461] [ 0. 0. 0. 1. ]] SLAMing on 475.41463044 meters Centerline goodness : 0.137864 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93200722 -0.00550507 -0.36239791 -1.23088153] [ 0.01433299 0.99966231 0.02167572 0.11645402] [ 0.3621562 -0.02539618 0.93177139 -0.85765891] [ 0. 0. 0. 1. ]] SLAMing on 475.44463044 meters Centerline goodness : 0.218857 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93212264 -0.0058208 -0.36209599 -1.23212776] [ 0.0146342 0.99965954 0.02160215 0.11535567] [ 0.36184697 -0.02543484 0.93189047 -0.85731417] [ 0. 0. 0. 1. ]] SLAMing on 475.47463044 meters Centerline goodness : 0.094094 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.86 [[ 0.93245918 -0.00758147 -0.36119579 -1.23655816] [ 0.01615467 0.99965475 0.02072204 0.11148387] [ 0.36091399 -0.02515746 0.93225973 -0.85628633] [ 0. 0. 0. 1. ]] SLAMing on 475.50463044 meters Centerline goodness : 0.092755 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.86 [[ 0.9323908 -0.0076111 -0.36137165 -1.23542949] [ 0.016198 0.9996537 0.02073876 0.11132535] [ 0.36108866 -0.02519013 0.9321912 -0.85648068] [ 0. 0. 0. 1. ]] SLAMing on 475.53463044 meters Centerline goodness : 0.191784 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93226584 -0.00753283 -0.36169553 -1.23382626] [ 0.01612512 0.99965479 0.02074304 0.11187222] [ 0.36141442 -0.02517041 0.93206548 -0.85674992] [ 0. 0. 0. 1. ]] SLAMing on 475.56463044000003 meters Centerline goodness : 0.113423 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93211646 -0.00737747 -0.36208352 -1.23206835] [ 0.01597295 0.99965707 0.0207513 0.11276817] [ 0.36180626 -0.02512617 0.93191464 -0.85698261] [ 0. 0. 0. 1. ]] SLAMing on 475.59463044 meters Centerline goodness : 0.100647 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93218638 -0.00762397 -0.36189838 -1.23296403] [ 0.01608554 0.99966302 0.02037399 0.11448359] [ 0.36162109 -0.02481368 0.93199488 -0.85683375] [ 0. 0. 0. 1. ]] SLAMing on 475.62463044000003 meters Centerline goodness : 0.092782 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.86 [[ 0.9323983 -0.00885074 -0.36132406 -1.23667031] [ 0.0171161 0.99965979 0.01968122 0.11246436] [ 0.36102694 -0.02453519 0.93223257 -0.85574992] [ 0. 0. 0. 1. ]] SLAMing on 475.65463044 meters Centerline goodness : 0.072783 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.86 [[ 0.93242433 -0.00898201 -0.36125364 -1.23660537] [ 0.01730992 0.99965364 0.01982343 0.1107406 ] [ 0.36095047 -0.02473712 0.93225685 -0.85575758] [ 0. 0. 0. 1. ]] SLAMing on 475.68463044000003 meters Centerline goodness : 0.112305 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.86 [[ 0.93226773 -0.00881823 -0.36166162 -1.23504092] [ 0.01720516 0.99965241 0.01997626 0.11058453] [ 0.36135975 -0.02484566 0.93209539 -0.85575648] [ 0. 0. 0. 1. ]] SLAMing on 475.71463044 meters Centerline goodness : 0.068653 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93212336 -0.00869022 -0.36203664 -1.23254013] [ 0.0170413 0.99965713 0.01988017 0.11197662] [ 0.36173974 -0.02470034 0.93195185 -0.85649506] [ 0. 0. 0. 1. ]] SLAMing on 475.74463044000004 meters Centerline goodness : 0.119566 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93220676 -0.0089375 -0.3618158 -1.23323907] [ 0.0171876 0.99966035 0.01958987 0.11275631] [ 0.36151782 -0.02448055 0.93204376 -0.85656257] [ 0. 0. 0. 1. ]] SLAMing on 475.77463044 meters Centerline goodness : 0.109322 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.86 [[ 0.93230436 -0.00896337 -0.3615636 -1.23421231] [ 0.01716786 0.99966273 0.01948572 0.11303664] [ 0.361267 -0.0243739 0.9321438 -0.85645999] [ 0. 0. 0. 1. ]] SLAMing on 475.80463044 meters Centerline goodness : 0.093614 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93222604 -0.00883043 -0.36176876 -1.23458204] [ 0.01694482 0.99967084 0.01926335 0.11510968] [ 0.36147958 -0.0240879 0.93206882 -0.85592686] [ 0. 0. 0. 1. ]] SLAMing on 475.83463044 meters Centerline goodness : 0.135372 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93205279 -0.00864694 -0.3622193 -1.23301164] [ 0.01672889 0.99967605 0.01918194 0.11651087] [ 0.36193609 -0.02393811 0.93189551 -0.85599465] [ 0. 0. 0. 1. ]] SLAMing on 475.86463044 meters Centerline goodness : 0.126378 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93196472 -0.00857807 -0.36244747 -1.23233047] [ 0.01660257 0.99968104 0.01903083 0.11781574] [ 0.36216862 -0.02375362 0.93180988 -0.85599031] [ 0. 0. 0. 1. ]] SLAMing on 475.89463044 meters Centerline goodness : 0.086920 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.86 [[ 0.93205399 -0.00865747 -0.36221598 -1.23311821] [ 0.01662252 0.99968358 0.01887924 0.11836768] [ 0.36193792 -0.02361741 0.93190298 -0.85594389] [ 0. 0. 0. 1. ]] SLAMing on 475.92463044 meters Centerline goodness : 0.149925 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.85 [[ 0.93249584 -0.01007677 -0.36104011 -1.23984407] [ 0.01791285 0.99967089 0.01836416 0.11398299] [ 0.36073624 -0.02359176 0.93236945 -0.85416431] [ 0. 0. 0. 1. ]] SLAMing on 475.95463044 meters Centerline goodness : 0.149169 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.85 [[ 0.93247308 -0.00995154 -0.36110236 -1.23980347] [ 0.01786612 0.99966763 0.01858599 0.11291033] [ 0.36079738 -0.02378243 0.93234095 -0.85390761] [ 0. 0. 0. 1. ]] SLAMing on 475.98463044 meters Centerline goodness : 0.090576 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.85 [[ 0.93238217 -0.00995265 -0.361337 -1.2383724 ] [ 0.01792978 0.99966378 0.01873073 0.11149286] [ 0.36102909 -0.02394289 0.93224714 -0.85410702] [ 0. 0. 0. 1. ]] SLAMing on 476.01463044 meters Centerline goodness : 0.095062 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.85 [[ 0.93218574 -0.01149881 -0.36179763 -1.23542317] [ 0.01924183 0.99965629 0.01780582 0.10688193] [ 0.36146853 -0.02355998 0.9320866 -0.85462238] [ 0. 0. 0. 1. ]] SLAMing on 476.04463044 meters Centerline goodness : 0.095655 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.85 [[ 0.93216036 -0.01126227 -0.36187046 -1.23532998] [ 0.0191083 0.99965338 0.01811044 0.10568926] [ 0.36154106 -0.02379657 0.93205246 -0.85443633] [ 0. 0. 0. 1. ]] SLAMing on 476.07463044 meters Centerline goodness : 0.128964 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.85 [[ 0.93217653 -0.0108875 -0.36184026 -1.23587736] [ 0.01886228 0.99965065 0.01851446 0.1046792 ] [ 0.36151228 -0.02408388 0.93205624 -0.85408011] [ 0. 0. 0. 1. ]] SLAMing on 476.10463044 meters Centerline goodness : 0.150686 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.85 [[ 0.93228037 -0.01075054 -0.36157673 -1.23647368] [ 0.01878759 0.99964824 0.01871951 0.10356013] [ 0.3612483 -0.02424498 0.93215441 -0.85414008] [ 0. 0. 0. 1. ]] SLAMing on 476.13463044 meters Centerline goodness : 0.097383 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.85 [[ 0.93239191 -0.0108355 -0.36128649 -1.23686458] [ 0.01888199 0.99964591 0.01874898 0.10234126] [ 0.36095541 -0.0243032 0.93226635 -0.85444754] [ 0. 0. 0. 1. ]] SLAMing on 476.16463044 meters Centerline goodness : 0.159803 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.85 [[ 0.93238264 -0.01085873 -0.36130969 -1.23600541] [ 0.01895142 0.99964247 0.01886228 0.1004278 ] [ 0.36097569 -0.02443419 0.93225507 -0.85487706] [ 0. 0. 0. 1. ]] SLAMing on 476.19463044 meters Centerline goodness : 0.154642 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.85 [[ 0.93233522 -0.01062427 -0.361439 -1.23532203] [ 0.01879613 0.99964086 0.01910099 0.09963598] [ 0.36110627 -0.02460218 0.93220008 -0.8549863 ] [ 0. 0. 0. 1. ]] SLAMing on 476.22463044 meters Centerline goodness : 0.152299 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93234429 -0.01043374 -0.36142117 -1.23508464] [ 0.01867433 0.99963903 0.01931522 0.09872319] [ 0.36108918 -0.02475773 0.93220258 -0.85510351] [ 0. 0. 0. 1. ]] SLAMing on 476.25463044 meters Centerline goodness : 0.143242 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93243717 -0.01041689 -0.36118197 -1.23549994] [ 0.01869038 0.99963668 0.01942096 0.09745789] [ 0.36084844 -0.02485945 0.93229309 -0.85525865] [ 0. 0. 0. 1. ]] SLAMing on 476.28463044 meters Centerline goodness : 0.105921 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93252549 -0.0105875 -0.36094891 -1.23598126] [ 0.01886554 0.99963345 0.01941819 0.09603147] [ 0.36061101 -0.02491746 0.93238341 -0.8553202 ] [ 0. 0. 0. 1. ]] SLAMing on 476.31463044000003 meters Centerline goodness : 0.098365 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-0.86 [[ 0.93254813 -0.01091255 -0.36088072 -1.23564202] [ 0.01921698 0.9996265 0.01943102 0.09343322] [ 0.36053389 -0.0250554 0.93240954 -0.85544354] [ 0. 0. 0. 1. ]] SLAMing on 476.34463044 meters Centerline goodness : 0.091657 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.09, Z:-0.86 [[ 0.93244624 -0.01083198 -0.36114634 -1.23447309] [ 0.01919318 0.99962419 0.01957296 0.09255729] [ 0.3607986 -0.02518228 0.93230372 -0.85551172] [ 0. 0. 0. 1. ]] SLAMing on 476.37463044000003 meters Centerline goodness : 0.092879 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.09, Z:-0.86 [[ 0.93248842 -0.01083697 -0.36103725 -1.23468085] [ 0.01931095 0.99961603 0.01987172 0.09051386] [ 0.36068327 -0.02550212 0.93233965 -0.85541352] [ 0. 0. 0. 1. ]] SLAMing on 476.40463044 meters Centerline goodness : 0.107078 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93333979 -0.0159412 -0.3586401 -1.25260995] [ 0.024813 0.99948906 0.02014805 0.0900242 ] [ 0.35813567 -0.02770391 0.93325845 -0.86261638] [ 0. 0. 0. 1. ]] SLAMing on 476.43463044000003 meters Centerline goodness : 0.091692 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93350824 -0.01590716 -0.35820293 -1.25343623] [ 0.0248192 0.99948592 0.02029561 0.08920196] [ 0.35769593 -0.02783643 0.93342314 -0.86276994] [ 0. 0. 0. 1. ]] SLAMing on 476.46463044 meters Centerline goodness : 0.097534 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93355725 -0.01599134 -0.35807142 -1.25380176] [ 0.02490066 0.99948413 0.02028395 0.08858234] [ 0.35756233 -0.02785245 0.93347385 -0.8627077 ] [ 0. 0. 0. 1. ]] SLAMing on 476.49463044000004 meters Centerline goodness : 0.091778 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.9335243 -0.01581117 -0.35816531 -1.25290696] [ 0.02476103 0.99948492 0.02041515 0.08836409] [ 0.35765804 -0.02792658 0.93343496 -0.86296711] [ 0. 0. 0. 1. ]] SLAMing on 476.52463044 meters Centerline goodness : 0.123404 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93343051 -0.01551151 -0.35842276 -1.25126411] [ 0.02449817 0.99948874 0.0205449 0.08934358] [ 0.35792083 -0.02795794 0.93333329 -0.86349388] [ 0. 0. 0. 1. ]] SLAMing on 476.55463044 meters Centerline goodness : 0.191660 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93344865 -0.0154384 -0.35837867 -1.25072043] [ 0.02440606 0.99949166 0.02051252 0.0899028 ] [ 0.35787981 -0.027894 0.93335093 -0.86389759] [ 0. 0. 0. 1. ]] SLAMing on 476.58463044 meters Centerline goodness : 0.070196 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.9335089 -0.01557641 -0.35821573 -1.25077818] [ 0.02447677 0.99949376 0.02032508 0.09056598] [ 0.35771779 -0.0277416 0.93341758 -0.86419404] [ 0. 0. 0. 1. ]] SLAMing on 476.61463044 meters Centerline goodness : 0.091396 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93357147 -0.01571184 -0.3580467 -1.25097059] [ 0.02446295 0.99950217 0.01992446 0.09312861] [ 0.35755541 -0.02735979 0.93349107 -0.86453142] [ 0. 0. 0. 1. ]] SLAMing on 476.64463044 meters Centerline goodness : 0.094288 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93351269 -0.01577681 -0.35819709 -1.25028828] [ 0.02443542 0.9995081 0.0196588 0.09494541] [ 0.35771074 -0.02710443 0.93343901 -0.86475254] [ 0. 0. 0. 1. ]] SLAMing on 476.67463044 meters Centerline goodness : 0.091230 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93339692 -0.01576389 -0.35849922 -1.24901002] [ 0.02435833 0.99951369 0.0194694 0.09650224] [ 0.35801796 -0.02690512 0.93332698 -0.86498599] [ 0. 0. 0. 1. ]] SLAMing on 476.70463044 meters Centerline goodness : 0.092049 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.87 [[ 0.93327385 -0.01576357 -0.35881949 -1.24781153] [ 0.02427592 0.99952033 0.01922994 0.09824633] [ 0.35834424 -0.02665747 0.93320886 -0.86511468] [ 0. 0. 0. 1. ]] SLAMing on 476.73463044 meters Centerline goodness : 0.074185 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.87 [[ 0.9331781 -0.0157498 -0.35906905 -1.24720941] [ 0.02410687 0.99953244 0.01880855 0.10167873] [ 0.35860494 -0.02620775 0.93312146 -0.86513142] [ 0. 0. 0. 1. ]] SLAMing on 476.76463044 meters Centerline goodness : 0.092366 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.87 [[ 0.93321419 -0.01575052 -0.3589752 -1.24767124] [ 0.02403964 0.99953724 0.01863891 0.10319702] [ 0.35851551 -0.02602373 0.93316097 -0.86510255] [ 0. 0. 0. 1. ]] SLAMing on 476.79463044 meters Centerline goodness : 0.100799 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93321021 -0.01574116 -0.35898597 -1.2479485 ] [ 0.0239741 0.99954151 0.01849359 0.1044223 ] [ 0.35853027 -0.02586477 0.93315972 -0.86493209] [ 0. 0. 0. 1. ]] SLAMing on 476.82463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 476.85463044 meters Centerline goodness : 0.192983 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.11, Z:-0.86 [[ 0.93319249 -0.01586295 -0.35902667 -1.2479798 ] [ 0.02396221 0.99954864 0.01812002 0.10712135] [ 0.35857718 -0.02551254 0.93315139 -0.8649709 ] [ 0. 0. 0. 1. ]] SLAMing on 476.88463044 meters Centerline goodness : 0.151901 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.11, Z:-0.86 [[ 0.93323103 -0.01595437 -0.35892243 -1.24874537] [ 0.02402457 0.99954867 0.01803539 0.10734387] [ 0.35847269 -0.02545414 0.93319313 -0.86465055] [ 0. 0. 0. 1. ]] SLAMing on 476.91463044 meters Centerline goodness : 0.157134 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.11, Z:-0.86 [[ 0.93340301 -0.01611098 -0.35846794 -1.25062581] [ 0.02420861 0.99954283 0.01811258 0.10624293] [ 0.35801225 -0.02558435 0.93336631 -0.86429564] [ 0. 0. 0. 1. ]] SLAMing on 476.94463044 meters Centerline goodness : 0.091082 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93363796 -0.01661728 -0.3578324 -1.25327878] [ 0.02469955 0.99953236 0.01802777 0.10469813] [ 0.35736549 -0.02566971 0.93361179 -0.86375984] [ 0. 0. 0. 1. ]] SLAMing on 476.97463044 meters Centerline goodness : 0.093791 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93370252 -0.01695045 -0.35764826 -1.25395133] [ 0.02515084 0.99951635 0.01828933 0.10136318] [ 0.35716528 -0.02607195 0.93367726 -0.86336143] [ 0. 0. 0. 1. ]] SLAMing on 477.00463044 meters Centerline goodness : 0.142404 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93358802 -0.01699823 -0.35794478 -1.25277872] [ 0.02526684 0.99951074 0.01843555 0.09980432] [ 0.35745628 -0.02625534 0.93356074 -0.8632815 ] [ 0. 0. 0. 1. ]] SLAMing on 477.03463044 meters Centerline goodness : 0.097463 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.9334721 -0.01678639 -0.35825697 -1.25129572] [ 0.02517103 0.99950725 0.01875283 0.09821394] [ 0.35776565 -0.02652294 0.93343467 -0.8633331 ] [ 0. 0. 0. 1. ]] SLAMing on 477.06463044000003 meters Centerline goodness : 0.093266 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93348307 -0.01673278 -0.3582309 -1.25109571] [ 0.0251771 0.99950394 0.01892054 0.09698764] [ 0.3577366 -0.02668122 0.93344129 -0.86336356] [ 0. 0. 0. 1. ]] SLAMing on 477.09463044 meters Centerline goodness : 0.093320 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93361298 -0.01651165 -0.35790246 -1.25237259] [ 0.02509054 0.99949811 0.01933904 0.0952392 ] [ 0.35740351 -0.02703515 0.93355869 -0.86316311] [ 0. 0. 0. 1. ]] SLAMing on 477.12463044000003 meters Centerline goodness : 0.095862 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93364845 -0.01658557 -0.35780649 -1.25270344] [ 0.02515021 0.99949744 0.01929595 0.09500662] [ 0.35730664 -0.02701454 0.93359637 -0.86311471] [ 0. 0. 0. 1. ]] SLAMing on 477.15463044 meters Centerline goodness : 0.097221 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93368237 -0.01655441 -0.35771941 -1.25244065] [ 0.0251168 0.99949815 0.01930288 0.094914 ] [ 0.35722034 -0.02700753 0.9336296 -0.86340764] [ 0. 0. 0. 1. ]] SLAMing on 477.18463044000003 meters Centerline goodness : 0.093170 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.9336581 -0.0165807 -0.35778156 -1.25203233] [ 0.02512234 0.99949924 0.01923877 0.09490379] [ 0.3572834 -0.02695074 0.93360711 -0.86353338] [ 0. 0. 0. 1. ]] SLAMing on 477.21463044 meters Centerline goodness : 0.093170 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.9336581 -0.0165807 -0.35778156 -1.25203233] [ 0.02512234 0.99949924 0.01923877 0.09490379] [ 0.3572834 -0.02695074 0.93360711 -0.86353338] [ 0. 0. 0. 1. ]] SLAMing on 477.24463044000004 meters Centerline goodness : 0.094598 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93347916 -0.01631977 -0.35826014 -1.2506039 ] [ 0.02484956 0.99950647 0.01921742 0.09648104] [ 0.3577697 -0.02684167 0.933424 -0.86354294] [ 0. 0. 0. 1. ]] SLAMing on 477.27463044 meters Centerline goodness : 0.093714 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.9334004 -0.01620285 -0.3584706 -1.25009827] [ 0.02469285 0.99951226 0.01911835 0.09785989] [ 0.35798598 -0.02669674 0.93334523 -0.86349115] [ 0. 0. 0. 1. ]] SLAMing on 477.30463044 meters Centerline goodness : 0.093497 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93334777 -0.01617975 -0.35860865 -1.24960718] [ 0.02459789 0.99951829 0.01892433 0.099464 ] [ 0.35812971 -0.026484 0.93329615 -0.86358053] [ 0. 0. 0. 1. ]] SLAMing on 477.33463044 meters Centerline goodness : 0.092717 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93332065 -0.0161674 -0.35867977 -1.24931756] [ 0.02449603 0.99952524 0.01868777 0.10120751] [ 0.35820735 -0.02622791 0.93327359 -0.86369436] [ 0. 0. 0. 1. ]] SLAMing on 477.36463044 meters Centerline goodness : 0.094151 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.11, Z:-0.86 [[ 0.93330388 -0.01610493 -0.35872622 -1.2502231 ] [ 0.02424561 0.99954024 0.01820605 0.10555629] [ 0.35826808 -0.02568931 0.93326526 -0.86327937] [ 0. 0. 0. 1. ]] SLAMing on 477.39463044 meters Centerline goodness : 0.094353 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.11, Z:-0.86 [[ 0.93335009 -0.01628157 -0.358598 -1.25113969] [ 0.02434634 0.99954178 0.01798547 0.10625055] [ 0.35814085 -0.02551729 0.93331881 -0.86292996] [ 0. 0. 0. 1. ]] SLAMing on 477.42463044 meters Centerline goodness : 0.093385 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93361452 -0.01693758 -0.35787853 -1.25383701] [ 0.02493718 0.99953144 0.01774923 0.10493857] [ 0.35741021 -0.02549542 0.93359945 -0.86253448] [ 0. 0. 0. 1. ]] SLAMing on 477.45463044 meters Centerline goodness : 0.093036 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93337992 -0.01695267 -0.35848923 -1.25149006] [ 0.02505928 0.99952428 0.01797886 0.103473 ] [ 0.3580139 -0.02576459 0.93336072 -0.86248898] [ 0. 0. 0. 1. ]] SLAMing on 477.48463044 meters Centerline goodness : 0.093094 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93316042 -0.01672116 -0.35907108 -1.24871357] [ 0.02487225 0.9995269 0.01809266 0.10393576] [ 0.35859867 -0.02581426 0.93313483 -0.86298028] [ 0. 0. 0. 1. ]] SLAMing on 477.51463044 meters Centerline goodness : 0.161351 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93307502 -0.01680352 -0.35928909 -1.24710223] [ 0.02495454 0.99952543 0.01806042 0.10334375] [ 0.35881511 -0.02581763 0.93305154 -0.86333988] [ 0. 0. 0. 1. ]] SLAMing on 477.54463044 meters Centerline goodness : 0.093026 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93317234 -0.01709469 -0.3590225 -1.24782687] [ 0.02524515 0.99951876 0.01802563 0.10188021] [ 0.35854158 -0.0258846 0.93315482 -0.86332193] [ 0. 0. 0. 1. ]] SLAMing on 477.57463044 meters Centerline goodness : 0.092764 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93317213 -0.01704252 -0.35902552 -1.24832795] [ 0.02524521 0.99951613 0.018171 0.10106876] [ 0.35854212 -0.02602035 0.93315084 -0.86290134] [ 0. 0. 0. 1. ]] SLAMing on 477.60463044 meters Centerline goodness : 0.092629 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93307558 -0.01661352 -0.35929647 -1.24767832] [ 0.02496955 0.99951464 0.01862815 0.09999678] [ 0.3588126 -0.02635294 0.93303753 -0.86254823] [ 0. 0. 0. 1. ]] SLAMing on 477.63463044 meters Centerline goodness : 0.093816 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93317287 -0.01689031 -0.3590308 -1.24775271] [ 0.02531094 0.99950347 0.01876594 0.09719856] [ 0.35853557 -0.02659927 0.93313703 -0.86280022] [ 0. 0. 0. 1. ]] SLAMing on 477.66463044 meters Centerline goodness : 0.092524 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.10, Z:-0.86 [[ 0.93309819 -0.01693416 -0.35922277 -1.24639717] [ 0.02541488 0.99949833 0.0188989 0.09551041] [ 0.35872253 -0.02676413 0.93306046 -0.86309117] [ 0. 0. 0. 1. ]] SLAMing on 477.69463044 meters Centerline goodness : 0.092280 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-0.86 [[ 0.93297146 -0.01666207 -0.35956449 -1.24470717] [ 0.02523045 0.99949823 0.01914977 0.09482485] [ 0.359065 -0.02693817 0.93292372 -0.86336168] [ 0. 0. 0. 1. ]] SLAMing on 477.72463044 meters Centerline goodness : 0.093684 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93300271 -0.01602893 -0.35951219 -1.24520194] [ 0.02471907 0.99950252 0.01958768 0.09488004] [ 0.35901937 -0.02716216 0.93293478 -0.86314985] [ 0. 0. 0. 1. ]] SLAMing on 477.75463044 meters Centerline goodness : 0.093497 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93312417 -0.01587318 -0.35920374 -1.2466005 ] [ 0.0245803 0.99950402 0.01968566 0.09472185] [ 0.35871311 -0.0271985 0.93305152 -0.86289991] [ 0. 0. 0. 1. ]] SLAMing on 477.78463044 meters Centerline goodness : 0.093396 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93324757 -0.01586837 -0.35888322 -1.24747263] [ 0.02455465 0.99950519 0.01965835 0.09455213] [ 0.35839369 -0.02715836 0.93317543 -0.86309519] [ 0. 0. 0. 1. ]] SLAMing on 477.81463044000003 meters Centerline goodness : 0.093462 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.86 [[ 0.93323264 -0.01581084 -0.3589246 -1.24744991] [ 0.02448938 0.99950704 0.01964548 0.09446063] [ 0.35843705 -0.02712364 0.93315979 -0.86301324] [ 0. 0. 0. 1. ]] SLAMing on 477.84463044 meters Centerline goodness : 0.108467 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93294094 -0.01444428 -0.35973958 -1.24321885] [ 0.02333006 0.99952025 0.0203709 0.09542905] [ 0.35927276 -0.0273976 0.93283035 -0.86384659] [ 0. 0. 0. 1. ]] SLAMing on 477.87463044000003 meters Centerline goodness : 0.091547 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.9329318 -0.01423379 -0.35977167 -1.24268882] [ 0.02309901 0.99952596 0.02035392 0.09651166] [ 0.35931142 -0.02729919 0.93281834 -0.86417117] [ 0. 0. 0. 1. ]] SLAMing on 477.90463044 meters Centerline goodness : 0.123210 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93298414 -0.01432148 -0.35963245 -1.2428628 ] [ 0.02311234 0.99952967 0.02015587 0.09733203] [ 0.35917464 -0.02711706 0.93287633 -0.86444148] [ 0. 0. 0. 1. ]] SLAMing on 477.93463044000003 meters Centerline goodness : 0.092077 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93303561 -0.01457663 -0.35948861 -1.2432432 ] [ 0.02326241 0.99953236 0.01984721 0.09781544] [ 0.3590312 -0.02688073 0.93293838 -0.86458636] [ 0. 0. 0. 1. ]] SLAMing on 477.96463044 meters Centerline goodness : 0.103803 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.933001 -0.01478164 -0.35957007 -1.24325835] [ 0.02347292 0.99952804 0.01981699 0.09658327] [ 0.35910744 -0.02692943 0.93290763 -0.8642777 ] [ 0. 0. 0. 1. ]] SLAMing on 477.99463044000004 meters Centerline goodness : 0.116425 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93284666 -0.01438046 -0.35998655 -1.24188457] [ 0.0231837 0.99952817 0.02014842 0.09631934] [ 0.35952695 -0.02714121 0.9327399 -0.8641552 ] [ 0. 0. 0. 1. ]] SLAMing on 478.02463044 meters Centerline goodness : 0.093504 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.86 [[ 0.93270299 -0.01412023 -0.36036891 -1.24079669] [ 0.02300205 0.99952788 0.02036944 0.09606964] [ 0.35991115 -0.02728786 0.93258744 -0.8639457 ] [ 0. 0. 0. 1. ]] SLAMing on 478.05463044 meters Centerline goodness : 0.153795 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-0.86 [[ 0.93265438 -0.01416464 -0.36049295 -1.24011824] [ 0.02308172 0.99952456 0.02044244 0.09496518] [ 0.360032 -0.02738653 0.9325379 -0.86392132] [ 0. 0. 0. 1. ]] SLAMing on 478.08463044 meters Centerline goodness : 0.110386 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-0.86 [[ 0.93284919 -0.01565944 -0.35992662 -1.24326164] [ 0.02434952 0.99951091 0.01962246 0.09169124] [ 0.35944331 -0.02706884 0.93277424 -0.86310308] [ 0. 0. 0. 1. ]] SLAMing on 478.11463044 meters Centerline goodness : 0.096746 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-0.86 [[ 0.93291823 -0.01552123 -0.35975363 -1.24492257] [ 0.02443881 0.99949616 0.02025276 0.08805063] [ 0.35925802 -0.02768612 0.9328275 -0.86207051] [ 0. 0. 0. 1. ]] SLAMing on 478.14463044 meters Centerline goodness : 0.177232 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-0.86 [[ 0.93284769 -0.01537897 -0.35994261 -1.24452488] [ 0.02438633 0.99949247 0.02049651 0.08683992] [ 0.35944471 -0.0278978 0.93274928 -0.86176026] [ 0. 0. 0. 1. ]] SLAMing on 478.17463044 meters Centerline goodness : 0.095521 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-0.86 [[ 0.93287558 -0.01551744 -0.35986436 -1.24407254] [ 0.02455072 0.99948746 0.02054461 0.08534613] [ 0.35936111 -0.02800049 0.93277841 -0.8620695 ] [ 0. 0. 0. 1. ]] SLAMing on 478.20463044 meters Centerline goodness : 0.147951 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.85 [[ 0.93291403 -0.01189451 -0.35990267 -1.22952751] [ 0.02021438 0.99960817 0.01936198 0.07996147] [ 0.35953134 -0.02533828 0.93278893 -0.85462568] [ 0. 0. 0. 1. ]] SLAMing on 478.23463044 meters Centerline goodness : 0.101328 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.85 [[ 0.93295526 -0.01162406 -0.35980463 -1.23018445] [ 0.02005397 0.9996047 0.01970511 0.07860829] [ 0.35943334 -0.0255995 0.93281956 -0.85424759] [ 0. 0. 0. 1. ]] SLAMing on 478.26463044 meters Centerline goodness : 0.155853 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.85 [[ 0.93292151 -0.01141824 -0.3598987 -1.23003051] [ 0.01992261 0.99960288 0.01992929 0.07787181] [ 0.35952822 -0.02576258 0.93277851 -0.85406988] [ 0. 0. 0. 1. ]] SLAMing on 478.29463044 meters Centerline goodness : 0.165665 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.85 [[ 0.93281659 -0.01129445 -0.36017446 -1.22863954] [ 0.01985297 0.99960142 0.02007146 0.07707956] [ 0.35980421 -0.02587352 0.93266902 -0.85427582] [ 0. 0. 0. 1. ]] SLAMing on 478.32463044 meters Centerline goodness : 0.091850 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.08, Z:-0.85 [[ 0.93272533 -0.01141545 -0.36040691 -1.22695532] [ 0.01996615 0.99960038 0.02001084 0.0762154 ] [ 0.36003445 -0.02586055 0.93258052 -0.85473639] [ 0. 0. 0. 1. ]] SLAMing on 478.35463044 meters Centerline goodness : 0.166464 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.07, Z:-0.86 [[ 0.93266211 -0.01138891 -0.36057132 -1.22513406] [ 0.01997886 0.99959824 0.02010473 0.07470422] [ 0.36019749 -0.02595472 0.93251495 -0.85548154] [ 0. 0. 0. 1. ]] SLAMing on 478.38463044 meters Centerline goodness : 0.090977 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.86 [[ 0.93263707 -0.01109526 -0.36064524 -1.22477188] [ 0.01975898 0.99959776 0.02034453 0.07438523] [ 0.36027444 -0.02610005 0.93248116 -0.85550345] [ 0. 0. 0. 1. ]] SLAMing on 478.41463044 meters Centerline goodness : 0.183587 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.86 [[ 0.93259864 -0.01079922 -0.36075359 -1.224237 ] [ 0.01951837 0.9995986 0.02053459 0.074489 ] [ 0.36038703 -0.02619186 0.93243508 -0.85559684] [ 0. 0. 0. 1. ]] SLAMing on 478.44463044 meters Centerline goodness : 0.098297 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.86 [[ 0.93261571 -0.01090611 -0.36070625 -1.22389877] [ 0.01957766 0.9996003 0.02039522 0.07464763] [ 0.36033964 -0.02608269 0.93245645 -0.85597732] [ 0. 0. 0. 1. ]] SLAMing on 478.47463044 meters Centerline goodness : 0.091703 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.86 [[ 0.9326224 -0.01094476 -0.36068779 -1.22404868] [ 0.01960288 0.99960063 0.0203547 0.07465698] [ 0.36032096 -0.02605376 0.93246448 -0.85593895] [ 0. 0. 0. 1. ]] SLAMing on 478.50463044 meters Centerline goodness : 0.093182 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93259394 -0.01086691 -0.36076372 -1.22404802] [ 0.01952241 0.99960217 0.02035651 0.07521868] [ 0.36039898 -0.02602733 0.93243507 -0.85579126] [ 0. 0. 0. 1. ]] SLAMing on 478.53463044 meters Centerline goodness : 0.106842 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.9325936 -0.01085071 -0.36076507 -1.22394573] [ 0.01946838 0.99960515 0.02026154 0.0762564 ] [ 0.36040277 -0.02591929 0.93243661 -0.85586839] [ 0. 0. 0. 1. ]] SLAMing on 478.56463044000003 meters Centerline goodness : 0.136007 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93262156 -0.01093004 -0.36069039 -1.22367779] [ 0.0194869 0.99960815 0.0200952 0.07719764] [ 0.36032941 -0.02576995 0.9324691 -0.85625216] [ 0. 0. 0. 1. ]] SLAMing on 478.59463044 meters Centerline goodness : 0.094723 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93261598 -0.01097007 -0.36070362 -1.22281657] [ 0.01948046 0.99961085 0.01996649 0.07790516] [ 0.36034422 -0.02564774 0.93246675 -0.85672466] [ 0. 0. 0. 1. ]] SLAMing on 478.62463044000003 meters Centerline goodness : 0.121089 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93256084 -0.01121212 -0.36083869 -1.2227664 ] [ 0.01962986 0.99961378 0.01967153 0.07929282] [ 0.36047877 -0.02542811 0.93242076 -0.85647916] [ 0. 0. 0. 1. ]] SLAMing on 478.65463044 meters Centerline goodness : 0.090731 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93249748 -0.01115533 -0.36100417 -1.22273113] [ 0.01958122 0.99961435 0.01969064 0.07987523] [ 0.36064529 -0.02543037 0.9323563 -0.85604332] [ 0. 0. 0. 1. ]] SLAMing on 478.68463044000003 meters Centerline goodness : 0.124209 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93245274 -0.01121465 -0.36111788 -1.22230428] [ 0.01960178 0.9996163 0.01957083 0.08086257] [ 0.36075984 -0.02532743 0.93231479 -0.85605317] [ 0. 0. 0. 1. ]] SLAMing on 478.71463044 meters Centerline goodness : 0.091236 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93237088 -0.01130663 -0.36132632 -1.22145261] [ 0.01964303 0.99961869 0.01940704 0.0818362 ] [ 0.36096911 -0.02519211 0.93223745 -0.85611376] [ 0. 0. 0. 1. ]] SLAMing on 478.74463044000004 meters Centerline goodness : 0.092662 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93225462 -0.01141337 -0.36162281 -1.22093698] [ 0.01966518 0.99962327 0.01914671 0.08384804] [ 0.36126805 -0.02496099 0.93212786 -0.85583437] [ 0. 0. 0. 1. ]] SLAMing on 478.77463044 meters Centerline goodness : 0.094076 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.86 [[ 0.93233461 -0.01156645 -0.36141167 -1.22193296] [ 0.01988147 0.9996161 0.01929703 0.08208955] [ 0.36104973 -0.02517668 0.93220665 -0.85537366] [ 0. 0. 0. 1. ]] SLAMing on 478.80463044 meters Centerline goodness : 0.092808 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.08, Z:-0.86 [[ 0.93285408 -0.01754253 -0.35982708 -1.24017929] [ 0.02625251 0.99946838 0.01933304 0.0792654 ] [ 0.35929664 -0.02748127 0.93281869 -0.86260629] [ 0. 0. 0. 1. ]] SLAMing on 478.83463044 meters Centerline goodness : 0.093065 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.08, Z:-0.86 [[ 0.93266856 -0.01767814 -0.36030103 -1.23813411] [ 0.02657481 0.99945165 0.01975303 0.07570383] [ 0.35975426 -0.02799796 0.93262693 -0.86247968] [ 0. 0. 0. 1. ]] SLAMing on 478.86463044 meters Centerline goodness : 0.092810 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93256316 -0.01767889 -0.36057372 -1.23689182] [ 0.02664385 0.99944675 0.01990709 0.07437755] [ 0.3600223 -0.02817169 0.93251826 -0.86249401] [ 0. 0. 0. 1. ]] SLAMing on 478.89463044 meters Centerline goodness : 0.093642 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93254506 -0.01768193 -0.36062038 -1.23620851] [ 0.02667406 0.99944463 0.01997296 0.07361594] [ 0.36006695 -0.02824489 0.9324988 -0.86268776] [ 0. 0. 0. 1. ]] SLAMing on 478.92463044 meters Centerline goodness : 0.140737 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93261913 -0.01773989 -0.36042594 -1.23689243] [ 0.02672798 0.99944329 0.01996809 0.07308315] [ 0.35987106 -0.02825608 0.93257408 -0.86261284] [ 0. 0. 0. 1. ]] SLAMing on 478.95463044 meters Centerline goodness : 0.092617 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.9327071 -0.01755524 -0.36020727 -1.23754048] [ 0.02658251 0.99944408 0.02012232 0.07252348] [ 0.35965377 -0.02834345 0.93265525 -0.86257402] [ 0. 0. 0. 1. ]] SLAMing on 478.98463044 meters Centerline goodness : 0.217196 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93288857 -0.01716349 -0.35975593 -1.23913405] [ 0.02621673 0.99945013 0.02030051 0.07263667] [ 0.35920968 -0.02836974 0.93282558 -0.86257665] [ 0. 0. 0. 1. ]] SLAMing on 479.01463044 meters Centerline goodness : 0.232365 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93292584 -0.01688973 -0.35967224 -1.23906114] [ 0.02594184 0.99945619 0.02035538 0.07316836] [ 0.35913285 -0.02832062 0.93285666 -0.86282319] [ 0. 0. 0. 1. ]] SLAMing on 479.04463044 meters Centerline goodness : 0.128012 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93288647 -0.01659426 -0.35978809 -1.23829771] [ 0.02564431 0.99946306 0.02039499 0.07394096] [ 0.35925646 -0.02825272 0.93281111 -0.86315401] [ 0. 0. 0. 1. ]] SLAMing on 479.07463044 meters Centerline goodness : 0.224905 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93283283 -0.01620274 -0.35994498 -1.23744455] [ 0.02526864 0.99947057 0.02049551 0.07471591] [ 0.35942233 -0.0282142 0.93274838 -0.86339916] [ 0. 0. 0. 1. ]] SLAMing on 479.10463044 meters Centerline goodness : 0.224905 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.86 [[ 0.93283283 -0.01620274 -0.35994498 -1.23744455] [ 0.02526864 0.99947057 0.02049551 0.07471591] [ 0.35942233 -0.0282142 0.93274838 -0.86339916] [ 0. 0. 0. 1. ]] SLAMing on 479.13463044 meters Centerline goodness : 0.094859 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.08, Z:-0.86 [[ 0.93268695 -0.01546566 -0.36035521 -1.23551537] [ 0.02455823 0.99948475 0.02066695 0.07673481] [ 0.35984991 -0.02812548 0.93258619 -0.86374694] [ 0. 0. 0. 1. ]] SLAMing on 479.16463044 meters Centerline goodness : 0.092355 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.07, Z:-0.87 [[ 0.93264924 -0.00756881 -0.36070501 -1.24933643] [ 0.01512692 0.99972111 0.01813509 0.07172223] [ 0.36046715 -0.02237003 0.93250363 -0.86927095] [ 0. 0. 0. 1. ]] SLAMing on 479.19463044 meters Centerline goodness : 0.074152 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.07, Z:-0.87 [[ 0.93263873 -0.00763041 -0.36073089 -1.24925098] [ 0.01515766 0.99972233 0.01804206 0.07205981] [ 0.36049305 -0.02229456 0.93249542 -0.86928546] [ 0. 0. 0. 1. ]] SLAMing on 479.22463044 meters Centerline goodness : 0.089096 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.07, Z:-0.87 [[ 0.93254968 -0.00750524 -0.36096367 -1.24878436] [ 0.01506107 0.99972231 0.01812384 0.07220927] [ 0.36072741 -0.02233788 0.93240375 -0.86900867] [ 0. 0. 0. 1. ]] SLAMing on 479.25463044 meters Centerline goodness : 0.114586 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.07, Z:-0.87 [[ 0.93248825 -0.00934081 -0.36107951 -1.25041437] [ 0.01670222 0.99971132 0.01727186 0.06793786] [ 0.36081394 -0.02213664 0.93237507 -0.8675531 ] [ 0. 0. 0. 1. ]] SLAMing on 479.28463044 meters Centerline goodness : 0.106171 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.06, Z:-0.87 [[ 0.93235956 -0.01107852 -0.3613626 -1.25060914] [ 0.01823114 0.99969945 0.01639015 0.0637613 ] [ 0.36107241 -0.02186956 0.93228131 -0.86660718] [ 0. 0. 0. 1. ]] SLAMing on 479.31463044000003 meters Centerline goodness : 0.112441 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.06, Z:-0.87 [[ 0.93213896 -0.01121006 -0.3619272 -1.24847788] [ 0.01848436 0.99969063 0.01664258 0.0614406 ] [ 0.36162867 -0.02220319 0.93205779 -0.86643634] [ 0. 0. 0. 1. ]] SLAMing on 479.34463044 meters Centerline goodness : 0.206527 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.87 [[ 0.93250676 -0.0158205 -0.36080585 -1.26079081] [ 0.02382519 0.99955858 0.01774814 0.06000522] [ 0.3603658 -0.02514653 0.93247206 -0.8746995 ] [ 0. 0. 0. 1. ]] SLAMing on 479.37463044000003 meters Centerline goodness : 0.137628 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.87 [[ 0.93243509 -0.01645778 -0.36096251 -1.25964652] [ 0.0244855 0.99954388 0.01767735 0.05714124] [ 0.36050694 -0.02532133 0.93241277 -0.87463898] [ 0. 0. 0. 1. ]] SLAMing on 479.40463044 meters Centerline goodness : 0.098048 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.87 [[ 0.9324594 -0.0165366 -0.36089612 -1.25972212] [ 0.02461693 0.99953841 0.01780382 0.05573683] [ 0.36043512 -0.02548549 0.93243606 -0.87447737] [ 0. 0. 0. 1. ]] SLAMing on 479.43463044000003 meters Centerline goodness : 0.189604 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.05, Z:-0.87 [[ 0.93246494 -0.01665436 -0.3608764 -1.26002195] [ 0.02476184 0.99953394 0.01785363 0.05472374] [ 0.36041087 -0.02558385 0.93244274 -0.87414236] [ 0. 0. 0. 1. ]] SLAMing on 479.46463044 meters Centerline goodness : 0.211446 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.05, Z:-0.87 [[ 0.93238598 -0.01657124 -0.36108418 -1.25971277] [ 0.0247397 0.99953167 0.01801096 0.05411576] [ 0.3606166 -0.02572628 0.93235928 -0.87372808] [ 0. 0. 0. 1. ]] SLAMing on 479.49463044000004 meters Centerline goodness : 0.142124 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.05, Z:-0.87 [[ 0.93233824 -0.01635633 -0.36121722 -1.25889075] [ 0.02458954 0.9995318 0.01820815 0.05383827] [ 0.36075028 -0.02585832 0.93230391 -0.87381083] [ 0. 0. 0. 1. ]] SLAMing on 479.52463044 meters Centerline goodness : 0.099323 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93208241 -0.00946127 -0.36212271 -1.27542226] [ 0.0160047 0.99975828 0.01507422 0.05083099] [ 0.36189256 -0.01984608 0.93200854 -0.87850611] [ 0. 0. 0. 1. ]] SLAMing on 479.55463044 meters Centerline goodness : 0.121213 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93206572 -0.0095042 -0.36216454 -1.27516208] [ 0.01600061 0.99976032 0.01494264 0.05159713] [ 0.36193572 -0.01972238 0.9319944 -0.8785442 ] [ 0. 0. 0. 1. ]] SLAMing on 479.58463044 meters Centerline goodness : 0.098305 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93211243 -0.00975764 -0.36203759 -1.27551642] [ 0.0161747 0.99976114 0.01469828 0.05178936] [ 0.36180769 -0.0195563 0.93204761 -0.87856317] [ 0. 0. 0. 1. ]] SLAMing on 479.61463044 meters Centerline goodness : 0.097318 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.9322552 -0.01015292 -0.3616589 -1.27701898] [ 0.01655458 0.99975627 0.01460672 0.05036431] [ 0.36142245 -0.0196043 0.93219606 -0.87826717] [ 0. 0. 0. 1. ]] SLAMing on 479.64463044 meters Centerline goodness : 0.095578 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93199395 -0.00994056 -0.3623375 -1.27507375] [ 0.01646412 0.99975312 0.01492077 0.04921669] [ 0.36209973 -0.01987164 0.93192752 -0.8778639 ] [ 0. 0. 0. 1. ]] SLAMing on 479.67463044 meters Centerline goodness : 0.164434 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.05, Z:-0.88 [[ 0.93176534 -0.00967867 -0.36293204 -1.27283876] [ 0.01627966 0.99975294 0.01513382 0.04910848] [ 0.3626959 -0.02000958 0.93169271 -0.87788158] [ 0. 0. 0. 1. ]] SLAMing on 479.70463044 meters Centerline goodness : 0.073564 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.05, Z:-0.88 [[ 0.93168819 -0.00973154 -0.36312865 -1.27184638] [ 0.01631661 0.99975328 0.01507139 0.04896423] [ 0.36289239 -0.01996686 0.93161711 -0.87800329] [ 0. 0. 0. 1. ]] SLAMing on 479.73463044 meters Centerline goodness : 0.102725 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93197851 -0.01072845 -0.36235473 -1.27584999] [ 0.01708924 0.99975094 0.01435342 0.04900313] [ 0.36211049 -0.01956944 0.93192973 -0.87717452] [ 0. 0. 0. 1. ]] SLAMing on 479.76463044 meters Centerline goodness : 0.092014 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93208145 -0.01082834 -0.3620869 -1.27736781] [ 0.01716261 0.9997507 0.01428196 0.04905717] [ 0.36184199 -0.01952631 0.93203492 -0.87669719] [ 0. 0. 0. 1. ]] SLAMing on 479.79463044 meters Centerline goodness : 0.133247 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93216693 -0.01104255 -0.36186029 -1.27838542] [ 0.01731593 0.99975067 0.01409809 0.04928928] [ 0.36161439 -0.01940772 0.93212573 -0.87650238] [ 0. 0. 0. 1. ]] SLAMing on 479.82463044 meters Centerline goodness : 0.136562 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93212948 -0.01125927 -0.36195008 -1.27823163] [ 0.01746625 0.99975109 0.01388131 0.04976294] [ 0.36170369 -0.01926109 0.93209412 -0.87633913] [ 0. 0. 0. 1. ]] SLAMing on 479.85463044 meters Centerline goodness : 0.131341 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93206842 -0.01140551 -0.3621027 -1.27776898] [ 0.01755928 0.99975185 0.01370821 0.05008177] [ 0.3618565 -0.01913525 0.9320374 -0.8762843 ] [ 0. 0. 0. 1. ]] SLAMing on 479.88463044 meters Centerline goodness : 0.127491 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93192426 -0.01159561 -0.36246754 -1.27687465] [ 0.01773015 0.99975028 0.01360245 0.05012422] [ 0.3622193 -0.01910306 0.93189713 -0.87591347] [ 0. 0. 0. 1. ]] SLAMing on 479.91463044 meters Centerline goodness : 0.093000 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93197296 -0.01168375 -0.36233946 -1.27720683] [ 0.01789715 0.99974465 0.01379617 0.04857751] [ 0.36208574 -0.01934251 0.93194409 -0.87573832] [ 0. 0. 0. 1. ]] SLAMing on 479.94463044 meters Centerline goodness : 0.132902 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93206229 -0.01195159 -0.36210088 -1.27792514] [ 0.01818797 0.99973908 0.01381892 0.04723407] [ 0.36184125 -0.01946597 0.93203647 -0.8755795 ] [ 0. 0. 0. 1. ]] SLAMing on 479.97463044 meters Centerline goodness : 0.064759 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93210831 -0.01201702 -0.36198023 -1.27775349] [ 0.01834518 0.99973299 0.01405018 0.04532623] [ 0.36171474 -0.01973688 0.93207988 -0.87563205] [ 0. 0. 0. 1. ]] SLAMing on 480.00463044 meters Centerline goodness : 0.103011 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93189348 -0.01215625 -0.36252831 -1.27407573] [ 0.01858107 0.99972594 0.01424072 0.04320226] [ 0.36225584 -0.020007 0.93186395 -0.87649754] [ 0. 0. 0. 1. ]] SLAMing on 480.03463044 meters Centerline goodness : 0.080720 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93170585 -0.01198115 -0.36301607 -1.27158156] [ 0.01846756 0.99972572 0.01440284 0.04282855] [ 0.36274394 -0.02012323 0.93167156 -0.87691769] [ 0. 0. 0. 1. ]] SLAMing on 480.06463044000003 meters Centerline goodness : 0.095711 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93163765 -0.01180471 -0.36319683 -1.27043177] [ 0.01835091 0.99972532 0.01457868 0.04239548] [ 0.36292496 -0.02024704 0.93159837 -0.87712879] [ 0. 0. 0. 1. ]] SLAMing on 480.09463044 meters Centerline goodness : 0.150008 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93170536 -0.01178565 -0.36302371 -1.27095379] [ 0.01835652 0.99972408 0.01465599 0.04206628] [ 0.36275081 -0.02031891 0.93166463 -0.87710048] [ 0. 0. 0. 1. ]] SLAMing on 480.12463044000003 meters Centerline goodness : 0.100791 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93171704 -0.01169042 -0.36299683 -1.27147566] [ 0.01831648 0.99972244 0.01481723 0.04136826] [ 0.36272286 -0.02045429 0.93167256 -0.87666988] [ 0. 0. 0. 1. ]] SLAMing on 480.15463044 meters Centerline goodness : 0.119915 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93175437 -0.01175327 -0.36289895 -1.27176175] [ 0.01839601 0.99972043 0.0148542 0.04067748] [ 0.36262291 -0.02051636 0.9317101 -0.87662444] [ 0. 0. 0. 1. ]] SLAMing on 480.18463044000003 meters Centerline goodness : 0.115154 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93162059 -0.01181318 -0.36324031 -1.26925252] [ 0.0184983 0.9997174 0.01493105 0.03954655] [ 0.36296128 -0.0206294 0.93157584 -0.87722754] [ 0. 0. 0. 1. ]] SLAMing on 480.21463044 meters Centerline goodness : 0.133488 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93157867 -0.01184185 -0.36334687 -1.26850714] [ 0.01853669 0.99971649 0.0149441 0.03921962] [ 0.3630669 -0.02065686 0.93153407 -0.87740438] [ 0. 0. 0. 1. ]] SLAMing on 480.24463044000004 meters Centerline goodness : 0.117411 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.9316051 -0.0118818 -0.3632778 -1.26865162] [ 0.0185718 0.99971608 0.01492839 0.03915849] [ 0.36299728 -0.02065408 0.93156126 -0.87738087] [ 0. 0. 0. 1. ]] SLAMing on 480.27463044 meters Centerline goodness : 0.097289 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93158821 -0.01171127 -0.36332665 -1.26864282] [ 0.01844498 0.9997163 0.01506958 0.03890578] [ 0.36304709 -0.02074019 0.93153994 -0.87721096] [ 0. 0. 0. 1. ]] SLAMing on 480.30463044 meters Centerline goodness : 0.251081 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.931545 -0.0115238 -0.36344342 -1.2687644 ] [ 0.01830303 0.99971672 0.01521437 0.03863127] [ 0.36316514 -0.02082498 0.93149203 -0.87684039] [ 0. 0. 0. 1. ]] SLAMing on 480.33463044 meters Centerline goodness : 0.149434 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93140236 -0.01128289 -0.36381634 -1.26736605] [ 0.01811973 0.99971746 0.01538431 0.03834313] [ 0.36353997 -0.02092124 0.93134365 -0.87681031] [ 0. 0. 0. 1. ]] SLAMing on 480.36463044 meters Centerline goodness : 0.093388 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93134464 -0.01114566 -0.3639683 -1.26646718] [ 0.01801311 0.99971792 0.0154791 0.03818182] [ 0.36369311 -0.02097258 0.9312827 -0.87704576] [ 0. 0. 0. 1. ]] SLAMing on 480.39463044 meters Centerline goodness : 0.096547 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93124879 -0.01093704 -0.36421983 -1.26550188] [ 0.01784954 0.9997187 0.01561803 0.03794319] [ 0.36394655 -0.02104543 0.93118204 -0.87701415] [ 0. 0. 0. 1. ]] SLAMing on 480.42463044 meters Centerline goodness : 0.096173 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93131144 -0.01064507 -0.36406823 -1.26657298] [ 0.01754675 0.99972348 0.01565465 0.03897837] [ 0.36380092 -0.02096757 0.93124071 -0.87664893] [ 0. 0. 0. 1. ]] SLAMing on 480.45463044 meters Centerline goodness : 0.179022 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93137205 -0.01066835 -0.36391248 -1.26783867] [ 0.01749616 0.99972723 0.01547075 0.0400851 ] [ 0.36364817 -0.02077609 0.93130466 -0.8762059 ] [ 0. 0. 0. 1. ]] SLAMing on 480.48463044 meters Centerline goodness : 0.227307 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93136988 -0.01046948 -0.36392381 -1.26817826] [ 0.01725015 0.99973281 0.01538669 0.04128593] [ 0.36366548 -0.02060844 0.93130162 -0.8759442 ] [ 0. 0. 0. 1. ]] SLAMing on 480.51463044 meters Centerline goodness : 0.105674 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.93136382 -0.01034735 -0.36394282 -1.26849947] [ 0.01705884 0.99973847 0.01523136 0.04265638] [ 0.36369003 -0.02039438 0.93129675 -0.87578544] [ 0. 0. 0. 1. ]] SLAMing on 480.54463044 meters Centerline goodness : 0.146704 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.04, Z:-0.88 [[ 0.9312927 -0.00995553 -0.36413568 -1.26788782] [ 0.01664354 0.99974544 0.01523336 0.04419065] [ 0.36389133 -0.02024722 0.93122132 -0.87575254] [ 0. 0. 0. 1. ]] SLAMing on 480.57463044 meters Centerline goodness : 0.138775 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.05, Z:-0.88 [[ 0.93124185 -0.00949342 -0.36427805 -1.26769719] [ 0.01616457 0.99975276 0.01526869 0.04599272] [ 0.36404303 -0.02010724 0.93116506 -0.87566368] [ 0. 0. 0. 1. ]] SLAMing on 480.60463044 meters Centerline goodness : 0.128146 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.05, Z:-0.88 [[ 0.93144764 -0.00864128 -0.36377276 -1.26934873] [ 0.01520701 0.999769 0.01518876 0.05023572] [ 0.36355748 -0.01967943 0.93136388 -0.87586742] [ 0. 0. 0. 1. ]] SLAMing on 480.63463044 meters Centerline goodness : 0.133893 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.05, Z:-0.88 [[ 0.93146053 -0.0083602 -0.36374634 -1.26950457] [ 0.01483831 0.99977711 0.01501861 0.05236513] [ 0.3635397 -0.01938663 0.93137696 -0.8758799 ] [ 0. 0. 0. 1. ]] SLAMing on 480.66463044 meters Centerline goodness : 0.093846 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.06, Z:-0.88 [[ 0.93160687 -0.00860129 -0.36336574 -1.27145447] [ 0.01480028 0.99978851 0.01427919 0.05586932] [ 0.36316607 -0.0186805 0.93153714 -0.8756617 ] [ 0. 0. 0. 1. ]] SLAMing on 480.69463044 meters Centerline goodness : 0.094762 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.05, Z:-0.88 [[ 0.93254807 -0.0136887 -0.36078624 -1.2889159 ] [ 0.02033556 0.99968612 0.01463327 0.05341437] [ 0.36047269 -0.02098302 0.93253373 -0.88266415] [ 0. 0. 0. 1. ]] SLAMing on 480.72463044 meters Centerline goodness : 0.143486 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.05, Z:-0.88 [[ 0.93240873 -0.01334946 -0.36115891 -1.28743726] [ 0.02017629 0.99968182 0.01513831 0.05139094] [ 0.36084191 -0.02140194 0.9323814 -0.88255128] [ 0. 0. 0. 1. ]] SLAMing on 480.75463044 meters Centerline goodness : 0.125106 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93219204 -0.01300634 -0.36173033 -1.28483424] [ 0.01994875 0.9996814 0.0154642 0.05052168] [ 0.36141396 -0.02163167 0.93215451 -0.88286661] [ 0. 0. 0. 1. ]] SLAMing on 480.78463044 meters Centerline goodness : 0.092274 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93195597 -0.01227414 -0.36236364 -1.28057305] [ 0.01940967 0.99968266 0.01605767 0.04958903] [ 0.36205155 -0.0219984 0.93189846 -0.8839262 ] [ 0. 0. 0. 1. ]] SLAMing on 480.81463044000003 meters Centerline goodness : 0.093360 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.9318936 -0.01231454 -0.36252264 -1.27889369] [ 0.01943561 0.99968304 0.01600254 0.04923617] [ 0.36221067 -0.02195852 0.93183757 -0.88460688] [ 0. 0. 0. 1. ]] SLAMing on 480.84463044 meters Centerline goodness : 0.140589 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93192936 -0.01211731 -0.36243737 -1.27939273] [ 0.01925968 0.99968488 0.01609981 0.04906874] [ 0.36212807 -0.02198431 0.93186906 -0.88451264] [ 0. 0. 0. 1. ]] SLAMing on 480.87463044000003 meters Centerline goodness : 0.093869 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93195617 -0.01197656 -0.3623731 -1.27992763] [ 0.01910709 0.99968781 0.01609982 0.04974523] [ 0.36206715 -0.02192822 0.93189405 -0.88440363] [ 0. 0. 0. 1. ]] SLAMing on 480.90463044 meters Centerline goodness : 0.093181 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93185449 -0.0118591 -0.36263835 -1.27924406] [ 0.01895246 0.99969221 0.01600902 0.05069095] [ 0.36233688 -0.02179096 0.93179243 -0.88430175] [ 0. 0. 0. 1. ]] SLAMing on 480.93463044000003 meters Centerline goodness : 0.108609 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.88 [[ 0.93173109 -0.0117797 -0.36295787 -1.27774485] [ 0.01880268 0.99969801 0.01582251 0.05187987] [ 0.36266187 -0.02156691 0.93167121 -0.88462359] [ 0. 0. 0. 1. ]] SLAMing on 480.96463044 meters Centerline goodness : 0.096582 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.05, Z:-0.89 [[ 0.93166197 -0.01163666 -0.36313987 -1.27649788] [ 0.01862346 0.99970259 0.01574481 0.05277617] [ 0.36284866 -0.02143176 0.9316016 -0.88510634] [ 0. 0. 0. 1. ]] SLAMing on 480.99463044000004 meters Centerline goodness : 0.093345 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.932162 -0.00542145 -0.36200086 -1.30556632] [ 0.01168403 0.99981752 0.01511306 0.04985544] [ 0.36185286 -0.01831745 0.93205524 -0.89699414] [ 0. 0. 0. 1. ]] SLAMing on 481.02463044 meters Centerline goodness : 0.093345 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93215805 -0.00542909 -0.36201092 -1.30557446] [ 0.01168922 0.99981759 0.01510481 0.04985647] [ 0.36186288 -0.01831169 0.93205147 -0.89697645] [ 0. 0. 0. 1. ]] SLAMing on 481.05463044 meters Centerline goodness : 0.149703 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93223565 -0.00536909 -0.36181193 -1.30675597] [ 0.01158072 0.9998204 0.01500181 0.05073486] [ 0.3616664 -0.01817527 0.9321304 -0.89668752] [ 0. 0. 0. 1. ]] SLAMing on 481.08463044 meters Centerline goodness : 0.126159 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93233571 -0.00545815 -0.36155267 -1.3082202 ] [ 0.01158456 0.99982367 0.01477936 0.05168028] [ 0.36140825 -0.01796775 0.93223454 -0.89634816] [ 0. 0. 0. 1. ]] SLAMing on 481.11463044 meters Centerline goodness : 0.095471 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93244314 -0.00551449 -0.36127465 -1.30922723] [ 0.01157058 0.99982643 0.01460211 0.05257602] [ 0.36113142 -0.0177958 0.93234511 -0.89633403] [ 0. 0. 0. 1. ]] SLAMing on 481.14463044 meters Centerline goodness : 0.092011 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93243449 -0.00550874 -0.36129709 -1.31021927] [ 0.0114688 0.9998312 0.01435411 0.05448812] [ 0.36115703 -0.01752791 0.93234027 -0.89567006] [ 0. 0. 0. 1. ]] SLAMing on 481.17463044 meters Centerline goodness : 0.096015 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.06, Z:-0.90 [[ 0.93240784 -0.00558225 -0.36136471 -1.3104331 ] [ 0.01147876 0.99983367 0.01417283 0.05537278] [ 0.36122548 -0.01736288 0.93231683 -0.89539121] [ 0. 0. 0. 1. ]] SLAMing on 481.20463044 meters Centerline goodness : 0.069977 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93243685 -0.00574266 -0.36128734 -1.31068316] [ 0.01162068 0.99983307 0.01409915 0.05482869] [ 0.36114607 -0.01734497 0.93234793 -0.89530175] [ 0. 0. 0. 1. ]] SLAMing on 481.23463044 meters Centerline goodness : 0.093154 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93239635 -0.00595778 -0.36138836 -1.31009014] [ 0.01183409 0.99983127 0.01404941 0.05382308] [ 0.36124368 -0.01737632 0.93230953 -0.89534249] [ 0. 0. 0. 1. ]] SLAMing on 481.26463044 meters Centerline goodness : 0.105660 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93210439 -0.00571812 -0.36214459 -1.30754414] [ 0.01168658 0.99982956 0.01429254 0.05272965] [ 0.36200114 -0.01755437 0.93201235 -0.89518252] [ 0. 0. 0. 1. ]] SLAMing on 481.29463044 meters Centerline goodness : 0.104253 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.89 [[ 0.93200686 -0.00556153 -0.36239795 -1.30691632] [ 0.01156709 0.99982935 0.01440414 0.05259294] [ 0.362256 -0.01761664 0.93191214 -0.89497443] [ 0. 0. 0. 1. ]] SLAMing on 481.32463044 meters Centerline goodness : 0.092229 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.89 [[ 0.93203705 -0.00553467 -0.36232071 -1.30743409] [ 0.01154067 0.99982951 0.01441431 0.05234559] [ 0.36217916 -0.0176161 0.93194202 -0.89479365] [ 0. 0. 0. 1. ]] SLAMing on 481.35463044 meters Centerline goodness : 0.127607 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.89 [[ 0.93212585 -0.00552954 -0.3620923 -1.30874786] [ 0.01151338 0.99983046 0.01437013 0.05247203] [ 0.36195145 -0.01756368 0.93203147 -0.89446542] [ 0. 0. 0. 1. ]] SLAMing on 481.38463044 meters Centerline goodness : 0.153727 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.89 [[ 0.93217796 -0.00542187 -0.36195974 -1.30954871] [ 0.01139876 0.99983164 0.01437926 0.05268215] [ 0.36182083 -0.01752993 0.93208282 -0.89424456] [ 0. 0. 0. 1. ]] SLAMing on 481.41463044 meters Centerline goodness : 0.223212 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.89 [[ 0.9322334 -0.00529252 -0.36181885 -1.30993015] [ 0.01126487 0.99983287 0.01439906 0.05288681] [ 0.36168218 -0.01749912 0.93213721 -0.8943796 ] [ 0. 0. 0. 1. ]] SLAMing on 481.44463044 meters Centerline goodness : 0.093378 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.89 [[ 0.93215314 -0.00495399 -0.36203036 -1.30845313] [ 0.01092138 0.99983611 0.01443863 0.05316598] [ 0.3618995 -0.01741289 0.93205447 -0.894898 ] [ 0. 0. 0. 1. ]] SLAMing on 481.47463044 meters Centerline goodness : 0.135646 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93216646 -0.00488264 -0.36199704 -1.30794087] [ 0.0108544 0.99983646 0.01446494 0.05282716] [ 0.36186721 -0.01741299 0.93206701 -0.89534497] [ 0. 0. 0. 1. ]] SLAMing on 481.50463044 meters Centerline goodness : 0.161906 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93214614 -0.00456293 -0.36205353 -1.30724453] [ 0.01061499 0.99983518 0.01472862 0.05209338] [ 0.36192665 -0.01757243 0.93204094 -0.89562688] [ 0. 0. 0. 1. ]] SLAMing on 481.53463044 meters Centerline goodness : 0.144932 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93217564 -0.00437748 -0.36197987 -1.30713449] [ 0.01047828 0.99983419 0.01489268 0.0513264 ] [ 0.36185465 -0.01767552 0.93206694 -0.89588967] [ 0. 0. 0. 1. ]] SLAMing on 481.56463044000003 meters Centerline goodness : 0.096945 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.9323199 -0.00392174 -0.36161335 -1.30777818] [ 0.01015901 0.99983059 0.01534891 0.04935161] [ 0.3614919 -0.01798373 0.9322018 -0.89613623] [ 0. 0. 0. 1. ]] SLAMing on 481.59463044 meters Centerline goodness : 0.092258 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.93238999 -0.00387554 -0.3614331 -1.30827797] [ 0.01016562 0.99982814 0.01550343 0.04786446] [ 0.3613109 -0.01812943 0.93226914 -0.89617153] [ 0. 0. 0. 1. ]] SLAMing on 481.62463044000003 meters Centerline goodness : 0.092894 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.90 [[ 0.9324 -0.00373111 -0.3614088 -1.30811076] [ 0.01010344 0.99982501 0.01574391 0.04614874] [ 0.36128681 -0.01833109 0.93227454 -0.896263 ] [ 0. 0. 0. 1. ]] SLAMing on 481.65463044 meters Centerline goodness : 0.091228 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.04, Z:-0.90 [[ 0.93240716 -0.00350664 -0.36139256 -1.30724723] [ 0.00999409 0.9998207 0.01608377 0.04419889] [ 0.36127137 -0.01860841 0.93227503 -0.89671297] [ 0. 0. 0. 1. ]] SLAMing on 481.68463044000003 meters Centerline goodness : 0.093093 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.04, Z:-0.90 [[ 0.93234127 -0.00336034 -0.36156392 -1.30553227] [ 0.00999705 0.99981411 0.01648655 0.04044397] [ 0.36144131 -0.01898566 0.93220155 -0.89719827] [ 0. 0. 0. 1. ]] SLAMing on 481.71463044 meters Centerline goodness : 0.182492 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.04, Z:-0.90 [[ 0.93231692 -0.00316511 -0.36162846 -1.30515268] [ 0.00991723 0.9998094 0.01681697 0.03849759] [ 0.3615063 -0.0192651 0.93217061 -0.89720828] [ 0. 0. 0. 1. ]] SLAMing on 481.74463044000004 meters Centerline goodness : 0.095864 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.04, Z:-0.90 [[ 0.93225952 -0.00294059 -0.36177831 -1.30514441] [ 0.0098134 0.99980457 0.0171614 0.03685009] [ 0.36165714 -0.01954916 0.93210619 -0.89676006] [ 0. 0. 0. 1. ]] SLAMing on 481.77463044 meters Centerline goodness : 0.096647 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.03, Z:-0.90 [[ 0.93218332 -0.00261675 -0.36197707 -1.30468713] [ 0.00965415 0.99979789 0.0176343 0.03471135] [ 0.36185777 -0.01993298 0.93202019 -0.89643613] [ 0. 0. 0. 1. ]] SLAMing on 481.80463044 meters Centerline goodness : 0.101966 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.03, Z:-0.90 [[ 0.93213743 -0.00245253 -0.36209638 -1.30377448] [ 0.00961074 0.99979235 0.017969 0.03236209] [ 0.36197713 -0.02022959 0.93196745 -0.89656477] [ 0. 0. 0. 1. ]] SLAMing on 481.83463044 meters Centerline goodness : 0.134747 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.03, Z:-0.90 [[ 0.93216274 -0.00257324 -0.36203039 -1.30360081] [ 0.00978979 0.99978824 0.01810063 0.03001598] [ 0.36190715 -0.02041693 0.93199054 -0.89663383] [ 0. 0. 0. 1. ]] SLAMing on 481.86463044 meters Centerline goodness : 0.106302 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.02, Z:-0.90 [[ 0.93244542 -0.00379853 -0.36129089 -1.30706583] [ 0.01088626 0.99978611 0.0175845 0.0246357 ] [ 0.36114682 -0.02032969 0.93228734 -0.89595499] [ 0. 0. 0. 1. ]] SLAMing on 481.89463044 meters Centerline goodness : 0.104908 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.02, Z:-0.90 [[ 0.93251097 -0.00368419 -0.36112285 -1.30767787] [ 0.01088149 0.99978059 0.01789896 0.02243886] [ 0.36097767 -0.02062053 0.93234646 -0.89579513] [ 0. 0. 0. 1. ]] SLAMing on 481.92463044 meters Centerline goodness : 0.142420 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.02, Z:-0.90 [[ 0.93249293 -0.00353416 -0.36117093 -1.30753093] [ 0.0108498 0.99977496 0.01822957 0.02021193] [ 0.36102522 -0.02091758 0.93232143 -0.89561528] [ 0. 0. 0. 1. ]] SLAMing on 481.95463044 meters Centerline goodness : 0.087615 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.90 [[ 0.93259767 -0.00504258 -0.36088246 -1.30765202] [ 0.01219603 0.99977165 0.01754742 0.01361487] [ 0.36071157 -0.02076602 0.93244621 -0.89579249] [ 0. 0. 0. 1. ]] SLAMing on 481.98463044 meters Centerline goodness : 0.136684 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.90 [[ 0.93256413 -0.00501481 -0.36096953 -1.30697923] [ 0.01226403 0.99976644 0.01779474 0.01107347] [ 0.36079599 -0.02102168 0.93240782 -0.89586117] [ 0. 0. 0. 1. ]] SLAMing on 482.01463044 meters Centerline goodness : 0.090250 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.90 [[ 0.93254809 -0.00478726 -0.36101404 -1.30634823] [ 0.01218959 0.99975951 0.01822997 0.0084285 ] [ 0.36083995 -0.02140094 0.93238218 -0.89600617] [ 0. 0. 0. 1. ]] SLAMing on 482.04463044 meters Centerline goodness : 0.151404 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.90 [[ 0.93251238 -0.00446464 -0.36111041 -1.30579645] [ 0.0120426 0.99975191 0.0187376 0.00572556] [ 0.36093716 -0.02182175 0.9323348 -0.89594374] [ 0. 0. 0. 1. ]] SLAMing on 482.07463044 meters Centerline goodness : 0.081079 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.00, Z:-0.90 [[ 0.93254435 -0.00424615 -0.36103048 -1.30573567] [ 0.01197068 0.99974472 0.01916216 0.00293957] [ 0.36085695 -0.02219134 0.93235712 -0.89595838] [ 0. 0. 0. 1. ]] SLAMing on 482.10463044 meters Centerline goodness : 0.098671 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.00, Z:-0.90 [[ 0.9327687 -0.00604235 -0.36042481 -1.30809356] [ 0.01359396 0.99973791 0.01842063 -0.00474956] [ 0.36021904 -0.02208179 0.93260637 -0.89560421] [ 0. 0. 0. 1. ]] SLAMing on 482.13463044 meters Centerline goodness : 0.091690 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.90 [[ 0.93282692 -0.00591374 -0.36027623 -1.30792242] [ 0.01362287 0.99972928 0.01886229 -0.00833117] [ 0.36006715 -0.02250324 0.93265495 -0.89581275] [ 0. 0. 0. 1. ]] SLAMing on 482.16463044 meters Centerline goodness : 0.070592 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.90 [[ 0.93284004 -0.00566801 -0.36024622 -1.30755395] [ 0.01356724 0.9997197 0.01940241 -0.01197674] [ 0.36003527 -0.02298689 0.93265546 -0.89589325] [ 0. 0. 0. 1. ]] SLAMing on 482.19463044 meters Centerline goodness : 0.091240 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.02, Z:-0.90 [[ 0.93285687 -0.00527702 -0.36020858 -1.30696256] [ 0.01339881 0.99970911 0.02005418 -0.01573377] [ 0.35999797 -0.02353404 0.93265621 -0.89609871] [ 0. 0. 0. 1. ]] SLAMing on 482.22463044 meters Centerline goodness : 0.092883 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.03, Z:-0.90 [[ 0.93292505 -0.00531096 -0.36003145 -1.30562334] [ 0.01367211 0.99969264 0.02068075 -0.02511505] [ 0.35981095 -0.02421598 0.93271092 -0.89670859] [ 0. 0. 0. 1. ]] SLAMing on 482.25463044 meters Centerline goodness : 0.091485 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.03, Z:-0.90 [[ 0.93296222 -0.00509854 -0.35993819 -1.30504593] [ 0.01363524 0.99968265 0.02118208 -0.02918953] [ 0.35971596 -0.02466992 0.93273566 -0.897057 ] [ 0. 0. 0. 1. ]] SLAMing on 482.28463044 meters Centerline goodness : 0.211739 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.03, Z:-0.90 [[ 0.93296572 -0.00474978 -0.3599339 -1.30420632] [ 0.01348126 0.9996725 0.02175214 -0.03283207] [ 0.3597127 -0.02514637 0.9327242 -0.89736017] [ 0. 0. 0. 1. ]] SLAMing on 482.31463044000003 meters Centerline goodness : 0.090536 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.04, Z:-0.90 [[ 0.9329645 -0.00439923 -0.3599415 -1.30388492] [ 0.01332131 0.99966233 0.02231075 -0.03608115] [ 0.35972181 -0.02561003 0.93270807 -0.89735374] [ 0. 0. 0. 1. ]] SLAMing on 482.34463044 meters Centerline goodness : 0.091461 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.04, Z:-0.90 [[ 0.93311097 -0.00394559 -0.35956688 -1.30404835] [ 0.01312612 0.99964712 0.02309424 -0.04263734] [ 0.35934888 -0.0262692 0.93283349 -0.89766673] [ 0. 0. 0. 1. ]] SLAMing on 482.37463044000003 meters Centerline goodness : 0.090637 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.05, Z:-0.90 [[ 0.93322242 -0.00370844 -0.35928007 -1.30416212] [ 0.01302656 0.99963854 0.02351809 -0.04547282] [ 0.35906299 -0.02662779 0.9329334 -0.89805042] [ 0. 0. 0. 1. ]] SLAMing on 482.40463044 meters Centerline goodness : 0.090372 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.05, Z:-0.90 [[ 0.93330393 -0.00360492 -0.35906932 -1.30438592] [ 0.01301591 0.99963211 0.02379542 -0.04779708] [ 0.35885144 -0.02688198 0.9330075 -0.8982311 ] [ 0. 0. 0. 1. ]] SLAMing on 482.43463044000003 meters Centerline goodness : 0.101805 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.05, Z:-0.90 [[ 0.9332676 -0.00329546 -0.3591667 -1.30371223] [ 0.01284535 0.99962447 0.02420583 -0.05011201] [ 0.35895205 -0.02720414 0.93295946 -0.89832153] [ 0. 0. 0. 1. ]] SLAMing on 482.46463044 meters Centerline goodness : 0.128975 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.05, Z:-0.90 [[ 0.93323267 -0.00306337 -0.35925951 -1.3027623 ] [ 0.01273556 0.99961726 0.02455898 -0.05223775] [ 0.35904677 -0.02749462 0.9329145 -0.89863413] [ 0. 0. 0. 1. ]] SLAMing on 482.49463044000004 meters Centerline goodness : 0.072885 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.05, Z:-0.90 [[ 0.93314603 -0.00289104 -0.35948592 -1.30118173] [ 0.01267657 0.9996104 0.02486655 -0.05443202] [ 0.35927398 -0.02776118 0.93281913 -0.89895435] [ 0. 0. 0. 1. ]] SLAMing on 482.52463044 meters Centerline goodness : 0.091023 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.06, Z:-0.90 [[ 0.93329167 -0.00503112 -0.35908404 -1.3026714 ] [ 0.01454303 0.99961112 0.02379311 -0.06105002] [ 0.3588247 -0.02742808 0.9330019 -0.89868497] [ 0. 0. 0. 1. ]] SLAMing on 482.55463044 meters Centerline goodness : 0.090766 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.06, Z:-0.90 [[ 0.93340043 -0.00489647 -0.35880309 -1.30364186] [ 0.01457349 0.99959919 0.02427068 -0.06418864] [ 0.35854044 -0.02788327 0.93309768 -0.89840643] [ 0. 0. 0. 1. ]] SLAMing on 482.58463044 meters Centerline goodness : 0.094038 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.90 [[ 0.93347232 -0.0046031 -0.3586199 -1.30408065] [ 0.01447815 0.9995862 0.02485572 -0.06744009] [ 0.35835709 -0.02839428 0.9331527 -0.89814759] [ 0. 0. 0. 1. ]] SLAMing on 482.61463044 meters Centerline goodness : 0.098141 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.90 [[ 0.93349938 -0.0065724 -0.35851877 -1.30445661] [ 0.01625914 0.99957948 0.02401064 -0.07508705] [ 0.3582102 -0.02824312 0.93321368 -0.89768493] [ 0. 0. 0. 1. ]] SLAMing on 482.64463044 meters Centerline goodness : 0.089760 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.90 [[ 0.93341291 -0.00662229 -0.35874293 -1.30305106] [ 0.01640005 0.99957214 0.02421948 -0.07793651] [ 0.35842905 -0.02849017 0.93312214 -0.89783769] [ 0. 0. 0. 1. ]] SLAMing on 482.67463044 meters Centerline goodness : 0.098262 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.90 [[ 0.93332614 -0.00636018 -0.35897334 -1.30174592] [ 0.01630013 0.99956275 0.02467019 -0.08075404] [ 0.35865947 -0.02887664 0.93302172 -0.8979429 ] [ 0. 0. 0. 1. ]] SLAMing on 482.70463044 meters Centerline goodness : 0.109976 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.90 [[ 0.9332456 -0.00608676 -0.35918741 -1.30109999] [ 0.0161758 0.99955432 0.0250898 -0.08310837] [ 0.35887462 -0.02922509 0.93292813 -0.89771971] [ 0. 0. 0. 1. ]] SLAMing on 482.73463044 meters Centerline goodness : 0.073648 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.90 [[ 0.93325748 -0.00600253 -0.35915797 -1.30102937] [ 0.01617007 0.99954881 0.02531203 -0.08488093] [ 0.35884398 -0.02943025 0.93293347 -0.8976922 ] [ 0. 0. 0. 1. ]] SLAMing on 482.76463044 meters Centerline goodness : 0.074226 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-0.90 [[ 0.93331941 -0.00590275 -0.35899866 -1.30115757] [ 0.01614194 0.9995437 0.02553082 -0.08681805] [ 0.35868415 -0.02962335 0.93298882 -0.89783813] [ 0. 0. 0. 1. ]] SLAMing on 482.79463044 meters Centerline goodness : 0.090167 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-0.90 [[ 0.93338058 -0.00593203 -0.35883911 -1.30094798] [ 0.01621083 0.99953973 0.02564261 -0.08958802] [ 0.35852184 -0.0297514 0.93304713 -0.89813704] [ 0. 0. 0. 1. ]] SLAMing on 482.82463044 meters Centerline goodness : 0.077982 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-0.90 [[ 0.93337037 -0.00562091 -0.35887067 -1.30075039] [ 0.01600165 0.99953484 0.02596247 -0.09083878] [ 0.35855781 -0.02997512 0.93302615 -0.89809694] [ 0. 0. 0. 1. ]] SLAMing on 482.85463044 meters Centerline goodness : 0.140369 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-0.90 [[ 0.93337117 -0.00545533 -0.35887115 -1.30107001] [ 0.01590639 0.99953079 0.02617594 -0.09183726] [ 0.35855997 -0.03014021 0.93302 -0.89783069] [ 0. 0. 0. 1. ]] SLAMing on 482.88463044 meters Centerline goodness : 0.112378 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-0.90 [[ 0.93344789 -0.00527218 -0.35867429 -1.30204226] [ 0.01583425 0.99952296 0.02651648 -0.09453348] [ 0.35836338 -0.03043109 0.93308608 -0.89745786] [ 0. 0. 0. 1. ]] SLAMing on 482.91463044 meters Centerline goodness : 0.112378 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-0.90 [[ 0.93344789 -0.00527218 -0.35867429 -1.30204226] [ 0.01583425 0.99952296 0.02651648 -0.09453348] [ 0.35836338 -0.03043109 0.93308608 -0.89745786] [ 0. 0. 0. 1. ]] SLAMing on 482.94463044 meters Centerline goodness : 0.273524 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-0.90 [[ 0.93346388 -0.00520089 -0.3586337 -1.30187617] [ 0.01584694 0.99951649 0.026752 -0.09658075] [ 0.35832116 -0.03065527 0.93309496 -0.89745562] [ 0. 0. 0. 1. ]] SLAMing on 482.97463044 meters Centerline goodness : 0.087898 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-0.90 [[ 0.93347249 -0.00508408 -0.35861296 -1.3019655 ] [ 0.01584518 0.99950781 0.02707505 -0.09885105] [ 0.35829881 -0.0309561 0.93309361 -0.89727447] [ 0. 0. 0. 1. ]] SLAMing on 483.00463044 meters Centerline goodness : 0.089381 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-0.90 [[ 0.93353381 -0.00481619 -0.35845701 -1.30248911] [ 0.01573183 0.99949686 0.02754146 -0.10126956] [ 0.35814401 -0.03135007 0.93313988 -0.89706078] [ 0. 0. 0. 1. ]] SLAMing on 483.03463044 meters Centerline goodness : 0.087535 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-0.90 [[ 0.93355706 -0.00462146 -0.35839903 -1.30275036] [ 0.01565827 0.99948811 0.02789851 -0.10314872] [ 0.35808663 -0.03165676 0.93315155 -0.89681266] [ 0. 0. 0. 1. ]] SLAMing on 483.06463044000003 meters Centerline goodness : 0.071639 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.11, Z:-0.90 [[ 0.93357847 -0.00458415 -0.35834374 -1.30275379] [ 0.01570858 0.99948059 0.02813895 -0.10532865] [ 0.35802861 -0.03189899 0.93316556 -0.8967317 ] [ 0. 0. 0. 1. ]] SLAMing on 483.09463044 meters Centerline goodness : 0.137159 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.11, Z:-0.90 [[ 0.93375029 -0.0070963 -0.35785478 -1.30418858] [ 0.01781008 0.99948611 0.0266519 -0.11082996] [ 0.35748175 -0.03125964 0.93339683 -0.89666579] [ 0. 0. 0. 1. ]] SLAMing on 483.12463044000003 meters Centerline goodness : 0.138198 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.11, Z:-0.90 [[ 0.93367424 -0.00692617 -0.35805648 -1.30371574] [ 0.01776416 0.99947789 0.02698845 -0.11294088] [ 0.35768261 -0.03155899 0.9333098 -0.89635146] [ 0. 0. 0. 1. ]] SLAMing on 483.15463044 meters Centerline goodness : 0.231995 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93360089 -0.00665359 -0.35825286 -1.30306359] [ 0.01764171 0.99946855 0.02741156 -0.1150471 ] [ 0.35788008 -0.03191165 0.9332221 -0.89613799] [ 0. 0. 0. 1. ]] SLAMing on 483.18463044000003 meters Centerline goodness : 0.233549 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93349505 -0.00648197 -0.3585317 -1.30195201] [ 0.01758665 0.999461 0.02772021 -0.11693483] [ 0.35815877 -0.03218205 0.93310589 -0.89604289] [ 0. 0. 0. 1. ]] SLAMing on 483.21463044 meters Centerline goodness : 0.068634 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93339397 -0.00666906 -0.35879133 -1.30007995] [ 0.01782717 0.99945453 0.02779986 -0.12039974] [ 0.35841023 -0.03234446 0.93300372 -0.89628938] [ 0. 0. 0. 1. ]] SLAMing on 483.24463044000004 meters Centerline goodness : 0.234182 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93340128 -0.00660646 -0.35877348 -1.30026129] [ 0.01780937 0.99945123 0.02792974 -0.12151347] [ 0.35839207 -0.03245918 0.93300671 -0.89609876] [ 0. 0. 0. 1. ]] SLAMing on 483.27463044 meters Centerline goodness : 0.232864 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93346617 -0.00651153 -0.35860635 -1.30118914] [ 0.01775125 0.99944863 0.02805935 -0.12228688] [ 0.35822591 -0.03255816 0.93306707 -0.89581346] [ 0. 0. 0. 1. ]] SLAMing on 483.30463044 meters Centerline goodness : 0.117363 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93348257 -0.00639217 -0.35856581 -1.30191036] [ 0.01766799 0.99944673 0.02817928 -0.12275565] [ 0.3581873 -0.03264 0.93307904 -0.89539212] [ 0. 0. 0. 1. ]] SLAMing on 483.33463044 meters Centerline goodness : 0.234061 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93342702 -0.00639595 -0.35871031 -1.30136115] [ 0.01767002 0.99944724 0.02815994 -0.12361917] [ 0.35833192 -0.03262367 0.93302408 -0.89537427] [ 0. 0. 0. 1. ]] SLAMing on 483.36463044 meters Centerline goodness : 0.231613 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93333427 -0.00657918 -0.35894825 -1.30047077] [ 0.0178002 0.99945041 0.02796495 -0.12387715] [ 0.35856699 -0.03248999 0.93293843 -0.8953963 ] [ 0. 0. 0. 1. ]] SLAMing on 483.39463044 meters Centerline goodness : 0.233331 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93328132 -0.00661486 -0.35908526 -1.29988483] [ 0.01781943 0.99945181 0.02790232 -0.12402615] [ 0.35870384 -0.03243941 0.93288758 -0.89551087] [ 0. 0. 0. 1. ]] SLAMing on 483.42463044 meters Centerline goodness : 0.232262 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93322323 -0.00639053 -0.35924026 -1.29970403] [ 0.01764839 0.99945023 0.02806721 -0.12426126] [ 0.3588634 -0.03253298 0.93282296 -0.89526149] [ 0. 0. 0. 1. ]] SLAMing on 483.45463044 meters Centerline goodness : 0.116103 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.12, Z:-0.90 [[ 0.93326466 -0.00624383 -0.35913519 -1.30036343] [ 0.01753604 0.99944865 0.02819378 -0.1245293 ] [ 0.35876114 -0.03261007 0.9328596 -0.89503612] [ 0. 0. 0. 1. ]] SLAMing on 483.48463044 meters Centerline goodness : 0.114200 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-0.89 [[ 0.93342936 -0.00648483 -0.35870262 -1.30206619] [ 0.01776992 0.9994451 0.02817302 -0.12650928] [ 0.35832088 -0.03267164 0.93302664 -0.89474001] [ 0. 0. 0. 1. ]] SLAMing on 483.51463044 meters Centerline goodness : 0.099884 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-0.89 [[ 0.9334653 -0.00654214 -0.35860806 -1.30227744] [ 0.01788014 0.99943928 0.02830951 -0.12829676] [ 0.35822177 -0.03283791 0.93305886 -0.8946275 ] [ 0. 0. 0. 1. ]] SLAMing on 483.54463044 meters Centerline goodness : 0.099495 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-0.89 [[ 0.93342541 -0.00634817 -0.35871534 -1.30217876] [ 0.01779813 0.99943172 0.0286262 -0.12993191] [ 0.35832977 -0.03310488 0.93300796 -0.89424599] [ 0. 0. 0. 1. ]] SLAMing on 483.57463044 meters Centerline goodness : 0.250404 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:-0.89 [[ 0.93342951 -0.00610493 -0.35870892 -1.30223596] [ 0.01768587 0.99942257 0.02901267 -0.13190403] [ 0.35832467 -0.03342536 0.93299849 -0.89402355] [ 0. 0. 0. 1. ]] SLAMing on 483.60463044 meters Centerline goodness : 0.253133 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:-0.89 [[ 0.93364535 -0.00798626 -0.35810974 -1.30468336] [ 0.01931654 0.99941922 0.02807289 -0.13771756] [ 0.35767756 -0.03312756 0.93325738 -0.89337148] [ 0. 0. 0. 1. ]] SLAMing on 483.63463044 meters Centerline goodness : 0.267763 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:-0.89 [[ 0.93369345 -0.00802395 -0.35798347 -1.30502307] [ 0.01946845 0.9994077 0.02837664 -0.1406671 ] [ 0.35754375 -0.03346447 0.93329663 -0.89311374] [ 0. 0. 0. 1. ]] SLAMing on 483.66463044 meters Centerline goodness : 0.254141 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:-0.89 [[ 0.93362568 -0.00767207 -0.35816789 -1.30404066] [ 0.01932166 0.99939387 0.02895787 -0.14366869] [ 0.35772863 -0.03395621 0.93320802 -0.89298265] [ 0. 0. 0. 1. ]] SLAMing on 483.69463044 meters Centerline goodness : 0.384774 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-0.89 [[ 0.93351644 -0.00737545 -0.35845873 -1.30280698] [ 0.01922557 0.99937971 0.0295055 -0.14682658] [ 0.35801877 -0.03443544 0.93307918 -0.89275837] [ 0. 0. 0. 1. ]] SLAMing on 483.72463044 meters Centerline goodness : 0.185083 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-0.89 [[ 0.93348928 -0.00730586 -0.35853086 -1.30186219] [ 0.01930078 0.99936689 0.0298882 -0.15000994] [ 0.35808552 -0.03482024 0.93303929 -0.89282874] [ 0. 0. 0. 1. ]] SLAMing on 483.75463044 meters Centerline goodness : 0.223683 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-0.89 [[ 0.93343166 -0.01164649 -0.35856617 -1.3023771 ] [ 0.02288539 0.9993703 0.02711575 -0.15571727] [ 0.35802458 -0.03351662 0.93311041 -0.89185192] [ 0. 0. 0. 1. ]] SLAMing on 483.78463044 meters Centerline goodness : 0.219071 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-0.89 [[ 0.93344773 -0.01144641 -0.35853076 -1.30256235] [ 0.02287447 0.99935593 0.02764919 -0.15927033] [ 0.35798336 -0.03401027 0.93310836 -0.89141321] [ 0. 0. 0. 1. ]] SLAMing on 483.81463044000003 meters Centerline goodness : 0.259550 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.16, Z:-0.89 [[ 0.93337483 -0.01097623 -0.3587352 -1.30150286] [ 0.02265552 0.99934073 0.0283694 -0.16293751] [ 0.35818731 -0.03460661 0.93300816 -0.89121651] [ 0. 0. 0. 1. ]] SLAMing on 483.84463044 meters Centerline goodness : 0.254145 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-0.89 [[ 0.93332114 -0.01076261 -0.35888135 -1.30017642] [ 0.02262479 0.9993271 0.02886977 -0.16645211] [ 0.35832915 -0.03506438 0.93293661 -0.89138681] [ 0. 0. 0. 1. ]] SLAMing on 483.87463044000003 meters Centerline goodness : 0.255385 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-0.89 [[ 0.93328811 -0.01078355 -0.3589666 -1.29870425] [ 0.02275459 0.9993163 0.02914035 -0.16988192] [ 0.35840694 -0.03536448 0.9328954 -0.89175855] [ 0. 0. 0. 1. ]] SLAMing on 483.90463044 meters Centerline goodness : 0.105483 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-0.89 [[ 0.93323801 -0.01064919 -0.35910083 -1.29722632] [ 0.02275705 0.99930549 0.0295069 -0.17299784] [ 0.3585372 -0.03570904 0.93283221 -0.89209554] [ 0. 0. 0. 1. ]] SLAMing on 483.93463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 483.96463044 meters Centerline goodness : 0.199580 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-0.89 [[ 0.9333011 -0.0119123 -0.35889713 -1.29727021] [ 0.02396841 0.99928731 0.02916137 -0.18149185] [ 0.35829397 -0.03581853 0.93292147 -0.89193437] [ 0. 0. 0. 1. ]] SLAMing on 483.99463044000004 meters Centerline goodness : 0.096495 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.18, Z:-0.89 [[ 0.93326791 -0.01179802 -0.35898722 -1.2963884 ] [ 0.02395535 0.99927956 0.02943627 -0.18384318] [ 0.3583813 -0.03607159 0.93287817 -0.89203966] [ 0. 0. 0. 1. ]] SLAMing on 484.02463044 meters Centerline goodness : 0.235636 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.19, Z:-0.89 [[ 0.93319695 -0.01166639 -0.35917594 -1.29554677] [ 0.0239402 0.99927084 0.02974319 -0.18617306] [ 0.35856704 -0.036355 0.93279579 -0.89191172] [ 0. 0. 0. 1. ]] SLAMing on 484.05463044 meters Centerline goodness : 0.233296 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.19, Z:-0.89 [[ 0.93311261 -0.01129726 -0.35940678 -1.29416817] [ 0.02383988 0.99925088 0.03048493 -0.19077503] [ 0.35879315 -0.03701408 0.93268292 -0.89177338] [ 0. 0. 0. 1. ]] SLAMing on 484.08463044 meters Centerline goodness : 0.088701 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.90 [[ 0.93343365 -0.00570982 -0.35870465 -1.30991493] [ 0.01660317 0.99948951 0.02729559 -0.1984513 ] [ 0.35836568 -0.03143426 0.93305194 -0.89779677] [ 0. 0. 0. 1. ]] SLAMing on 484.11463044 meters Centerline goodness : 0.233662 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.90 [[ 0.93365385 -0.0060131 -0.35812614 -1.31185197] [ 0.0169163 0.9994836 0.02731991 -0.20032305] [ 0.35777693 -0.0315655 0.93327343 -0.89762047] [ 0. 0. 0. 1. ]] SLAMing on 484.14463044 meters Centerline goodness : 0.234744 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.90 [[ 0.93389077 -0.00628243 -0.35750322 -1.31413709] [ 0.01720446 0.99947707 0.02737861 -0.2022254 ] [ 0.35714427 -0.03171928 0.9335105 -0.89730491] [ 0. 0. 0. 1. ]] SLAMing on 484.17463044 meters Centerline goodness : 0.235717 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.20, Z:-0.90 [[ 0.93394885 -0.00618362 -0.3573532 -1.31503221] [ 0.01722725 0.99946702 0.027729 -0.20429224] [ 0.35699127 -0.03205368 0.9335576 -0.89679519] [ 0. 0. 0. 1. ]] SLAMing on 484.20463044 meters Centerline goodness : 0.235022 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.90 [[ 0.93390125 -0.00617017 -0.35747781 -1.31465966] [ 0.01730822 0.99945901 0.02796632 -0.20616167] [ 0.35711186 -0.03230509 0.93350281 -0.89650512] [ 0. 0. 0. 1. ]] SLAMing on 484.23463044 meters Centerline goodness : 0.236052 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.90 [[ 0.93361329 -0.01007203 -0.35814074 -1.31192994] [ 0.02048042 0.99947058 0.02528084 -0.2094265 ] [ 0.3576965 -0.0309374 0.93332529 -0.8962697 ] [ 0. 0. 0. 1. ]] SLAMing on 484.26463044 meters Centerline goodness : 0.108390 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.90 [[ 0.93366215 -0.01029334 -0.35800705 -1.31209015] [ 0.02073778 0.9994636 0.0253466 -0.21116507] [ 0.35755411 -0.03108944 0.93337479 -0.89622656] [ 0. 0. 0. 1. ]] SLAMing on 484.29463044 meters Centerline goodness : 0.238852 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.90 [[ 0.93379802 -0.01052089 -0.35764587 -1.31321082] [ 0.02100712 0.99945541 0.02544764 -0.21322079] [ 0.35718337 -0.03127607 0.9335105 -0.89601568] [ 0. 0. 0. 1. ]] SLAMing on 484.32463044 meters Centerline goodness : 0.234294 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.90 [[ 0.93392317 -0.01070308 -0.35731352 -1.31440888] [ 0.02124092 0.99944708 0.02558041 -0.21533444] [ 0.35684216 -0.03147981 0.93363413 -0.89571722] [ 0. 0. 0. 1. ]] SLAMing on 484.35463044 meters Centerline goodness : 0.089251 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.90 [[ 0.9337354 -0.01118333 -0.35778923 -1.3127132 ] [ 0.0217868 0.99943435 0.02561872 -0.21868336] [ 0.35730034 -0.03171619 0.93345088 -0.89530991] [ 0. 0. 0. 1. ]] SLAMing on 484.38463044 meters Centerline goodness : 0.233381 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.90 [[ 0.93352239 -0.01118519 -0.35834457 -1.31036452] [ 0.02186371 0.999429 0.0257614 -0.22048136] [ 0.35785181 -0.03188359 0.9332339 -0.89533849] [ 0. 0. 0. 1. ]] SLAMing on 484.41463044 meters Centerline goodness : 0.238337 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.90 [[ 0.9333222 -0.01140123 -0.35885887 -1.307822 ] [ 0.0221413 0.99942105 0.02583282 -0.22273817] [ 0.35835659 -0.03205594 0.93303428 -0.89549166] [ 0. 0. 0. 1. ]] SLAMing on 484.44463044 meters Centerline goodness : 0.237906 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.90 [[ 0.93336413 -0.01146135 -0.35874788 -1.30859598] [ 0.02220527 0.99941938 0.02584238 -0.22330468] [ 0.3582434 -0.03208644 0.9330767 -0.89511539] [ 0. 0. 0. 1. ]] SLAMing on 484.47463044 meters Centerline goodness : 0.109052 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93343145 -0.01126594 -0.35857886 -1.30980019] [ 0.02205806 0.99941803 0.02602023 -0.22365304] [ 0.35807703 -0.03219765 0.93313673 -0.89459017] [ 0. 0. 0. 1. ]] SLAMing on 484.50463044 meters Centerline goodness : 0.109406 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93350819 -0.01104979 -0.35838577 -1.31080704] [ 0.02187333 0.99941842 0.02616056 -0.22348905] [ 0.35788827 -0.03226019 0.93320698 -0.89429551] [ 0. 0. 0. 1. ]] SLAMing on 484.53463044 meters Centerline goodness : 0.233913 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93351134 -0.0109334 -0.35838113 -1.31085121] [ 0.02174854 0.99942115 0.02616053 -0.22299137] [ 0.35788766 -0.03221542 0.93320876 -0.89418046] [ 0. 0. 0. 1. ]] SLAMing on 484.56463044000003 meters Centerline goodness : 0.233566 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93348748 -0.0110096 -0.35844096 -1.31055816] [ 0.02175969 0.99942584 0.02597114 -0.22233664] [ 0.35794922 -0.0320433 0.93319107 -0.89418787] [ 0. 0. 0. 1. ]] SLAMing on 484.59463044 meters Centerline goodness : 0.234997 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93357307 -0.01137145 -0.35820667 -1.31128117] [ 0.02193331 0.99943581 0.02543591 -0.22062138] [ 0.35771533 -0.03160294 0.93329577 -0.89423954] [ 0. 0. 0. 1. ]] SLAMing on 484.62463044000003 meters Centerline goodness : 0.089131 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93360064 -0.01113723 -0.35814216 -1.31171613] [ 0.02169971 0.99943962 0.02548675 -0.21955216] [ 0.35765761 -0.03156603 0.93331914 -0.89409348] [ 0. 0. 0. 1. ]] SLAMing on 484.65463044 meters Centerline goodness : 0.087939 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93360371 -0.01088855 -0.35814181 -1.31220228] [ 0.02144216 0.9994446 0.02550938 -0.21791282] [ 0.35766513 -0.03149499 0.93331866 -0.89382656] [ 0. 0. 0. 1. ]] SLAMing on 484.68463044000003 meters Centerline goodness : 0.234398 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.22, Z:-0.89 [[ 0.93362211 -0.01086769 -0.35809448 -1.31243765] [ 0.02133326 0.99945256 0.02528791 -0.21603724] [ 0.35762362 -0.03124868 0.93334284 -0.89374649] [ 0. 0. 0. 1. ]] SLAMing on 484.71463044 meters Centerline goodness : 0.232876 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.89 [[ 0.93365929 -0.01102847 -0.35799261 -1.3127423 ] [ 0.02137653 0.99945985 0.02496106 -0.21410777] [ 0.35752396 -0.03095776 0.93339072 -0.89385872] [ 0. 0. 0. 1. ]] SLAMing on 484.74463044000004 meters Centerline goodness : 0.233780 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.89 [[ 0.93362368 -0.0113516 -0.35807537 -1.3125451 ] [ 0.02149328 0.99947229 0.02435529 -0.21071966] [ 0.35760994 -0.03043489 0.93337498 -0.89399325] [ 0. 0. 0. 1. ]] SLAMing on 484.77463044 meters Centerline goodness : 0.133282 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.89 [[ 0.9335349 -0.01138782 -0.35830562 -1.3118638 ] [ 0.02146438 0.9994777 0.02415779 -0.20939548] [ 0.35784337 -0.03024295 0.93329175 -0.89395074] [ 0. 0. 0. 1. ]] SLAMing on 484.80463044 meters Centerline goodness : 0.233569 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.21, Z:-0.89 [[ 0.93342587 -0.01138929 -0.35858951 -1.31075373] [ 0.02140717 0.99948324 0.02397895 -0.20793751] [ 0.3581311 -0.03005896 0.93318732 -0.89401016] [ 0. 0. 0. 1. ]] SLAMing on 484.83463044 meters Centerline goodness : 0.107048 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93336168 -0.01188092 -0.35874061 -1.30968872] [ 0.02166654 0.99949441 0.02326975 -0.20466599] [ 0.35828277 -0.02949176 0.9331472 -0.89442036] [ 0. 0. 0. 1. ]] SLAMing on 484.86463044 meters Centerline goodness : 0.107048 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93336137 -0.01189626 -0.35874091 -1.30971657] [ 0.02167824 0.99949445 0.02325742 -0.20466794] [ 0.35828287 -0.02948445 0.93314739 -0.89440973] [ 0. 0. 0. 1. ]] SLAMing on 484.89463044 meters Centerline goodness : 0.234112 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93330072 -0.01201447 -0.35889472 -1.30907041] [ 0.02171112 0.99949969 0.02299992 -0.20334693] [ 0.35843883 -0.02925785 0.93309463 -0.89436783] [ 0. 0. 0. 1. ]] SLAMing on 484.92463044 meters Centerline goodness : 0.108131 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93325913 -0.01208368 -0.35900053 -1.30857839] [ 0.02172239 0.99950341 0.02282711 -0.20185387] [ 0.35854642 -0.02910195 0.93305817 -0.894468 ] [ 0. 0. 0. 1. ]] SLAMing on 484.95463044 meters Centerline goodness : 0.093074 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93313056 -0.01211837 -0.35933342 -1.30766031] [ 0.02170948 0.99950731 0.02266802 -0.20065722] [ 0.35888168 -0.02895317 0.9329339 -0.89424846] [ 0. 0. 0. 1. ]] SLAMing on 484.98463044 meters Centerline goodness : 0.108789 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93306837 -0.01227716 -0.35948947 -1.30687172] [ 0.02179542 0.99951068 0.02243588 -0.19967898] [ 0.35903812 -0.02876943 0.93287939 -0.89429586] [ 0. 0. 0. 1. ]] SLAMing on 485.01463044 meters Centerline goodness : 0.089441 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.9330634 -0.01278244 -0.35948476 -1.30627657] [ 0.02211547 0.99951637 0.02186151 -0.19749211] [ 0.35903146 -0.02834835 0.93289484 -0.89469562] [ 0. 0. 0. 1. ]] SLAMing on 485.04463044 meters Centerline goodness : 0.134759 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93305737 -0.0129681 -0.35949377 -1.30617307] [ 0.02222115 0.99951931 0.02161857 -0.19628183] [ 0.35904062 -0.02815973 0.93289703 -0.89472451] [ 0. 0. 0. 1. ]] SLAMing on 485.07463044 meters Centerline goodness : 0.112482 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.20, Z:-0.89 [[ 0.93301684 -0.01303929 -0.35959638 -1.30584567] [ 0.02225297 0.99952128 0.02149449 -0.19538189] [ 0.35914397 -0.02805681 0.93286035 -0.89460869] [ 0. 0. 0. 1. ]] SLAMing on 485.10463044 meters Centerline goodness : 0.111205 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.19, Z:-0.89 [[ 0.93295287 -0.01298401 -0.3597643 -1.30513736] [ 0.02218864 0.9995233 0.0214672 -0.19450995] [ 0.35931407 -0.02801056 0.93279623 -0.89467029] [ 0. 0. 0. 1. ]] SLAMing on 485.13463044 meters Centerline goodness : 0.087349 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.19, Z:-0.89 [[ 0.93237305 -0.00782334 -0.36141292 -1.28708996] [ 0.01661622 0.99963657 0.02122783 -0.19463482] [ 0.3611155 -0.02579758 0.93216419 -0.88773854] [ 0. 0. 0. 1. ]] SLAMing on 485.16463044 meters Centerline goodness : 0.114465 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.19, Z:-0.89 [[ 0.93237051 -0.00800312 -0.36141554 -1.28649499] [ 0.0167034 0.99964087 0.02095515 -0.19337 ] [ 0.36111804 -0.02557483 0.93216935 -0.88814091] [ 0. 0. 0. 1. ]] SLAMing on 485.19463044 meters Centerline goodness : 0.108303 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.19, Z:-0.89 [[ 0.93240081 -0.00810798 -0.36133502 -1.28618457] [ 0.0167211 0.99964555 0.02071667 -0.19193503] [ 0.36103898 -0.02535816 0.93220589 -0.88856772] [ 0. 0. 0. 1. ]] SLAMing on 485.22463044 meters Centerline goodness : 0.230970 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.19, Z:-0.89 [[ 0.93238991 -0.00813936 -0.36136244 -1.2861523 ] [ 0.01666877 0.99965104 0.02049265 -0.19032611] [ 0.36106954 -0.02513061 0.93220021 -0.88850465] [ 0. 0. 0. 1. ]] SLAMing on 485.25463044 meters Centerline goodness : 0.251334 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.19, Z:-0.89 [[ 0.93236424 -0.0079166 -0.3614336 -1.28638535] [ 0.01640692 0.9996567 0.02042794 -0.18849017] [ 0.3611478 -0.0249763 0.93217404 -0.88818314] [ 0. 0. 0. 1. ]] SLAMing on 485.28463044 meters Centerline goodness : 0.108058 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.19, Z:-0.89 [[ 0.93235774 -0.00775717 -0.36145382 -1.28676785] [ 0.01618296 0.99966317 0.02028957 -0.18619831] [ 0.36117468 -0.02476653 0.93216923 -0.88791515] [ 0. 0. 0. 1. ]] SLAMing on 485.31463044000003 meters Centerline goodness : 0.111503 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.18, Z:-0.89 [[ 0.93233146 -0.00784006 -0.36151982 -1.28560383] [ 0.01603621 0.99967778 0.01967672 -0.18186679] [ 0.36124907 -0.02414263 0.93215677 -0.88864984] [ 0. 0. 0. 1. ]] SLAMing on 485.34463044 meters Centerline goodness : 0.112156 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.18, Z:-0.89 [[ 0.9322637 -0.00803915 -0.36169014 -1.28413761] [ 0.01607478 0.99968617 0.01921343 -0.1798749 ] [ 0.36142218 -0.02372607 0.93210036 -0.88929653] [ 0. 0. 0. 1. ]] SLAMing on 485.37463044000003 meters Centerline goodness : 0.112994 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.18, Z:-0.89 [[ 0.9320138 -0.00789499 -0.36233679 -1.28171403] [ 0.01584682 0.99969429 0.01897922 -0.1778803 ] [ 0.36207618 -0.02343078 0.93185398 -0.88942422] [ 0. 0. 0. 1. ]] SLAMing on 485.40463044 meters Centerline goodness : 0.103024 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:-0.89 [[ 0.93163359 -0.00623851 -0.36334548 -1.27786792] [ 0.01434321 0.99970478 0.01961205 -0.17155791] [ 0.36311586 -0.02348278 0.93144803 -0.88959394] [ 0. 0. 0. 1. ]] SLAMing on 485.43463044000003 meters Centerline goodness : 0.051062 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:-0.89 [[ 0.93171008 -0.00644869 -0.36314561 -1.27889371] [ 0.01435677 0.99971484 0.01908186 -0.16886183] [ 0.362919 -0.02299236 0.93153698 -0.88941387] [ 0. 0. 0. 1. ]] SLAMing on 485.46463044 meters Centerline goodness : 0.185657 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:-0.89 [[ 0.93190211 -0.00667038 -0.36264853 -1.28071582] [ 0.01439205 0.99972351 0.018595 -0.16598971] [ 0.36242423 -0.02254797 0.93174045 -0.88943997] [ 0. 0. 0. 1. ]] SLAMing on 485.49463044000004 meters Centerline goodness : 0.089140 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.17, Z:-0.90 [[ 0.93282268 -0.00246683 -0.3603273 -1.3118253 ] [ 0.00916684 0.99981539 0.0168865 -0.16664886] [ 0.36021912 -0.01905518 0.93267308 -0.90236855] [ 0. 0. 0. 1. ]] SLAMing on 485.52463044 meters Centerline goodness : 0.110193 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.16, Z:-0.90 [[ 0.93277633 -0.00252031 -0.3604469 -1.31170695] [ 0.00908669 0.99982218 0.01652388 -0.1637644 ] [ 0.36034116 -0.01868835 0.93263337 -0.90230213] [ 0. 0. 0. 1. ]] SLAMing on 485.55463044 meters Centerline goodness : 0.112881 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.16, Z:-0.90 [[ 0.93263794 -0.00255435 -0.36080459 -1.3103605 ] [ 0.00897987 0.99982952 0.01613354 -0.16089431] [ 0.36070187 -0.01828673 0.93250188 -0.90250909] [ 0. 0. 0. 1. ]] SLAMing on 485.58463044 meters Centerline goodness : 0.113458 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.15, Z:-0.90 [[ 0.93224439 -0.00142971 -0.3618264 -1.30538157] [ 0.00784943 0.99983677 0.01627331 -0.1545323 ] [ 0.36174407 -0.01801083 0.93210345 -0.90344024] [ 0. 0. 0. 1. ]] SLAMing on 485.61463044 meters Centerline goodness : 0.267359 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-0.90 [[ 9.32091973e-01 -1.10565174e-03 -3.62220004e-01 -1.30474391e+00] [ 7.49502230e-03 9.99840115e-01 1.62348161e-02 -1.52109470e-01] [ 3.62144140e-01 -1.78471888e-02 9.31951232e-01 -9.03052184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64463044 meters Centerline goodness : 0.108733 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.15, Z:-0.90 [[ 9.31982021e-01 -9.05741708e-04 -3.62503368e-01 -1.30499671e+00] [ 7.22594270e-03 9.99844607e-01 1.60794305e-02 -1.49161657e-01] [ 3.62432474e-01 -1.76051687e-02 9.31843742e-01 -9.02420221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67463044 meters Centerline goodness : 0.089058 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.15, Z:-0.90 [[ 9.31905568e-01 -5.59313705e-04 -3.62700565e-01 -1.30518272e+00] [ 6.82035944e-03 9.99849017e-01 1.59820586e-02 -1.46203536e-01] [ 3.62636864e-01 -1.73675176e-02 9.31768681e-01 -9.01888837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70463044 meters Centerline goodness : 0.091462 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.15, Z:-0.91 [[ 0.93256173 0.00325623 -0.36099587 -1.33748396] [ 0.00196351 0.99989878 0.01409157 -0.14654721] [ 0.36100522 -0.01385008 0.93246094 -0.91479277] [ 0. 0. 0. 1. ]] SLAMing on 485.73463044 meters Centerline goodness : 0.089231 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-0.91 [[ 0.93271058 0.00318201 -0.36061178 -1.3388464 ] [ 0.0017603 0.99990899 0.01337607 -0.14144806] [ 0.36062152 -0.01311079 0.93262009 -0.91497754] [ 0. 0. 0. 1. ]] SLAMing on 485.76463044 meters Centerline goodness : 0.096146 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-0.91 [[ 0.93266079 0.00344951 -0.36073807 -1.33906725] [ 0.00144512 0.99991054 0.01329777 -0.13922209] [ 0.36075167 -0.01292362 0.93257236 -0.91459493] [ 0. 0. 0. 1. ]] SLAMing on 485.79463044 meters Centerline goodness : 0.265273 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-0.91 [[ 9.32530321e-01 3.71834571e-03 -3.61072532e-01 -1.33878558e+00] [ 1.12888465e-03 9.99912071e-01 1.32126858e-02 -1.36706098e-01] [ 3.61089913e-01 -1.27288394e-02 9.32444128e-01 -9.14152959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82463044 meters Centerline goodness : 0.097508 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32278463e-01 3.59718086e-03 -3.61723553e-01 -1.33801795e+00] [ 1.00690722e-03 9.99920878e-01 1.25388964e-02 -1.32488190e-01] [ 3.61740037e-01 -1.20539651e-02 9.32201077e-01 -9.13416610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 485.88463044 meters Centerline goodness : 0.113368 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32253756e-01 3.39204678e-03 -3.61789204e-01 -1.33914430e+00] [ 9.97900292e-04 9.99928141e-01 1.19464574e-02 -1.29424595e-01] [ 3.61803729e-01 -1.14981594e-02 9.32183380e-01 -9.12687195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91463044 meters Centerline goodness : 0.093326 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32307497e-01 3.44260744e-03 -3.61650217e-01 -1.34007213e+00] [ 8.86699115e-04 9.99929933e-01 1.18043409e-02 -1.28053070e-01] [ 3.61665515e-01 -1.13259505e-02 9.32239121e-01 -9.12449276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94463044 meters Centerline goodness : 0.208226 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32323836e-01 3.39882899e-03 -3.61608507e-01 -1.34074913e+00] [ 8.67647305e-04 9.99931928e-01 1.16355833e-02 -1.26864562e-01] [ 3.61623439e-01 -1.11618803e-02 9.32257422e-01 -9.12109272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97463044 meters Centerline goodness : 0.237776 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32330334e-01 3.21852359e-03 -3.61593404e-01 -1.34106225e+00] [ 9.43916864e-04 9.99935321e-01 1.13341607e-02 -1.25775329e-01] [ 3.61606496e-01 -1.09084959e-02 9.32266993e-01 -9.11977076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00463044 meters Centerline goodness : 0.078432 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32333826e-01 3.13339210e-03 -3.61585146e-01 -1.34140465e+00] [ 1.02064169e-03 9.99935668e-01 1.12968393e-02 -1.26186693e-01] [ 3.61597282e-01 -1.09014743e-02 9.32270649e-01 -9.11684283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03463044 meters Centerline goodness : 0.091937 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32336087e-01 3.08799292e-03 -3.61579707e-01 -1.34183221e+00] [ 1.10422132e-03 9.99934557e-01 1.13869671e-02 -1.27288253e-01] [ 3.61591207e-01 -1.10157443e-02 9.32271662e-01 -9.11296796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06463044000003 meters Centerline goodness : 0.081397 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32317013e-01 3.02815297e-03 -3.61629392e-01 -1.34216419e+00] [ 1.23178117e-03 9.99932553e-01 1.15487274e-02 -1.28962879e-01] [ 3.61639973e-01 -1.12125233e-02 9.32250401e-01 -9.10777952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09463044 meters Centerline goodness : 0.110760 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.13, Z:-0.91 [[ 9.32355246e-01 1.26222727e-03 -3.61541287e-01 -1.34492421e+00] [ 2.79958295e-03 9.99938720e-01 1.07106876e-02 -1.33966637e-01] [ 3.61532651e-01 -1.09983306e-02 9.32294578e-01 -9.09232477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12463044000003 meters Centerline goodness : 0.234711 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-0.91 [[ 9.32318274e-01 1.27011382e-03 -3.61636588e-01 -1.34462252e+00] [ 2.88681886e-03 9.99935833e-01 1.09542741e-02 -1.35936013e-01] [ 3.61627296e-01 -1.12568492e-02 9.32254784e-01 -9.09031707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15463044 meters Centerline goodness : 0.235313 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-0.91 [[ 0.93226211 0.0013903 -0.3617809 -1.34376315] [ 0.00287069 0.99993271 0.01124009 -0.13789634] [ 0.36177218 -0.01151727 0.93219539 -0.90909279] [ 0. 0. 0. 1. ]] SLAMing on 486.18463044000003 meters Centerline goodness : 0.090190 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-0.91 [[ 0.9322407 0.00143644 -0.36183589 -1.34321943] [ 0.00292825 0.99992942 0.01151397 -0.14006275] [ 0.36182689 -0.01179334 0.9321707 -0.90914419] [ 0. 0. 0. 1. ]] SLAMing on 486.21463044 meters Centerline goodness : 0.314718 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:-0.91 [[ 0.93220917 0.00142534 -0.36191717 -1.34261777] [ 0.0030342 0.99992632 0.01175335 -0.14257261] [ 0.36190725 -0.01205471 0.93213616 -0.90916578] [ 0. 0. 0. 1. ]] SLAMing on 486.24463044000004 meters Centerline goodness : 0.122489 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-0.92 [[ 0.93250471 -0.00480895 -0.3611258 -1.36089684] [ 0.0098838 0.99987664 0.01220718 -0.1482643 ] [ 0.36102254 -0.01495255 0.93243721 -0.91661966] [ 0. 0. 0. 1. ]] SLAMing on 486.27463044 meters Centerline goodness : 0.115973 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-0.92 [[ 0.93251629 -0.00477594 -0.36109633 -1.36110347] [ 0.00998757 0.99987114 0.01256796 -0.15123936] [ 0.36098978 -0.0153263 0.93244382 -0.91627736] [ 0. 0. 0. 1. ]] SLAMing on 486.30463044 meters Centerline goodness : 0.098988 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-0.92 [[ 0.93253026 -0.0046255 -0.3610622 -1.36125464] [ 0.01003199 0.99986385 0.01310098 -0.15478917] [ 0.36095245 -0.01583923 0.9324497 -0.91595727] [ 0. 0. 0. 1. ]] SLAMing on 486.33463044 meters Centerline goodness : 0.268429 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.16, Z:-0.92 [[ 0.93262578 -0.00463556 -0.36081527 -1.36152316] [ 0.01019399 0.99985686 0.01350352 -0.1582993 ] [ 0.36070103 -0.01627188 0.93253954 -0.91604882] [ 0. 0. 0. 1. ]] SLAMing on 486.36463044 meters Centerline goodness : 0.241117 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.16, Z:-0.92 [[ 0.93274204 -0.00492995 -0.36051072 -1.36192615] [ 0.01057252 0.99985051 0.01368119 -0.16177071] [ 0.36038938 -0.01657253 0.93265473 -0.91617868] [ 0. 0. 0. 1. ]] SLAMing on 486.39463044 meters Centerline goodness : 0.230716 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:-0.92 [[ 0.93295004 -0.00726909 -0.35993246 -1.3641203 ] [ 0.01252245 0.99984636 0.01226578 -0.16662537] [ 0.359788 -0.01595059 0.93289773 -0.91594078] [ 0. 0. 0. 1. ]] SLAMing on 486.42463044 meters Centerline goodness : 0.259005 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:-0.92 [[ 0.93308474 -0.00949242 -0.3595313 -1.36486866] [ 0.01452135 0.99983083 0.01128926 -0.17458452] [ 0.35936331 -0.01575472 0.93306473 -0.91603869] [ 0. 0. 0. 1. ]] SLAMing on 486.45463044 meters Centerline goodness : 0.168234 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.18, Z:-0.92 [[ 0.93301256 -0.00929994 -0.3597236 -1.36343384] [ 0.01449131 0.9998261 0.01173749 -0.17784005] [ 0.35955188 -0.0161641 0.93298508 -0.91631591] [ 0. 0. 0. 1. ]] SLAMing on 486.48463044 meters Centerline goodness : 0.205514 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.18, Z:-0.92 [[ 0.93295304 -0.0092725 -0.35987866 -1.36228648] [ 0.01455894 0.99982222 0.01198171 -0.1802645 ] [ 0.35970358 -0.01641782 0.93292218 -0.91652149] [ 0. 0. 0. 1. ]] SLAMing on 486.51463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 486.54463044 meters Centerline goodness : 0.114350 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93313248 -0.01049966 -0.35937937 -1.36365105] [ 0.0157449 0.99980792 0.01167133 -0.18761157] [ 0.3591878 -0.01654929 0.93311856 -0.9164658 ] [ 0. 0. 0. 1. ]] SLAMing on 486.57463044 meters Centerline goodness : 0.238369 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93321047 -0.01032247 -0.35918194 -1.36362958] [ 0.01565438 0.99980618 0.01193924 -0.1894641 ] [ 0.35898908 -0.0167646 0.93319118 -0.91675709] [ 0. 0. 0. 1. ]] SLAMing on 486.60463044 meters Centerline goodness : 0.135733 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93330447 -0.01034151 -0.35893707 -1.3638164 ] [ 0.01571353 0.99980389 0.01205231 -0.19081342] [ 0.35874204 -0.01688864 0.93328395 -0.91709611] [ 0. 0. 0. 1. ]] SLAMing on 486.63463044 meters Centerline goodness : 0.135372 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.9333939 -0.0103886 -0.35870308 -1.36360897] [ 0.01578033 0.99980218 0.01210671 -0.19199984] [ 0.35850635 -0.01696078 0.9333732 -0.91765597] [ 0. 0. 0. 1. ]] SLAMing on 486.66463044 meters Centerline goodness : 0.105095 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93336506 -0.0103947 -0.35877795 -1.36292716] [ 0.01580279 0.99980137 0.01214438 -0.19286126] [ 0.35858045 -0.01700483 0.93334393 -0.91785631] [ 0. 0. 0. 1. ]] SLAMing on 486.69463044 meters Centerline goodness : 0.110557 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93335977 -0.010309 -0.35879418 -1.36247413] [ 0.01574385 0.99980127 0.01222908 -0.19325948] [ 0.35859681 -0.01706293 0.93333659 -0.91806841] [ 0. 0. 0. 1. ]] SLAMing on 486.72463044 meters Centerline goodness : 0.110557 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93335977 -0.010309 -0.35879418 -1.36247413] [ 0.01574385 0.99980127 0.01222908 -0.19325948] [ 0.35859681 -0.01706293 0.93333659 -0.91806841] [ 0. 0. 0. 1. ]] SLAMing on 486.75463044 meters Centerline goodness : 0.107716 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93333812 -0.01009012 -0.35885671 -1.36174973] [ 0.0155319 0.99980391 0.01228449 -0.19250432] [ 0.35866239 -0.01703931 0.93331182 -0.91843548] [ 0. 0. 0. 1. ]] SLAMing on 486.78463044 meters Centerline goodness : 0.112869 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93339476 -0.01027253 -0.35870418 -1.36153871] [ 0.01564434 0.99980469 0.0120763 -0.19261426] [ 0.35851007 -0.01688364 0.93337317 -0.91879589] [ 0. 0. 0. 1. ]] SLAMing on 486.81463044000003 meters Centerline goodness : 0.112364 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.9334665 -0.01041657 -0.35851329 -1.36166975] [ 0.01577032 0.99980348 0.01201221 -0.19331654] [ 0.35831771 -0.01686686 0.93344734 -0.91905074] [ 0. 0. 0. 1. ]] SLAMing on 486.84463044 meters Centerline goodness : 0.112610 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.92 [[ 0.93348233 -0.01042335 -0.35847188 -1.36140921] [ 0.01582695 0.99980101 0.01214295 -0.19470222] [ 0.35827398 -0.01700874 0.93346155 -0.91910592] [ 0. 0. 0. 1. ]] SLAMing on 486.87463044000003 meters Centerline goodness : 0.112298 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93346009 -0.0102377 -0.35853515 -1.36095552] [ 0.0157766 0.99979707 0.01252655 -0.19681192] [ 0.35833415 -0.0173495 0.93343218 -0.91902519] [ 0. 0. 0. 1. ]] SLAMing on 486.90463044 meters Centerline goodness : 0.236897 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93343627 -0.01050162 -0.35858953 -1.36054409] [ 0.01616137 0.9997876 0.01278961 -0.20036542] [ 0.35837905 -0.01773359 0.93340772 -0.91885811] [ 0. 0. 0. 1. ]] SLAMing on 486.93463044000003 meters Centerline goodness : 0.238299 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93341821 -0.01067119 -0.35863154 -1.35941773] [ 0.01635584 0.99978403 0.01282083 -0.2020291 ] [ 0.35841727 -0.01783292 0.93339115 -0.91926859] [ 0. 0. 0. 1. ]] SLAMing on 486.96463044 meters Centerline goodness : 0.238870 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93337 -0.0108172 -0.3587526 -1.35783003] [ 0.01652761 0.99978078 0.01285441 -0.20349828] [ 0.3585349 -0.01792725 0.93334417 -0.91984985] [ 0. 0. 0. 1. ]] SLAMing on 486.99463044000004 meters Centerline goodness : 0.240995 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93331499 -0.01077605 -0.35889693 -1.35669563] [ 0.01654717 0.99977841 0.01301224 -0.20482099] [ 0.35867718 -0.01808325 0.93328649 -0.92011895] [ 0. 0. 0. 1. ]] SLAMing on 487.02463044 meters Centerline goodness : 0.102716 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.21, Z:-0.92 [[ 0.9331612 -0.01008227 -0.35931676 -1.35632273] [ 0.0160932 0.99977607 0.01374147 -0.20637095] [ 0.35909775 -0.01860556 0.93311448 -0.91929907] [ 0. 0. 0. 1. ]] SLAMing on 487.05463044 meters Centerline goodness : 0.077506 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93236539 -0.00527356 -0.36147886 -1.34067493] [ 0.01087766 0.9998501 0.01347018 -0.20982126] [ 0.36135364 -0.01649117 0.932283 -0.91106444] [ 0. 0. 0. 1. ]] SLAMing on 487.08463044 meters Centerline goodness : 0.067580 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93230548 -0.00535977 -0.36163209 -1.34012443] [ 0.01094426 0.99985037 0.01339599 -0.21024212] [ 0.36150618 -0.01644694 0.93222464 -0.91097118] [ 0. 0. 0. 1. ]] SLAMing on 487.11463044 meters Centerline goodness : 0.232025 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93228349 -0.00553063 -0.3616862 -1.33962124] [ 0.01107185 0.99985092 0.01324988 -0.21058405] [ 0.361559 -0.01635718 0.93220574 -0.91116488] [ 0. 0. 0. 1. ]] SLAMing on 487.14463044 meters Centerline goodness : 0.233841 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93228145 -0.00555449 -0.36169108 -1.33944406] [ 0.01107796 0.99985152 0.01319942 -0.21080927] [ 0.36156406 -0.01631237 0.93220456 -0.91120293] [ 0. 0. 0. 1. ]] SLAMing on 487.17463044 meters Centerline goodness : 0.234389 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93229893 -0.00537689 -0.36164873 -1.33957424] [ 0.0109218 0.99985204 0.01328993 -0.21069563] [ 0.36152376 -0.01634004 0.9322197 -0.91117234] [ 0. 0. 0. 1. ]] SLAMing on 487.20463044 meters Centerline goodness : 0.138574 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93224748 -0.00460203 -0.361792 -1.34003717] [ 0.01023396 0.99985443 0.01365209 -0.20963031] [ 0.36167651 -0.01642969 0.93215887 -0.91055253] [ 0. 0. 0. 1. ]] SLAMing on 487.23463044 meters Centerline goodness : 0.110677 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93214996 -0.00442033 -0.36204545 -1.33975094] [ 0.0099964 0.9998585 0.01352988 -0.20868216] [ 0.36193441 -0.01623103 0.93206225 -0.91014915] [ 0. 0. 0. 1. ]] SLAMing on 487.26463044 meters Centerline goodness : 0.228703 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.91 [[ 0.93212193 -0.0042832 -0.36211927 -1.34010893] [ 0.0097747 0.99986332 0.01333427 -0.20738428] [ 0.36201266 -0.01596877 0.93203639 -0.90973148] [ 0. 0. 0. 1. ]] SLAMing on 487.29463044 meters Centerline goodness : 0.108173 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.20, Z:-0.91 [[ 9.32382980e-01 -5.13329774e-04 -3.61471597e-01 -1.34315950e+00] [ 6.60621497e-03 9.99856173e-01 1.56202216e-02 -2.03740195e-01] [ 3.61411589e-01 -1.69519879e-02 9.32252269e-01 -9.09368852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32463044 meters Centerline goodness : 0.108891 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.20, Z:-0.91 [[ 9.32332265e-01 -5.69089464e-04 -3.61602300e-01 -1.34328101e+00] [ 6.48152677e-03 9.99864407e-01 1.51379685e-02 -2.01132280e-01] [ 3.61544655e-01 -1.64573515e-02 9.32209536e-01 -9.09160694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35463044 meters Centerline goodness : 0.110047 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.20, Z:-0.91 [[ 9.32228436e-01 -6.06679865e-04 -3.61869833e-01 -1.34273374e+00] [ 6.35284816e-03 9.99871921e-01 1.46895460e-02 -1.98591821e-01] [ 3.61814573e-01 -1.59929165e-02 9.32112891e-01 -9.09096893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38463044 meters Centerline goodness : 0.233522 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.20, Z:-0.91 [[ 9.32175020e-01 -4.45207749e-04 -3.62007643e-01 -1.34280928e+00] [ 6.10525832e-03 9.99876354e-01 1.44914526e-02 -1.96508861e-01] [ 3.61956430e-01 -1.57187203e-02 9.32062479e-01 -9.08953685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41463044 meters Centerline goodness : 0.138456 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.19, Z:-0.91 [[ 9.32213466e-01 -1.60910074e-04 -3.61908867e-01 -1.34391725e+00] [ 5.76941308e-03 9.99879433e-01 1.44164301e-02 -1.94284896e-01] [ 3.61862912e-01 -1.55271920e-02 9.32102000e-01 -9.08622434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44463044 meters Centerline goodness : 0.114228 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.19, Z:-0.91 [[ 9.32287478e-01 1.64278208e-04 -3.61718166e-01 -1.34537061e+00] [ 5.42176322e-03 9.99881210e-01 1.44280856e-02 -1.92502542e-01] [ 3.61677568e-01 -1.54122737e-02 9.32175841e-01 -9.08202299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47463044 meters Centerline goodness : 0.115504 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.19, Z:-0.91 [[ 9.32311275e-01 7.99665600e-05 -3.61656855e-01 -1.34687943e+00] [ 5.36589779e-03 9.99886843e-01 1.40537762e-02 -1.90182244e-01] [ 3.61617055e-01 -1.50431078e-02 9.32205348e-01 -9.07480722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50463044 meters Centerline goodness : 0.253847 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.19, Z:-0.91 [[ 9.32260087e-01 -1.36902844e-04 -3.61788765e-01 -1.34659273e+00] [ 5.51355262e-03 9.99889174e-01 1.38290015e-02 -1.89952035e-01] [ 3.61746776e-01 -1.48869675e-02 9.32157523e-01 -9.07359052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53463044 meters Centerline goodness : 0.235632 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.19, Z:-0.91 [[ 9.32213563e-01 -2.57464189e-04 -3.61908560e-01 -1.34677889e+00] [ 5.60176236e-03 9.99890215e-01 1.37178378e-02 -1.89776914e-01] [ 3.61865296e-01 -1.48152802e-02 9.32112662e-01 -9.06952458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56463044000003 meters Centerline goodness : 0.116219 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.19, Z:-0.91 [[ 9.32245399e-01 -2.03959647e-04 -3.61826582e-01 -1.34755303e+00] [ 5.56395828e-03 9.99889683e-01 1.37718941e-02 -1.89675215e-01] [ 3.61783857e-01 -1.48519729e-02 9.32143690e-01 -9.06597346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59463044 meters Centerline goodness : 0.227802 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.19, Z:-0.91 [[ 9.32280424e-01 -1.73957398e-04 -3.61736341e-01 -1.34801870e+00] [ 5.55586578e-03 9.99888816e-01 1.38379429e-02 -1.89832425e-01] [ 3.61693715e-01 -1.49106019e-02 9.32177736e-01 -9.06413143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62463044000003 meters Centerline goodness : 0.113750 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.91 [[ 0.93312245 -0.00525711 -0.35952032 -1.36351277] [ 0.01118335 0.99983369 0.01440586 -0.18974124] [ 0.35938479 -0.01746308 0.93302605 -0.91474173] [ 0. 0. 0. 1. ]] SLAMing on 487.65463044 meters Centerline goodness : 0.220174 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.91 [[ 0.93305015 -0.00533589 -0.35970676 -1.3627407 ] [ 0.01127462 0.99983255 0.01441393 -0.19056522] [ 0.35956962 -0.01750448 0.93295406 -0.91473067] [ 0. 0. 0. 1. ]] SLAMing on 487.68463044000003 meters Centerline goodness : 0.231130 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.91 [[ 0.93295189 -0.00516809 -0.35996397 -1.36153087] [ 0.0111932 0.99982995 0.01465564 -0.19186405] [ 0.35982701 -0.01770215 0.93285109 -0.91477079] [ 0. 0. 0. 1. ]] SLAMing on 487.71463044 meters Centerline goodness : 0.051855 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.91 [[ 0.93293529 -0.00516852 -0.360007 -1.36128361] [ 0.01123631 0.99982787 0.01476393 -0.19295539] [ 0.35986872 -0.01781894 0.93283278 -0.9147598 ] [ 0. 0. 0. 1. ]] SLAMing on 487.74463044000004 meters Centerline goodness : 0.222513 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.19, Z:-0.91 [[ 0.93298161 -0.00518341 -0.35988673 -1.36149435] [ 0.01128662 0.99982589 0.0148594 -0.1940795 ] [ 0.35974704 -0.01792545 0.93287767 -0.91482154] [ 0. 0. 0. 1. ]] SLAMing on 487.77463044 meters Centerline goodness : 0.243772 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93319539 -0.00508983 -0.35933335 -1.36240426] [ 0.01126138 0.99982281 0.01508386 -0.19589338] [ 0.35919291 -0.01812278 0.93308736 -0.91539279] [ 0. 0. 0. 1. ]] SLAMing on 487.80463044 meters Centerline goodness : 0.114711 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93325127 -0.00493166 -0.35919041 -1.36221345] [ 0.01116096 0.9998211 0.01527102 -0.19668963] [ 0.35905084 -0.01826061 0.93313935 -0.91580413] [ 0. 0. 0. 1. ]] SLAMing on 487.83463044 meters Centerline goodness : 0.097320 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93328546 -0.00478814 -0.3591035 -1.36198599] [ 0.01106667 0.9998197 0.01543031 -0.19746264] [ 0.35896487 -0.01837497 0.93317018 -0.91610205] [ 0. 0. 0. 1. ]] SLAMing on 487.86463044 meters Centerline goodness : 0.118697 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93331907 -0.00454415 -0.35901932 -1.36178604] [ 0.01093429 0.99981585 0.01577039 -0.19980723] [ 0.35888154 -0.01864442 0.93319688 -0.9163598 ] [ 0. 0. 0. 1. ]] SLAMing on 487.89463044 meters Centerline goodness : 0.112003 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93338742 -0.00444067 -0.35884286 -1.36178139] [ 0.01090168 0.99981282 0.01598373 -0.20151336] [ 0.35870472 -0.018831 0.93326112 -0.91670503] [ 0. 0. 0. 1. ]] SLAMing on 487.92463044 meters Centerline goodness : 0.114105 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93344164 -0.00422316 -0.35870444 -1.3619545 ] [ 0.0107807 0.9998093 0.01628305 -0.20333759] [ 0.35856727 -0.01906636 0.93330916 -0.91684772] [ 0. 0. 0. 1. ]] SLAMing on 487.95463044 meters Centerline goodness : 0.093598 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.20, Z:-0.92 [[ 0.93352683 -0.00402689 -0.35848493 -1.36200544] [ 0.01066487 0.9998063 0.01654137 -0.2048222 ] [ 0.35834889 -0.01926501 0.93338895 -0.91727893] [ 0. 0. 0. 1. ]] SLAMing on 487.98463044 meters Centerline goodness : 0.115072 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.21, Z:-0.93 [[ 9.33323555e-01 -1.33850795e-03 -3.59033913e-01 -1.39659510e+00] [ 7.23572160e-03 9.99860079e-01 1.50819979e-02 -2.10800570e-01] [ 3.58963489e-01 -1.66742534e-02 9.33202648e-01 -9.31656511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01463044 meters Centerline goodness : 0.113319 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.21, Z:-0.93 [[ 9.33222478e-01 -1.28339165e-03 -3.59296756e-01 -1.39488973e+00] [ 7.23320940e-03 9.99858070e-01 1.52157903e-02 -2.12482846e-01] [ 3.59226233e-01 -1.67985862e-02 9.33099309e-01 -9.32109183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04463044 meters Centerline goodness : 0.210157 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-0.93 [[ 9.33003199e-01 -8.04024478e-04 -3.59867175e-01 -1.39053940e+00] [ 6.96999738e-03 9.99850297e-01 1.58367479e-02 -2.16861439e-01] [ 3.59800569e-01 -1.72840097e-02 9.32869130e-01 -9.33429116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.07463044 meters Centerline goodness : 0.146501 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-0.93 [[ 9.32948930e-01 -5.00211426e-04 -3.60008393e-01 -1.38975672e+00] [ 6.79165060e-03 9.99845525e-01 1.62110915e-02 -2.18609660e-01] [ 3.59944672e-01 -1.75691717e-02 9.32808210e-01 -9.33569527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10463044 meters Centerline goodness : 0.094707 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-0.93 [[ 9.33011333e-01 -2.90306041e-04 -3.59846867e-01 -1.39002443e+00] [ 6.68860832e-03 9.99840905e-01 1.65356101e-02 -2.20549639e-01] [ 3.59784817e-01 -1.78347864e-02 9.32864838e-01 -9.33710228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.13463044 meters Centerline goodness : 0.097933 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-0.93 [[ 9.33067210e-01 -2.66428034e-04 -3.59701974e-01 -1.39069663e+00] [ 6.73435793e-03 9.99837392e-01 1.67283593e-02 -2.22616709e-01] [ 3.59639027e-01 -1.80310454e-02 9.32917280e-01 -9.33499655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16463044 meters Centerline goodness : 0.231240 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.23, Z:-0.93 [[ 9.33122704e-01 -9.12913551e-05 -3.59558077e-01 -1.39091498e+00] [ 6.70211617e-03 9.99830646e-01 1.71394311e-02 -2.27405453e-01] [ 3.59495620e-01 -1.84029923e-02 9.32965288e-01 -9.33522775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.19463044 meters Centerline goodness : 0.158693 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.23, Z:-0.93 [[ 9.33083939e-01 1.75692569e-04 -3.59658632e-01 -1.39008959e+00] [ 6.54013668e-03 9.99826244e-01 1.74558817e-02 -2.29119886e-01] [ 3.59599206e-01 -1.86400195e-02 9.32920661e-01 -9.33844023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 488.25463044 meters Centerline goodness : 0.234604 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.23, Z:-0.93 [[ 9.33011770e-01 8.07418808e-04 -3.59844945e-01 -1.38852477e+00] [ 6.11401028e-03 9.99817562e-01 1.80958914e-02 -2.32172689e-01] [ 3.59793907e-01 -1.90837754e-02 9.32836617e-01 -9.34447698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28463044 meters Centerline goodness : 0.238679 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.23, Z:-0.93 [[ 9.33032169e-01 1.03557982e-03 -3.59791466e-01 -1.38855383e+00] [ 5.96932719e-03 9.99813663e-01 1.83577482e-02 -2.33626848e-01] [ 3.59743435e-01 -1.92760826e-02 9.32852129e-01 -9.34541557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.31463044000003 meters Centerline goodness : 0.091662 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.24, Z:-0.93 [[ 0.93315731 0.00142112 -0.35946547 -1.39046136] [ 0.00575409 0.99980501 0.01889004 -0.23685791] [ 0.35942222 -0.01969578 0.93296717 -0.93399228] [ 0. 0. 0. 1. ]] SLAMing on 488.34463044 meters Centerline goodness : 0.150399 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.24, Z:-0.93 [[ 0.9332187 0.00165477 -0.35930504 -1.3914365 ] [ 0.00563823 0.99979883 0.01924866 -0.238885 ] [ 0.35926461 -0.01998905 0.93302164 -0.93365985] [ 0. 0. 0. 1. ]] SLAMing on 488.37463044000003 meters Centerline goodness : 0.234676 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.24, Z:-0.93 [[ 0.93335597 0.0017422 -0.35894789 -1.3928853 ] [ 0.00565122 0.99979296 0.01954723 -0.2411244 ] [ 0.35890763 -0.02027302 0.93315289 -0.93343111] [ 0. 0. 0. 1. ]] SLAMing on 488.40463044 meters Centerline goodness : 0.200572 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.93 [[ 0.93398714 -0.00434371 -0.35728021 -1.37585404] [ 0.01327521 0.99965758 0.02254995 -0.24084943] [ 0.35705992 -0.02580434 0.93372499 -0.92758824] [ 0. 0. 0. 1. ]] SLAMing on 488.43463044000003 meters Centerline goodness : 0.237623 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.25, Z:-0.93 [[ 0.93415463 -0.00599144 -0.35681821 -1.37821463] [ 0.01480021 0.99964926 0.02196174 -0.24862502] [ 0.35656148 -0.02579664 0.93391565 -0.92691688] [ 0. 0. 0. 1. ]] SLAMing on 488.46463044 meters Centerline goodness : 0.248490 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.25, Z:-0.93 [[ 0.93403328 -0.00562789 -0.35714164 -1.37653298] [ 0.01464625 0.99963838 0.02255191 -0.25190998] [ 0.35688557 -0.02629502 0.93377795 -0.92700938] [ 0. 0. 0. 1. ]] SLAMing on 488.49463044000004 meters Centerline goodness : 0.243262 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.25, Z:-0.93 [[ 0.93397792 -0.00549374 -0.35728848 -1.37549302] [ 0.014642 0.99963042 0.02290475 -0.25458762] [ 0.3570306 -0.02662395 0.93371319 -0.92713462] [ 0. 0. 0. 1. ]] SLAMing on 488.52463044 meters Centerline goodness : 0.226684 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.26, Z:-0.93 [[ 0.9340252 -0.00547981 -0.3571651 -1.37530105] [ 0.01472892 0.99962278 0.02318099 -0.25739821] [ 0.35690334 -0.02691228 0.93375357 -0.9273404 ] [ 0. 0. 0. 1. ]] SLAMing on 488.55463044 meters Centerline goodness : 0.219885 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.26, Z:-0.93 [[ 0.93412515 -0.00556387 -0.35690229 -1.37568817] [ 0.01490541 0.99961439 0.02342881 -0.26054263] [ 0.35663431 -0.02720522 0.93384787 -0.92745971] [ 0. 0. 0. 1. ]] SLAMing on 488.58463044 meters Centerline goodness : 0.197139 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.26, Z:-0.93 [[ 0.93419859 -0.00542085 -0.35671221 -1.37599232] [ 0.01492382 0.99960311 0.02389352 -0.2640687 ] [ 0.35644111 -0.0276448 0.93390872 -0.92741036] [ 0. 0. 0. 1. ]] SLAMing on 488.61463044 meters Centerline goodness : 0.220646 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.27, Z:-0.93 [[ 0.93445717 -0.006085 -0.35602355 -1.37891599] [ 0.01569987 0.99958571 0.02412304 -0.27196669] [ 0.35572926 -0.02813147 0.93416557 -0.92679004] [ 0. 0. 0. 1. ]] SLAMing on 488.64463044 meters Centerline goodness : 0.172430 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.28, Z:-0.93 [[ 0.93449638 -0.00584025 -0.35592471 -1.37873501] [ 0.01563208 0.99957414 0.02464105 -0.27527128] [ 0.35562923 -0.02859082 0.93418971 -0.92688716] [ 0. 0. 0. 1. ]] SLAMing on 488.67463044 meters Centerline goodness : 0.172430 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.28, Z:-0.93 [[ 0.93449638 -0.00584025 -0.35592471 -1.37873501] [ 0.01563208 0.99957414 0.02464105 -0.27527128] [ 0.35562923 -0.02859082 0.93418971 -0.92688716] [ 0. 0. 0. 1. ]] SLAMing on 488.70463044 meters Centerline goodness : 0.114750 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.28, Z:-0.93 [[ 0.93458734 -0.00577541 -0.35568687 -1.37847433] [ 0.01569769 0.99956379 0.02501631 -0.27853625] [ 0.35538724 -0.02896339 0.93427032 -0.9273631 ] [ 0. 0. 0. 1. ]] SLAMing on 488.73463044 meters Centerline goodness : 0.239054 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.28, Z:-0.93 [[ 0.93484286 -0.00724746 -0.35498775 -1.38045912] [ 0.0169727 0.99956087 0.02428967 -0.2838867 ] [ 0.35465582 -0.02873212 0.93455536 -0.92746392] [ 0. 0. 0. 1. ]] SLAMing on 488.76463044 meters Centerline goodness : 0.226137 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.29, Z:-0.93 [[ 0.9351179 -0.00893231 -0.35422413 -1.38265552] [ 0.01857752 0.99954321 0.02383783 -0.29348765] [ 0.3538494 -0.02887179 0.93485669 -0.92728913] [ 0. 0. 0. 1. ]] SLAMing on 488.79463044 meters Centerline goodness : 0.199397 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.30, Z:-0.93 [[ 0.93508783 -0.00853348 -0.35431331 -1.38182944] [ 0.01839834 0.99953094 0.02448279 -0.29734681] [ 0.35393819 -0.02941234 0.93480622 -0.92733478] [ 0. 0. 0. 1. ]] SLAMing on 488.82463044 meters Centerline goodness : 0.215741 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.31, Z:-0.93 [[ 0.93506495 -0.00188632 -0.35447142 -1.39544337] [ 0.01038069 0.99970268 0.02206346 -0.30646751] [ 0.35432441 -0.02431043 0.93480651 -0.93457283] [ 0. 0. 0. 1. ]] SLAMing on 488.85463044 meters Centerline goodness : 0.162798 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.31, Z:-0.94 [[ 0.93505964 -0.00186331 -0.35448553 -1.39393495] [ 0.01043778 0.99969733 0.0222779 -0.3092624 ] [ 0.35433673 -0.02453121 0.93479608 -0.93536485] [ 0. 0. 0. 1. ]] SLAMing on 488.88463044 meters Centerline goodness : 0.234203 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.31, Z:-0.94 [[ 0.93506438 -0.00189489 -0.35447286 -1.39174868] [ 0.0105221 0.99969344 0.02241224 -0.31298889] [ 0.35432172 -0.02468669 0.93479767 -0.93654844] [ 0. 0. 0. 1. ]] SLAMing on 488.91463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 488.94463044 meters Centerline goodness : 0.227632 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-0.94 [[ 9.35139239e-01 7.39794576e-03 -3.54203153e-01 -1.40936775e+00] [ 3.76089243e-04 9.99760663e-01 2.18740881e-02 -3.19550848e-01] [ 3.54280202e-01 -2.05885301e-02 9.34912643e-01 -9.43699122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 489.00463044 meters Centerline goodness : 0.191620 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-0.94 [[ 9.35219706e-01 7.36793717e-03 -3.53991263e-01 -1.40875343e+00] [ 3.29350294e-04 9.99764926e-01 2.16791227e-02 -3.19329603e-01] [ 3.54067779e-01 -2.03913299e-02 9.34997434e-01 -9.44770105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03463044 meters Centerline goodness : 0.075059 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-0.94 [[ 9.35276170e-01 7.43619159e-03 -3.53840627e-01 -1.40884255e+00] [ 3.12300681e-04 9.99761515e-01 2.18361177e-02 -3.20451074e-01] [ 3.53918618e-01 -2.05333052e-02 9.35050798e-01 -9.44993035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06463044000003 meters Centerline goodness : 0.077924 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-0.94 [[ 9.35299622e-01 7.60536222e-03 -3.53775034e-01 -1.40887048e+00] [ 2.48067768e-04 9.99754666e-01 2.21482957e-02 -3.22071301e-01] [ 3.53856687e-01 -2.08030527e-02 9.35068275e-01 -9.44971460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09463044 meters Centerline goodness : 0.108143 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-0.94 [[ 9.35289656e-01 7.63771603e-03 -3.53800686e-01 -1.40873883e+00] [ 3.02451704e-04 9.99749451e-01 2.23817609e-02 -3.23881305e-01] [ 3.53882987e-01 -2.10404371e-02 9.35053010e-01 -9.44817901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12463044000003 meters Centerline goodness : 0.233377 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.33, Z:-0.94 [[ 9.35266969e-01 7.52786494e-03 -3.53863008e-01 -1.40835268e+00] [ 4.82348896e-04 9.99745762e-01 2.25428369e-02 -3.26104158e-01] [ 3.53942741e-01 -2.12542561e-02 9.35025557e-01 -9.44735600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15463044 meters Centerline goodness : 0.220921 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.33, Z:-0.94 [[ 0.93513566 0.00298 -0.35427732 -1.40735952] [ 0.00417344 0.99980259 0.01942588 -0.330018 ] [ 0.35426528 -0.01964438 0.93493861 -0.94426118] [ 0. 0. 0. 1. ]] SLAMing on 489.18463044000003 meters Centerline goodness : 0.231439 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.33, Z:-0.94 [[ 0.93505302 0.00301612 -0.35449508 -1.40618327] [ 0.00423942 0.99979717 0.01968882 -0.33242861] [ 0.35448256 -0.01991294 0.93485057 -0.94434117] [ 0. 0. 0. 1. ]] SLAMing on 489.21463044 meters Centerline goodness : 0.180497 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.34, Z:-0.94 [[ 0.93492346 0.00325124 -0.35483455 -1.40472353] [ 0.00416886 0.99978838 0.02014493 -0.3352449 ] [ 0.35482495 -0.02031322 0.93471205 -0.94431594] [ 0. 0. 0. 1. ]] SLAMing on 489.24463044000004 meters Centerline goodness : 0.239342 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.34, Z:-0.94 [[ 0.93484256 0.00343428 -0.35504589 -1.40355316] [ 0.00413045 0.99978037 0.02054619 -0.33807847] [ 0.35503848 -0.02067396 0.93462306 -0.94441067] [ 0. 0. 0. 1. ]] SLAMing on 489.27463044 meters Centerline goodness : 0.210924 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.34, Z:-0.94 [[ 0.9346927 0.00362745 -0.35543831 -1.40226115] [ 0.00408741 0.99977213 0.02095187 -0.34099529] [ 0.35543332 -0.02103638 0.93446489 -0.94417988] [ 0. 0. 0. 1. ]] SLAMing on 489.30463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 489.33463044 meters Centerline goodness : 0.240679 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.94 [[ 0.93478509 0.00284628 -0.35520239 -1.40439286] [ 0.00495621 0.99976604 0.0210545 -0.34915008] [ 0.35517922 -0.02144189 0.93455228 -0.94307568] [ 0. 0. 0. 1. ]] SLAMing on 489.36463044 meters Centerline goodness : 0.215503 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.94 [[ 0.93479139 0.00305951 -0.35518403 -1.40415514] [ 0.00485497 0.99975943 0.02138938 -0.35128178] [ 0.35516402 -0.02171901 0.93455166 -0.94307554] [ 0. 0. 0. 1. ]] SLAMing on 489.39463044 meters Centerline goodness : 0.242772 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.94 [[ 0.93481825 0.00303526 -0.35511355 -1.40388273] [ 0.00492395 0.99975657 0.02150728 -0.35296418] [ 0.35509238 -0.02185396 0.93457573 -0.94328677] [ 0. 0. 0. 1. ]] SLAMing on 489.42463044 meters Centerline goodness : 0.243530 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.94 [[ 0.93480831 0.00298179 -0.35514016 -1.40348793] [ 0.00500578 0.9997548 0.02157037 -0.35431734] [ 0.35511739 -0.02194191 0.93456417 -0.94341095] [ 0. 0. 0. 1. ]] SLAMing on 489.45463044 meters Centerline goodness : 0.212338 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.36, Z:-0.94 [[ 0.93495564 0.00304776 -0.35475154 -1.40572145] [ 0.00508429 0.99974529 0.02198882 -0.35721295] [ 0.3547282 -0.02236224 0.934702 -0.94256793] [ 0. 0. 0. 1. ]] SLAMing on 489.48463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 489.51463044 meters Centerline goodness : 0.208838 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.36, Z:-0.94 [[ 0.93520533 0.00195297 -0.35410053 -1.41096264] [ 0.00607804 0.99974894 0.02156645 -0.36114755] [ 0.35405375 -0.0223213 0.93495866 -0.94060516] [ 0. 0. 0. 1. ]] SLAMing on 489.54463044 meters Centerline goodness : 0.244502 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.36, Z:-0.94 [[ 0.93525821 0.00170165 -0.35396212 -1.4112493 ] [ 0.00635588 0.99974649 0.02160007 -0.36302714] [ 0.35390914 -0.02245139 0.9350103 -0.94054035] [ 0. 0. 0. 1. ]] SLAMing on 489.57463044 meters Centerline goodness : 0.244160 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.37, Z:-0.94 [[ 0.9351927 -0.00277838 -0.35412837 -1.41083277] [ 0.00994662 0.9997808 0.01842337 -0.36561798] [ 0.35399955 -0.02075178 0.93501534 -0.94021187] [ 0. 0. 0. 1. ]] SLAMing on 489.60463044 meters Centerline goodness : 0.244362 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.37, Z:-0.94 [[ 0.93517192 -0.00273825 -0.35418354 -1.41068163] [ 0.00998676 0.9997764 0.01863921 -0.36709703] [ 0.35405331 -0.02096802 0.93499016 -0.94002524] [ 0. 0. 0. 1. ]] SLAMing on 489.63463044 meters Centerline goodness : 0.240710 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.37, Z:-0.94 [[ 0.93509038 -0.00260941 -0.35439974 -1.41012326] [ 0.00995715 0.99977159 0.01891089 -0.36852715] [ 0.35426945 -0.02121221 0.93490278 -0.93971201] [ 0. 0. 0. 1. ]] SLAMing on 489.66463044 meters Centerline goodness : 0.245020 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.37, Z:-0.94 [[ 0.93498876 -0.00271125 -0.35466699 -1.40935149] [ 0.01009476 0.9997691 0.0189695 -0.36984021] [ 0.35453367 -0.02131655 0.93480024 -0.93943248] [ 0. 0. 0. 1. ]] SLAMing on 489.69463044 meters Centerline goodness : 0.132381 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.37, Z:-0.95 [[ 0.9344862 -0.01100609 -0.35582919 -1.42773774] [ 0.01874976 0.99965634 0.01832084 -0.37117626] [ 0.35550527 -0.02379229 0.93437141 -0.94679254] [ 0. 0. 0. 1. ]] SLAMing on 489.72463044 meters Centerline goodness : 0.089151 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.37, Z:-0.95 [[ 0.93451149 -0.01106766 -0.35576086 -1.42745749] [ 0.01888794 0.99965014 0.01851583 -0.37276193] [ 0.35543147 -0.02402285 0.93439359 -0.94686487] [ 0. 0. 0. 1. ]] SLAMing on 489.75463044 meters Centerline goodness : 0.131821 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.37, Z:-0.95 [[ 0.93456425 -0.01110273 -0.35562114 -1.42770185] [ 0.0189896 0.99964489 0.01869466 -0.37428555] [ 0.35528729 -0.02422447 0.93444321 -0.94681723] [ 0. 0. 0. 1. ]] SLAMing on 489.78463044 meters Centerline goodness : 0.192718 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.38, Z:-0.95 [[ 0.93453078 -0.01103537 -0.35571117 -1.42700825] [ 0.01901044 0.99964002 0.01893233 -0.37574302] [ 0.3553742 -0.02445507 0.93440416 -0.94684048] [ 0. 0. 0. 1. ]] SLAMing on 489.81463044000003 meters Centerline goodness : 0.235253 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.38, Z:-0.95 [[ 0.93449635 -0.01121295 -0.35579606 -1.42619517] [ 0.01921804 0.99963529 0.01897248 -0.37719594] [ 0.35545356 -0.02456742 0.93437102 -0.94696373] [ 0. 0. 0. 1. ]] SLAMing on 489.84463044 meters Centerline goodness : 0.196981 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.38, Z:-0.95 [[ 0.93439633 -0.01137731 -0.35605344 -1.42489974] [ 0.01943039 0.99962972 0.01904938 -0.37914592] [ 0.35570487 -0.02471793 0.93427141 -0.94699169] [ 0. 0. 0. 1. ]] SLAMing on 489.87463044000003 meters Centerline goodness : 0.244072 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.38, Z:-0.95 [[ 0.93442275 -0.01174066 -0.3559723 -1.42480176] [ 0.01987703 0.99961791 0.01920762 -0.38284119] [ 0.35561078 -0.02502371 0.93429909 -0.9468644 ] [ 0. 0. 0. 1. ]] SLAMing on 489.90463044 meters Centerline goodness : 0.239779 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.38, Z:-0.95 [[ 0.93444391 -0.01166731 -0.35591918 -1.42460234] [ 0.01990757 0.99961168 0.01949804 -0.38499158] [ 0.35555348 -0.02530531 0.93431331 -0.94686919] [ 0. 0. 0. 1. ]] SLAMing on 489.93463044000003 meters Centerline goodness : 0.185104 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93447739 -0.01155158 -0.35583504 -1.42433611] [ 0.01989899 0.99960577 0.01980729 -0.38715345] [ 0.35546596 -0.02559022 0.93433885 -0.94708505] [ 0. 0. 0. 1. ]] SLAMing on 489.96463044 meters Centerline goodness : 0.129360 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93449016 -0.01143097 -0.35580539 -1.42378973] [ 0.01989337 0.99959936 0.02013396 -0.38945466] [ 0.35543269 -0.02589316 0.93434316 -0.94733105] [ 0. 0. 0. 1. ]] SLAMing on 489.99463044000004 meters Centerline goodness : 0.132331 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93446613 -0.01127461 -0.35587349 -1.42307788] [ 0.01977115 0.9995995 0.02024701 -0.38952076] [ 0.35550269 -0.02595618 0.93431478 -0.94757974] [ 0. 0. 0. 1. ]] SLAMing on 490.02463044 meters Centerline goodness : 0.201398 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93438196 -0.01108956 -0.35610023 -1.4217746 ] [ 0.01962487 0.99959998 0.02036504 -0.38956052] [ 0.35573194 -0.02601714 0.93422583 -0.94789988] [ 0. 0. 0. 1. ]] SLAMing on 490.05463044 meters Centerline goodness : 0.221627 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93429109 -0.01103852 -0.35634017 -1.42064244] [ 0.01955843 0.9996023 0.02031523 -0.38912877] [ 0.35597421 -0.02594979 0.93413541 -0.94805716] [ 0. 0. 0. 1. ]] SLAMing on 490.08463044 meters Centerline goodness : 0.129351 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93432286 -0.01103324 -0.35625703 -1.42045414] [ 0.01952892 0.99960402 0.02025912 -0.38871887] [ 0.35589243 -0.02588588 0.93416835 -0.94837876] [ 0. 0. 0. 1. ]] SLAMing on 490.11463044 meters Centerline goodness : 0.240087 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93442607 -0.01113023 -0.35598321 -1.42126751] [ 0.01957606 0.99960567 0.02013168 -0.38830165] [ 0.35561876 -0.02578031 0.93427548 -0.94844108] [ 0. 0. 0. 1. ]] SLAMing on 490.14463044 meters Centerline goodness : 0.129215 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93459154 -0.01104244 -0.35555129 -1.42357929] [ 0.01948677 0.99960649 0.02017735 -0.38784785] [ 0.35518857 -0.02578612 0.93443895 -0.94777519] [ 0. 0. 0. 1. ]] SLAMing on 490.17463044 meters Centerline goodness : 0.130117 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93448671 -0.01089547 -0.35583124 -1.42319861] [ 0.01937588 0.99960662 0.02027737 -0.38757587] [ 0.35547034 -0.02584348 0.93433022 -0.94731084] [ 0. 0. 0. 1. ]] SLAMing on 490.20463044 meters Centerline goodness : 0.186608 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93435364 -0.01080991 -0.35618312 -1.42186137] [ 0.0192983 0.99960794 0.02028666 -0.38696887] [ 0.35582418 -0.02582865 0.93419593 -0.94732679] [ 0. 0. 0. 1. ]] SLAMing on 490.23463044 meters Centerline goodness : 0.241367 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.39, Z:-0.95 [[ 0.93416153 -0.01084186 -0.35668569 -1.41990533] [ 0.01929467 0.9996108 0.02014856 -0.38584461] [ 0.35632842 -0.02570414 0.93400715 -0.9474162 ] [ 0. 0. 0. 1. ]] SLAMing on 490.26463044 meters Centerline goodness : 0.238203 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.38, Z:-0.95 [[ 0.933998 -0.01084886 -0.35711348 -1.41823842] [ 0.01926586 0.99961393 0.02002054 -0.38452253] [ 0.35675841 -0.02557925 0.93384642 -0.94749932] [ 0. 0. 0. 1. ]] SLAMing on 490.29463044 meters Centerline goodness : 0.240186 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.38, Z:-0.95 [[ 0.93388041 -0.01084366 -0.35742104 -1.41731862] [ 0.01922577 0.99961697 0.01990666 -0.38319891] [ 0.35706828 -0.02546214 0.93373118 -0.94735812] [ 0. 0. 0. 1. ]] SLAMing on 490.32463044 meters Centerline goodness : 0.132035 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.38, Z:-0.95 [[ 0.93360808 -0.01107236 -0.35812477 -1.41539027] [ 0.01934384 0.99962228 0.01952223 -0.38064643] [ 0.35777335 -0.02515362 0.93346962 -0.94696747] [ 0. 0. 0. 1. ]] SLAMing on 490.35463044 meters Centerline goodness : 0.131093 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.38, Z:-0.95 [[ 0.93347641 -0.01124125 -0.35846259 -1.4140385 ] [ 0.01944937 0.99962454 0.01930047 -0.37953754] [ 0.35811104 -0.0249884 0.93334456 -0.94706144] [ 0. 0. 0. 1. ]] SLAMing on 490.38463044 meters Centerline goodness : 0.231244 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.38, Z:-0.95 [[ 0.93326242 -0.01128326 -0.35901803 -1.41231367] [ 0.0194837 0.9996252 0.01923128 -0.37888845] [ 0.35866648 -0.02494283 0.93313247 -0.94684204] [ 0. 0. 0. 1. ]] SLAMing on 490.41463044 meters Centerline goodness : 0.103382 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.38, Z:-0.95 [[ 0.93305682 -0.01129312 -0.3595517 -1.41096638] [ 0.0195101 0.99962466 0.0192327 -0.37856447] [ 0.35919955 -0.02496009 0.93292694 -0.946374 ] [ 0. 0. 0. 1. ]] SLAMing on 490.44463044 meters Centerline goodness : 0.130780 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.38, Z:-0.95 [[ 0.93294944 -0.01137435 -0.3598277 -1.41004794] [ 0.01960811 0.99962259 0.01924065 -0.3787897 ] [ 0.35947304 -0.0250061 0.93282036 -0.94614773] [ 0. 0. 0. 1. ]] SLAMing on 490.47463044 meters Centerline goodness : 0.185758 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.38, Z:-0.95 [[ 0.93295683 -0.01169635 -0.35979821 -1.41023735] [ 0.01988929 0.99962017 0.0190772 -0.37906599] [ 0.35943842 -0.02495433 0.93283509 -0.9459089 ] [ 0. 0. 0. 1. ]] SLAMing on 490.50463044 meters Centerline goodness : 0.105807 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.38, Z:-0.95 [[ 0.93320824 -0.01291396 -0.35910389 -1.41339914] [ 0.02084858 0.9996164 0.01823166 -0.37854245] [ 0.35873069 -0.02450074 0.9331195 -0.94530228] [ 0. 0. 0. 1. ]] SLAMing on 490.53463044 meters Centerline goodness : 0.105807 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.38, Z:-0.95 [[ 0.93320824 -0.01291396 -0.35910389 -1.41339914] [ 0.02084858 0.9996164 0.01823166 -0.37854245] [ 0.35873069 -0.02450074 0.9331195 -0.94530228] [ 0. 0. 0. 1. ]] SLAMing on 490.56463044000003 meters Centerline goodness : 0.127245 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.38, Z:-0.94 [[ 0.93287116 -0.00752298 -0.36013164 -1.39708015] [ 0.01489128 0.99973262 0.01768985 -0.38115381] [ 0.35990227 -0.02186517 0.93273376 -0.93684133] [ 0. 0. 0. 1. ]] SLAMing on 490.59463044 meters Centerline goodness : 0.129420 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.38, Z:-0.94 [[ 0.93279022 -0.00732979 -0.36034522 -1.3965557 ] [ 0.01474803 0.99973206 0.0178412 -0.3809687 ] [ 0.36011789 -0.02195647 0.93264839 -0.93661497] [ 0. 0. 0. 1. ]] SLAMing on 490.62463044000003 meters Centerline goodness : 0.129493 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.38, Z:-0.94 [[ 0.93274546 -0.00726402 -0.36046239 -1.39582261] [ 0.01470354 0.99973165 0.01790085 -0.3810312 ] [ 0.36023563 -0.02199701 0.93260196 -0.93673589] [ 0. 0. 0. 1. ]] SLAMing on 490.65463044 meters Centerline goodness : 0.212628 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.38, Z:-0.93 [[ 0.93318203 -0.00282583 -0.35939299 -1.38157335] [ 0.00924372 0.99982701 0.01614035 -0.38496906] [ 0.35928521 -0.01838401 0.93304671 -0.92855671] [ 0. 0. 0. 1. ]] SLAMing on 490.68463044000003 meters Centerline goodness : 0.127078 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.38, Z:-0.93 [[ 0.9334159 -0.00281789 -0.35878519 -1.38439328] [ 0.00922335 0.99982715 0.01614286 -0.38498635] [ 0.35867769 -0.01837721 0.93328056 -0.92805247] [ 0. 0. 0. 1. ]] SLAMing on 490.71463044 meters Centerline goodness : 0.127824 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.39, Z:-0.93 [[ 9.33914066e-01 -7.53368416e-04 -3.57496783e-01 -1.38919035e+00] [ 7.61084929e-03 9.99813037e-01 1.77754093e-02 -3.86227631e-01] [ 3.57416553e-01 -1.93215589e-02 9.33745193e-01 -9.27808564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74463044000004 meters Centerline goodness : 0.129084 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.39, Z:-0.93 [[ 9.33980967e-01 -3.40790425e-04 -3.57322596e-01 -1.39002684e+00] [ 7.22270056e-03 9.99813239e-01 1.79253653e-02 -3.85060749e-01] [ 3.57249753e-01 -1.93227842e-02 9.33808997e-01 -9.27606501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77463044 meters Centerline goodness : 0.240044 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.38, Z:-0.93 [[ 9.33884589e-01 -2.00341479e-04 -3.57574517e-01 -1.38904416e+00] [ 7.03359922e-03 9.99816656e-01 1.78096169e-02 -3.83531476e-01] [ 3.57505390e-01 -1.91471626e-02 9.33714776e-01 -9.27721444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80463044 meters Centerline goodness : 0.227131 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.38, Z:-0.92 [[ 9.33529804e-01 6.23330902e-03 -3.58445605e-01 -1.36941497e+00] [-1.13221150e-04 9.99853907e-01 1.70924207e-02 -3.82371656e-01] [ 3.58499781e-01 -1.59157005e-02 9.33394128e-01 -9.19755396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83463044 meters Centerline goodness : 0.129094 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.38, Z:-0.92 [[ 9.33596935e-01 6.43673949e-03 -3.58267122e-01 -1.37024332e+00] [-3.94227284e-04 9.99856491e-01 1.69364309e-02 -3.79972411e-01] [ 3.58324723e-01 -1.56705613e-02 9.33465493e-01 -9.19709108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86463044 meters Centerline goodness : 0.131005 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.38, Z:-0.92 [[ 9.33615417e-01 6.86886088e-03 -3.58210933e-01 -1.37063875e+00] [-8.68431765e-04 9.99856650e-01 1.69092967e-02 -3.77325342e-01] [ 3.58275731e-01 -1.54756983e-02 9.33487549e-01 -9.19629520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89463044 meters Centerline goodness : 0.134050 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.37, Z:-0.92 [[ 9.33533290e-01 7.28682782e-03 -3.58416656e-01 -1.37003676e+00] [-1.33029926e-03 9.99856928e-01 1.68627951e-02 -3.74490465e-01] [ 3.58488253e-01 -1.52651792e-02 9.33409421e-01 -9.19585009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92463044 meters Centerline goodness : 0.236963 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.37, Z:-0.92 [[ 0.9333544 0.00979048 -0.35882268 -1.36662741] [-0.0035868 0.99983244 0.01795061 -0.36755217] [ 0.3589383 -0.01546726 0.93323312 -0.92061088] [ 0. 0. 0. 1. ]] SLAMing on 490.95463044 meters Centerline goodness : 0.238600 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.92 [[ 0.9332255 0.00980875 -0.35915729 -1.36569462] [-0.00374276 0.99983844 0.01758095 -0.36488823] [ 0.35927171 -0.01506275 0.93311144 -0.92050615] [ 0. 0. 0. 1. ]] SLAMing on 490.98463044 meters Centerline goodness : 0.234611 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.92 [[ 0.9331697 0.00973102 -0.35930436 -1.36552871] [-0.00383898 0.99984627 0.01710834 -0.36189264] [ 0.3594156 -0.01458562 0.9330636 -0.92035903] [ 0. 0. 0. 1. ]] SLAMing on 491.01463044 meters Centerline goodness : 0.237549 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.92 [[ 0.93309971 0.00972746 -0.35948617 -1.3655856 ] [-0.00399164 0.99985267 0.01669446 -0.35876837] [ 0.35959561 -0.01414266 0.93300106 -0.92000759] [ 0. 0. 0. 1. ]] SLAMing on 491.04463044 meters Centerline goodness : 0.134043 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.92 [[ 0.93302929 0.00986281 -0.35966521 -1.36531891] [-0.0042263 0.99985568 0.01645454 -0.35594073] [ 0.35977559 -0.01383251 0.93293632 -0.91992884] [ 0. 0. 0. 1. ]] SLAMing on 491.07463044 meters Centerline goodness : 0.238936 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.35, Z:-0.92 [[ 0.93299698 0.00996186 -0.35974629 -1.36496025] [-0.00440877 0.99985819 0.01625335 -0.35364585] [ 0.35985718 -0.01357829 0.93290859 -0.92009483] [ 0. 0. 0. 1. ]] SLAMing on 491.10463044 meters Centerline goodness : 0.132460 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.35, Z:-0.92 [[ 0.93289023 0.01006867 -0.36002006 -1.36407548] [-0.00469054 0.99986403 0.01580896 -0.34856052] [ 0.36013029 -0.01305934 0.93281061 -0.92030592] [ 0. 0. 0. 1. ]] SLAMing on 491.13463044 meters Centerline goodness : 0.234684 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.35, Z:-0.92 [[ 0.93280025 0.00987967 -0.36025835 -1.36348084] [-0.00462211 0.99986992 0.01545248 -0.34678339] [ 0.36036416 -0.01274892 0.93272458 -0.92018266] [ 0. 0. 0. 1. ]] SLAMing on 491.16463044 meters Centerline goodness : 0.234492 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.35, Z:-0.92 [[ 0.93270442 0.0097443 -0.36051009 -1.36276124] [-0.00456319 0.99987376 0.01522 -0.34569476] [ 0.36061288 -0.01255068 0.93263113 -0.9201158 ] [ 0. 0. 0. 1. ]] SLAMing on 491.19463044 meters Centerline goodness : 0.234724 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.34, Z:-0.93 [[ 9.33471075e-01 4.95144248e-03 -3.58618509e-01 -1.37758395e+00] [ 7.89590187e-04 9.99873902e-01 1.58605247e-02 -3.42426967e-01] [ 3.58651820e-01 -1.50885027e-02 9.33349457e-01 -9.28183661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22463044 meters Centerline goodness : 0.234857 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.34, Z:-0.93 [[ 9.33442093e-01 4.93354608e-03 -3.58694187e-01 -1.37786954e+00] [ 7.71781791e-04 9.99875491e-01 1.57609061e-02 -3.41730002e-01] [ 3.58727284e-01 -1.49887269e-02 9.33322063e-01 -9.27808788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.25463044 meters Centerline goodness : 0.234872 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.34, Z:-0.93 [[ 9.33379081e-01 4.99975437e-03 -3.58857204e-01 -1.37766756e+00] [ 7.14591148e-04 9.99875085e-01 1.57893284e-02 -3.41601024e-01] [ 3.58891320e-01 -1.49938650e-02 9.33258916e-01 -9.27558394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28463044 meters Centerline goodness : 0.133533 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.34, Z:-0.93 [[ 9.33251152e-01 5.14943888e-03 -3.59187653e-01 -1.37661474e+00] [ 5.95928768e-04 9.99873681e-01 1.58828945e-02 -3.41713463e-01] [ 3.59224069e-01 -1.50367799e-02 9.33130196e-01 -9.27487589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.31463044000003 meters Centerline goodness : 0.236081 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.34, Z:-0.93 [[ 9.33103058e-01 5.24386152e-03 -3.59570835e-01 -1.37507373e+00] [ 5.40647559e-04 9.99872089e-01 1.59848077e-02 -3.42441746e-01] [ 3.59608664e-01 -1.51098741e-02 9.32980868e-01 -9.27571015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34463044 meters Centerline goodness : 0.236367 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.34, Z:-0.93 [[ 9.33025585e-01 5.29650404e-03 -3.59771045e-01 -1.37416977e+00] [ 5.41169409e-04 9.99869863e-01 1.61234201e-02 -3.43858926e-01] [ 3.59809623e-01 -1.52382605e-02 9.32901297e-01 -9.27626772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.37463044000003 meters Centerline goodness : 0.235595 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.35, Z:-0.93 [[ 9.33097616e-01 5.35166713e-03 -3.59583368e-01 -1.37488418e+00] [ 6.33944505e-04 9.99863236e-01 1.65259794e-02 -3.47655500e-01] [ 3.59622631e-01 -1.56483078e-02 9.32966609e-01 -9.27402567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40463044 meters Centerline goodness : 0.235549 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.35, Z:-0.93 [[ 9.33074108e-01 5.54504882e-03 -3.59641435e-01 -1.37525666e+00] [ 5.62463670e-04 9.99857443e-01 1.68753598e-02 -3.49667977e-01] [ 3.59683740e-01 -1.59482466e-02 9.32937972e-01 -9.26872534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.43463044000003 meters Centerline goodness : 0.236161 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.35, Z:-0.93 [[ 9.33100524e-01 5.70235772e-03 -3.59570430e-01 -1.37607076e+00] [ 5.01661194e-04 9.99852660e-01 1.71583015e-02 -3.51368199e-01] [ 3.59615294e-01 -1.61908027e-02 9.32960180e-01 -9.26385083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46463044 meters Centerline goodness : 0.236856 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.35, Z:-0.93 [[ 9.33720583e-01 8.54259934e-05 -3.58002606e-01 -1.39370941e+00] [ 6.63997105e-03 9.99823824e-01 1.75565442e-02 -3.50383639e-01] [ 3.57941034e-01 -1.87700336e-02 9.33555516e-01 -9.33996259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49463044000004 meters Centerline goodness : 0.236877 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.35, Z:-0.93 [[ 9.33797242e-01 8.06835397e-05 -3.57802604e-01 -1.39429878e+00] [ 6.65244865e-03 9.99823204e-01 1.75870924e-02 -3.51262099e-01] [ 3.57740765e-01 -1.88030419e-02 9.33631614e-01 -9.34019591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52463044 meters Centerline goodness : 0.234621 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.93 [[ 9.33975453e-01 2.93569677e-04 -3.57337049e-01 -1.39583091e+00] [ 6.43765168e-03 9.99823545e-01 1.76475586e-02 -3.51285283e-01] [ 3.57279176e-01 -1.87827980e-02 9.33808758e-01 -9.34140629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55463044 meters Centerline goodness : 0.235651 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.93 [[ 9.34041922e-01 4.21576644e-04 -3.57163143e-01 -1.39634702e+00] [ 6.29905706e-03 9.99824327e-01 1.76532380e-02 -3.50819444e-01] [ 3.57107841e-01 -1.87386553e-02 9.33875180e-01 -9.34293704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58463044 meters Centerline goodness : 0.198756 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.93 [[ 9.34048769e-01 5.52929925e-04 -3.57145056e-01 -1.39630974e+00] [ 6.16658999e-03 9.99824759e-01 1.76755319e-02 -3.50585706e-01] [ 3.57092243e-01 -1.87121759e-02 9.33881676e-01 -9.34401468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61463044 meters Centerline goodness : 0.234385 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.93 [[ 9.34005328e-01 5.80686110e-04 -3.57258604e-01 -1.39597113e+00] [ 6.12700550e-03 9.99825571e-01 1.76433556e-02 -3.50533648e-01] [ 3.57206533e-01 -1.86679136e-02 9.33838852e-01 -9.34426604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64463044 meters Centerline goodness : 0.237221 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.93 [[ 9.33946616e-01 5.98169051e-04 -3.57412031e-01 -1.39505018e+00] [ 6.15276049e-03 9.99823508e-01 1.77509786e-02 -3.51954066e-01] [ 3.57359568e-01 -1.87775370e-02 9.33778102e-01 -9.34636866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67463044 meters Centerline goodness : 0.238092 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.35, Z:-0.93 [[ 9.33953904e-01 5.34484755e-04 -3.57393088e-01 -1.39501476e+00] [ 6.25711175e-03 9.99821158e-01 1.78465765e-02 -3.53421276e-01] [ 3.57338710e-01 -1.89041283e-02 9.33783530e-01 -9.34566420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70463044 meters Centerline goodness : 0.090406 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.36, Z:-0.93 [[ 9.34010257e-01 4.29733912e-04 -3.57245932e-01 -1.39527394e+00] [ 6.40789149e-03 9.99818245e-01 1.79559558e-02 -3.55115749e-01] [ 3.57188717e-01 -1.90602401e-02 9.33837742e-01 -9.34587278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.73463044 meters Centerline goodness : 0.096184 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.36, Z:-0.93 [[ 9.34095768e-01 3.53634432e-04 -3.57022367e-01 -1.39594561e+00] [ 6.54956598e-03 9.99814253e-01 1.81262890e-02 -3.56934899e-01] [ 3.56962461e-01 -1.92700314e-02 9.33919947e-01 -9.34432158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76463044 meters Centerline goodness : 0.222785 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.36, Z:-0.93 [[ 9.34134783e-01 5.01276819e-04 -3.56920096e-01 -1.39644886e+00] [ 6.53434700e-03 9.99807398e-01 1.85059378e-02 -3.59089233e-01] [ 3.56860629e-01 -1.96192799e-02 9.33951591e-01 -9.34111339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79463044 meters Centerline goodness : 0.222132 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.36, Z:-0.93 [[ 9.34139781e-01 7.19790694e-04 -3.56906641e-01 -1.39639160e+00] [ 6.45019516e-03 9.99800599e-01 1.88985866e-02 -3.61039896e-01] [ 3.56849077e-01 -1.99560390e-02 9.33948871e-01 -9.33936573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82463044 meters Centerline goodness : 0.235144 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.36, Z:-0.93 [[ 9.34108064e-01 8.30841833e-04 -3.56989404e-01 -1.39583434e+00] [ 6.42907000e-03 9.99795964e-01 1.91493595e-02 -3.62821199e-01] [ 3.56932476e-01 -2.01826810e-02 9.33912130e-01 -9.33924490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85463044 meters Centerline goodness : 0.083918 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.37, Z:-0.93 [[ 9.34127406e-01 5.88293362e-04 -3.56939271e-01 -1.39501483e+00] [ 6.70743488e-03 9.99793135e-01 1.92015028e-02 -3.66424210e-01] [ 3.56876729e-01 -2.03307969e-02 9.33930222e-01 -9.34280799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88463044 meters Centerline goodness : 0.236132 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.93 [[ 9.34049875e-01 6.54118536e-04 -3.57141994e-01 -1.39410386e+00] [ 6.69712945e-03 9.99790409e-01 1.93464630e-02 -3.67858345e-01] [ 3.57079795e-01 -2.04623875e-02 9.33849726e-01 -9.34304856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91463044 meters Centerline goodness : 0.236136 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.93 [[ 9.33925754e-01 9.57751464e-04 -3.57465759e-01 -1.39277382e+00] [ 6.50055566e-03 9.99785546e-01 1.96622536e-02 -3.69185638e-01] [ 3.57407931e-01 -2.06868111e-02 9.33719244e-01 -9.34372763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94463044 meters Centerline goodness : 0.237441 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.93 [[ 9.33888070e-01 1.31853185e-03 -3.57563048e-01 -1.39176620e+00] [ 6.24434974e-03 9.99780564e-01 1.99958197e-02 -3.70278875e-01] [ 3.57510951e-01 -2.09066062e-02 9.33674908e-01 -9.34736118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97463044 meters Centerline goodness : 0.237036 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.93 [[ 0.93391789 0.0015178 -0.35748437 -1.3917779 ] [ 0.00610336 0.99977754 0.02018968 -0.37117371] [ 0.35743549 -0.02103736 0.93370086 -0.93485296] [ 0. 0. 0. 1. ]] SLAMing on 492.00463044 meters Centerline goodness : 0.234757 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.93 [[ 0.93395502 0.00165409 -0.35738674 -1.39208863] [ 0.00600093 0.99977573 0.02030941 -0.37196153] [ 0.35734019 -0.02111273 0.93373564 -0.93480712] [ 0. 0. 0. 1. ]] SLAMing on 492.03463044 meters Centerline goodness : 0.236513 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.93 [[ 0.93405219 0.00187757 -0.35713159 -1.39324298] [ 0.00581146 0.99977387 0.02045564 -0.37258348] [ 0.35708924 -0.02118209 0.93383007 -0.9346805 ] [ 0. 0. 0. 1. ]] SLAMing on 492.06463044000003 meters Centerline goodness : 0.236543 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.93 [[ 0.93410686 0.00191423 -0.3569884 -1.39368056] [ 0.00576958 0.99977407 0.02045784 -0.37282017] [ 0.3569469 -0.02116948 0.93388477 -0.93473772] [ 0. 0. 0. 1. ]] SLAMing on 492.09463044 meters Centerline goodness : 0.088122 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.94 [[ 0.93416657 0.0018481 -0.35683245 -1.39386456] [ 0.005813 0.99977508 0.02039611 -0.37329635] [ 0.35678989 -0.02112763 0.93394571 -0.93502169] [ 0. 0. 0. 1. ]] SLAMing on 492.12463044000003 meters Centerline goodness : 0.237832 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.37, Z:-0.94 [[ 0.93413113 0.00195842 -0.35692464 -1.39302934] [ 0.00573914 0.99977326 0.02050596 -0.37426626] [ 0.35688386 -0.0212037 0.93390808 -0.9352687 ] [ 0. 0. 0. 1. ]] SLAMing on 492.15463044 meters Centerline goodness : 0.238276 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.38, Z:-0.94 [[ 0.93405259 0.00239141 -0.35712748 -1.39099287] [ 0.00549555 0.99976294 0.02106803 -0.37709346] [ 0.35709321 -0.02164126 0.93381802 -0.93599446] [ 0. 0. 0. 1. ]] SLAMing on 492.18463044000003 meters Centerline goodness : 0.236625 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.38, Z:-0.94 [[ 0.93401768 0.00250601 -0.35721799 -1.39028855] [ 0.00547183 0.99975771 0.02132085 -0.37894048] [ 0.35718487 -0.02186868 0.93377767 -0.93608573] [ 0. 0. 0. 1. ]] SLAMing on 492.21463044 meters Centerline goodness : 0.214178 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.38, Z:-0.94 [[ 0.93403387 0.00249537 -0.35717574 -1.39022583] [ 0.00556777 0.99975238 0.0215447 -0.38139236] [ 0.35714106 -0.02211215 0.93378869 -0.93603122] [ 0. 0. 0. 1. ]] SLAMing on 492.24463044000004 meters Centerline goodness : 0.217257 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.38, Z:-0.94 [[ 0.93404309 0.00251538 -0.35715148 -1.39029182] [ 0.00564367 0.99974641 0.02180076 -0.38398361] [ 0.35711575 -0.0223785 0.93379202 -0.93581698] [ 0. 0. 0. 1. ]] SLAMing on 492.27463044 meters Centerline goodness : 0.086559 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.39, Z:-0.93 [[ 9.34204805e-01 9.64363948e-04 -3.56735829e-01 -1.39332600e+00] [ 7.03104229e-03 9.99752325e-01 2.11152286e-02 -3.90124081e-01] [ 3.56667838e-01 -2.22341727e-02 9.33966646e-01 -9.34766533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30463044 meters Centerline goodness : 0.239407 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.39, Z:-0.93 [[ 9.34175485e-01 1.20144710e-03 -3.56811882e-01 -1.39273698e+00] [ 6.94104059e-03 9.99743919e-01 2.15387709e-02 -3.92669273e-01] [ 3.56746387e-01 -2.25976375e-02 9.33927921e-01 -9.34773236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33463044 meters Centerline goodness : 0.206476 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.40, Z:-0.94 [[ 0.93415616 0.00142089 -0.35686167 -1.39171466] [ 0.00685627 0.99973604 0.0219282 -0.39523336] [ 0.35679863 -0.0229311 0.93389984 -0.93512476] [ 0. 0. 0. 1. ]] SLAMing on 492.36463044 meters Centerline goodness : 0.165153 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.40, Z:-0.94 [[ 0.93417417 0.00159813 -0.35681377 -1.39102407] [ 0.00679408 0.99972901 0.02226525 -0.39780354] [ 0.35675266 -0.02322384 0.93391016 -0.9354987 ] [ 0. 0. 0. 1. ]] SLAMing on 492.39463044 meters Centerline goodness : 0.149821 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.40, Z:-0.94 [[ 0.93416875 0.00180851 -0.35682695 -1.39044377] [ 0.00671949 0.99972068 0.02265845 -0.40068156] [ 0.35676826 -0.02356451 0.93389567 -0.93566704] [ 0. 0. 0. 1. ]] SLAMing on 492.42463044 meters Centerline goodness : 0.203230 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.41, Z:-0.93 [[ 9.34380950e-01 6.14768425e-04 -3.56274981e-01 -1.39343264e+00] [ 7.89202120e-03 9.99717423e-01 2.24229861e-02 -4.08628578e-01] [ 3.56188091e-01 -2.37633408e-02 9.34112064e-01 -9.34799661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45463044 meters Centerline goodness : 0.237103 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.41, Z:-0.93 [[ 9.34403623e-01 7.11721478e-04 -3.56215332e-01 -1.39419161e+00] [ 7.96579146e-03 9.99706189e-01 2.28928292e-02 -4.12665556e-01] [ 3.56126965e-01 -2.42286796e-02 9.34123416e-01 -9.34130890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48463044 meters Centerline goodness : 0.237103 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.41, Z:-0.93 [[ 9.34403623e-01 7.11721478e-04 -3.56215332e-01 -1.39419161e+00] [ 7.96579146e-03 9.99706189e-01 2.28928292e-02 -4.12665556e-01] [ 3.56126965e-01 -2.42286796e-02 9.34123416e-01 -9.34130890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51463044 meters Centerline goodness : 0.216006 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.42, Z:-0.93 [[ 9.34470768e-01 7.94272617e-04 -3.56038975e-01 -1.39485427e+00] [ 8.06477664e-03 9.99693717e-01 2.33972344e-02 -4.17135561e-01] [ 3.55948511e-01 -2.47354064e-02 9.34178151e-01 -9.33761031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54463044 meters Centerline goodness : 0.241497 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.42, Z:-0.93 [[ 9.34637809e-01 -9.35656827e-04 -3.55599903e-01 -1.39690831e+00] [ 9.59459951e-03 9.99698830e-01 2.25874652e-02 -4.23340598e-01] [ 3.55471672e-01 -2.45229377e-02 9.34365301e-01 -9.33270416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.57463044 meters Centerline goodness : 0.100657 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.43, Z:-0.93 [[ 0.93460194 -0.00476553 -0.35566347 -1.39600599] [ 0.01285043 0.99970986 0.0203729 -0.43161839] [ 0.35546319 -0.02361098 0.93439202 -0.9332146 ] [ 0. 0. 0. 1. ]] SLAMing on 492.60463044 meters Centerline goodness : 0.243421 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.93 [[ 0.93472346 -0.0046466 -0.35534556 -1.39652828] [ 0.01291239 0.99969833 0.02089325 -0.4358436 ] [ 0.35514128 -0.02411777 0.93450147 -0.93331087] [ 0. 0. 0. 1. ]] SLAMing on 492.63463044 meters Centerline goodness : 0.096512 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.93 [[ 0.93474007 -0.00429023 -0.35530635 -1.39657891] [ 0.01278767 0.99968554 0.02157087 -0.4398151 ] [ 0.35510207 -0.0247067 0.93450099 -0.93307997] [ 0. 0. 0. 1. ]] SLAMing on 492.66463044 meters Centerline goodness : 0.240836 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.93 [[ 0.93471659 -0.00393697 -0.35537219 -1.39655884] [ 0.0126374 0.99967446 0.02216466 -0.44307095] [ 0.35516924 -0.02520866 0.93446206 -0.93268599] [ 0. 0. 0. 1. ]] SLAMing on 492.69463044 meters Centerline goodness : 0.240940 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.45, Z:-0.93 [[ 0.93462793 -0.00365823 -0.35560829 -1.39602253] [ 0.01252512 0.99966532 0.02263536 -0.44601389] [ 0.35540647 -0.02560968 0.93436095 -0.93224865] [ 0. 0. 0. 1. ]] SLAMing on 492.72463044 meters Centerline goodness : 0.243064 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.45, Z:-0.93 [[ 0.93459365 -0.00355577 -0.3556994 -1.39550678] [ 0.01251597 0.99965959 0.0228923 -0.44815571] [ 0.35549692 -0.02584692 0.93432001 -0.93222469] [ 0. 0. 0. 1. ]] SLAMing on 492.75463044 meters Centerline goodness : 0.127589 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.45, Z:-0.93 [[ 0.93460383 -0.00470157 -0.35565937 -1.39465022] [ 0.01351008 0.99966033 0.02228704 -0.45376738] [ 0.35543377 -0.02563454 0.93434988 -0.93259322] [ 0. 0. 0. 1. ]] SLAMing on 492.78463044 meters Centerline goodness : 0.086702 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.46, Z:-0.93 [[ 0.93459854 -0.00468739 -0.35567344 -1.39391865] [ 0.01354755 0.99965675 0.02242433 -0.45554001] [ 0.35544625 -0.02577625 0.93434124 -0.93290002] [ 0. 0. 0. 1. ]] SLAMing on 492.81463044000003 meters Centerline goodness : 0.087648 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.46, Z:-0.93 [[ 0.93457642 -0.00468433 -0.35573159 -1.39322902] [ 0.01359586 0.99965314 0.02255539 -0.45728964] [ 0.35550255 -0.02591621 0.93431595 -0.93305208] [ 0. 0. 0. 1. ]] SLAMing on 492.84463044 meters Centerline goodness : 0.085797 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.46, Z:-0.93 [[ 0.93456048 -0.00468066 -0.35577352 -1.39273548] [ 0.01363832 0.99964988 0.02267403 -0.45902278] [ 0.35554283 -0.02604241 0.93429711 -0.93312989] [ 0. 0. 0. 1. ]] SLAMing on 492.87463044000003 meters Centerline goodness : 0.094650 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.46, Z:-0.93 [[ 0.93450755 -0.00451241 -0.35591469 -1.39215103] [ 0.01358713 0.9996431 0.02300123 -0.46098681] [ 0.35568388 -0.02633068 0.93423534 -0.9329743 ] [ 0. 0. 0. 1. ]] SLAMing on 492.90463044 meters Centerline goodness : 0.092938 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.47, Z:-0.95 [[ 0.93375465 -0.00427162 -0.35788827 -1.43360482] [ 0.01272701 0.99969268 0.02127367 -0.46628501] [ 0.35768741 -0.02441924 0.93352205 -0.94687365] [ 0. 0. 0. 1. ]] SLAMing on 492.93463044000003 meters Centerline goodness : 0.136843 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.47, Z:-0.95 [[ 0.93355845 -0.00849917 -0.35832442 -1.4331171 ] [ 0.01616593 0.9996999 0.01840574 -0.46984156] [ 0.35806045 -0.02297548 0.93341569 -0.94588202] [ 0. 0. 0. 1. ]] SLAMing on 492.96463044 meters Centerline goodness : 0.140533 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.47, Z:-0.95 [[ 0.9335565 -0.00866665 -0.35832548 -1.4330566 ] [ 0.01639439 0.99969382 0.01853369 -0.47232382] [ 0.35805514 -0.02317677 0.93341275 -0.94566679] [ 0. 0. 0. 1. ]] SLAMing on 492.99463044000004 meters Centerline goodness : 0.078368 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.47, Z:-0.95 [[ 0.93359336 -0.00874311 -0.35822759 -1.43329167] [ 0.0165455 0.99968784 0.01872104 -0.47449898] [ 0.35795208 -0.02340489 0.93344658 -0.94550635] [ 0. 0. 0. 1. ]] SLAMing on 493.02463044 meters Centerline goodness : 0.091162 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.48, Z:-0.95 [[ 0.93356472 -0.00858493 -0.35830603 -1.4334033 ] [ 0.01649618 0.99968284 0.01902856 -0.4763386 ] [ 0.35802903 -0.02367508 0.93341026 -0.94506058] [ 0. 0. 0. 1. ]] SLAMing on 493.05463044 meters Centerline goodness : 0.094426 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.48, Z:-0.94 [[ 0.93347363 -0.00861686 -0.35854251 -1.43294263] [ 0.016607 0.99967751 0.01921145 -0.47819775] [ 0.35826134 -0.0238877 0.9333157 -0.94454928] [ 0. 0. 0. 1. ]] SLAMing on 493.08463044 meters Centerline goodness : 0.097151 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.48, Z:-0.94 [[ 0.93333172 -0.00869164 -0.35890995 -1.43189681] [ 0.01667651 0.99967739 0.01915766 -0.47843684] [ 0.35862765 -0.02386581 0.93317556 -0.94431549] [ 0. 0. 0. 1. ]] SLAMing on 493.11463044 meters Centerline goodness : 0.241986 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.48, Z:-0.94 [[ 0.93320006 -0.00876544 -0.35925034 -1.43055979] [ 0.01673384 0.99967797 0.01907696 -0.47836946] [ 0.35896744 -0.02381425 0.93304623 -0.94439852] [ 0. 0. 0. 1. ]] SLAMing on 493.14463044 meters Centerline goodness : 0.130544 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.48, Z:-0.94 [[ 0.93304198 -0.00873769 -0.3596614 -1.42927113] [ 0.01669841 0.9996794 0.01903298 -0.47786636] [ 0.35937979 -0.02376435 0.93288875 -0.94426543] [ 0. 0. 0. 1. ]] SLAMing on 493.17463044 meters Centerline goodness : 0.212247 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.48, Z:-0.94 [[ 0.93247 -0.00312041 -0.36123394 -1.4113862 ] [ 0.01047968 0.9997755 0.01841542 -0.47987905] [ 0.36109538 -0.02095744 0.93229336 -0.93567239] [ 0. 0. 0. 1. ]] SLAMing on 493.20463044 meters Centerline goodness : 0.110075 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.48, Z:-0.94 [[ 0.9323908 -0.00297813 -0.36143953 -1.41127635] [ 0.01034756 0.99977614 0.01845539 -0.47904413] [ 0.36130366 -0.02094765 0.93221289 -0.93517502] [ 0. 0. 0. 1. ]] SLAMing on 493.23463044 meters Centerline goodness : 0.129561 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.48, Z:-0.93 [[ 0.93252997 -0.00349343 -0.36107569 -1.41412845] [ 0.0106898 0.99978201 0.017935 -0.47683236] [ 0.36093432 -0.02058475 0.93236403 -0.93409635] [ 0. 0. 0. 1. ]] SLAMing on 493.26463044 meters Centerline goodness : 0.241593 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.48, Z:-0.93 [[ 0.93257931 -0.00372361 -0.36094593 -1.41542725] [ 0.01084383 0.99978448 0.01770325 -0.47599033] [ 0.36080222 -0.02042372 0.9324187 -0.93341958] [ 0. 0. 0. 1. ]] SLAMing on 493.29463044 meters Centerline goodness : 0.087946 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.48, Z:-0.93 [[ 0.93259015 -0.00390728 -0.36091597 -1.41621609] [ 0.01096548 0.99978655 0.01751059 -0.47511536] [ 0.36077051 -0.02028782 0.93243393 -0.93288642] [ 0. 0. 0. 1. ]] SLAMing on 493.32463044 meters Centerline goodness : 0.217654 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.93253556 -0.00383307 -0.3610578 -1.41650874] [ 0.01089757 0.99978691 0.01753215 -0.47436564] [ 0.36091366 -0.020284 0.93237862 -0.93224986] [ 0. 0. 0. 1. ]] SLAMing on 493.35463044 meters Centerline goodness : 0.242508 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.93252441 -0.00391627 -0.36108571 -1.41682276] [ 0.01094523 0.9997883 0.01742316 -0.47358444] [ 0.36094103 -0.02019968 0.93236986 -0.9319285 ] [ 0. 0. 0. 1. ]] SLAMing on 493.38463044 meters Centerline goodness : 0.133761 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.93256582 -0.00399544 -0.36097787 -1.41730517] [ 0.01099281 0.99978934 0.01733325 -0.47294176] [ 0.36083257 -0.02013256 0.93241329 -0.9317767 ] [ 0. 0. 0. 1. ]] SLAMing on 493.41463044 meters Centerline goodness : 0.210697 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.93260962 -0.00428882 -0.36086132 -1.41821619] [ 0.01121531 0.99979084 0.01710237 -0.47221191] [ 0.3607125 -0.01999701 0.93246266 -0.9313133 ] [ 0. 0. 0. 1. ]] SLAMing on 493.44463044 meters Centerline goodness : 0.244293 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.93253097 -0.00431998 -0.36106417 -1.4181726 ] [ 0.01125209 0.99979048 0.01709904 -0.47235763] [ 0.36091465 -0.02000811 0.9323842 -0.93080478] [ 0. 0. 0. 1. ]] SLAMing on 493.47463044 meters Centerline goodness : 0.230540 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.93239526 -0.00431178 -0.36141457 -1.41749741] [ 0.01125676 0.99979019 0.01711297 -0.4722143 ] [ 0.36126495 -0.02002441 0.93224817 -0.93032598] [ 0. 0. 0. 1. ]] SLAMing on 493.50463044 meters Centerline goodness : 0.188655 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.93232917 -0.00433256 -0.36158478 -1.41766863] [ 0.01126537 0.99979087 0.01706758 -0.47170827] [ 0.36143521 -0.01998599 0.932183 -0.92979996] [ 0. 0. 0. 1. ]] SLAMing on 493.53463044 meters Centerline goodness : 0.128016 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.47, Z:-0.93 [[ 0.9323927 -0.00451571 -0.36141867 -1.41838873] [ 0.01136627 0.99979374 0.01683102 -0.47063641] [ 0.36126812 -0.0198011 0.93225172 -0.92969865] [ 0. 0. 0. 1. ]] SLAMing on 493.56463044000003 meters Centerline goodness : 0.243455 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.47, Z:-0.92 [[ 0.93292588 0.00141662 -0.36006568 -1.40233806] [ 0.00455049 0.99986601 0.01572407 -0.46974291] [ 0.36003971 -0.01630787 0.93279444 -0.92163946] [ 0. 0. 0. 1. ]] SLAMing on 493.59463044 meters Centerline goodness : 0.243979 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.47, Z:-0.92 [[ 0.9329089 0.00143415 -0.3601096 -1.40227356] [ 0.00448378 0.99986829 0.01559778 -0.46820751] [ 0.36008454 -0.01616596 0.9327796 -0.92164036] [ 0. 0. 0. 1. ]] SLAMing on 493.62463044000003 meters Centerline goodness : 0.088563 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.47, Z:-0.92 [[ 9.32826606e-01 1.33576508e-03 -3.60323104e-01 -1.40163852e+00] [ 4.49143692e-03 9.99872334e-01 1.53343661e-02 -4.66372379e-01] [ 3.60297586e-01 -1.59226732e-02 9.32701516e-01 -9.21637790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65463044 meters Centerline goodness : 0.089673 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.46, Z:-0.92 [[ 9.32633495e-01 1.32342699e-03 -3.60822688e-01 -1.40019641e+00] [ 4.42825087e-03 9.99875983e-01 1.51132347e-02 -4.64640784e-01] [ 3.60797941e-01 -1.56929222e-02 9.32511972e-01 -9.21449819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68463044000003 meters Centerline goodness : 0.242933 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.46, Z:-0.92 [[ 0.93222142 0.00142411 -0.36188561 -1.397201 ] [ 0.00420469 0.99988213 0.01476612 -0.4603236 ] [ 0.36186399 -0.01528691 0.93210556 -0.92110737] [ 0. 0. 0. 1. ]] SLAMing on 493.71463044 meters Centerline goodness : 0.086838 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.46, Z:-0.92 [[ 9.32133722e-01 1.30335055e-03 -3.62111897e-01 -1.39654983e+00] [ 4.21092333e-03 9.99886893e-01 1.44384838e-02 -4.57895230e-01] [ 3.62089758e-01 -1.49834231e-02 9.32022802e-01 -9.21064986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74463044000004 meters Centerline goodness : 0.086724 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.46, Z:-0.92 [[ 9.32057008e-01 1.14163274e-03 -3.62309855e-01 -1.39598672e+00] [ 4.23624200e-03 9.99892340e-01 1.40485521e-02 -4.55324224e-01] [ 3.62286887e-01 -1.46288837e-02 9.31951827e-01 -9.21026511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77463044 meters Centerline goodness : 0.242479 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.45, Z:-0.92 [[ 9.31975371e-01 9.17137286e-04 -3.62520435e-01 -1.39530065e+00] [ 4.30698275e-03 9.99898211e-01 1.36021181e-02 -4.52603178e-01] [ 3.62496010e-01 -1.42382084e-02 9.31876556e-01 -9.21063995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80463044 meters Centerline goodness : 0.131213 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.45, Z:-0.92 [[ 9.31937406e-01 8.16230139e-04 -3.62618265e-01 -1.39503084e+00] [ 4.28977727e-03 9.99902674e-01 1.32755436e-02 -4.49974926e-01] [ 3.62593809e-01 -1.39275273e-02 9.31843202e-01 -9.21036978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83463044 meters Centerline goodness : 0.128834 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32245296e-01 5.87589436e-04 -3.61826427e-01 -1.39813924e+00] [ 4.31660306e-03 9.99909455e-01 1.27455287e-02 -4.44491927e-01] [ 3.61801155e-01 -1.34438203e-02 9.32158349e-01 -9.20815729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86463044 meters Centerline goodness : 0.088617 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32451645e-01 1.73531785e-04 -3.61294755e-01 -1.39997147e+00] [ 4.57792958e-03 9.99913931e-01 1.22952652e-02 -4.42620102e-01] [ 3.61265792e-01 -1.31187222e-02 9.32370595e-01 -9.20805330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89463044 meters Centerline goodness : 0.225457 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32503948e-01 -2.44939312e-04 -3.61159697e-01 -1.40026814e+00] [ 4.85598528e-03 9.99917878e-01 1.18598677e-02 -4.41160256e-01] [ 3.61127133e-01 -1.28131597e-02 9.32428558e-01 -9.20916224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92463044 meters Centerline goodness : 0.189849 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32368083e-01 -4.44048080e-04 -3.61510110e-01 -1.39889032e+00] [ 4.99610406e-03 9.99919571e-01 1.16571999e-02 -4.40314106e-01] [ 3.61475858e-01 -1.26749432e-02 9.32295313e-01 -9.20963107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95463044 meters Centerline goodness : 0.129727 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32073326e-01 -4.97587002e-04 -3.62269331e-01 -1.39610325e+00] [ 5.05397514e-03 9.99919599e-01 1.16298236e-02 -4.39539635e-01] [ 3.62234417e-01 -1.26707486e-02 9.32000901e-01 -9.20949029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98463044 meters Centerline goodness : 0.230039 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32037536e-01 -4.43945776e-04 -3.62361469e-01 -1.39582639e+00] [ 5.02204820e-03 9.99919032e-01 1.16922685e-02 -4.39426021e-01] [ 3.62326939e-01 -1.27174299e-02 9.31964300e-01 -9.20743711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01463044 meters Centerline goodness : 0.127745 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32150689e-01 -7.35722751e-04 -3.62069817e-01 -1.39674947e+00] [ 5.23254270e-03 9.99920877e-01 1.14393787e-02 -4.38703207e-01] [ 3.62032753e-01 -1.25577705e-02 9.32080784e-01 -9.20729714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04463044 meters Centerline goodness : 0.128113 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32251923e-01 -1.03688571e-03 -3.61808343e-01 -1.39756631e+00] [ 5.40470826e-03 9.99924226e-01 1.10603932e-02 -4.37099920e-01] [ 3.61769459e-01 -1.22665413e-02 9.32186886e-01 -9.20779114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.07463044 meters Centerline goodness : 0.127617 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.44, Z:-0.92 [[ 9.32167522e-01 -1.09645424e-03 -3.62025565e-01 -1.39715286e+00] [ 5.38502294e-03 9.99926775e-01 1.08372721e-02 -4.35131798e-01] [ 3.61987173e-01 -1.20516690e-02 9.32105168e-01 -9.20546169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10463044 meters Centerline goodness : 0.128349 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.43, Z:-0.92 [[ 9.31933749e-01 -8.85985251e-04 -3.62627499e-01 -1.39532899e+00] [ 5.14422778e-03 9.99928690e-01 1.07773333e-02 -4.32983354e-01] [ 3.62592091e-01 -1.19091991e-02 9.31871851e-01 -9.20377503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.13463044 meters Centerline goodness : 0.087656 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.43, Z:-0.92 [[ 9.31339761e-01 8.94834766e-04 -3.64150310e-01 -1.38902928e+00] [ 3.58343150e-03 9.99926041e-01 1.16220162e-02 -4.26536900e-01] [ 3.64133778e-01 -1.21289535e-02 9.31267674e-01 -9.20874467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16463044 meters Centerline goodness : 0.086453 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.42, Z:-0.92 [[ 9.31169066e-01 7.68835389e-04 -3.64586862e-01 -1.38782767e+00] [ 3.60276079e-03 9.99929547e-01 1.13102282e-02 -4.24349341e-01] [ 3.64569871e-01 -1.18452539e-02 9.31100692e-01 -9.20592894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.19463044 meters Centerline goodness : 0.240244 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.42, Z:-0.91 [[ 0.93128168 -0.00601034 -0.36425033 -1.37007893] [ 0.0116801 0.99984247 0.01336463 -0.41805764] [ 0.36411263 -0.01670071 0.93120518 -0.91369582] [ 0. 0. 0. 1. ]] SLAMing on 494.22463044 meters Centerline goodness : 0.127673 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.42, Z:-0.91 [[ 0.93128208 -0.006354 -0.36424349 -1.37074184] [ 0.01187989 0.9998458 0.01293232 -0.41588159] [ 0.36410515 -0.01637081 0.93121396 -0.91327901] [ 0. 0. 0. 1. ]] SLAMing on 494.25463044 meters Centerline goodness : 0.130717 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.41, Z:-0.91 [[ 0.93125492 -0.00649834 -0.36431038 -1.37113413] [ 0.01191837 0.99984919 0.01263121 -0.41346212] [ 0.36417336 -0.01610486 0.93119192 -0.91282424] [ 0. 0. 0. 1. ]] SLAMing on 494.28463044 meters Centerline goodness : 0.128048 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.41, Z:-0.91 [[ 0.93116188 -0.00669737 -0.36454451 -1.37100159] [ 0.01199074 0.99985296 0.01225894 -0.41077803] [ 0.3644088 -0.01578622 0.93110527 -0.91238622] [ 0. 0. 0. 1. ]] SLAMing on 494.31463044000003 meters Centerline goodness : 0.129130 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.40, Z:-0.91 [[ 0.93092046 -0.007119 -0.36515258 -1.36980619] [ 0.0121457 0.99986044 0.01147104 -0.40435101] [ 0.36501996 -0.01511366 0.93087701 -0.91181044] [ 0. 0. 0. 1. ]] SLAMing on 494.34463044 meters Centerline goodness : 0.129130 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.40, Z:-0.91 [[ 0.93092046 -0.007119 -0.36515258 -1.36980619] [ 0.0121457 0.99986044 0.01147104 -0.40435101] [ 0.36501996 -0.01511366 0.93087701 -0.91181044] [ 0. 0. 0. 1. ]] SLAMing on 494.37463044000003 meters Centerline goodness : 0.091643 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.40, Z:-0.91 [[ 0.93090969 -0.00740571 -0.36517436 -1.37039905] [ 0.01225276 0.99986489 0.01095779 -0.40102934] [ 0.36504387 -0.01467511 0.93087465 -0.91140434] [ 0. 0. 0. 1. ]] SLAMing on 494.40463044 meters Centerline goodness : 0.127951 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.40, Z:-0.91 [[ 0.93087988 -0.00762322 -0.36524586 -1.37116279] [ 0.01229427 0.99986966 0.0104649 -0.39701297] [ 0.36511847 -0.014232 0.93085227 -0.91081004] [ 0. 0. 0. 1. ]] SLAMing on 494.43463044000003 meters Centerline goodness : 0.098414 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.39, Z:-0.91 [[ 0.93083028 -0.00779398 -0.36536865 -1.37167707] [ 0.01229312 0.99987454 0.00998938 -0.39304188] [ 0.36524495 -0.01378994 0.9308093 -0.91028965] [ 0. 0. 0. 1. ]] SLAMing on 494.46463044 meters Centerline goodness : 0.207901 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.39, Z:-0.91 [[ 0.93078327 -0.0080486 -0.36548286 -1.37214405] [ 0.01235586 0.99987903 0.00944778 -0.38925857] [ 0.36536261 -0.01330969 0.93077012 -0.90974811] [ 0. 0. 0. 1. ]] SLAMing on 494.49463044000004 meters Centerline goodness : 0.130883 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.38, Z:-0.91 [[ 0.93067986 -0.00818754 -0.36574303 -1.37281994] [ 0.01223101 0.999887 0.00873985 -0.38058477] [ 0.36563014 -0.01260741 0.93067484 -0.90888982] [ 0. 0. 0. 1. ]] SLAMing on 494.52463044 meters Centerline goodness : 0.128618 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.38, Z:-0.91 [[ 0.9306482 -0.00853789 -0.36581557 -1.3732193 ] [ 0.01241216 0.99988901 0.00824025 -0.37786151] [ 0.36570461 -0.01220933 0.93065088 -0.90849149] [ 0. 0. 0. 1. ]] SLAMing on 494.55463044 meters Centerline goodness : 0.129026 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.38, Z:-0.91 [[ 0.9305283 -0.00879294 -0.36611441 -1.3728179 ] [ 0.01253176 0.99989076 0.00783684 -0.37536888] [ 0.36600551 -0.01188046 0.93053685 -0.90802852] [ 0. 0. 0. 1. ]] SLAMing on 494.58463044 meters Centerline goodness : 0.128622 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.37, Z:-0.91 [[ 0.9303739 -0.0089487 -0.36650283 -1.37182585] [ 0.0125954 0.9998921 0.00755984 -0.37341963] [ 0.36639563 -0.01164972 0.93038622 -0.90775408] [ 0. 0. 0. 1. ]] SLAMing on 494.61463044 meters Centerline goodness : 0.132707 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.37, Z:-0.91 [[ 0.9301463 -0.00917289 -0.36707453 -1.37060988] [ 0.01267492 0.99989424 0.00713101 -0.36895441] [ 0.3669703 -0.01128553 0.9301642 -0.90715104] [ 0. 0. 0. 1. ]] SLAMing on 494.64463044 meters Centerline goodness : 0.131783 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.37, Z:-0.91 [[ 0.93012709 -0.00921704 -0.36712211 -1.3710379 ] [ 0.01264474 0.99989602 0.00693267 -0.3667411 ] [ 0.36702004 -0.01109042 0.93014692 -0.90668799] [ 0. 0. 0. 1. ]] SLAMing on 494.67463044 meters Centerline goodness : 0.131013 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.91 [[ 0.9301499 -0.009444 -0.36705855 -1.37211106] [ 0.01274679 0.99989714 0.00657498 -0.36430027] [ 0.3669587 -0.01079453 0.9301746 -0.906074 ] [ 0. 0. 0. 1. ]] SLAMing on 494.70463044 meters Centerline goodness : 0.129980 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.91 [[ 0.930196 -0.00971395 -0.36693465 -1.37326947] [ 0.01287588 0.99989806 0.00617041 -0.3616721 ] [ 0.36683731 -0.0104643 0.93022626 -0.90554697] [ 0. 0. 0. 1. ]] SLAMing on 494.73463044 meters Centerline goodness : 0.129754 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.91 [[ 0.93022777 -0.0100021 -0.36684636 -1.37380677] [ 0.01301031 0.99989895 0.00572843 -0.35898647] [ 0.366752 -0.01010153 0.9302639 -0.90536619] [ 0. 0. 0. 1. ]] SLAMing on 494.76463044 meters Centerline goodness : 0.131427 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.36, Z:-0.91 [[ 0.93019094 -0.01031516 -0.36693107 -1.3735268 ] [ 0.01315994 0.99989961 0.00525203 -0.35625171] [ 0.36684006 -0.00971418 0.93023331 -0.90533892] [ 0. 0. 0. 1. ]] SLAMing on 494.79463044 meters Centerline goodness : 0.235389 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.35, Z:-0.91 [[ 0.92979446 -0.00945614 -0.36795767 -1.36844254] [ 0.012335 0.99990894 0.00547273 -0.34989766] [ 0.36787241 -0.00962728 0.92982644 -0.90603241] [ 0. 0. 0. 1. ]] SLAMing on 494.82463044 meters Centerline goodness : 0.237050 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.35, Z:-0.91 [[ 0.92952093 -0.00935266 -0.36865075 -1.36614345] [ 0.0121928 0.99991122 0.00537537 -0.34762803] [ 0.36856774 -0.0094914 0.92955244 -0.90585097] [ 0. 0. 0. 1. ]] SLAMing on 494.85463044 meters Centerline goodness : 0.090451 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.34, Z:-0.91 [[ 0.92932384 -0.00935995 -0.36914711 -1.36515622] [ 0.01212014 0.99991324 0.00515892 -0.34465694] [ 0.3690668 -0.00926843 0.92935666 -0.90528611] [ 0. 0. 0. 1. ]] SLAMing on 494.88463044 meters Centerline goodness : 0.127921 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.34, Z:-0.90 [[ 0.92923028 -0.00951757 -0.36937853 -1.36546145] [ 0.01214918 0.99991468 0.00479895 -0.34135987] [ 0.36930134 -0.00894697 0.92926663 -0.90452956] [ 0. 0. 0. 1. ]] SLAMing on 494.91463044 meters Centerline goodness : 0.126209 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.33, Z:-0.90 [[ 0.92927947 -0.01022444 -0.36923588 -1.36784043] [ 0.01250729 0.9999146 0.00378945 -0.33324061] [ 0.3691656 -0.0081396 0.92932799 -0.90342162] [ 0. 0. 0. 1. ]] SLAMing on 494.94463044 meters Centerline goodness : 0.089630 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.33, Z:-0.90 [[ 0.92935775 -0.0106625 -0.3690264 -1.36844672] [ 0.01275448 0.99991344 0.00322984 -0.33042401] [ 0.36896002 -0.00770841 0.9294133 -0.9034828 ] [ 0. 0. 0. 1. ]] SLAMing on 494.97463044 meters Centerline goodness : 0.092057 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.33, Z:-0.90 [[ 0.92939458 -0.01093992 -0.36892552 -1.3686721 ] [ 0.01288563 0.99991303 0.00281051 -0.32782781] [ 0.36886269 -0.00736591 0.92945471 -0.90355681] [ 0. 0. 0. 1. ]] SLAMing on 495.00463044 meters Centerline goodness : 0.125737 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.33, Z:-0.90 [[ 0.92934218 -0.0110488 -0.36905424 -1.36840073] [ 0.01290576 0.99991343 0.00256339 -0.32554003] [ 0.36899397 -0.00714519 0.92940432 -0.90339768] [ 0. 0. 0. 1. ]] SLAMing on 495.03463044 meters Centerline goodness : 0.110079 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.32, Z:-0.90 [[ 0.92928931 -0.01119958 -0.3691828 -1.36806947] [ 0.0129472 0.99991364 0.00225655 -0.32301529] [ 0.36912564 -0.00687687 0.92935406 -0.9033027 ] [ 0. 0. 0. 1. ]] SLAMing on 495.06463044000003 meters Centerline goodness : 0.189017 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.32, Z:-0.90 [[ 0.92916205 -0.0113479 -0.36949845 -1.3673176 ] [ 0.01299015 0.99991371 0.0019568 -0.32073221] [ 0.36944436 -0.00661803 0.92922929 -0.90302752] [ 0. 0. 0. 1. ]] SLAMing on 495.09463044 meters Centerline goodness : 0.107765 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.32, Z:-0.90 [[ 9.28834265e-01 -1.17622853e-02 -3.70308731e-01 -1.36510381e+00] [ 1.31504465e-02 9.99912780e-01 1.22418365e-03 -3.15639841e-01] [ 3.70262033e-01 -6.00678886e-03 9.28907932e-01 -9.02536116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12463044000003 meters Centerline goodness : 0.108698 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 9.28672191e-01 -1.18406370e-02 -3.70712505e-01 -1.36385747e+00] [ 1.31308605e-02 9.99913329e-01 9.56682838e-04 -3.13373407e-01] [ 3.70669047e-01 -5.75621895e-03 9.28747179e-01 -9.02415231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15463044 meters Centerline goodness : 0.129493 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 9.28578633e-01 -1.19916912e-02 -3.70941938e-01 -1.36321321e+00] [ 1.31606429e-02 9.99913203e-01 6.20155067e-04 -3.11062253e-01] [ 3.70902305e-01 -5.45769715e-03 9.28655853e-01 -9.02270396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18463044000003 meters Centerline goodness : 0.127982 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.92876362 -0.00883293 -0.37056728 -1.36327024] [ 0.01070951 0.99993813 0.00300681 -0.30966494] [ 0.3705178 -0.00676121 0.92880076 -0.90297827] [ 0. 0. 0. 1. ]] SLAMing on 495.21463044 meters Centerline goodness : 0.125319 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.92880646 -0.00901361 -0.37045555 -1.36406048] [ 0.01076997 0.99993843 0.00267283 -0.30678897] [ 0.37040864 -0.00647234 0.92884635 -0.90267328] [ 0. 0. 0. 1. ]] SLAMing on 495.24463044000004 meters Centerline goodness : 0.125116 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.92887303 -0.00917905 -0.37028453 -1.36471751] [ 0.01087581 0.99993774 0.00249476 -0.30601268] [ 0.37023858 -0.00634446 0.92891504 -0.90258542] [ 0. 0. 0. 1. ]] SLAMing on 495.27463044 meters Centerline goodness : 0.127137 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.92890889 -0.00923562 -0.37019317 -1.36478437] [ 0.01090577 0.9999376 0.00241879 -0.30564635] [ 0.37014773 -0.00628407 0.92895165 -0.9026248 ] [ 0. 0. 0. 1. ]] SLAMing on 495.30463044 meters Centerline goodness : 0.197007 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.92887372 -0.00920526 -0.37028216 -1.36427084] [ 0.01089493 0.99993759 0.00247197 -0.30572214] [ 0.37023629 -0.00633035 0.92891604 -0.90268872] [ 0. 0. 0. 1. ]] SLAMing on 495.33463044 meters Centerline goodness : 0.108138 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.92869443 -0.00893988 -0.37073809 -1.36192035] [ 0.01072979 0.99993861 0.00276573 -0.30672154] [ 0.37069061 -0.00654646 0.92873334 -0.90295342] [ 0. 0. 0. 1. ]] SLAMing on 495.36463044 meters Centerline goodness : 0.127994 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.9286713 -0.00892686 -0.37079635 -1.36123217] [ 0.01073514 0.99993842 0.00281314 -0.30724188] [ 0.3707484 -0.00659303 0.92870994 -0.90316519] [ 0. 0. 0. 1. ]] SLAMing on 495.39463044 meters Centerline goodness : 0.127377 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.31, Z:-0.90 [[ 0.92871809 -0.00901088 -0.37067709 -1.36158389] [ 0.01081867 0.99993756 0.00279808 -0.30778277] [ 0.37062873 -0.00660886 0.92875759 -0.90315986] [ 0. 0. 0. 1. ]] SLAMing on 495.42463044 meters Centerline goodness : 0.127256 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.31, Z:-0.90 [[ 0.92923839 -0.01513983 -0.36917041 -1.34566268] [ 0.01876047 0.99980466 0.00621956 -0.3069729 ] [ 0.36900414 -0.01270527 0.92934091 -0.89692248] [ 0. 0. 0. 1. ]] SLAMing on 495.45463044 meters Centerline goodness : 0.125961 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.31, Z:-0.90 [[ 0.92932388 -0.0149241 -0.36896395 -1.34690525] [ 0.0186154 0.99980594 0.00644651 -0.30734141] [ 0.36879614 -0.0128593 0.92942135 -0.8965109 ] [ 0. 0. 0. 1. ]] SLAMing on 495.48463044 meters Centerline goodness : 0.128341 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.31, Z:-0.90 [[ 0.92941705 -0.01472974 -0.36873701 -1.34746992] [ 0.01847992 0.99980718 0.00664065 -0.30770514] [ 0.3685681 -0.01298617 0.92951004 -0.89658512] [ 0. 0. 0. 1. ]] SLAMing on 495.51463044 meters Centerline goodness : 0.088097 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.31, Z:-0.90 [[ 0.92948619 -0.01492843 -0.3685547 -1.34673803] [ 0.01863213 0.99980533 0.00649234 -0.30816899] [ 0.36838603 -0.0129015 0.92958339 -0.8973604 ] [ 0. 0. 0. 1. ]] SLAMing on 495.54463044 meters Centerline goodness : 0.129840 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.31, Z:-0.90 [[ 0.92939227 -0.01473797 -0.36879914 -1.34549748] [ 0.01848407 0.9998072 0.00662643 -0.30827267] [ 0.36863037 -0.01297546 0.9294855 -0.89756142] [ 0. 0. 0. 1. ]] SLAMing on 495.57463044 meters Centerline goodness : 0.127518 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92946526 -0.01087166 -0.36874942 -1.34411487] [ 0.01553236 0.99983257 0.0096731 -0.30862852] [ 0.36858252 -0.01471836 0.92947851 -0.89845039] [ 0. 0. 0. 1. ]] SLAMing on 495.60463044 meters Centerline goodness : 0.130832 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92957279 -0.00709202 -0.36857038 -1.34260074] [ 0.01263255 0.99984054 0.01262171 -0.30915672] [ 0.3684221 -0.01638878 0.92951416 -0.89958328] [ 0. 0. 0. 1. ]] SLAMing on 495.63463044 meters Centerline goodness : 0.232425 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92950025 -0.00718966 -0.36875139 -1.34136203] [ 0.01264672 0.99984334 0.01238396 -0.30763531] [ 0.36860459 -0.01617439 0.92944556 -0.9000083 ] [ 0. 0. 0. 1. ]] SLAMing on 495.66463044 meters Centerline goodness : 0.114872 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92943595 -0.00720606 -0.36891311 -1.34033812] [ 0.01263944 0.9998443 0.01231351 -0.30726854] [ 0.36876693 -0.01610748 0.92938232 -0.90023744] [ 0. 0. 0. 1. ]] SLAMing on 495.69463044 meters Centerline goodness : 0.236889 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92935103 -0.00715229 -0.36912803 -1.33946027] [ 0.01259481 0.99984458 0.01233669 -0.30711574] [ 0.36898242 -0.01611421 0.92929667 -0.90026187] [ 0. 0. 0. 1. ]] SLAMing on 495.72463044 meters Centerline goodness : 0.126714 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92927527 -0.00694753 -0.36932262 -1.33871924] [ 0.01245554 0.9998439 0.01253152 -0.30744986] [ 0.3691779 -0.01624534 0.92921675 -0.90019101] [ 0. 0. 0. 1. ]] SLAMing on 495.75463044 meters Centerline goodness : 0.126069 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.929277 -0.00696788 -0.36931788 -1.33905252] [ 0.01249316 0.99984293 0.01257134 -0.30781683] [ 0.36917228 -0.0162962 0.92921809 -0.89992727] [ 0. 0. 0. 1. ]] SLAMing on 495.78463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 495.81463044000003 meters Centerline goodness : 0.126962 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.31, Z:-0.89 [[ 0.92984495 -0.01673005 -0.36757104 -1.32264456] [ 0.02325422 0.99964075 0.01332744 -0.30677547] [ 0.36721602 -0.02094003 0.92989994 -0.89352154] [ 0. 0. 0. 1. ]] SLAMing on 495.84463044 meters Centerline goodness : 0.125897 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92982225 -0.0090097 -0.36789863 -1.33738303] [ 0.0141378 0.99983681 0.01124606 -0.31240876] [ 0.36773727 -0.01565812 0.9297979 -0.9004587 ] [ 0. 0. 0. 1. ]] SLAMing on 495.87463044000003 meters Centerline goodness : 0.127469 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.9297754 -0.00897759 -0.3680178 -1.33646988] [ 0.01416917 0.99983454 0.01140718 -0.31379604] [ 0.3678545 -0.01582063 0.92974877 -0.90061075] [ 0. 0. 0. 1. ]] SLAMing on 495.90463044 meters Centerline goodness : 0.124901 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92974164 -0.00886655 -0.36810579 -1.33634609] [ 0.01412405 0.99983307 0.01159081 -0.31476601] [ 0.36794157 -0.0159756 0.92971167 -0.90037297] [ 0. 0. 0. 1. ]] SLAMing on 495.93463044000003 meters Centerline goodness : 0.124829 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92971664 -0.00844875 -0.36817875 -1.33739948] [ 0.01380557 0.99983367 0.01191791 -0.31495742] [ 0.36801682 -0.01616319 0.92967864 -0.89940334] [ 0. 0. 0. 1. ]] SLAMing on 495.96463044 meters Centerline goodness : 0.088260 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92978255 -0.00842425 -0.36801282 -1.33796298] [ 0.01375064 0.99983519 0.01185352 -0.31421528] [ 0.36785231 -0.01608161 0.92974516 -0.89940698] [ 0. 0. 0. 1. ]] SLAMing on 495.99463044000004 meters Centerline goodness : 0.125241 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92985145 -0.00844939 -0.36783814 -1.33825407] [ 0.01370261 0.99983799 0.01167189 -0.31311881] [ 0.36767992 -0.01589347 0.92981658 -0.89959149] [ 0. 0. 0. 1. ]] SLAMing on 496.02463044 meters Centerline goodness : 0.123826 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.92991508 -0.00840744 -0.3676782 -1.33867621] [ 0.01359168 0.99984135 0.01151277 -0.3117471 ] [ 0.36752308 -0.01570326 0.92988182 -0.89970535] [ 0. 0. 0. 1. ]] SLAMing on 496.05463044 meters Centerline goodness : 0.125678 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.31, Z:-0.90 [[ 0.93025912 -0.00467649 -0.36687342 -1.34093732] [ 0.01063004 0.99984254 0.01420909 -0.31037887] [ 0.36674921 -0.01711802 0.93016235 -0.90006273] [ 0. 0. 0. 1. ]] SLAMing on 496.08463044 meters Centerline goodness : 0.126819 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.31, Z:-0.89 [[ 9.30866080e-01 5.49052840e-03 -3.65319307e-01 -1.32607074e+00] [ 4.53873693e-04 9.99868929e-01 1.61839362e-02 -3.08236725e-01] [ 3.65360282e-01 -1.52308861e-02 9.30741577e-01 -8.92082160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.11463044 meters Centerline goodness : 0.126384 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.31, Z:-0.89 [[ 9.30848978e-01 5.73010304e-03 -3.65359201e-01 -1.32583919e+00] [ 1.16882545e-04 9.99872317e-01 1.59792648e-02 -3.05387561e-01] [ 3.65404113e-01 -1.49169864e-02 9.30729455e-01 -8.92193727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14463044 meters Centerline goodness : 0.125790 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.30, Z:-0.89 [[ 9.30859025e-01 5.73277895e-03 -3.65333560e-01 -1.32557344e+00] [-4.04849959e-05 9.99878517e-01 1.55868426e-02 -3.02385469e-01] [ 3.65378534e-01 -1.44943626e-02 9.30746174e-01 -8.92553542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.17463044 meters Centerline goodness : 0.127867 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.30, Z:-0.89 [[ 9.30774920e-01 5.91364737e-03 -3.65544904e-01 -1.32468472e+00] [-3.15615820e-04 9.99881793e-01 1.53720678e-02 -2.99920202e-01] [ 3.65592599e-01 -1.41925634e-02 9.30666763e-01 -8.92757027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20463044 meters Centerline goodness : 0.128098 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.30, Z:-0.89 [[ 9.30602315e-01 6.36656883e-03 -3.65976498e-01 -1.32352624e+00] [-7.84258523e-04 9.99881108e-01 1.53998389e-02 -2.97590161e-01] [ 3.66031031e-01 -1.40441055e-02 9.30496667e-01 -8.92608980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23463044 meters Centerline goodness : 0.226748 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.29, Z:-0.89 [[ 0.93059634 0.00160345 -0.36604355 -1.30733937] [ 0.00584692 0.99979771 0.0192443 -0.29179345] [ 0.36600036 -0.0200489 0.93039872 -0.88626091] [ 0. 0. 0. 1. ]] SLAMing on 496.26463044 meters Centerline goodness : 0.087327 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.9303814 0.00404613 -0.36657069 -1.30432816] [ 0.00377813 0.99978015 0.02062451 -0.28684727] [ 0.36657355 -0.02057361 0.93016158 -0.88676237] [ 0. 0. 0. 1. ]] SLAMing on 496.29463044 meters Centerline goodness : 0.087327 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.9303814 0.00404613 -0.36657069 -1.30432816] [ 0.00377813 0.99978015 0.02062451 -0.28684727] [ 0.36657355 -0.02057361 0.93016158 -0.88676237] [ 0. 0. 0. 1. ]] SLAMing on 496.32463044 meters Centerline goodness : 0.128473 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.93034711 0.00400622 -0.36665816 -1.30373109] [ 0.00374057 0.99978459 0.02041517 -0.28537985] [ 0.36666097 -0.02036471 0.93013172 -0.88702151] [ 0. 0. 0. 1. ]] SLAMing on 496.35463044 meters Centerline goodness : 0.128783 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.89 [[ 0.93036268 0.00406795 -0.36661797 -1.30292656] [ 0.00365374 0.99978592 0.02036557 -0.28481385] [ 0.36662233 -0.02028689 0.93014865 -0.88764699] [ 0. 0. 0. 1. ]] SLAMing on 496.38463044 meters Centerline goodness : 0.128222 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.89 [[ 0.93037986 0.00416131 -0.36657332 -1.30238395] [ 0.00354842 0.99978651 0.02035555 -0.28414307] [ 0.36657977 -0.02023915 0.93016646 -0.88813672] [ 0. 0. 0. 1. ]] SLAMing on 496.41463044 meters Centerline goodness : 0.105501 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.89 [[ 0.93036386 0.00426711 -0.3666127 -1.3024905 ] [ 0.00347807 0.99978456 0.02046317 -0.28432596] [ 0.36662103 -0.0203133 0.93014858 -0.88792195] [ 0. 0. 0. 1. ]] SLAMing on 496.44463044 meters Centerline goodness : 0.086989 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.28, Z:-0.88 [[ 0.93060151 -0.00283976 -0.3660229 -1.28721145] [ 0.01214026 0.9996592 0.02311044 -0.28111445] [ 0.36583254 -0.02595023 0.93031884 -0.88129014] [ 0. 0. 0. 1. ]] SLAMing on 496.47463044 meters Centerline goodness : 0.108121 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.28, Z:-0.88 [[ 0.93059524 -0.00286788 -0.36603862 -1.28700464] [ 0.01219198 0.99965733 0.02316398 -0.28176305] [ 0.36584676 -0.02601902 0.93031132 -0.88120125] [ 0. 0. 0. 1. ]] SLAMing on 496.50463044 meters Centerline goodness : 0.127032 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.89 [[ 0.93137329 -0.00768411 -0.36398453 -1.30187816] [ 0.01759338 0.99955914 0.02391664 -0.28022821] [ 0.36364029 -0.02867904 0.93109788 -0.89004663] [ 0. 0. 0. 1. ]] SLAMing on 496.53463044 meters Centerline goodness : 0.228627 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.89 [[ 0.93125404 -0.00767547 -0.36428973 -1.30024853] [ 0.01763987 0.99955552 0.02403346 -0.28124448] [ 0.36394334 -0.02880728 0.9309755 -0.89025813] [ 0. 0. 0. 1. ]] SLAMing on 496.56463044000003 meters Centerline goodness : 0.228742 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.89 [[ 0.93116855 -0.00789441 -0.36450352 -1.29808693] [ 0.01794597 0.99954612 0.02419701 -0.28425122] [ 0.36414706 -0.02907287 0.93088758 -0.89081025] [ 0. 0. 0. 1. ]] SLAMing on 496.59463044 meters Centerline goodness : 0.126752 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.93120921 -0.00798164 -0.36439773 -1.29831472] [ 0.01809816 0.99953952 0.02435583 -0.28618596] [ 0.36403553 -0.0292753 0.93092486 -0.89072365] [ 0. 0. 0. 1. ]] SLAMing on 496.62463044000003 meters Centerline goodness : 0.105964 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.93120934 -0.00792868 -0.36439856 -1.29854697] [ 0.01814825 0.99953191 0.02462922 -0.28823307] [ 0.36403271 -0.02954816 0.93091734 -0.89035174] [ 0. 0. 0. 1. ]] SLAMing on 496.65463044 meters Centerline goodness : 0.126282 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.93123741 -0.00785482 -0.36432841 -1.29898446] [ 0.01816179 0.99952564 0.02487274 -0.28984681] [ 0.36396021 -0.02977928 0.93093832 -0.89003386] [ 0. 0. 0. 1. ]] SLAMing on 496.68463044000003 meters Centerline goodness : 0.201381 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.93132806 -0.00805304 -0.36409229 -1.29873103] [ 0.01842908 0.99951674 0.02503314 -0.29279762] [ 0.36371474 -0.03002395 0.93102639 -0.89038028] [ 0. 0. 0. 1. ]] SLAMing on 496.71463044 meters Centerline goodness : 0.164573 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.89 [[ 0.93136402 -0.00813673 -0.36399844 -1.29801478] [ 0.01853682 0.99951339 0.02508734 -0.29433335] [ 0.36361718 -0.03011282 0.93106163 -0.89091388] [ 0. 0. 0. 1. ]] SLAMing on 496.74463044000004 meters Centerline goodness : 0.108195 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93136023 -0.0081219 -0.36400846 -1.29739509] [ 0.01855805 0.99951062 0.02518158 -0.29566882] [ 0.3636258 -0.03020841 0.93105517 -0.89113041] [ 0. 0. 0. 1. ]] SLAMing on 496.77463044 meters Centerline goodness : 0.107787 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93126857 -0.00786749 -0.36424848 -1.29677485] [ 0.01838445 0.99950793 0.02541464 -0.29636455] [ 0.3638693 -0.03036436 0.93095496 -0.89094216] [ 0. 0. 0. 1. ]] SLAMing on 496.80463044 meters Centerline goodness : 0.108149 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93113478 -0.00731187 -0.36460191 -1.29605609] [ 0.01798213 0.99950334 0.02587903 -0.29698821] [ 0.36423161 -0.03065318 0.9308038 -0.89055643] [ 0. 0. 0. 1. ]] SLAMing on 496.83463044 meters Centerline goodness : 0.128387 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93094247 -0.0065123 -0.3651078 -1.29524779] [ 0.01737191 0.99949874 0.02646672 -0.2975088 ] [ 0.36475243 -0.03098162 0.93058896 -0.8898921 ] [ 0. 0. 0. 1. ]] SLAMing on 496.86463044 meters Centerline goodness : 0.106122 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93095803 -0.00651198 -0.36506813 -1.29529856] [ 0.01737029 0.99949876 0.02646709 -0.29809067] [ 0.36471279 -0.03098109 0.93060451 -0.88986648] [ 0. 0. 0. 1. ]] SLAMing on 496.89463044 meters Centerline goodness : 0.167443 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93101804 -0.00652174 -0.36491489 -1.29554921] [ 0.01737663 0.99949856 0.02647051 -0.2987334 ] [ 0.36455927 -0.03098551 0.93066451 -0.89005616] [ 0. 0. 0. 1. ]] SLAMing on 496.92463044 meters Centerline goodness : 0.105956 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93101701 -0.00621553 -0.36492285 -1.29552674] [ 0.01714945 0.9994956 0.02672904 -0.29956313] [ 0.36457265 -0.03114342 0.930654 -0.8899645 ] [ 0. 0. 0. 1. ]] SLAMing on 496.95463044 meters Centerline goodness : 0.107990 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.30, Z:-0.89 [[ 0.93102773 -0.00582859 -0.36490189 -1.29540992] [ 0.01686111 0.99949173 0.02705531 -0.30027975] [ 0.36455873 -0.0313419 0.93065279 -0.89006573] [ 0. 0. 0. 1. ]] SLAMing on 496.98463044 meters Centerline goodness : 0.128872 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.30, Z:-0.89 [[ 0.93108441 -0.00534333 -0.36476467 -1.29455075] [ 0.01651588 0.9994849 0.02751666 -0.30236939] [ 0.36442975 -0.03164474 0.93069306 -0.89087133] [ 0. 0. 0. 1. ]] SLAMing on 497.01463044 meters Centerline goodness : 0.193044 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.30, Z:-0.89 [[ 0.93114813 -0.00518539 -0.36460426 -1.29404282] [ 0.01642803 0.99948016 0.02774032 -0.30420321] [ 0.36427088 -0.03182008 0.93074927 -0.89142075] [ 0. 0. 0. 1. ]] SLAMing on 497.04463044 meters Centerline goodness : 0.237018 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.31, Z:-0.89 [[ 0.93116197 -0.00489866 -0.36457288 -1.29397762] [ 0.01625627 0.99947318 0.0280908 -0.30605662] [ 0.36424321 -0.03208368 0.93075105 -0.89143995] [ 0. 0. 0. 1. ]] SLAMing on 497.07463044 meters Centerline goodness : 0.235456 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.31, Z:-0.89 [[ 0.93114375 -0.0045272 -0.36462423 -1.29404415] [ 0.01601716 0.99946564 0.02849371 -0.30769661] [ 0.36430039 -0.03237199 0.93071869 -0.8911961 ] [ 0. 0. 0. 1. ]] SLAMing on 497.10463044 meters Centerline goodness : 0.097534 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.31, Z:-0.89 [[ 0.93108252 -0.00420905 -0.36478435 -1.29354714] [ 0.01579829 0.99946058 0.02879161 -0.3088603 ] [ 0.36446639 -0.03257033 0.93064678 -0.8909975 ] [ 0. 0. 0. 1. ]] SLAMing on 497.13463044 meters Centerline goodness : 0.098092 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.31, Z:-0.89 [[ 0.93111273 -0.00404269 -0.36470911 -1.29187243] [ 0.01571861 0.99945432 0.02905142 -0.31207499] [ 0.36439265 -0.03278287 0.93066819 -0.8919998 ] [ 0. 0. 0. 1. ]] SLAMing on 497.16463044 meters Centerline goodness : 0.104416 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.31, Z:-0.89 [[ 0.93115766 -0.0039752 -0.36459512 -1.29109082] [ 0.01570153 0.99945015 0.02920386 -0.31367181] [ 0.36427856 -0.0329181 0.93070808 -0.89271738] [ 0. 0. 0. 1. ]] SLAMing on 497.19463044 meters Centerline goodness : 0.103325 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.32, Z:-0.89 [[ 0.93109119 -0.00352525 -0.36476947 -1.29011547] [ 0.01541073 0.99944072 0.0296777 -0.31557553] [ 0.36446084 -0.033254 0.93062477 -0.89280443] [ 0. 0. 0. 1. ]] SLAMing on 497.22463044 meters Centerline goodness : 0.102624 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.32, Z:-0.89 [[ 0.93099064 -0.00295956 -0.36503104 -1.28893055] [ 0.01503396 0.99942959 0.03024017 -0.31747376] [ 0.36473333 -0.03364118 0.93050409 -0.89273824] [ 0. 0. 0. 1. ]] SLAMing on 497.25463044 meters Centerline goodness : 0.106366 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.32, Z:-0.89 [[ 0.93102819 -0.00261665 -0.3649379 -1.288782 ] [ 0.01489696 0.99941334 0.03083915 -0.32242374] [ 0.36464311 -0.03414858 0.93052097 -0.89269981] [ 0. 0. 0. 1. ]] SLAMing on 497.28463044 meters Centerline goodness : 0.103277 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.32, Z:-0.89 [[ 0.93115604 -0.00265435 -0.36461129 -1.28949386] [ 0.01498074 0.99940765 0.03098267 -0.32498379] [ 0.36431307 -0.03431185 0.93064423 -0.89273975] [ 0. 0. 0. 1. ]] SLAMing on 497.31463044000003 meters Centerline goodness : 0.133101 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.33, Z:-0.89 [[ 0.93131381 -0.00262896 -0.3642083 -1.2905068 ] [ 0.01501806 0.99940069 0.03118859 -0.32718443] [ 0.36390803 -0.03451607 0.93079514 -0.8928528 ] [ 0. 0. 0. 1. ]] SLAMing on 497.34463044 meters Centerline goodness : 0.104520 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.33, Z:-0.89 [[ 0.9312988 -0.00219836 -0.36424951 -1.29029647] [ 0.01474791 0.9993894 0.03167524 -0.32924518] [ 0.36395747 -0.03487103 0.93076258 -0.89270951] [ 0. 0. 0. 1. ]] SLAMing on 497.37463044000003 meters Centerline goodness : 0.088093 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.33, Z:-0.89 [[ 0.93124583 -0.0017252 -0.36438746 -1.28951033] [ 0.01443515 0.9993785 0.03215957 -0.33100717] [ 0.36410551 -0.03520845 0.93069197 -0.89276088] [ 0. 0. 0. 1. ]] SLAMing on 497.40463044 meters Centerline goodness : 0.104356 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.33, Z:-0.89 [[ 0.9311661 -0.00136688 -0.36459268 -1.28817511] [ 0.01421028 0.99936921 0.03254621 -0.33278211] [ 0.36431821 -0.03548689 0.93059815 -0.89302026] [ 0. 0. 0. 1. ]] SLAMing on 497.43463044000003 meters Centerline goodness : 0.132782 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.34, Z:-0.89 [[ 0.93120703 -0.00138596 -0.36448805 -1.28746352] [ 0.01425839 0.99936586 0.03262776 -0.33573629] [ 0.3642117 -0.03558021 0.93063628 -0.89354979] [ 0. 0. 0. 1. ]] SLAMing on 497.46463044 meters Centerline goodness : 0.135883 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.34, Z:-0.89 [[ 0.93133553 -0.00136943 -0.36415964 -1.28822131] [ 0.01423417 0.99936562 0.03264566 -0.3366589 ] [ 0.36388392 -0.03558757 0.93076421 -0.89373453] [ 0. 0. 0. 1. ]] SLAMing on 497.49463044000004 meters Centerline goodness : 0.133087 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.34, Z:-0.89 [[ 0.93149391 -0.00147424 -0.36375394 -1.28931984] [ 0.01428753 0.99936841 0.03253694 -0.33702657] [ 0.36347623 -0.0355051 0.93092665 -0.89392277] [ 0. 0. 0. 1. ]] SLAMing on 497.52463044 meters Centerline goodness : 0.087300 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.34, Z:-0.89 [[ 0.93149407 0.00405744 -0.36373389 -1.27332305] [ 0.00811963 0.99945672 0.03194264 -0.34145977] [ 0.36366588 -0.03270777 0.93095506 -0.88550952] [ 0. 0. 0. 1. ]] SLAMing on 497.55463044 meters Centerline goodness : 0.131456 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.34, Z:-0.89 [[ 0.93149779 0.00429598 -0.3637216 -1.27343269] [ 0.00797325 0.99944886 0.03222432 -0.34285277] [ 0.36365958 -0.03291693 0.93095015 -0.88539669] [ 0. 0. 0. 1. ]] SLAMing on 497.58463044 meters Centerline goodness : 0.132170 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.34, Z:-0.89 [[ 0.93147828 0.0045169 -0.3637689 -1.27305235] [ 0.00787141 0.9994386 0.03256575 -0.34496672] [ 0.36371178 -0.03319766 0.93091979 -0.88536189] [ 0. 0. 0. 1. ]] SLAMing on 497.61463044 meters Centerline goodness : 0.134952 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.35, Z:-0.89 [[ 0.93151138 0.00473602 -0.36368134 -1.27266856] [ 0.00778293 0.99942671 0.03294972 -0.34763241] [ 0.36362889 -0.03352354 0.93094049 -0.88560437] [ 0. 0. 0. 1. ]] SLAMing on 497.64463044 meters Centerline goodness : 0.105395 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.35, Z:-0.89 [[ 0.93156018 0.00466575 -0.36355723 -1.2724268 ] [ 0.00792332 0.99941969 0.03312846 -0.35044933] [ 0.36350083 -0.03374174 0.93098262 -0.88582669] [ 0. 0. 0. 1. ]] SLAMing on 497.67463044 meters Centerline goodness : 0.133269 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.36, Z:-0.89 [[ 0.9317607 0.00314252 -0.36305939 -1.27352957] [ 0.00928906 0.99942888 0.03249029 -0.35802958] [ 0.36295415 -0.03364566 0.93119936 -0.88586289] [ 0. 0. 0. 1. ]] SLAMing on 497.70463044 meters Centerline goodness : 0.094941 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.36, Z:-0.89 [[ 0.93170654 0.00352514 -0.36319484 -1.27317099] [ 0.0090995 0.9994125 0.03304325 -0.36078839] [ 0.36309794 -0.0340915 0.93112709 -0.8856087 ] [ 0. 0. 0. 1. ]] SLAMing on 497.73463044 meters Centerline goodness : 0.103729 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.36, Z:-0.88 [[ 0.93196535 -0.00217822 -0.3625408 -1.25443932] [ 0.01651584 0.99919888 0.03645304 -0.36120271] [ 0.36217096 -0.03996064 0.93125471 -0.87939966] [ 0. 0. 0. 1. ]] SLAMing on 497.76463044 meters Centerline goodness : 0.236826 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.36, Z:-0.88 [[ 0.9318939 -0.00192051 -0.36272588 -1.25326475] [ 0.01640562 0.99918584 0.03685798 -0.36413175] [ 0.36235978 -0.04029847 0.9311667 -0.8795064 ] [ 0. 0. 0. 1. ]] SLAMing on 497.79463044 meters Centerline goodness : 0.239124 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.37, Z:-0.88 [[ 0.9319152 -0.00164275 -0.36267252 -1.25228713] [ 0.01631722 0.99916705 0.03740258 -0.36956916] [ 0.36230899 -0.04077384 0.93116577 -0.87990002] [ 0. 0. 0. 1. ]] SLAMing on 497.82463044 meters Centerline goodness : 0.240340 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.37, Z:-0.88 [[ 0.93196868 -0.00133184 -0.36253636 -1.25283632] [ 0.01612384 0.99915604 0.03777881 -0.37135818] [ 0.36218007 -0.04105415 0.9312036 -0.87971335] [ 0. 0. 0. 1. ]] SLAMing on 497.85463044 meters Centerline goodness : 0.238301 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.37, Z:-0.88 [[ 9.32002159e-01 -9.03344807e-04 -3.62451596e-01 -1.25299125e+00] [ 1.58452531e-02 9.99142410e-01 3.82540459e-02 -3.73322405e-01] [ 3.62106205e-01 -4.13959907e-02 9.31217197e-01 -8.79657629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88463044 meters Centerline goodness : 0.240091 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.38, Z:-0.88 [[ 9.32023817e-01 -6.46380252e-04 -3.62396451e-01 -1.25282054e+00] [ 1.56845499e-02 9.99133340e-01 3.85559902e-02 -3.75277964e-01] [ 3.62057454e-01 -4.16191263e-02 9.31226207e-01 -8.79685171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91463044 meters Centerline goodness : 0.242372 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.38, Z:-0.88 [[ 9.32013676e-01 -5.54475519e-04 -3.62422683e-01 -1.25207588e+00] [ 1.56503043e-02 9.99127609e-01 3.87180674e-02 -3.77285306e-01] [ 3.62085040e-01 -4.17577936e-02 9.31209273e-01 -8.79961729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94463044 meters Centerline goodness : 0.087114 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.38, Z:-0.88 [[ 9.31887208e-01 1.35213458e-04 -3.62748141e-01 -1.25052715e+00] [ 1.52187783e-02 9.99104896e-01 3.94689197e-02 -3.80895376e-01] [ 3.62428780e-01 -4.23011649e-02 9.31051014e-01 -8.80042961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97463044 meters Centerline goodness : 0.102526 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.38, Z:-0.88 [[ 9.31928743e-01 3.31555378e-04 -3.62641293e-01 -1.25082336e+00] [ 1.51046404e-02 9.99096284e-01 3.97299055e-02 -3.82438693e-01] [ 3.62326741e-01 -4.25030073e-02 9.31081536e-01 -8.79996463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00463044 meters Centerline goodness : 0.155053 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.38, Z:-0.88 [[ 9.32014803e-01 4.53125783e-04 -3.62419924e-01 -1.25099026e+00] [ 1.50218001e-02 9.99091559e-01 3.98798556e-02 -3.83649035e-01] [ 3.62108757e-01 -4.26128154e-02 9.31161316e-01 -8.80255113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03463044 meters Centerline goodness : 0.171580 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32145789e-01 2.57990149e-04 -3.62083086e-01 -1.25133426e+00] [ 1.51729790e-02 9.99093528e-01 3.97731498e-02 -3.85018779e-01] [ 3.61765129e-01 -4.25682531e-02 9.31296911e-01 -8.80666652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06463044000003 meters Centerline goodness : 0.340853 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32171228e-01 9.50309365e-05 -3.62017669e-01 -1.25127094e+00] [ 1.52863034e-02 9.99097748e-01 3.96234732e-02 -3.85662626e-01] [ 3.61694804e-01 -4.24697736e-02 9.31328721e-01 -8.80793982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09463044 meters Centerline goodness : 0.132237 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32141504e-01 4.72928376e-04 -3.62093901e-01 -1.25084488e+00] [ 1.49894096e-02 9.99091549e-01 3.98922752e-02 -3.86434290e-01] [ 3.61783823e-01 -4.26128192e-02 9.31287610e-01 -8.80907683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12463044000003 meters Centerline goodness : 0.133704 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32167541e-01 6.54583781e-04 -3.62026583e-01 -1.25092590e+00] [ 1.48637781e-02 9.99085969e-01 4.00785956e-02 -3.87178609e-01] [ 3.61721914e-01 -4.27410487e-02 9.31305782e-01 -8.80973443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.15463044 meters Centerline goodness : 0.133704 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32167541e-01 6.54583781e-04 -3.62026583e-01 -1.25092590e+00] [ 1.48637781e-02 9.99085969e-01 4.00785956e-02 -3.87178609e-01] [ 3.61721914e-01 -4.27410487e-02 9.31305782e-01 -8.80973443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18463044000003 meters Centerline goodness : 0.133743 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32226656e-01 7.50237982e-04 -3.61874147e-01 -1.25089210e+00] [ 1.48199739e-02 9.99079764e-01 4.02491375e-02 -3.88565978e-01] [ 3.61571334e-01 -4.28842843e-02 9.31357670e-01 -8.81245300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.21463044 meters Centerline goodness : 0.132587 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32256899e-01 7.46158921e-04 -3.61796238e-01 -1.25071831e+00] [ 1.48687667e-02 9.99074022e-01 4.03734944e-02 -3.90321853e-01] [ 3.61491347e-01 -4.30179325e-02 9.31382555e-01 -8.81383655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24463044000004 meters Centerline goodness : 0.164362 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.39, Z:-0.88 [[ 9.32287830e-01 8.46297904e-04 -3.61716307e-01 -1.25053147e+00] [ 1.48679875e-02 9.99062486e-01 4.06582397e-02 -3.92646074e-01] [ 3.61411602e-01 -4.32831756e-02 9.31401214e-01 -8.81480013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.27463044 meters Centerline goodness : 0.240550 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.40, Z:-0.88 [[ 9.32314454e-01 1.06589645e-03 -3.61647097e-01 -1.25107888e+00] [ 1.48958345e-02 9.99033866e-01 4.13454680e-02 -3.99194613e-01] [ 3.61341768e-01 -4.39340128e-02 9.31397836e-01 -8.80791155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30463044 meters Centerline goodness : 0.242142 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.40, Z:-0.88 [[ 0.9323455 0.00127812 -0.36156637 -1.25116275] [ 0.01484229 0.99901557 0.04180421 -0.40246703] [ 0.36126386 -0.04434244 0.9314087 -0.88060233] [ 0. 0. 0. 1. ]] SLAMing on 498.33463044 meters Centerline goodness : 0.133704 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.41, Z:-0.88 [[ 9.32631956e-01 -4.79388724e-04 -3.60828775e-01 -1.25401675e+00] [ 1.63031591e-02 9.99033852e-01 4.08113836e-02 -4.07593428e-01] [ 3.60460597e-01 -4.39446494e-02 9.31738711e-01 -8.80285224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36463044 meters Centerline goodness : 0.245082 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.41, Z:-0.88 [[ 9.32768285e-01 -5.02797666e-04 -3.60476177e-01 -1.25448273e+00] [ 1.64348374e-02 9.99018490e-01 4.11333449e-02 -4.11764902e-01] [ 3.60101685e-01 -4.42922470e-02 9.31861027e-01 -8.80428800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.39463044 meters Centerline goodness : 0.246255 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.42, Z:-0.88 [[ 0.93279827 -0.00188669 -0.36039398 -1.2542356 ] [ 0.01781412 0.99900533 0.04087794 -0.42187858] [ 0.35995838 -0.04455097 0.93190406 -0.88014119] [ 0. 0. 0. 1. ]] SLAMing on 498.42463044 meters Centerline goodness : 0.134191 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.43, Z:-0.88 [[ 0.93263014 -0.00149011 -0.3608307 -1.25229093] [ 0.01766971 0.99898038 0.04154501 -0.42628581] [ 0.36040088 -0.0451219 0.93170554 -0.88000499] [ 0. 0. 0. 1. ]] SLAMing on 498.45463044 meters Centerline goodness : 0.164627 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.43, Z:-0.88 [[ 9.32547705e-01 -1.19705399e-03 -3.61044795e-01 -1.25089654e+00] [ 1.75929546e-02 9.98957273e-01 4.21290206e-02 -4.30716356e-01] [ 3.60617894e-01 -4.56391662e-02 9.31596373e-01 -8.80020801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48463044 meters Centerline goodness : 0.227706 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.44, Z:-0.88 [[ 9.32541965e-01 -8.62981377e-04 -3.61060576e-01 -1.25043912e+00] [ 1.74848794e-02 9.98931842e-01 4.27721143e-02 -4.35320260e-01] [ 3.60637995e-01 -4.61998922e-02 9.31560952e-01 -8.79896896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51463044 meters Centerline goodness : 0.135155 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.45, Z:-0.89 [[ 0.93360916 0.00353449 -0.35827565 -1.26451542] [ 0.01192305 0.99909104 0.0409259 -0.44595657] [ 0.35809464 -0.04248053 0.93271841 -0.88658261] [ 0. 0. 0. 1. ]] SLAMing on 498.54463044 meters Centerline goodness : 0.134229 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.45, Z:-0.89 [[ 0.93375084 0.00366462 -0.35790493 -1.26540234] [ 0.01195684 0.9990701 0.04142419 -0.45097719] [ 0.35772392 -0.04295928 0.93283873 -0.8864893 ] [ 0. 0. 0. 1. ]] SLAMing on 498.57463044 meters Centerline goodness : 0.281176 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.46, Z:-0.89 [[ 0.93416906 0.00205655 -0.35682481 -1.26902265] [ 0.01347699 0.99906657 0.04104089 -0.46192119] [ 0.35657614 -0.04314805 0.93326936 -0.88607246] [ 0. 0. 0. 1. ]] SLAMing on 498.60463044 meters Centerline goodness : 0.139614 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.47, Z:-0.89 [[ 0.93423707 0.00224401 -0.35664556 -1.26899598] [ 0.0134572 0.99904632 0.04153727 -0.46710984] [ 0.35639865 -0.0436051 0.93331592 -0.88606636] [ 0. 0. 0. 1. ]] SLAMing on 498.63463044 meters Centerline goodness : 0.281180 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.47, Z:-0.89 [[ 0.9342537 0.00251718 -0.35660017 -1.26830665] [ 0.01338122 0.9990234 0.0421093 -0.47196414] [ 0.35635791 -0.04411251 0.93330763 -0.88624799] [ 0. 0. 0. 1. ]] SLAMing on 498.66463044 meters Centerline goodness : 0.089943 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.48, Z:-0.89 [[ 0.93425904 0.00298694 -0.35658255 -1.26773955] [ 0.01316476 0.99899434 0.04286028 -0.47632415] [ 0.35635197 -0.04473693 0.93328017 -0.88628568] [ 0. 0. 0. 1. ]] SLAMing on 498.69463044 meters Centerline goodness : 0.218472 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.49, Z:-0.89 [[ 0.93463315 0.0025158 -0.35560449 -1.27050263] [ 0.01378755 0.99896675 0.04330513 -0.486642 ] [ 0.35534601 -0.04537733 0.93363275 -0.88620602] [ 0. 0. 0. 1. ]] SLAMing on 498.72463044 meters Centerline goodness : 0.198017 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.49, Z:-0.89 [[ 0.93465749 0.00278689 -0.35553847 -1.26978274] [ 0.01371101 0.99894296 0.0438744 -0.49181156] [ 0.35528492 -0.04588233 0.93363132 -0.88641286] [ 0. 0. 0. 1. ]] SLAMing on 498.75463044 meters Centerline goodness : 0.195521 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.50, Z:-0.89 [[ 0.93469716 0.00176701 -0.35544071 -1.26917059] [ 0.01465968 0.99894515 0.0435164 -0.49875398] [ 0.35514267 -0.0458853 0.93368529 -0.88652622] [ 0. 0. 0. 1. ]] SLAMing on 498.78463044 meters Centerline goodness : 0.103649 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.50, Z:-0.89 [[ 0.93465216 0.00197616 -0.35555791 -1.26828173] [ 0.01464387 0.99892217 0.04404614 -0.50373987] [ 0.35526172 -0.04637456 0.93361582 -0.88643266] [ 0. 0. 0. 1. ]] SLAMing on 498.81463044000003 meters Centerline goodness : 0.088309 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.51, Z:-0.89 [[ 0.93460554 0.00229084 -0.35567856 -1.26735764] [ 0.01456838 0.99889358 0.04471452 -0.50861222] [ 0.35538747 -0.04697209 0.93353809 -0.88628299] [ 0. 0. 0. 1. ]] SLAMing on 498.84463044 meters Centerline goodness : 0.196139 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.52, Z:-0.89 [[ 0.93493188 0.00745197 -0.35474899 -1.28370762] [ 0.0079455 0.99908907 0.04192735 -0.51865885] [ 0.35473828 -0.04201787 0.93402101 -0.89339323] [ 0. 0. 0. 1. ]] SLAMing on 498.87463044000003 meters Centerline goodness : 0.102297 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.53, Z:-0.89 [[ 0.93527462 0.00544793 -0.35388091 -1.28695242] [ 0.00972313 0.99910861 0.04107843 -0.52764055] [ 0.35378926 -0.04186044 0.93438796 -0.89289121] [ 0. 0. 0. 1. ]] SLAMing on 498.90463044 meters Centerline goodness : 0.279004 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.53, Z:-0.89 [[ 0.93528983 0.00561629 -0.35383808 -1.28623111] [ 0.0097001 0.9990915 0.04149806 -0.53163856] [ 0.35374968 -0.04224498 0.93438564 -0.89314971] [ 0. 0. 0. 1. ]] SLAMing on 498.93463044000003 meters Centerline goodness : 0.136756 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.54, Z:-0.89 [[ 0.93518972 0.00587623 -0.35409838 -1.28493615] [ 0.00962701 0.99907102 0.04200486 -0.53584066] [ 0.35401626 -0.04269142 0.93426438 -0.89308862] [ 0. 0. 0. 1. ]] SLAMing on 498.96463044 meters Centerline goodness : 0.138317 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.54, Z:-0.89 [[ 0.93510115 0.00611693 -0.35432813 -1.28368877] [ 0.00957319 0.99905011 0.04251149 -0.53993817] [ 0.3542516 -0.04314459 0.93415435 -0.89303759] [ 0. 0. 0. 1. ]] SLAMing on 498.99463044000004 meters Centerline goodness : 0.255413 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.54, Z:-0.89 [[ 0.93509575 0.00643923 -0.35433666 -1.28360649] [ 0.0094595 0.99902518 0.04311858 -0.54432086] [ 0.3542689 -0.04367185 0.93412329 -0.89271424] [ 0. 0. 0. 1. ]] SLAMing on 499.02463044 meters Centerline goodness : 0.258407 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.55, Z:-0.89 [[ 0.93549568 0.00425357 -0.35331251 -1.28836432] [ 0.01140666 0.9990428 0.04222998 -0.55372205] [ 0.35315395 -0.04353608 0.93455171 -0.89166315] [ 0. 0. 0. 1. ]] SLAMing on 499.05463044 meters Centerline goodness : 0.290187 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.56, Z:-0.89 [[ 0.9358048 0.00220576 -0.35251172 -1.29155159] [ 0.01309714 0.99907248 0.04102013 -0.55885288] [ 0.35227524 -0.04300373 0.93490793 -0.89129642] [ 0. 0. 0. 1. ]] SLAMing on 499.08463044 meters Centerline goodness : 0.286168 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.56, Z:-0.89 [[ 0.93586659 0.002067 -0.3523485 -1.2913797 ] [ 0.01331492 0.99906111 0.04122638 -0.56259061] [ 0.35210289 -0.04327389 0.93496039 -0.89148856] [ 0. 0. 0. 1. ]] SLAMing on 499.11463044 meters Centerline goodness : 0.291167 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.57, Z:-0.89 [[ 0.93586432 0.00222468 -0.35235354 -1.29072989] [ 0.01330011 0.99904443 0.04163333 -0.56597251] [ 0.35210946 -0.04364949 0.93494045 -0.89163008] [ 0. 0. 0. 1. ]] SLAMing on 499.14463044 meters Centerline goodness : 0.284374 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.57, Z:-0.89 [[ 0.93587155 0.00141091 -0.35233854 -1.28980659] [ 0.01420056 0.99902844 0.04171964 -0.57468673] [ 0.35205508 -0.04404763 0.93494226 -0.89164767] [ 0. 0. 0. 1. ]] SLAMing on 499.17463044 meters Centerline goodness : 0.140658 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.58, Z:-0.89 [[ 0.93591412 0.00141975 -0.35222542 -1.28972042] [ 0.01428419 0.99901625 0.041982 -0.57781401] [ 0.35193852 -0.0443228 0.93497314 -0.89168834] [ 0. 0. 0. 1. ]] SLAMing on 499.20463044 meters Centerline goodness : 0.156934 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.58, Z:-0.89 [[ 0.93600597 0.0013737 -0.35198144 -1.28944438] [ 0.01440163 0.99900553 0.04219638 -0.58093879] [ 0.35168938 -0.04456517 0.93505536 -0.89218492] [ 0. 0. 0. 1. ]] SLAMing on 499.23463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 499.26463044 meters Centerline goodness : 0.288110 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.59, Z:-0.89 [[ 9.36152344e-01 1.17832462e-03 -3.51592664e-01 -1.28825389e+00] [ 1.47582072e-02 9.98981355e-01 4.26432520e-02 -5.89396419e-01] [ 3.51284763e-01 -4.51094577e-02 9.35181347e-01 -8.93277061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29463044 meters Centerline goodness : 0.290405 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.59, Z:-0.89 [[ 0.93617727 0.0014204 -0.35152538 -1.28729888] [ 0.01465714 0.99896449 0.04307116 -0.59217414] [ 0.35122255 -0.0454746 0.93518703 -0.89382461] [ 0. 0. 0. 1. ]] SLAMing on 499.32463044 meters Centerline goodness : 0.255956 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.60, Z:-0.89 [[ 0.93616277 0.00138535 -0.35156416 -1.28640622] [ 0.01478754 0.99895209 0.04331342 -0.59536234] [ 0.35125575 -0.04574718 0.93516126 -0.89404322] [ 0. 0. 0. 1. ]] SLAMing on 499.35463044 meters Centerline goodness : 0.289326 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.60, Z:-0.89 [[ 0.93510935 0.00350752 -0.35434193 -1.26966135] [ 0.01166002 0.99910498 0.04066065 -0.60219327] [ 0.35416741 -0.04215379 0.93423151 -0.8850463 ] [ 0. 0. 0. 1. ]] SLAMing on 499.38463044 meters Centerline goodness : 0.140960 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.61, Z:-0.88 [[ 0.93518526 0.00353207 -0.35414129 -1.26992211] [ 0.01183596 0.99908 0.04121982 -0.60974428] [ 0.35396107 -0.04273977 0.93428308 -0.88476135] [ 0. 0. 0. 1. ]] SLAMing on 499.41463044 meters Centerline goodness : 0.134166 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.61, Z:-0.89 [[ 0.93524023 0.00372597 -0.3539941 -1.26964225] [ 0.01176029 0.99906572 0.04158595 -0.61228704] [ 0.35381832 -0.04305593 0.93432263 -0.88506505] [ 0. 0. 0. 1. ]] SLAMing on 499.44463044 meters Centerline goodness : 0.167422 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.61, Z:-0.89 [[ 0.93528304 0.00367534 -0.35388152 -1.26879682] [ 0.01186945 0.99905775 0.04174611 -0.6149375 ] [ 0.3537015 -0.04324481 0.93435814 -0.88561714] [ 0. 0. 0. 1. ]] SLAMing on 499.47463044 meters Centerline goodness : 0.110741 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.62, Z:-0.89 [[ 0.9353051 0.00364439 -0.35382354 -1.267595 ] [ 0.0119676 0.99904906 0.04192565 -0.61770017] [ 0.35363987 -0.0434477 0.93437206 -0.88625971] [ 0. 0. 0. 1. ]] SLAMing on 499.50463044 meters Centerline goodness : 0.138221 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.62, Z:-0.89 [[ 0.93531164 0.00386062 -0.35380394 -1.26674773] [ 0.01187814 0.99903425 0.04230212 -0.62031167] [ 0.35362556 -0.04376819 0.93436251 -0.88661739] [ 0. 0. 0. 1. ]] SLAMing on 499.53463044 meters Centerline goodness : 0.089438 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.62, Z:-0.89 [[ 0.93532818 0.00439209 -0.35375402 -1.26614975] [ 0.01159596 0.99900506 0.0430631 -0.62467954] [ 0.35359119 -0.04438024 0.93434665 -0.88664657] [ 0. 0. 0. 1. ]] SLAMing on 499.56463044000003 meters Centerline goodness : 0.131983 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.63, Z:-0.89 [[ 0.9353168 0.00449182 -0.35378284 -1.265794 ] [ 0.01156949 0.99899639 0.04327074 -0.62671163] [ 0.35362215 -0.04456494 0.93432614 -0.88654751] [ 0. 0. 0. 1. ]] SLAMing on 499.59463044 meters Centerline goodness : 0.182173 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.63, Z:-0.89 [[ 0.93538038 0.0043918 -0.35361598 -1.26613214] [ 0.01168644 0.99899289 0.04332001 -0.62845039] [ 0.3534501 -0.0446532 0.93438703 -0.88651389] [ 0. 0. 0. 1. ]] SLAMing on 499.62463044000003 meters Centerline goodness : 0.245116 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.63, Z:-0.89 [[ 0.93552423 0.00440064 -0.35323513 -1.26681824] [ 0.01170302 0.99898748 0.04344033 -0.63036295] [ 0.35306864 -0.0447734 0.93452548 -0.88666203] [ 0. 0. 0. 1. ]] SLAMing on 499.65463044 meters Centerline goodness : 0.177596 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.64, Z:-0.89 [[ 0.93598245 0.00966011 -0.3519141 -1.28644481] [ 0.00488819 0.99917048 0.0404285 -0.63500383] [ 0.35201272 -0.03956059 0.93515881 -0.89488097] [ 0. 0. 0. 1. ]] SLAMing on 499.68463044000003 meters Centerline goodness : 0.178298 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.89 [[ 0.93591074 0.0150314 -0.3519164 -1.27000063] [-0.00128876 0.99922849 0.03925262 -0.63992844] [ 0.35223491 -0.03628341 0.93520804 -0.88657703] [ 0. 0. 0. 1. ]] SLAMing on 499.71463044 meters Centerline goodness : 0.101520 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.89 [[ 0.93608555 0.0151531 -0.35144591 -1.26928049] [-0.0013231 0.99921638 0.03955853 -0.64315703] [ 0.35176995 -0.03656517 0.93537206 -0.88762035] [ 0. 0. 0. 1. ]] SLAMing on 499.74463044000004 meters Centerline goodness : 0.256978 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.65, Z:-0.89 [[ 0.93617946 0.01519964 -0.35119367 -1.26907853] [-0.00132222 0.99920993 0.03972107 -0.64514989] [ 0.35151995 -0.03672169 0.93545991 -0.88806348] [ 0. 0. 0. 1. ]] SLAMing on 499.77463044 meters Centerline goodness : 0.226181 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.65, Z:-0.89 [[ 9.36330377e-01 1.51691726e-02 -3.50792419e-01 -1.26947373e+00] [-1.26173301e-03 9.99205259e-01 3.98404221e-02 -6.46965948e-01] [ 3.51117976e-01 -3.68611911e-02 9.35605376e-01 -8.88424282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80463044 meters Centerline goodness : 0.123649 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.65, Z:-0.89 [[ 9.36522696e-01 1.51900487e-02 -3.50277750e-01 -1.27018559e+00] [-1.25761633e-03 9.99200145e-01 3.99686039e-02 -6.48489798e-01] [ 3.50604704e-01 -3.69909897e-02 9.35792717e-01 -8.88821341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83463044 meters Centerline goodness : 0.254800 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.65, Z:-0.89 [[ 9.36647642e-01 1.51971698e-02 -3.49943198e-01 -1.27043032e+00] [-1.25631072e-03 9.99197685e-01 4.00300863e-02 -6.49473398e-01] [ 3.50270777e-01 -3.70544485e-02 9.35915248e-01 -8.89157973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86463044 meters Centerline goodness : 0.255661 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.65, Z:-0.89 [[ 9.36748144e-01 1.51526755e-02 -3.49676009e-01 -1.27031891e+00] [-1.23662196e-03 9.99199475e-01 3.99859920e-02 -6.49719309e-01] [ 3.50001980e-01 -3.70243867e-02 9.36016992e-01 -8.89665248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89463044 meters Centerline goodness : 0.251024 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.65, Z:-0.89 [[ 9.36909369e-01 1.48594680e-02 -3.49256398e-01 -1.26898528e+00] [-1.11837256e-03 9.99218445e-01 3.95126355e-02 -6.47891720e-01] [ 3.49570571e-01 -3.66291596e-02 9.36193741e-01 -8.91208509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92463044 meters Centerline goodness : 0.098773 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.65, Z:-0.89 [[ 9.36967430e-01 1.46840986e-02 -3.49108024e-01 -1.26824149e+00] [-1.06683608e-03 9.99232141e-01 3.91661940e-02 -6.46169037e-01] [ 3.49415078e-01 -3.63250071e-02 9.36263636e-01 -8.91982598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95463044 meters Centerline goodness : 0.103248 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.89 [[ 9.37049980e-01 1.46074627e-02 -3.48889605e-01 -1.26766057e+00] [-1.07738229e-03 9.99240852e-01 3.89430131e-02 -6.44560332e-01] [ 3.49193605e-01 -3.61156622e-02 9.36354359e-01 -8.92762256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98463044 meters Centerline goodness : 0.208341 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.89 [[ 9.37370335e-01 1.43521463e-02 -3.48038606e-01 -1.26730875e+00] [-9.91984366e-04 9.99256764e-01 3.85348702e-02 -6.42244500e-01] [ 3.48332990e-01 -3.57761953e-02 9.36687884e-01 -8.94641521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01463044 meters Centerline goodness : 0.085568 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.90 [[ 9.37484910e-01 1.40473260e-02 -3.47742312e-01 -1.26636447e+00] [-7.67108930e-04 9.99266065e-01 3.82980807e-02 -6.42241979e-01] [ 3.48025078e-01 -3.56371165e-02 9.36807633e-01 -8.95690237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04463044 meters Centerline goodness : 0.262004 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.90 [[ 9.37588639e-01 1.36120421e-02 -3.47479865e-01 -1.26539770e+00] [-4.34664867e-04 9.99278689e-01 3.79725218e-02 -6.42403066e-01] [ 3.47746108e-01 -3.54515677e-02 9.36918263e-01 -8.96704219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.07463044 meters Centerline goodness : 0.179732 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.64, Z:-0.90 [[ 9.37742431e-01 1.32366126e-02 -3.47079133e-01 -1.26475925e+00] [-1.32572834e-04 9.99287138e-01 3.77517871e-02 -6.42962535e-01] [ 3.47331419e-01 -3.53554394e-02 9.37075706e-01 -8.97771754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10463044 meters Centerline goodness : 0.179732 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.64, Z:-0.90 [[ 9.37742431e-01 1.32366126e-02 -3.47079133e-01 -1.26475925e+00] [-1.32572834e-04 9.99287138e-01 3.77517871e-02 -6.42962535e-01] [ 3.47331419e-01 -3.53554394e-02 9.37075706e-01 -8.97771754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.13463044 meters Centerline goodness : 0.153660 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.64, Z:-0.90 [[ 9.37977124e-01 1.28402559e-02 -3.46459295e-01 -1.26472864e+00] [ 1.83946230e-04 9.99295362e-01 3.75332563e-02 -6.43531847e-01] [ 3.46697104e-01 -3.52690657e-02 9.37313828e-01 -8.98892864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16463044 meters Centerline goodness : 0.090185 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.90 [[ 9.38673960e-01 1.21187604e-02 -3.44592994e-01 -1.26689256e+00] [ 7.30462626e-04 9.99310034e-01 3.71338516e-02 -6.44100478e-01] [ 3.44805253e-01 -3.51082918e-02 9.38017455e-01 -9.01128274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.19463044 meters Centerline goodness : 0.059451 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.64, Z:-0.90 [[ 9.38921084e-01 1.19340131e-02 -3.43925540e-01 -1.26727819e+00] [ 8.60001378e-04 9.99314028e-01 3.70234212e-02 -6.44450206e-01] [ 3.44131455e-01 -3.50578472e-02 9.38266747e-01 -9.02124581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22463044 meters Centerline goodness : 0.091317 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.64, Z:-0.92 [[ 9.40809306e-01 1.20211812e-02 -3.38723103e-01 -1.30019062e+00] [-1.57536568e-04 9.99386236e-01 3.50303570e-02 -6.43725070e-01] [ 3.38936313e-01 -3.29035246e-02 9.40233766e-01 -9.22000845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.25463044 meters Centerline goodness : 0.207413 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.64, Z:-0.92 [[ 9.40949186e-01 1.18650400e-02 -3.38339845e-01 -1.29959776e+00] [-5.57808739e-05 9.99391090e-01 3.48919242e-02 -6.43882987e-01] [ 3.38547821e-01 -3.28126548e-02 9.40376894e-01 -9.23069986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28463044 meters Centerline goodness : 0.130453 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.64, Z:-0.93 [[ 9.41326402e-01 1.17549936e-02 -3.37292788e-01 -1.29892086e+00] [-2.46088744e-05 9.99395644e-01 3.47612664e-02 -6.44229266e-01] [ 3.37497562e-01 -3.27133974e-02 9.40757795e-01 -9.25597345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.31463044000003 meters Centerline goodness : 0.090175 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.64, Z:-0.93 [[ 9.41579040e-01 1.18629242e-02 -3.36583098e-01 -1.29917506e+00] [-1.31471664e-04 9.99392338e-01 3.48559527e-02 -6.44429784e-01] [ 3.36792062e-01 -3.27753834e-02 9.41008438e-01 -9.26890833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34463044 meters Centerline goodness : 0.131596 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.64, Z:-0.95 [[ 0.94366118 0.01263893 -0.33067181 -1.33127939] [-0.00167569 0.99944004 0.03341855 -0.64464493] [ 0.33090902 -0.03098168 0.94315394 -0.94698891] [ 0. 0. 0. 1. ]] SLAMing on 500.37463044000003 meters Centerline goodness : 0.132690 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.65, Z:-0.97 [[ 0.94571513 0.01275594 -0.32474632 -1.36381625] [-0.00273927 0.99950681 0.03128312 -0.64509383] [ 0.3249852 -0.02869536 0.94528366 -0.96730572] [ 0. 0. 0. 1. ]] SLAMing on 500.40463044 meters Centerline goodness : 0.108493 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.65, Z:-0.97 [[ 0.94602969 0.01245305 -0.32384062 -1.36355563] [-0.00249909 0.99951207 0.03113494 -0.64726651] [ 0.32407033 -0.02864527 0.94559921 -0.96930103] [ 0. 0. 0. 1. ]] SLAMing on 500.43463044000003 meters Centerline goodness : 0.090170 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.65, Z:-0.97 [[ 0.94639057 0.01227546 -0.32279127 -1.36389582] [-0.00233767 0.99951178 0.03115672 -0.64970152] [ 0.32301614 -0.02873184 0.94595722 -0.97130771] [ 0. 0. 0. 1. ]] SLAMing on 500.46463044 meters Centerline goodness : 0.083800 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.65, Z:-1.00 [[ 9.49865669e-01 1.06866354e-02 -3.12475609e-01 -1.40031052e+00] [-1.08610966e-03 9.99522447e-01 3.08820062e-02 -6.54715441e-01] [ 3.12656410e-01 -2.89943747e-02 9.49423665e-01 -9.97180589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49463044000004 meters Centerline goodness : 0.093889 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.66, Z:-1.02 [[ 9.52317196e-01 1.03100552e-02 -3.04935501e-01 -1.43631247e+00] [-1.35173778e-03 9.99561671e-01 2.95742961e-02 -6.57235349e-01] [ 3.05106752e-01 -2.77519179e-02 9.51913705e-01 -1.01947278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52463044 meters Centerline goodness : 0.094011 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.66, Z:-1.02 [[ 9.52812847e-01 1.00668502e-02 -3.03391393e-01 -1.43741389e+00] [-1.12282641e-03 9.99560003e-01 2.96401860e-02 -6.61101703e-01] [ 3.03556285e-01 -2.79008942e-02 9.52404915e-01 -1.02192151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55463044 meters Centerline goodness : 0.148637 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.66, Z:-1.04 [[ 9.55152586e-01 9.04674068e-03 -2.95975833e-01 -1.47159570e+00] [-1.00175797e-03 9.99626194e-01 2.73215795e-02 -6.64260854e-01] [ 2.96112366e-01 -2.57997812e-02 9.54804607e-01 -1.04353305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58463044 meters Centerline goodness : 0.153951 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.67, Z:-1.05 [[ 0.95588035 0.00533398 -0.29370787 -1.47124023] [ 0.00205885 0.99968893 0.02485575 -0.67072966] [ 0.29374908 -0.02436382 0.95557202 -1.04856101] [ 0. 0. 0. 1. ]] SLAMing on 500.61463044 meters Centerline goodness : 0.157448 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.67, Z:-1.07 [[ 0.95760696 0.00493985 -0.28803559 -1.5154441 ] [ 0.00221693 0.999697 0.02451535 -0.67311746] [ 0.28806942 -0.02411463 0.95730585 -1.07401275] [ 0. 0. 0. 1. ]] SLAMing on 500.64463044 meters Centerline goodness : 0.129014 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.68, Z:-1.09 [[ 0.95842038 0.01106489 -0.28514547 -1.52906899] [-0.00500473 0.99974604 0.02197279 -0.67842571] [ 0.28531618 -0.01963209 0.95823236 -1.08639352] [ 0. 0. 0. 1. ]] SLAMing on 500.67463044 meters Centerline goodness : 0.128136 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.68, Z:-1.11 [[ 0.9599195 0.0123398 -0.28000407 -1.56192405] [-0.0066687 0.99975307 0.02119731 -0.68007191] [ 0.2801965 -0.01848045 0.95976476 -1.10770906] [ 0. 0. 0. 1. ]] SLAMing on 500.70463044 meters Centerline goodness : 0.175777 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.68, Z:-1.13 [[ 0.96169695 0.0138808 -0.27376321 -1.59396543] [-0.00873353 0.9997616 0.02001177 -0.68166628] [ 0.27397573 -0.01685434 0.96158891 -1.12872991] [ 0. 0. 0. 1. ]] SLAMing on 500.73463044 meters Centerline goodness : 0.181582 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.68, Z:-1.15 [[ 0.96378926 0.01592742 -0.26618899 -1.62869555] [-0.01122002 0.99975278 0.01919594 -0.68313157] [ 0.26642892 -0.01551419 0.9637297 -1.15028806] [ 0. 0. 0. 1. ]] SLAMing on 500.76463044 meters Centerline goodness : 0.152154 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.69, Z:-1.16 [[ 0.96460892 0.01689237 -0.26314307 -1.62975755] [-0.01198365 0.99972316 0.02024816 -0.68758305] [ 0.26341226 -0.01637814 0.96454432 -1.15625838] [ 0. 0. 0. 1. ]] SLAMing on 500.79463044 meters Centerline goodness : 0.199587 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.69, Z:-1.18 [[ 0.96620434 0.01841674 -0.25711864 -1.6630232 ] [-0.0138635 0.99971353 0.01951043 -0.68858122] [ 0.2574043 -0.0152865 0.96618287 -1.17857551] [ 0. 0. 0. 1. ]] SLAMing on 500.82463044 meters Centerline goodness : 0.141404 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.69, Z:-1.18 [[ 0.96647954 0.01872747 -0.25605972 -1.66211693] [-0.01409792 0.9997025 0.01990375 -0.69061792] [ 0.25635629 -0.01562666 0.96645603 -1.18181688] [ 0. 0. 0. 1. ]] SLAMing on 500.85463044 meters Centerline goodness : 0.212031 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.69, Z:-1.22 [[ 0.97008423 0.02001892 -0.24194177 -1.70187641] [-0.01568507 0.99968041 0.01982576 -0.69319503] [ 0.24226134 -0.01543778 0.9700882 -1.21546724] [ 0. 0. 0. 1. ]] SLAMing on 500.88463044 meters Centerline goodness : 0.141023 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.69, Z:-1.22 [[ 0.97064187 0.02026555 -0.23967408 -1.70316345] [-0.01593761 0.9996733 0.01998224 -0.69338314] [ 0.24000073 -0.01557577 0.97064775 -1.21965308] [ 0. 0. 0. 1. ]] SLAMing on 500.91463044 meters Centerline goodness : 0.195836 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.69, Z:-1.25 [[ 0.97305015 0.02269647 -0.22947389 -1.73989498] [-0.01860099 0.99962703 0.01999495 -0.69264888] [ 0.22984212 -0.01518765 0.97310942 -1.24575194] [ 0. 0. 0. 1. ]] SLAMing on 500.94463044 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 500.97463044 meters Centerline goodness : 0.153943 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.69, Z:-1.26 [[ 0.97411774 0.02408161 -0.22475478 -1.73969806] [-0.0198786 0.99958299 0.02094493 -0.69275741] [ 0.22516544 -0.01593502 0.97419023 -1.25667115] [ 0. 0. 0. 1. ]] SLAMing on 501.00463044 meters Centerline goodness : 0.207656 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.69, Z:-1.26 [[ 0.974823 0.02489669 -0.22158582 -1.74201923] [-0.02089398 0.99957375 0.02039005 -0.69184396] [ 0.22199901 -0.01524688 0.97492768 -1.26379926] [ 0. 0. 0. 1. ]] SLAMing on 501.03463044 meters Centerline goodness : 0.156141 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.69, Z:-1.28 [[ 0.97673053 0.02970284 -0.21240344 -1.75154034] [-0.02565273 0.99943321 0.02179908 -0.68918738] [ 0.21293054 -0.0158431 0.97693888 -1.28114403] [ 0. 0. 0. 1. ]] SLAMing on 501.06463044000003 meters Centerline goodness : 0.186128 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.69, Z:-1.29 [[ 0.97739805 0.03073133 -0.20916176 -1.75385654] [-0.02685506 0.99941136 0.0213479 -0.68747051] [ 0.20969469 -0.01524834 0.97764801 -1.28842862] [ 0. 0. 0. 1. ]] SLAMing on 501.09463044 meters Centerline goodness : 0.287154 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.69, Z:-1.30 [[ 0.97796179 0.03170372 -0.20636284 -1.75480336] [-0.02800306 0.99939079 0.02082972 -0.68537187] [ 0.2068975 -0.01459188 0.9782538 -1.29585066] [ 0. 0. 0. 1. ]] SLAMing on 501.12463044000003 meters Centerline goodness : 0.232689 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.68, Z:-1.30 [[ 0.9784904 0.03259183 -0.20370152 -1.75567339] [-0.02908754 0.99937326 0.02017426 -0.68287593] [ 0.20423137 -0.01381514 0.97882516 -1.30307061] [ 0. 0. 0. 1. ]] SLAMing on 501.15463044 meters Centerline goodness : 0.186602 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.68, Z:-1.32 [[ 0.97980243 0.03662592 -0.19658519 -1.76133983] [-0.03327663 0.9992397 0.02031458 -0.67746694] [ 0.19717977 -0.01336259 0.98027628 -1.31874969] [ 0. 0. 0. 1. ]] SLAMing on 501.18463044000003 meters Centerline goodness : 0.265972 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.67, Z:-1.33 [[ 0.98048682 0.03742022 -0.1929905 -1.76561634] [-0.03432254 0.99922307 0.01937064 -0.67492783] [ 0.19356541 -0.01236873 0.9810094 -1.32553629] [ 0. 0. 0. 1. ]] SLAMing on 501.21463044 meters Centerline goodness : 0.213097 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.67, Z:-1.33 [[ 0.98104711 0.03809771 -0.18998719 -1.7684657 ] [-0.03523273 0.99920907 0.018436 -0.67243285] [ 0.19053929 -0.01139281 0.98161346 -1.33204682] [ 0. 0. 0. 1. ]] SLAMing on 501.24463044000004 meters Centerline goodness : 0.208615 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.67, Z:-1.34 [[ 0.98152541 0.03880427 -0.18735555 -1.76943067] [-0.03612965 0.99919087 0.01767067 -0.66959177] [ 0.18788965 -0.01057512 0.98213321 -1.33910749] [ 0. 0. 0. 1. ]] SLAMing on 501.27463044 meters Centerline goodness : 0.203311 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.66, Z:-1.35 [[ 0.98214719 0.04215889 -0.183329 -1.76733994] [-0.0395217 0.99905627 0.01801664 -0.66499863] [ 0.18391555 -0.01044952 0.9828865 -1.35306953] [ 0. 0. 0. 1. ]] SLAMing on 501.30463044 meters Centerline goodness : 0.207787 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.66, Z:-1.36 [[ 0.98252346 0.04250597 -0.18122058 -1.76667528] [-0.04003936 0.9990492 0.01724944 -0.66358341] [ 0.18178148 -0.00969203 0.98329119 -1.36002184] [ 0. 0. 0. 1. ]] SLAMing on 501.33463044 meters Centerline goodness : 0.196732 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.66, Z:-1.37 [[ 0.98288921 0.04252267 -0.17922226 -1.76616211] [-0.04027119 0.99905772 0.01618373 -0.66262766] [ 0.17974156 -0.00868932 0.98367549 -1.36673258] [ 0. 0. 0. 1. ]] SLAMing on 501.36463044 meters Centerline goodness : 0.170194 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.66, Z:-1.37 [[ 0.98331869 0.04250096 -0.17685596 -1.76660457] [-0.04048636 0.9990677 0.01498587 -0.66138619] [ 0.17732799 -0.00757563 0.98412265 -1.37362181] [ 0. 0. 0. 1. ]] SLAMing on 501.39463044 meters Centerline goodness : 0.164764 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.66, Z:-1.38 [[ 0.98377729 0.04288268 -0.17419334 -1.76792665] [-0.04105552 0.99905764 0.01408078 -0.66039901] [ 0.17463301 -0.00670076 0.98461079 -1.38048707] [ 0. 0. 0. 1. ]] SLAMing on 501.42463044 meters Centerline goodness : 0.155272 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.66, Z:-1.40 [[ 0.9845629 0.04615725 -0.16883546 -1.769123 ] [-0.04441808 0.99891401 0.01406538 -0.65672451] [ 0.16930132 -0.00634891 0.98554389 -1.39566939] [ 0. 0. 0. 1. ]] SLAMing on 501.45463044 meters Centerline goodness : 0.151448 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.66, Z:-1.40 [[ 0.98474009 0.04779499 -0.16733977 -1.76626748] [-0.04601247 0.9988354 0.01451538 -0.65581469] [ 0.16783865 -0.00659416 0.98579243 -1.40308232] [ 0. 0. 0. 1. ]] SLAMing on 501.48463044 meters Centerline goodness : 0.145317 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.65, Z:-1.41 [[ 0.98480382 0.05002281 -0.16631039 -1.76231407] [-0.04814434 0.99872305 0.01530993 -0.6533846 ] [ 0.16686387 -0.00707037 0.98595459 -1.41025078] [ 0. 0. 0. 1. ]] SLAMing on 501.51463044 meters Centerline goodness : 0.157367 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.65, Z:-1.42 [[ 0.98486664 0.05238699 -0.16520684 -1.75882838] [-0.05041673 0.99859849 0.01609994 -0.65054486] [ 0.16581873 -0.0075271 0.98612752 -1.41725793] [ 0. 0. 0. 1. ]] SLAMing on 501.54463044 meters Centerline goodness : 0.158503 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.65, Z:-1.42 [[ 0.98494397 0.05490325 -0.16392381 -1.75609142] [-0.05282555 0.99845886 0.01701053 -0.64758472] [ 0.16460511 -0.00809506 0.98632633 -1.42394331] [ 0. 0. 0. 1. ]] SLAMing on 501.57463044 meters Centerline goodness : 0.213722 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.64, Z:-1.43 [[ 0.98520116 0.05564729 -0.1621174 -1.75493086] [-0.05370765 0.99842323 0.01632584 -0.64447763] [ 0.16277026 -0.00737729 0.98663642 -1.43088901] [ 0. 0. 0. 1. ]] SLAMing on 501.60463044 meters Centerline goodness : 0.180518 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.64, Z:-1.45 [[ 0.9855911 0.05729659 -0.15914549 -1.7504036 ] [-0.05560159 0.99833905 0.01508678 -0.63740431] [ 0.15974558 -0.00602065 0.98713986 -1.44505053] [ 0. 0. 0. 1. ]] SLAMing on 501.63463044 meters Centerline goodness : 0.140983 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.63, Z:-1.45 [[ 0.98589033 0.05672141 -0.15748948 -1.74858275] [-0.05532881 0.99838072 0.01321625 -0.63418086] [ 0.15798411 -0.00431607 0.98743222 -1.45243651] [ 0. 0. 0. 1. ]] SLAMing on 501.66463044 meters Centerline goodness : 0.156659 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.63, Z:-1.47 [[ 0.9869275 0.04912982 -0.15349387 -1.75876231] [-0.04735793 0.99876262 0.01518093 -0.63138468] [ 0.15404978 -0.00771332 0.98803298 -1.46781516] [ 0. 0. 0. 1. ]] SLAMing on 501.69463044 meters Centerline goodness : 0.206521 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.63, Z:-1.47 [[ 0.98780605 0.03962083 -0.1505636 -1.73355952] [-0.03785898 0.99917714 0.01455134 -0.62700177] [ 0.15101624 -0.00867372 0.98849323 -1.47371973] [ 0. 0. 0. 1. ]] SLAMing on 501.72463044 meters Centerline goodness : 0.205931 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.63, Z:-1.48 [[ 0.98801751 0.03811459 -0.14956159 -1.73007367] [-0.03669769 0.99925166 0.01222315 -0.62522737] [ 0.14991555 -0.00658812 0.98867686 -1.48060636] [ 0. 0. 0. 1. ]] SLAMing on 501.75463044 meters Centerline goodness : 0.204651 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.62, Z:-1.50 [[ 0.98871703 0.02987881 -0.14678518 -1.73750572] [-0.0281322 0.99950671 0.01396114 -0.62496357] [ 0.14712991 -0.00967422 0.98906987 -1.49559977] [ 0. 0. 0. 1. ]] SLAMing on 501.78463044 meters Centerline goodness : 0.204024 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.62, Z:-1.51 [[ 0.98919306 0.0222073 -0.14492729 -1.74719516] [-0.0203233 0.99968878 0.01446743 -0.62239781] [ 0.14520346 -0.01136568 0.98933653 -1.51197316] [ 0. 0. 0. 1. ]] SLAMing on 501.81463044000003 meters Centerline goodness : 0.204265 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.62, Z:-1.52 [[ 0.98922837 0.01994864 -0.14501476 -1.74010233] [-0.01836333 0.99975618 0.01226253 -0.6201807 ] [ 0.14522402 -0.00946749 0.9893535 -1.51881932] [ 0. 0. 0. 1. ]] SLAMing on 501.84463044 meters Centerline goodness : 0.202186 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.62, Z:-1.54 [[ 0.98963667 0.01325328 -0.14298113 -1.74898103] [-0.01141964 0.99984179 0.01363738 -0.61807386] [ 0.14313925 -0.01186326 0.98963146 -1.53574697] [ 0. 0. 0. 1. ]] SLAMing on 501.87463044000003 meters Centerline goodness : 0.203271 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.62, Z:-1.55 [[ 0.98977043 0.01228437 -0.14213934 -1.73869102] [-0.01058529 0.99986328 0.01270362 -0.61607913] [ 0.14227596 -0.01106908 0.98976514 -1.54816586] [ 0. 0. 0. 1. ]] SLAMing on 501.90463044 meters Centerline goodness : 0.199596 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.62, Z:-1.55 [[ 0.98988525 0.01225767 -0.14133979 -1.73686803] [-0.01057372 0.99986396 0.01265903 -0.61640415] [ 0.14147573 -0.0110365 0.9898802 -1.55264798] [ 0. 0. 0. 1. ]] SLAMing on 501.93463044000003 meters Centerline goodness : 0.198962 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.62, Z:-1.56 [[ 0.98996227 0.01226635 -0.14079856 -1.73504409] [-0.01059303 0.99986415 0.01262784 -0.61626113] [ 0.14093433 -0.0110096 0.98995773 -1.55647972] [ 0. 0. 0. 1. ]] SLAMing on 501.96463044 meters Centerline goodness : 0.198962 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.62, Z:-1.56 [[ 0.98996227 0.01226635 -0.14079856 -1.73504409] [-0.01059303 0.99986415 0.01262784 -0.61626113] [ 0.14093433 -0.0110096 0.98995773 -1.55647972] [ 0. 0. 0. 1. ]] SLAMing on 501.99463044000004 meters Centerline goodness : 0.199818 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.62, Z:-1.57 [[ 0.99032686 0.00828792 -0.13850638 -1.74706314] [-0.00613401 0.99985365 0.01597063 -0.61561035] [ 0.13861847 -0.01496654 0.99023276 -1.57023374] [ 0. 0. 0. 1. ]] SLAMing on 502.02463044 meters Centerline goodness : 0.198081 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.61, Z:-1.58 [[ 0.99032278 0.01039299 -0.13839353 -1.73945405] [-0.0080395 0.9998136 0.01755395 -0.61319544] [ 0.13855017 -0.01627146 0.99022174 -1.57836601] [ 0. 0. 0. 1. ]] SLAMing on 502.05463044 meters Centerline goodness : 0.197489 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.61, Z:-1.58 [[ 0.99028832 0.01173484 -0.13853279 -1.73438856] [-0.0092369 0.99978321 0.01866056 -0.61299866] [ 0.13872174 -0.01719972 0.99018203 -1.58299512] [ 0. 0. 0. 1. ]] SLAMing on 502.08463044 meters Centerline goodness : 0.196006 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.61, Z:-1.59 [[ 0.9902287 0.01348651 -0.13879925 -1.72826453] [-0.0108127 0.99974151 0.02 -0.6112556 ] [ 0.1390331 -0.01830378 0.99011856 -1.58822928] [ 0. 0. 0. 1. ]] SLAMing on 502.11463044 meters Centerline goodness : 0.197260 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.61, Z:-1.59 [[ 0.990163 0.01537235 -0.13907163 -1.72176984] [-0.01252478 0.99969408 0.02132764 -0.60804573] [ 0.13935695 -0.019376 0.99005263 -1.59382415] [ 0. 0. 0. 1. ]] SLAMing on 502.14463044 meters Centerline goodness : 0.202390 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.60, Z:-1.60 [[ 0.99009296 0.01726688 -0.13934773 -1.715021 ] [-0.01425859 0.99964385 0.0225579 -0.60372093] [ 0.13968761 -0.02034752 0.98998654 -1.59964313] [ 0. 0. 0. 1. ]] SLAMing on 502.17463044 meters Centerline goodness : 0.105217 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.59, Z:-1.61 [[ 0.98998017 0.02071249 -0.13967913 -1.70187949] [-0.01744055 0.99954503 0.02460833 -0.59385009] [ 0.14012528 -0.02192568 0.98989099 -1.61161695] [ 0. 0. 0. 1. ]] SLAMing on 502.20463044 meters Centerline goodness : 0.190864 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.59, Z:-1.62 [[ 0.98991597 0.02208284 -0.13992397 -1.69521919] [-0.01871964 0.99950445 0.02530682 -0.58857222] [ 0.14041348 -0.0224323 0.9898388 -1.61744129] [ 0. 0. 0. 1. ]] SLAMing on 502.23463044 meters Centerline goodness : 0.075742 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.58, Z:-1.62 [[ 0.98990059 0.02334064 -0.13982861 -1.68953125] [-0.01990506 0.99946587 0.02591846 -0.58303239] [ 0.14035887 -0.02287341 0.98983645 -1.62335091] [ 0. 0. 0. 1. ]] SLAMing on 502.26463044 meters Centerline goodness : 0.188742 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.58, Z:-1.63 [[ 0.98990837 0.02462104 -0.13955367 -1.68441917] [-0.02112282 0.9994258 0.02649339 -0.5765636 ] [ 0.14012583 -0.02327827 0.98986003 -1.62913743] [ 0. 0. 0. 1. ]] SLAMing on 502.29463044 meters Centerline goodness : 0.087581 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.56, Z:-1.65 [[ 0.99059605 0.01901582 -0.13549117 -1.69453682] [-0.01531778 0.99948255 0.02828414 -0.56247081] [ 0.13595891 -0.02594273 0.99037475 -1.65274498] [ 0. 0. 0. 1. ]] SLAMing on 502.32463044 meters Centerline goodness : 0.185702 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.55, Z:-1.66 [[ 0.99053213 0.01619199 -0.13632284 -1.68769613] [-0.01289212 0.99960295 0.02505449 -0.55359876] [ 0.1366744 -0.02305979 0.99034759 -1.65730699] [ 0. 0. 0. 1. ]] SLAMing on 502.35463044 meters Centerline goodness : 0.185834 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.55, Z:-1.66 [[ 0.99047006 0.01333106 -0.13708153 -1.68112517] [-0.01043312 0.9997071 0.0218371 -0.54505106] [ 0.13733249 -0.0201988 0.99031904 -1.66167852] [ 0. 0. 0. 1. ]] SLAMing on 502.38463044 meters Centerline goodness : 0.187121 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.54, Z:-1.67 [[ 0.99042205 0.01097047 -0.13763654 -1.67589697] [-0.00842411 0.99978267 0.01906949 -0.53636252] [ 0.13781583 -0.01772738 0.99029922 -1.66536506] [ 0. 0. 0. 1. ]] SLAMing on 502.41463044 meters Centerline goodness : 0.185623 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.53, Z:-1.67 [[ 0.99045337 0.01020537 -0.13746993 -1.67359593] [-0.00782034 0.99980958 0.01787841 -0.53023757] [ 0.13762621 -0.01663267 0.99034458 -1.66848448] [ 0. 0. 0. 1. ]] SLAMing on 502.44463044 meters Centerline goodness : 0.184407 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.52, Z:-1.68 [[ 0.9906071 0.00706408 -0.13655645 -1.66804923] [-0.00516015 0.99988456 0.01429139 -0.51544034] [ 0.13664164 -0.01345251 0.9905292 -1.67680497] [ 0. 0. 0. 1. ]] SLAMing on 502.47463044 meters Centerline goodness : 0.184232 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.51, Z:-1.68 [[ 0.99061674 0.00416653 -0.1366057 -1.66320912] [-0.00265897 0.99993356 0.01121646 -0.50826219] [ 0.13664336 -0.01074798 0.990562 -1.68142425] [ 0. 0. 0. 1. ]] SLAMing on 502.50463044 meters Centerline goodness : 0.069109 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.50, Z:-1.69 [[ 9.90600989e-01 9.89559885e-04 -1.36779758e-01 -1.65733153e+00] [ 1.09332543e-04 9.99967783e-01 8.02628213e-03 -5.02435551e-01] [ 1.36783294e-01 -7.96579749e-03 9.90568966e-01 -1.68664722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53463044 meters Centerline goodness : 0.183421 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.50, Z:-1.69 [[ 0.99055958 -0.0021367 -0.13706621 -1.65091599] [ 0.00284124 0.99998374 0.00494474 -0.49733693] [ 0.13705342 -0.0052875 0.99054955 -1.69201268] [ 0. 0. 0. 1. ]] SLAMing on 502.56463044000003 meters Centerline goodness : 0.189151 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.49, Z:-1.70 [[ 0.99051525 -0.00509211 -0.13730845 -1.64473973] [ 0.00542216 0.99998324 0.00202974 -0.49193923] [ 0.13729581 -0.002755 0.99052626 -1.69725822] [ 0. 0. 0. 1. ]] SLAMing on 502.59463044 meters Centerline goodness : 0.177385 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.48, Z:-1.71 [[ 9.90557580e-01 -8.47138512e-03 -1.36835360e-01 -1.63526213e+00] [ 8.37361566e-03 9.99964108e-01 -1.29010951e-03 -4.84158946e-01] [ 1.36841377e-01 1.32121048e-04 9.90592964e-01 -1.70805974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62463044000003 meters Centerline goodness : 0.097863 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.48, Z:-1.71 [[ 0.99054439 -0.01096133 -0.13675399 -1.62993879] [ 0.0105312 0.99993706 -0.00386842 -0.47835645] [ 0.13678778 0.00239166 0.99059749 -1.71346195] [ 0. 0. 0. 1. ]] SLAMing on 502.65463044 meters Centerline goodness : 0.154293 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.48, Z:-1.72 [[ 0.99059969 -0.01121 -0.13633268 -1.62729075] [ 0.01073601 0.9999335 -0.00421152 -0.47642256] [ 0.13637083 0.00270826 0.99065416 -1.71775772] [ 0. 0. 0. 1. ]] SLAMing on 502.68463044000003 meters Centerline goodness : 0.104206 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.47, Z:-1.73 [[ 0.99071977 -0.01151857 -0.13543141 -1.61866852] [ 0.0109525 0.9999279 -0.00492415 -0.4683968 ] [ 0.13547837 0.00339514 0.99077449 -1.72877833] [ 0. 0. 0. 1. ]] SLAMing on 502.71463044 meters Centerline goodness : 0.154124 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.47, Z:-1.73 [[ 0.99076684 -0.01097011 -0.13513228 -1.61485175] [ 0.01045721 0.99993517 -0.00450478 -0.46721695] [ 0.13517293 0.00305008 0.99081733 -1.73362095] [ 0. 0. 0. 1. ]] SLAMing on 502.74463044000004 meters Centerline goodness : 0.275712 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.47, Z:-1.74 [[ 0.99080736 -0.0107357 -0.13485371 -1.61134614] [ 0.01024304 0.99993809 -0.00434656 -0.46647416] [ 0.13489203 0.00292529 0.99085599 -1.73823848] [ 0. 0. 0. 1. ]] SLAMing on 502.77463044 meters Centerline goodness : 0.293319 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.47, Z:-1.74 [[ 0.99084333 -0.01057738 -0.13460171 -1.60816865] [ 0.01009744 0.99994 -0.0042478 -0.46596025] [ 0.13463856 0.00284977 0.99089068 -1.74254655] [ 0. 0. 0. 1. ]] SLAMing on 502.80463044 meters Centerline goodness : 0.287066 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.47, Z:-1.75 [[ 0.99086592 -0.01000727 -0.13447894 -1.60388274] [ 0.00958473 0.99994689 -0.00378908 -0.4652349 ] [ 0.13450971 0.00246553 0.99090921 -1.74734257] [ 0. 0. 0. 1. ]] SLAMing on 502.83463044 meters Centerline goodness : 0.106212 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.46, Z:-1.76 [[ 9.90886686e-01 -7.92936200e-03 -1.34464499e-01 -1.59340071e+00] [ 7.69610286e-03 9.99967843e-01 -2.25443271e-03 -4.60370793e-01] [ 1.34478052e-01 1.19903474e-03 9.90915847e-01 -1.75763158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86463044 meters Centerline goodness : 0.305379 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.46, Z:-1.76 [[ 9.90868178e-01 -6.55126060e-03 -1.34674924e-01 -1.58668233e+00] [ 6.46242962e-03 9.99978517e-01 -1.09674458e-03 -4.58426399e-01] [ 1.34679216e-01 2.16402087e-04 9.90889228e-01 -1.76346422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89463044 meters Centerline goodness : 0.323271 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.46, Z:-1.77 [[ 9.90848368e-01 -5.16615730e-03 -1.34880775e-01 -1.57967500e+00] [ 5.22140459e-03 9.99986367e-01 5.58519269e-05 -4.56603127e-01] [ 1.34878647e-01 -7.59607887e-04 9.90861834e-01 -1.76967939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92463044 meters Centerline goodness : 0.323116 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.46, Z:-1.78 [[ 9.90835696e-01 -3.88905162e-03 -1.35016660e-01 -1.57287592e+00] [ 4.07842673e-03 9.99991049e-01 1.12603867e-03 -4.55565213e-01] [ 1.35011072e-01 -1.66637486e-03 9.90842689e-01 -1.77587689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95463044 meters Centerline goodness : 0.329374 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.45, Z:-1.79 [[ 9.90855012e-01 -1.49004843e-03 -1.34922664e-01 -1.56092306e+00] [ 1.87914621e-03 9.99994435e-01 2.75655169e-03 -4.50935060e-01] [ 1.34917806e-01 -2.98488247e-03 9.90852298e-01 -1.78746494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98463044 meters Centerline goodness : 0.104406 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.45, Z:-1.79 [[ 9.90897201e-01 1.19685130e-04 -1.34620660e-01 -1.55538943e+00] [ 3.30069762e-04 9.99994439e-01 3.31858177e-03 -4.47786966e-01] [ 1.34620308e-01 -3.33280760e-03 9.90891651e-01 -1.79429831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01463044 meters Centerline goodness : 0.308969 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.44, Z:-1.80 [[ 0.99099844 0.00934997 -0.13354653 -1.55234003] [-0.00798041 0.99990997 0.01078687 -0.44200747] [ 0.13363536 -0.00962401 0.99098384 -1.80164807] [ 0. 0. 0. 1. ]] SLAMing on 503.04463044 meters Centerline goodness : 0.100505 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.44, Z:-1.81 [[ 0.99101507 0.00972798 -0.13339599 -1.54723015] [-0.00849601 0.99991587 0.00980157 -0.43829317] [ 0.13348012 -0.00858017 0.99101435 -1.80825105] [ 0. 0. 0. 1. ]] SLAMing on 503.07463044 meters Centerline goodness : 0.100657 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.43, Z:-1.81 [[ 0.99102306 0.01076426 -0.13325698 -1.54159342] [-0.00954877 0.99990681 0.00975717 -0.43446464] [ 0.13334959 -0.00839714 0.99103349 -1.81466506] [ 0. 0. 0. 1. ]] SLAMing on 503.10463044 meters Centerline goodness : 0.100791 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.43, Z:-1.82 [[ 0.99096451 0.01080953 -0.13368806 -1.53513614] [-0.00970419 0.99991316 0.00891688 -0.43003392] [ 0.13377284 -0.00753897 0.99098335 -1.82008199] [ 0. 0. 0. 1. ]] SLAMing on 503.13463044 meters Centerline goodness : 0.100726 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.42, Z:-1.83 [[ 0.99089836 0.0112952 -0.13413748 -1.52424914] [-0.0103405 0.99991602 0.00781191 -0.41795658] [ 0.13421445 -0.00635376 0.99093194 -1.82953138] [ 0. 0. 0. 1. ]] SLAMing on 503.16463044 meters Centerline goodness : 0.289403 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.41, Z:-1.83 [[ 0.9909538 0.00999291 -0.13383088 -1.52053681] [-0.00933471 0.99994106 0.00554469 -0.41111477] [ 0.1338784 -0.00424525 0.99098867 -1.83476577] [ 0. 0. 0. 1. ]] SLAMing on 503.19463044 meters Centerline goodness : 0.290263 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.41, Z:-1.84 [[ 0.99100603 0.00897501 -0.13351591 -1.51626161] [-0.00856675 0.99995671 0.00363192 -0.40501049] [ 0.13354273 -0.00245546 0.99104001 -1.84038085] [ 0. 0. 0. 1. ]] SLAMing on 503.22463044 meters Centerline goodness : 0.101728 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.40, Z:-1.85 [[ 9.91009825e-01 8.27956986e-03 -1.33532672e-01 -1.51031133e+00] [-8.03447241e-03 9.99964905e-01 2.37423682e-03 -3.99886799e-01] [ 1.33547644e-01 -1.28002745e-03 9.91041567e-01 -1.84609064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.25463044 meters Centerline goodness : 0.212184 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.38, Z:-1.86 [[ 9.91004141e-01 7.21974039e-03 -1.33636327e-01 -1.49801511e+00] [-7.19275025e-03 9.99973897e-01 6.84743812e-04 -3.84738937e-01] [ 1.33637782e-01 2.82628768e-04 9.91030203e-01 -1.85650537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28463044 meters Centerline goodness : 0.267441 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.38, Z:-1.86 [[ 9.91012243e-01 6.77350024e-03 -1.33599599e-01 -1.49466624e+00] [-6.84458084e-03 9.99976573e-01 -7.27686683e-05 -3.79110863e-01] [ 1.33595977e-01 9.86547901e-04 9.91035389e-01 -1.85984344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.31463044000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 503.34463044 meters Centerline goodness : 0.116044 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.35, Z:-1.88 [[ 9.91215158e-01 5.99162902e-03 -1.32123468e-01 -1.48128980e+00] [-6.21510560e-03 9.99979868e-01 -1.27909510e-03 -3.52919779e-01] [ 1.32113144e-01 2.08901975e-03 9.91232442e-01 -1.87580609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.37463044000003 meters Centerline goodness : 0.161309 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.35, Z:-1.88 [[ 9.91124377e-01 6.92735323e-03 -1.32757226e-01 -1.47318721e+00] [-7.10536028e-03 9.99974381e-01 -8.67146942e-04 -3.45400791e-01] [ 1.32747818e-01 1.80273839e-03 9.91148206e-01 -1.88086376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40463044 meters Centerline goodness : 0.167074 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.34, Z:-1.89 [[ 9.91036246e-01 7.74844139e-03 -1.33368368e-01 -1.46542556e+00] [-7.89185965e-03 9.99968709e-01 -5.46756467e-04 -3.38708075e-01] [ 1.33359958e-01 1.59437992e-03 9.91066385e-01 -1.88565127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.43463044000003 meters Centerline goodness : 0.163524 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.33, Z:-1.89 [[ 9.90987537e-01 7.92709128e-03 -1.33719346e-01 -1.45965188e+00] [-8.10276743e-03 9.99966876e-01 -7.69618153e-04 -3.32663768e-01] [ 1.33708816e-01 1.84617876e-03 9.91018942e-01 -1.88958745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46463044 meters Centerline goodness : 0.277690 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.33, Z:-1.89 [[ 9.90980707e-01 7.62967428e-03 -1.33787240e-01 -1.45654785e+00] [-7.89507292e-03 9.99967777e-01 -1.45332638e-03 -3.26463714e-01] [ 1.33771840e-01 2.49647842e-03 9.91009012e-01 -1.89217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49463044000004 meters Centerline goodness : 0.069679 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.32, Z:-1.89 [[ 0.9910103 0.00714976 -0.13359442 -1.45450808] [-0.00753008 0.99996891 -0.00234184 -0.31978923] [ 0.13357352 0.00332676 0.99103332 -1.89453057] [ 0. 0. 0. 1. ]] SLAMing on 503.52463044 meters Centerline goodness : 0.178406 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.30, Z:-1.90 [[ 0.99105371 0.0061662 -0.13332111 -1.44549883] [-0.00677541 0.99996857 -0.00411633 -0.30416243] [ 0.13329153 0.00498281 0.99106435 -1.90247476] [ 0. 0. 0. 1. ]] SLAMing on 503.55463044 meters Centerline goodness : 0.302248 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.30, Z:-1.91 [[ 0.99102594 0.00614072 -0.13352858 -1.44057138] [-0.00679788 0.99996692 -0.00446618 -0.29908798] [ 0.13349673 0.00533381 0.9910349 -1.90615733] [ 0. 0. 0. 1. ]] SLAMing on 503.58463044 meters Centerline goodness : 0.071102 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.29, Z:-1.91 [[ 0.99099398 0.00617738 -0.13376387 -1.43552175] [-0.00687657 0.999965 -0.00476566 -0.2934673 ] [ 0.13372975 0.00564257 0.99100177 -1.9098252 ] [ 0. 0. 0. 1. ]] SLAMing on 503.61463044 meters Centerline goodness : 0.070267 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.29, Z:-1.91 [[ 0.99099123 0.00651026 -0.13376846 -1.4303852 ] [-0.00722056 0.99996229 -0.00482553 -0.28724158] [ 0.133732 0.00574794 0.99100086 -1.91394078] [ 0. 0. 0. 1. ]] SLAMing on 503.64463044 meters Centerline goodness : 0.071320 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.27, Z:-1.92 [[ 0.99097783 0.00845375 -0.13375901 -1.4194688 ] [-0.00906127 0.99995121 -0.00393374 -0.27224206] [ 0.13371923 0.00511027 0.99100608 -1.92212697] [ 0. 0. 0. 1. ]] SLAMing on 503.67463044 meters Centerline goodness : 0.070800 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.27, Z:-1.93 [[ 0.99090857 0.00967674 -0.13418857 -1.41172394] [-0.01024321 0.9999413 -0.00353172 -0.26521956] [ 0.13414652 0.00487414 0.99094952 -1.92671563] [ 0. 0. 0. 1. ]] SLAMing on 503.70463044 meters Centerline goodness : 0.086556 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.26, Z:-1.93 [[ 0.99083691 0.01119862 -0.13459867 -1.40336101] [-0.01170498 0.99992708 -0.00297119 -0.25844943] [ 0.13455558 0.00451944 0.99089574 -1.93154324] [ 0. 0. 0. 1. ]] SLAMing on 503.73463044 meters Centerline goodness : 0.087076 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.25, Z:-1.94 [[ 0.99078938 0.01301386 -0.13478517 -1.39526214] [-0.01342685 0.99990753 -0.00215544 -0.25100845] [ 0.13474466 0.00394532 0.9908725 -1.93678111] [ 0. 0. 0. 1. ]] SLAMing on 503.76463044 meters Centerline goodness : 0.074535 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-1.95 [[ 9.90694825e-01 1.81209444e-02 -1.34890309e-01 -1.37897297e+00] [-1.81729605e-02 9.99834500e-01 8.45779532e-04 -2.35970948e-01] [ 1.34883311e-01 1.61344685e-03 9.90860176e-01 -1.94768331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79463044 meters Centerline goodness : 0.089823 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.23, Z:-1.95 [[ 9.90599718e-01 2.01572765e-02 -1.35299238e-01 -1.36969477e+00] [-2.00990744e-02 9.99796380e-01 1.79627502e-03 -2.28092985e-01] [ 1.35307896e-01 9.39999922e-04 9.90803154e-01 -1.95279370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82463044 meters Centerline goodness : 0.084650 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.22, Z:-1.96 [[ 9.90501159e-01 2.19691816e-02 -1.35738018e-01 -1.36090296e+00] [-2.18344227e-02 9.99758521e-01 2.48165909e-03 -2.20959415e-01] [ 1.35759760e-01 5.05675057e-04 9.90741657e-01 -1.95751938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85463044 meters Centerline goodness : 0.110251 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.21, Z:-1.96 [[ 9.90407568e-01 2.36082277e-02 -1.36145148e-01 -1.35294599e+00] [-2.34237691e-02 9.99721253e-01 2.95690901e-03 -2.14018821e-01] [ 1.36177005e-01 2.60487451e-04 9.90684488e-01 -1.96163633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88463044 meters Centerline goodness : 0.107348 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.21, Z:-1.97 [[ 9.90328781e-01 2.55133742e-02 -1.36374384e-01 -1.34515056e+00] [-2.52512699e-02 9.99674466e-01 3.65178092e-03 -2.06431923e-01] [ 1.36423159e-01 -1.72837376e-04 9.90650641e-01 -1.96590151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91463044 meters Centerline goodness : 0.107348 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.21, Z:-1.97 [[ 9.90328781e-01 2.55133742e-02 -1.36374384e-01 -1.34515056e+00] [-2.52512699e-02 9.99674466e-01 3.65178092e-03 -2.06431923e-01] [ 1.36423159e-01 -1.72837376e-04 9.90650641e-01 -1.96590151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94463044 meters Centerline goodness : 0.105910 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.19, Z:-1.98 [[ 0.99011704 0.03098115 -0.13677873 -1.32912688] [-0.03032221 0.99951637 0.006899 -0.19412753] [ 0.13692632 -0.00268339 0.9905776 -1.97502502] [ 0. 0. 0. 1. ]] SLAMing on 503.97463044 meters Centerline goodness : 0.103889 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.19, Z:-1.98 [[ 0.9900186 0.03297671 -0.13702447 -1.32072432] [-0.03221574 0.99945075 0.00776807 -0.18662023] [ 0.13720537 -0.00327619 0.9905372 -1.97957189] [ 0. 0. 0. 1. ]] SLAMing on 504.00463044 meters Centerline goodness : 0.105985 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.18, Z:-1.98 [[ 0.98987917 0.03444182 -0.13766982 -1.31202738] [-0.03363568 0.9994007 0.0081784 -0.1795637 ] [ 0.137869 -0.00346501 0.99044441 -1.98356441] [ 0. 0. 0. 1. ]] SLAMing on 504.03463044 meters Centerline goodness : 0.340099 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:-1.99 [[ 0.98972963 0.03583823 -0.13838673 -1.30279483] [-0.03498202 0.99935081 0.00861519 -0.17338576] [ 0.13860564 -0.00368566 0.9903408 -1.98794144] [ 0. 0. 0. 1. ]] SLAMing on 504.06463044000003 meters Centerline goodness : 0.345645 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.17, Z:-1.99 [[ 0.98955915 0.03712527 -0.13926381 -1.29311146] [-0.03622322 0.99930313 0.00900723 -0.16771193] [ 0.13950116 -0.0038686 0.99021435 -1.99229499] [ 0. 0. 0. 1. ]] SLAMing on 504.09463044 meters Centerline goodness : 0.253779 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:-2.00 [[ 0.98940633 0.03822809 -0.14004898 -1.28411244] [-0.03729699 0.99926125 0.00926798 -0.16236619] [ 0.14029982 -0.00394639 0.9901012 -1.99638697] [ 0. 0. 0. 1. ]] SLAMing on 504.12463044000003 meters Centerline goodness : 0.270992 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.15, Z:-2.00 [[ 0.98917552 0.04049528 -0.14103871 -1.26842383] [-0.03949789 0.99917095 0.00986509 -0.15107116] [ 0.14132127 -0.00418758 0.98995493 -2.00298558] [ 0. 0. 0. 1. ]] SLAMing on 504.15463044 meters Centerline goodness : 0.357373 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.15, Z:-2.01 [[ 0.98909537 0.0408503 -0.14149771 -1.26262638] [-0.0398965 0.99915797 0.00957225 -0.14606222] [ 0.14176959 -0.0038226 0.9898923 -2.00518209] [ 0. 0. 0. 1. ]] SLAMing on 504.18463044000003 meters Centerline goodness : 0.181784 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.14, Z:-2.01 [[ 0.98901647 0.04121382 -0.14194311 -1.25690042] [-0.04029833 0.99914423 0.00931953 -0.14125813] [ 0.14220573 -0.0034971 0.98983094 -2.00731176] [ 0. 0. 0. 1. ]] SLAMing on 504.21463044 meters Centerline goodness : 0.314228 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.13, Z:-2.01 [[ 0.98882624 0.04290349 -0.14276539 -1.24279028] [-0.04196285 0.9990731 0.00959444 -0.13088321] [ 0.1430447 -0.00349639 0.98971005 -2.0131155 ] [ 0. 0. 0. 1. ]] SLAMing on 504.24463044000004 meters Centerline goodness : 0.339100 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.13, Z:-2.02 [[ 0.9887438 0.043291 -0.14321868 -1.23667444] [-0.04237603 0.99905719 0.00943409 -0.12676491] [ 0.14349206 -0.00325886 0.9896461 -2.01562835] [ 0. 0. 0. 1. ]] SLAMing on 504.27463044 meters Centerline goodness : 0.235980 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.12, Z:-2.02 [[ 0.98870223 0.0436849 -0.14338595 -1.23097946] [-0.04279196 0.99904065 0.00930693 -0.1231055 ] [ 0.14365497 -0.00306602 0.98962308 -2.01854956] [ 0. 0. 0. 1. ]] SLAMing on 504.30463044 meters Centerline goodness : 0.355891 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.12, Z:-2.02 [[ 0.98867867 0.04364214 -0.14356135 -1.22763315] [-0.04275452 0.99904266 0.00926346 -0.12222076] [ 0.14382819 -0.00302069 0.98959806 -2.01998777] [ 0. 0. 0. 1. ]] SLAMing on 504.33463044 meters Centerline goodness : 0.372946 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.12, Z:-2.02 [[ 0.98920391 0.03265782 -0.14286041 -1.20837318] [-0.03129919 0.99944102 0.0117477 -0.12205816] [ 0.14316421 -0.00714946 0.98967312 -2.01697682] [ 0. 0. 0. 1. ]] SLAMing on 504.36463044 meters Centerline goodness : 0.348829 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.13, Z:-2.02 [[ 0.99024263 0.02028638 -0.13786951 -1.18518075] [-0.01882674 0.99975214 0.01188306 -0.12610461] [ 0.1380764 -0.00917148 0.99037912 -2.0212947 ] [ 0. 0. 0. 1. ]] SLAMing on 504.39463044 meters Centerline goodness : 0.417087 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.13, Z:-2.02 [[ 0.99020671 0.02103768 -0.13801482 -1.18057569] [-0.01949552 0.9997316 0.01251635 -0.12969514] [ 0.13824109 -0.0097031 0.99035107 -2.02409518] [ 0. 0. 0. 1. ]] SLAMing on 504.42463044 meters Centerline goodness : 0.381438 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.13, Z:-2.03 [[ 0.9902127 0.02154047 -0.13789422 -1.17836873] [-0.01997804 0.99971969 0.01270484 -0.12986574] [ 0.13812924 -0.00982563 0.99036547 -2.02550226] [ 0. 0. 0. 1. ]] SLAMing on 504.45463044 meters Centerline goodness : 0.369341 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.13, Z:-2.03 [[ 0.99024554 0.02201625 -0.13758293 -1.17722075] [-0.02046789 0.99971037 0.01265886 -0.12741018] [ 0.13782178 -0.00971934 0.99040936 -2.02582155] [ 0. 0. 0. 1. ]] SLAMing on 504.48463044 meters Centerline goodness : 0.400486 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:-2.02 [[ 0.9910965 0.02222052 -0.13127823 -1.13997841] [-0.02012602 0.99964845 0.01726012 -0.12677976] [ 0.13161561 -0.01446433 0.9911953 -2.02313731] [ 0. 0. 0. 1. ]] SLAMing on 504.51463044 meters Centerline goodness : 0.381679 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.13, Z:-2.03 [[ 0.99101629 0.02308453 -0.13173392 -1.13301401] [-0.02092021 0.99962286 0.01779007 -0.12806628] [ 0.13209491 -0.01487435 0.99112547 -2.02647104] [ 0. 0. 0. 1. ]] SLAMing on 504.54463044 meters Centerline goodness : 0.404817 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.13, Z:-2.03 [[ 0.9909457 0.02203749 -0.1324423 -1.12279919] [-0.01998727 0.99965925 0.01678983 -0.12573945] [ 0.13276717 -0.01399065 0.99104851 -2.03235134] [ 0. 0. 0. 1. ]] SLAMing on 504.57463044 meters Centerline goodness : 0.379595 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.12, Z:-2.04 [[ 0.99084808 0.02014216 -0.13347052 -1.11144982] [-0.01824797 0.99971488 0.01540004 -0.12425543] [ 0.13374266 -0.01282353 0.99093313 -2.03826585] [ 0. 0. 0. 1. ]] SLAMing on 504.60463044 meters Centerline goodness : 0.405298 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.12, Z:-2.04 [[ 0.99075089 0.01818817 -0.13446881 -1.09995642] [-0.01645147 0.99976643 0.0140153 -0.12409158] [ 0.13469231 -0.01167346 0.99081871 -2.04463991] [ 0. 0. 0. 1. ]] SLAMing on 504.63463044 meters Centerline goodness : 0.399550 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.12, Z:-2.05 [[ 0.99066986 0.01759022 -0.13514369 -1.08534777] [-0.01593399 0.99978422 0.01332728 -0.12470833] [ 0.13534896 -0.01104955 0.99073638 -2.05209462] [ 0. 0. 0. 1. ]] SLAMing on 504.66463044 meters Centerline goodness : 0.396470 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.13, Z:-2.06 [[ 0.9905862 0.01850053 -0.13563447 -1.07847219] [-0.01674107 0.99976042 0.01410129 -0.12729011] [ 0.13586286 -0.01169788 0.99065859 -2.05558384] [ 0. 0. 0. 1. ]] SLAMing on 504.69463044 meters Centerline goodness : 0.380077 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:-2.06 [[ 0.99049184 0.01941722 -0.1361943 -1.0715333 ] [-0.0175634 0.99973621 0.01480014 -0.12882994] [ 0.13644575 -0.01226738 0.99057159 -2.05880521] [ 0. 0. 0. 1. ]] SLAMing on 504.72463044 meters Centerline goodness : 0.387512 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:-2.06 [[ 0.99042318 0.02026101 -0.1365702 -1.06515841] [-0.01834 0.99971459 0.01530985 -0.12955194] [ 0.13684141 -0.01265854 0.99051208 -2.06175647] [ 0. 0. 0. 1. ]] SLAMing on 504.75463044 meters Centerline goodness : 0.358030 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.13, Z:-2.06 [[ 0.99033752 0.02112267 -0.13705994 -1.05805727] [-0.01912778 0.99969131 0.01585574 -0.13037544] [ 0.13735254 -0.01308088 0.99043585 -2.06481691] [ 0. 0. 0. 1. ]] SLAMing on 504.78463044 meters Centerline goodness : 0.354766 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.13, Z:-2.06 [[ 0.98978982 0.02337536 -0.14060478 -1.02699507] [-0.02159716 0.99966648 0.01415965 -0.1290156 ] [ 0.14088887 -0.01097842 0.98996454 -2.06438086] [ 0. 0. 0. 1. ]] SLAMing on 504.81463044000003 meters Centerline goodness : 0.379695 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:-2.07 [[ 0.98969797 0.02412043 -0.14112455 -1.01990244] [-0.0222695 0.99964421 0.01468048 -0.13109301] [ 0.14142844 -0.01138647 0.989883 -2.0676995 ] [ 0. 0. 0. 1. ]] SLAMing on 504.84463044 meters Centerline goodness : 0.345429 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:-2.07 [[ 0.98963975 0.02476949 -0.14142006 -1.01365265] [-0.02286125 0.99962457 0.01510243 -0.13284031] [ 0.14174104 -0.01171292 0.98983447 -2.07049969] [ 0. 0. 0. 1. ]] SLAMing on 504.87463044000003 meters Centerline goodness : 0.323543 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.13, Z:-2.07 [[ 0.99052323 0.02121542 -0.13569684 -0.97122453] [-0.01903178 0.999668 0.01736925 -0.13395966] [ 0.13602028 -0.0146221 0.99059814 -2.07161098] [ 0. 0. 0. 1. ]] SLAMing on 504.90463044 meters Centerline goodness : 0.298902 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.14, Z:-2.07 [[ 0.99046692 0.02167925 -0.13603415 -0.96531551] [-0.01943511 0.9996526 0.01780349 -0.13571172] [ 0.13637286 -0.01498993 0.99054417 -2.0741523 ] [ 0. 0. 0. 1. ]] SLAMing on 504.93463044000003 meters Centerline goodness : 0.354842 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.14, Z:-2.08 [[ 0.99039474 0.02208357 -0.13649389 -0.95898116] [-0.01977734 0.99963821 0.01822942 -0.13770883] [ 0.13684707 -0.01535484 0.99047317 -2.07672171] [ 0. 0. 0. 1. ]] SLAMing on 504.96463044 meters Centerline goodness : 0.322856 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.14, Z:-2.08 [[ 0.99032615 0.0226102 -0.1369047 -0.95276452] [-0.02023154 0.99961965 0.01874134 -0.1401919 ] [ 0.13727638 -0.01579025 0.99040692 -2.07927244] [ 0. 0. 0. 1. ]] SLAMing on 504.99463044000004 meters Centerline goodness : 0.324290 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.14, Z:-2.08 [[ 0.99025104 0.02326613 -0.13733739 -0.94619629] [-0.02080983 0.99959726 0.01929417 -0.142607 ] [ 0.13773098 -0.0162481 0.9903364 -2.08212089] [ 0. 0. 0. 1. ]] SLAMing on 505.02463044 meters Centerline goodness : 0.291834 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.14, Z:-2.08 [[ 0.990202 0.02397621 -0.13756871 -0.94047827] [-0.02144676 0.99957312 0.01983989 -0.14467243] [ 0.13798567 -0.01669509 0.99029351 -2.08467371] [ 0. 0. 0. 1. ]] SLAMing on 505.05463044 meters Centerline goodness : 0.363297 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.15, Z:-2.09 [[ 0.99107703 0.02218484 -0.13143117 -0.89782039] [-0.01927806 0.99954151 0.0233478 -0.14666072] [ 0.13188888 -0.02060573 0.99105032 -2.08608608] [ 0. 0. 0. 1. ]] SLAMing on 505.08463044 meters Centerline goodness : 0.276195 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.15, Z:-2.09 [[ 0.99102881 0.02282334 -0.13168521 -0.89216171] [-0.01988194 0.99952356 0.0236085 -0.14713054] [ 0.13216129 -0.02077854 0.99101042 -2.08801812] [ 0. 0. 0. 1. ]] SLAMing on 505.11463044 meters Centerline goodness : 0.311667 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.15, Z:-2.09 [[ 0.99096404 0.02360567 -0.13203429 -0.88545481] [-0.0206112 0.99949945 0.02400058 -0.1481207 ] [ 0.13253475 -0.02106233 0.99095455 -2.0906949 ] [ 0. 0. 0. 1. ]] SLAMing on 505.14463044 meters Centerline goodness : 0.319898 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.15, Z:-2.10 [[ 0.99138208 0.02956345 -0.12762281 -0.85337196] [-0.02683868 0.99937474 0.02301769 -0.15082385] [ 0.12822349 -0.0193941 0.99155565 -2.10193454] [ 0. 0. 0. 1. ]] SLAMing on 505.17463044 meters Centerline goodness : 0.064741 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.15, Z:-2.11 [[ 0.99130908 0.0302911 -0.12801855 -0.84660572] [-0.02748374 0.99934269 0.02363964 -0.15400969] [ 0.12865048 -0.01991576 0.99149 -2.10511314] [ 0. 0. 0. 1. ]] SLAMing on 505.20463044 meters Centerline goodness : 0.270778 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:-2.11 [[ 0.99123862 0.03095144 -0.12840562 -0.84071176] [-0.02806371 0.99931223 0.02423823 -0.15671843] [ 0.12906752 -0.02042233 0.99142549 -2.10783227] [ 0. 0. 0. 1. ]] SLAMing on 505.23463044 meters Centerline goodness : 0.241950 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.16, Z:-2.11 [[ 0.99113588 0.03171242 -0.12901159 -0.83329758] [-0.02873147 0.99927692 0.02490242 -0.15872828] [ 0.12970802 -0.02097499 0.99133036 -2.11118041] [ 0. 0. 0. 1. ]] SLAMing on 505.26463044 meters Centerline goodness : 0.232136 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.16, Z:-2.11 [[ 0.99052512 0.03447289 -0.13293463 -0.79988387] [-0.03153404 0.99921087 0.02415042 -0.15998787] [ 0.13366226 -0.01972963 0.99083053 -2.11167527] [ 0. 0. 0. 1. ]] SLAMing on 505.29463044 meters Centerline goodness : 0.222147 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.16, Z:-2.12 [[ 0.99039788 0.03540397 -0.1336361 -0.79125532] [-0.0323529 0.99916543 0.02493472 -0.16275427] [ 0.13440735 -0.02037178 0.99071674 -2.11558487] [ 0. 0. 0. 1. ]] SLAMing on 505.32463044 meters Centerline goodness : 0.227637 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.17, Z:-2.12 [[ 0.99027753 0.03625959 -0.1342969 -0.78298506] [-0.03310585 0.99912283 0.02564321 -0.1653147 ] [ 0.13510891 -0.02094788 0.99060929 -2.11943657] [ 0. 0. 0. 1. ]] SLAMing on 505.35463044 meters Centerline goodness : 0.201314 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.17, Z:-2.12 [[ 0.99017285 0.03701589 -0.1348612 -0.77539387] [-0.03376438 0.99908322 0.02631874 -0.16841046] [ 0.13571177 -0.02150659 0.99051491 -2.12294685] [ 0. 0. 0. 1. ]] Total time of SLAM: 50861.17 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%| | 0/16416 [00:00